WO2020032260A1 - Motor control device - Google Patents

Motor control device Download PDF

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Publication number
WO2020032260A1
WO2020032260A1 PCT/JP2019/031651 JP2019031651W WO2020032260A1 WO 2020032260 A1 WO2020032260 A1 WO 2020032260A1 JP 2019031651 W JP2019031651 W JP 2019031651W WO 2020032260 A1 WO2020032260 A1 WO 2020032260A1
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WO
WIPO (PCT)
Prior art keywords
power supply
current
motor
value
electric motor
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Application number
PCT/JP2019/031651
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French (fr)
Japanese (ja)
Inventor
拓也 横塚
遠藤　修司
哉 中根
Original Assignee
日本電産エレシス株式会社
日本電産株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 日本電産エレシス株式会社, 日本電産株式会社 filed Critical 日本電産エレシス株式会社
Priority to JP2020535921A priority Critical patent/JPWO2020032260A1/en
Priority to CN201980052573.XA priority patent/CN112544036A/en
Publication of WO2020032260A1 publication Critical patent/WO2020032260A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/06—Rotor flux based control involving the use of rotor position or rotor speed sensors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters

Definitions

  • the present invention relates to a control device and a control method for an electric motor used for, for example, an electric power steering device, an electric pump, and the like.
  • a multi-phase motor such as a brushless motor has been used as an electric motor which is a rotary drive source in an electric power steering device, an electric pump, a home appliance, various industrial machines, and the like.
  • a switching element included in the inverter circuit may generate heat or break down.
  • Japanese Patent Application Laid-Open Publication No. 2004-32848 detects an excess state (overcurrent) of a power supply current using an estimated value of a power supply current supplied to a three-phase inverter of a brushless DC motor, and detects an overcurrent.
  • a motor control device that stops the three-phase drive control of the brushless DC motor when it is performed is disclosed.
  • the motor control device disclosed in Japanese Patent Laid-Open Publication No. 2004-32848 converts a motor power consumption P obtained from a product of a q-axis current and a q-axis voltage or a product of an estimated value of an output torque and an angular velocity into a power supply voltage. Is multiplied by the power factor to obtain an estimated value of the power supply current.
  • the power factor uses an empirically obtained optimum value.
  • the present invention has been made in view of the above-described problems, and an object of the present invention is to provide a motor control device capable of suppressing a load on a power supply that supplies a power supply current to an electric motor even when a load applied to the electric motor fluctuates. It is to provide.
  • an exemplary first invention of the present application is a motor control device that drives a multi-phase electric motor having three or more phases, and an inverter that supplies power from a power supply to the electric motor; Means for calculating a d-axis current and a q-axis current by performing coordinate conversion of a flowing actual current; means for calculating a motor rotation speed based on an output from a rotation angle sensor for detecting an angle of a rotation axis of the electric motor; An impedance error estimator for estimating an impedance error from an actual current value corresponding to each of the polyphases and a motor applied voltage value; the d-axis current; the q-axis current; a power supply voltage of the power supply; A power supply current estimator configured to calculate an estimated value of a power supply current from the power supply to the inverter by a first calculation logic that receives the rotation speed and the impedance
  • An exemplary second invention of the present application is an electric power steering apparatus that assists a driver of a vehicle or the like to operate a steering wheel, and an electric motor that assists the driver in steering, and the above-described exemplary first invention.
  • An exemplary third invention of the present application is a motor control device for an electric pump, comprising: an electric motor for driving a pump that sucks a liquid from a suction part and discharges the liquid from a discharge part to the outside; Means for controlling the drive of the electric motor by the motor control device according to the invention.
  • a fourth exemplary invention of the present application is a motor control method for driving a multi-phase electric motor of three or more phases, wherein an impedance error is estimated from an actual current and a motor applied voltage corresponding to each of the multi-phases. And a d-axis current and a q-axis current calculated from an actual current flowing through the electric motor, a power supply voltage of a power supply, a motor rotation speed of the electric motor, and the impedance error.
  • a step of calculating a limit value characterized in that it comprises a step of calculating a current command value, and a step of the generating the drive signal of the electric motor based on the current command value based on the torque limit value.
  • the output torque of the electric motor is limited based on the torque limit value obtained from the estimated value of the power supply current, even if the load applied to the electric motor fluctuates, it is taken out of the power supply to the electric motor.
  • the upper limit of the current can be limited, and the load on the power supply can be adjusted and suppressed.
  • FIG. 1 is a block diagram illustrating an overall configuration of a motor control device according to an embodiment of the present invention.
  • FIG. 2 is a flowchart illustrating a procedure for estimating the power supply current.
  • FIG. 3 is a flowchart illustrating a processing procedure of the torque control.
  • FIG. 4A shows an error between the estimated value of the power supply current and the actually measured value when the environmental temperature is 25 ° C. under condition 1.
  • FIG. 4B shows an error between the estimated value and the measured value of the power supply current when the environmental temperature is set to ⁇ 40 ° C. in the condition 1.
  • FIG. 4C shows an error between the estimated value of the power supply current and the actually measured value when the environmental temperature is set to 120 ° C. in the condition 1.
  • FIG. 4A shows an error between the estimated value of the power supply current and the actually measured value when the environmental temperature is 25 ° C. under condition 1.
  • FIG. 4B shows an error between the estimated value and the measured value of the power supply current when the environmental temperature is set to
  • FIG. 4D shows an error between the estimated value of the power supply current and the actually measured value when the environmental temperature is set to 25 ° C. in the condition 2.
  • FIG. 4E shows an error between the estimated value and the measured value of the power supply current when the environmental temperature is set to ⁇ 40 ° C. in the condition 2.
  • FIG. 4F shows an error between the estimated value and the actually measured value of the power supply current when the environmental temperature is set to 120 ° C. in the condition 2.
  • FIG. 5A shows a comparison result between the estimated value of the power supply current and the actually measured value when the power supply voltage is 9 V under the condition 3.
  • FIG. 5B shows a comparison result between the estimated value and the measured value of the power supply current when the power supply voltage is 13.5 V under the condition 3.
  • FIG. 5C shows a comparison result between the estimated value and the measured value of the power supply current when the power supply voltage is 16.5 V under the condition 3.
  • FIG. 6A shows the result of power supply current limitation when the environmental temperature is 25 ° C.
  • FIG. 6B shows the result of power supply current limitation when the environmental temperature is -40 ° C.
  • FIG. 6C shows the result of power supply current limitation when the environmental temperature is 120 ° C.
  • FIG. 7 is a schematic configuration of an electric power steering device equipped with the motor control device according to the embodiment.
  • FIG. 1 is a block diagram showing the overall configuration of the motor control device according to the embodiment of the present invention.
  • the motor control device 1 of FIG. 1 includes a motor control unit 10 that functions as a drive control unit of an electric motor 15 that is, for example, a three-phase brushless DC motor.
  • the motor control device 10 includes an observer control unit (impedance estimation unit) 31, a power supply current estimation unit 30 for obtaining an estimated power supply current supplied from the power supply BT to the inverter circuit (motor drive circuit) 23, and a variable As parameters, a torque limit value calculator 11 for calculating a torque limit value, a current command value calculator 12 for calculating a current command value based on the torque limit value, and the like are provided.
  • the PWM signal generation unit 21 of the motor control unit 10 generates an ON / OFF control signal (PWM signal) for a plurality of semiconductor switching elements (FETs) included in the inverter circuit 23 according to a voltage command value described later.
  • the semiconductor switching elements correspond to each phase (a phase, b phase, c phase) of the electric motor 15.
  • the switching element is also called a power element, and uses a switching element such as a MOSFET (Metal-Oxide Semiconductor Field-Effect Transistor) and an IGBT (Insulated Gate Bipolar Transistor).
  • MOSFET Metal-Oxide Semiconductor Field-Effect Transistor
  • IGBT Insulated Gate Bipolar Transistor
  • the inverter circuit 23 is supplied with power for driving the motor from the external battery BT via the power supply relay 27.
  • the power relay 27 is configured to be able to cut off the power from the battery BT, and may be configured by a semiconductor relay.
  • the motor drive current supplied to the electric motor 15 from the inverter circuit 23 as a motor drive circuit is detected by a current detection unit 25 including current sensors (not shown) arranged corresponding to each phase.
  • the current detection unit 25 detects, for example, a DC current flowing through a shunt resistor for detecting a motor drive current using an amplifier circuit including an operational amplifier or the like.
  • the output signal (current detection signal) from the current detection unit 25 is input to an A / D conversion unit (ADC) 40.
  • the ADC 40 converts an analog current value into a digital value by its A / D conversion function, and is input to the coordinate conversion unit 42 as three-phase currents Ia, Ib, and Ic.
  • the coordinate conversion unit 42 has a three-phase / two-phase conversion function, and calculates a current Id on the d-axis and a current on the q-axis based on the rotation angle ⁇ detected by the rotation angle sensor 51 and the three-phase currents Ia, Ib, and Ic. Calculate Iq. That is, the coordinate conversion unit 42 calculates the d-axis current and the q-axis current from the actual current.
  • the power supply current estimating unit 30 performs a calculation based on a power supply current estimation logic calculation formula based on the d-axis current Id, the q-axis current Iq, the power supply voltage V, the motor speed, and an impedance error described later.
  • An estimated value of the power supply current flowing from the power supply BT to the inverter circuit 23 is calculated.
  • the rotation speed of the motor is calculated by a rotation speed calculation unit (not shown) based on a rotation angle signal output from a rotation angle sensor 51 including a magnet provided on a rotation shaft of the electric motor 15 and an MR sensor opposed thereto, for example. Obtained together with ⁇ .
  • the observer control unit 31 estimates an impedance error for each phase using an adaptive observer (observer model). That is, the observer control unit 31 is an impedance error estimating unit.
  • the observer control unit 31 first calculates an observer voltage value V ob which is a calculated voltage value including the actual current I as shown in the following equation (1).
  • R th impedance of the motor [Delta] R th is the impedance error, L is the inductance. EMF is a back electromotive force.
  • the current command value calculation unit 12 obtains a current command value (target current value) from the command torque Tq, and as the current control unit, the PI control units 16a and 16b detect the current command values of the d axis and the q axis.
  • the d-axis and q-axis voltage command values are determined so that the difference between the current value and the current value becomes zero, and the coordinate conversion unit 17 calculates the motor applied voltage V * from the voltage command value and the rotation angle of the electric motor 15.
  • the observer control unit 31 obtains the difference between the motor applied voltage V * calculated by the coordinate conversion unit 17 and the observer voltage value Vob , as shown in the following equation (2), thereby obtaining the difference between the voltages to be applied. I understand.
  • Resistance value error [Delta] R tha of each phase determined by the observer controller 31, ⁇ R thb, ⁇ R thc is input to the offset gain calculation section 33 of the power supply current inference section 30. It should be noted that the impedance error can also be considered as a difference between a current value calculated by an inverse model of the motor and an actual current value.
  • the offset gain calculation unit 33 calculates the motor output offset gain Gain2 using Expression (3).
  • the loss calculation unit 34 obtains the motor power loss ⁇ from the d-axis current Id, the q-axis current Iq, and the offset gain Gain2 according to equation (4).
  • the power calculation unit 35 multiplies the rotation angular velocity ⁇ m output from the rotation angle sensor 51 by the motor torque T obtained from Expression (6), as shown in Expression (5) below.
  • the power consumption P of the electric motor is obtained.
  • ⁇ is a current phase and is represented by Expression (8)
  • Gain1 is a fixed value.
  • the estimated power supply current calculation unit 37 obtains the power supply current estimated value Idc from the electric motor power consumption P, the motor power loss ⁇ , and the power supply voltage V, using Equation (9) as an arithmetic expression relating to the first calculation logic.
  • the torque limit value calculation unit 11 of the motor control unit 10 obtains a torque limit value using the power supply current estimation value Idc obtained by the power supply current estimation unit 30 using the first calculation logic as a variable (parameter). More specifically, the torque limit value of the electric motor 15 is calculated by using an expression (10) obtained by modifying the expression (9), which is an operation expression of the first calculation logic, as an operation expression relating to the second calculation logic.
  • T Lim is a torque limit value
  • I dcLim is a current value taken out of the power supply BT (current value to be limited)
  • ⁇ m is a rotational angular velocity
  • ⁇ is a motor power loss
  • V is a power supply voltage.
  • the power supply current is estimated from the motor output offset gain, which is a variable necessary for the calculation of the power supply current estimated value and the calculation of the torque limit value, and the loss power obtained by back-calculating the resistance value variation corresponding to each phase.
  • the motor output offset gain which is a variable necessary for the calculation of the power supply current estimated value and the calculation of the torque limit value, and the loss power obtained by back-calculating the resistance value variation corresponding to each phase.
  • the current command value calculation unit 12 calculates a d-axis command current Id * as a magnetic field component and a q-axis command current as a torque component.
  • the command current Iq * is calculated.
  • the subtractor 13a calculates the difference (Dq) between the q-axis command current Iq * and the q-axis current Iq, and the subtractor 13b calculates the difference (Dd) between the d-axis command current Id * and the d-axis current Id. Is calculated. Then, Dq is input to the PI control unit 16a, and Dd is input to the PI control unit 16b.
  • the PI control unit 16a performs PI (proportional + integral) control so that Dq converges to zero, and calculates a q-axis voltage command value Vq * that is a q-axis voltage command value.
  • the PI control unit 16b calculates a d-axis voltage command value Vd * , which is a d-axis voltage command value, by performing PI (proportional + integral) control so that Dd converges to zero.
  • the q-axis voltage command value Vq * and the d-axis voltage command value Vd * are input to a coordinate conversion unit 17 having a two-phase / three-phase conversion function.
  • the coordinate conversion unit 17 converts Vq * , Vd * into voltage command values Va * , Vb * , Vc * , which are voltage command values for each of the three phases, based on the rotation angle ⁇ .
  • the converted voltage command values Va * , Vb * , Vc * are input to the PWM signal generation unit 21.
  • the observer control unit 31, the power supply current estimation unit 30, the torque limit value calculation unit 11, and the like are configured by a single microprocessor that operates by a control program (software) for performing power supply current estimation and torque limitation, which will be described later. Is also good.
  • Whether the value of the current flowing from the power supply to the electric motor exceeds the upper limit (threshold) can be determined, for example, by monitoring a change in the current value using a current sensor or the like. From the equilibrium relationship of Specifically, the current is estimated on the basis of energy supplied from the power supply to the electric motor, work (product of generated torque and rotation speed), friction, resistance, and the like. Then, an upper limit of the torque (torque limit value) is obtained from the estimated current value.
  • FIG. 2 is a flowchart illustrating a procedure for estimating the power supply current.
  • step S11 in FIG. 2 the observer control unit 31 estimates an impedance error from the actual current and the motor applied voltage corresponding to each of the three phases.
  • the impedance error of each phase corresponding to the environmental temperature is estimated using the adaptive observer as described above.
  • step S13 the offset gain calculator 33 of the power supply current estimator 30 obtains the motor output offset gain Gain2 from the average value of the impedance error of each phase and the like.
  • step S15 the loss calculator 34 calculates the motor power loss ⁇ based on the motor output offset gain Gain2 and the d-axis current and the q-axis current calculated from the actual current flowing through the electric motor.
  • the power calculator 35 calculates the power consumption P of the electric motor in step S17.
  • step S19 the estimated power supply current calculator 37 calculates the above-described equation (9) as the first calculation logic based on the power loss ⁇ , the power consumption P, and the power supply voltage V of the power supply calculated in the above steps. With this, the estimated value Idc of the power supply current supplied from the power supply to the electric motor is calculated.
  • FIG. 3 is a flowchart illustrating a processing procedure of the torque control.
  • step S21 in FIG. 3 it is determined whether or not the estimated value Idc of the power supply current obtained in the power supply current estimation processing shown in FIG. 2 exceeds a predetermined upper limit.
  • the upper limit value is set as a limit value (takeout current value) IdcLim of the current flowing from the power supply BT to the electric motor 15 in step S23.
  • step S25 the torque limit value T Lim of the electric motor 15 is calculated using the above-described equation (10) as the second calculation logic.
  • step S27 a current command value is calculated based on the torque limit value T Lim, and a drive signal (PWM signal) for the electric motor 15 is generated based on the current command value.
  • the power is calculated backward from the error of the resistance value, and the torque limit value is obtained based on the result. That is, the command torque is immediately limited by the set limit current IdcLim , and control is performed such that a current higher than the limit current is not supplied to the electric motor 15.
  • FIGS. 4A to 4F show estimated values obtained when the above-described power supply current is estimated, actual measured values of actual currents, and estimated and actual measured values in order to limit the current taken out from the power supply BT to the electric motor. This shows the error with respect to FIG.
  • the vertical axis represents current [A] / error [A]
  • the horizontal axis represents time [seconds].
  • 4A to 4C show the condition 1, that is, the torque instruction is 2 [Nm], the motor speed is 500 [rpm], the power supply voltage is 13.5 [V], the environmental temperature is 25 ° C., ⁇ 40 ° C., and The error between the estimated value of the power supply current and the actually measured value when the temperature is changed to 120 ° C. is shown.
  • 4D to 4F show the condition 2, that is, the torque instruction is 2 [Nm], the motor speed is 1500 [rpm], the power supply voltage is 13.5 [V], the environmental temperature is 25 ° C., ⁇ 40 ° C., and The error between the estimated value of the power supply current and the actually measured value when the temperature is changed to 120 ° C. is shown.
  • the error between the measured value and the estimated value is several amperes, for example, ⁇ 3 A or less. .
  • 5A to 5C show the condition 3, that is, the case where the rotation speed is changed from 0 to 1500 rpm and the voltage conditions (power supply voltage) are 9 [V], 13.5 [V], and 16.5 [V], respectively. 7 shows the comparison result between the estimated value of the power supply current and the actually measured value.
  • the vertical axis represents current [A]
  • the horizontal axis represents mechanical angular velocity (motor rotation speed) [rpm].
  • the ambient temperature was normal temperature.
  • the error between the measured value and the estimated value is several amperes (for example, ⁇ 3 A or less) even when the rotation speed and the power supply voltage are changed.
  • 6A to 6C show the case where the torque instruction is 2 [Nm], the motor speed is 1500 [rpm], the power supply voltage is 13.5 [V], and the environmental temperature is 25 ° C., ⁇ 40 ° C., and 120 ° C., respectively.
  • the result of the power supply current limitation when it is varied is shown.
  • the upper limit value of the power supply current when the restriction is applied is set to 20A.
  • the upper limit of the power supply current can be suppressed to a set threshold value (for example, 20 A) or less.
  • a set threshold value for example, 20 A
  • the motor control device can be used for various purposes such as electric power steering devices, electric pumps, home electric appliances such as washing machines, and various in-vehicle applications.
  • FIG. 7 is a schematic configuration of an electric power steering device equipped with the motor control device according to the present embodiment.
  • the electric power steering device 100 shown in FIG. 7 includes a motor control device 1 as an electronic control unit (Electronic Control Unit: ECU), a steering handle 102 as a steering member, a rotating shaft 103 connected to the steering handle 102, a pinion gear 106, A rack shaft 107 and the like are provided.
  • ECU Electronic Control Unit
  • the rotating shaft 103 is engaged with a pinion gear 106 provided at the tip thereof.
  • the rotation of the rotation shaft 103 is converted into a linear movement of the rack shaft 107 by the pinion gear 106, and a pair of wheels 105 a and 105 b provided at both ends of the rack shaft 107 at an angle corresponding to the amount of displacement of the rack shaft 107. Is steered.
  • the rotating shaft 103 is provided with a torque sensor 109 for detecting a steering torque when the steering handle 102 is operated, and the detected steering torque is sent to the motor control device 1.
  • the motor control device 1 generates a motor drive signal based on signals such as the steering torque acquired from the torque sensor 109 and the vehicle speed from a vehicle speed sensor (not shown), and outputs the signal to the electric motor 15.
  • Auxiliary torque for assisting the steering of the steering handle 102 is output from the electric motor 15 to which the motor drive signal is input, and the auxiliary torque is transmitted to the rotating shaft 103 via the reduction gear 104.
  • the rotation of the rotating shaft 103 is assisted by the torque generated by the electric motor 15, thereby assisting the driver in operating the steering wheel.
  • the upper limit value of the current supplied from the power supply to the electric motor can be limited, and the load on the power supply can be adjusted and suppressed.
  • the motor control device When the motor control device according to the present embodiment is used as, for example, a drive control device of an electric motor for driving a pump that sucks a liquid from a suction portion and discharges the liquid from a discharge portion to the outside, the same as the above-described electric power steering device Even if the load applied to the electric motor fluctuates, the upper limit of the current supplied from the power supply to the electric motor can be limited, and the load on the power supply can be adjusted and suppressed.
  • the motor control device calculates the estimated value of the power supply current supplied from the power supply to the inverter circuit by the first calculation logic, and uses the estimated power supply current value as a variable (parameter).
  • the current command value is calculated based on the torque limit value obtained by the second calculation logic.
  • a drive signal for the electric motor is generated based on the phase voltage command value obtained by converting the current command value.
  • the output torque of the electric motor can be limited based on the torque limit value, and the current flowing from the power supply to the electric motor can be limited.
  • the upper limit of the current taken from the power supply to the electric motor can be limited, and the load on the power supply can be adjusted and suppressed.
  • the accuracy of the estimated value of the power supply current can be increased to minimize the error between the estimated value of the power supply current and the actual current value. Therefore, the power supply can be protected by the power supply current limitation, and even if the environmental temperature changes, the power supply current can be kept within the target estimation error.
  • the adaptive observer is used to estimate the impedance error of each phase that fluctuates depending on the environmental temperature.
  • An impedance error (impedance fluctuation) in each phase of the electric motor can be easily and accurately estimated.
  • the embodiment of the present invention is not limited to the above-described example, and can be appropriately changed.
  • priorities may be assigned to commands such as current and voltage for adjusting the load, and control may be performed based on the priorities.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Ac Motors In General (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

[Problem] To suppress load on a power supply for supplying power supply current to an electric motor even if variation in load occurs. [Solution] In the motor control device, an estimated value of power supply current supplied from a power supply BT to an inverter circuit 23 is calculated by a first calculation logic, and a torque limit value is obtained by a second calculation logic using the power supply current estimated value as a variable (parameter). A current command value is then calculated on the basis of the torque limit value, and a drive signal for an electric motor 15 is generated using a phase voltage command value obtained by converting the current command value.

Description

モータ制御装置Motor control device
　本発明は、例えば、電動パワーステアリング装置、電動ポンプ等に使用する電動モータの制御装置および制御方法に関する。 The present invention relates to a control device and a control method for an electric motor used for, for example, an electric power steering device, an electric pump, and the like.
　電動パワーステアリング装置、電動ポンプ、家電製品、各種産業機械等における回転駆動源である電動モータとして、従来よりブラシレスモータ等の多相モータが使用されている。この種の多相モータは、出力要求（モータ負荷）の増大によって電源より過大な電流が供給された場合、インバータ回路を構成するスイッチング素子が発熱、破壊等する可能性がある。 多 Conventionally, a multi-phase motor such as a brushless motor has been used as an electric motor which is a rotary drive source in an electric power steering device, an electric pump, a home appliance, various industrial machines, and the like. In this type of polyphase motor, when an excessive current is supplied from a power supply due to an increase in output demand (motor load), a switching element included in the inverter circuit may generate heat or break down.
　電動モータに加わる負荷（外乱）を考慮して制御を行う場合、その負荷調整に伴い電動モータの電流、電圧等を調整する必要がある。その際、電動モータへ電流を供給する電源にも、そのような電流、電圧等の調整に応じた負荷が加わる。 (4) When performing control in consideration of the load (disturbance) applied to the electric motor, it is necessary to adjust the current, voltage, and the like of the electric motor in accordance with the load adjustment. At this time, a load corresponding to the adjustment of the current, voltage, and the like is applied to a power supply that supplies a current to the electric motor.
　例えば日本国公開公報特開２００４－３２８４８号公報は、ブラシレス直流モータの３相インバータに給電される電源電流の推定値を用いて電源電流の過剰状態（過電流）を検出し、過電流が検出された場合、ブラシレス直流モータの３相駆動制御を停止するモータ制御装置を開示している。 For example, Japanese Patent Application Laid-Open Publication No. 2004-32848 detects an excess state (overcurrent) of a power supply current using an estimated value of a power supply current supplied to a three-phase inverter of a brushless DC motor, and detects an overcurrent. A motor control device that stops the three-phase drive control of the brushless DC motor when it is performed is disclosed.
日本国公開公報：特開２００４－３２８４８号公報Japanese Unexamined Patent Publication: JP-A-2004-32848
　日本国公開公報特開２００４－３２８４８号公報のモータ制御装置は、ｑ軸電流とｑ軸電圧との積、あるいは出力トルクの推定値と角速度との積から求めたモータ消費電力Ｐを、電源電圧に力率を乗じた値で除することで、電源電流の推定値を求めている。力率は、経験的に求めた最適値を使用している。 The motor control device disclosed in Japanese Patent Laid-Open Publication No. 2004-32848 converts a motor power consumption P obtained from a product of a q-axis current and a q-axis voltage or a product of an estimated value of an output torque and an angular velocity into a power supply voltage. Is multiplied by the power factor to obtain an estimated value of the power supply current. The power factor uses an empirically obtained optimum value.
　しかしながら、日本国公開公報特開２００４－３２８４８号公報では、ｄ軸電流Ｉｄ*とｄ軸電圧Ｖｄ*をともに０（ゼロ）と仮定しているため、モータ消費電力Ｐの実効値が実際の値よりも小さくなり、正確な電流値を検出（推定）できないという問題がある。 However, in Japanese Patent Application Laid-Open Publication No. 2004-32848, since both the d-axis current Id * and the d-axis voltage Vd * are assumed to be 0 (zero), the effective value of the motor power consumption P becomes the actual value. Therefore, there is a problem that an accurate current value cannot be detected (estimated).
　このような従来の電源電流の推定方法は、電源電流の推定値と実際の電流の実測値との誤差が大きくなり、精度の高い電源電流の推定値を得ることが困難になる。その結果、モータへの過大な電流供給要求があった場合、電源より過大な電流が持ち出され、電源に対する負荷の制御（負荷の抑制）が十分に行えないという問題が生じる。 In such a conventional method of estimating the power supply current, the error between the estimated value of the power supply current and the actual measured value of the current becomes large, and it is difficult to obtain a highly accurate estimated value of the power supply current. As a result, when there is an excessive current supply request to the motor, an excessive current is taken out of the power supply, and a problem arises in that the load control (load suppression) for the power supply cannot be sufficiently performed.
　本発明は、上述した課題に鑑みてなされたものであり、その目的は、電動モータに加わる負荷に変動があっても、電動モータに電源電流を供給する電源への負荷を抑制できるモータ制御装置を提供することである。 The present invention has been made in view of the above-described problems, and an object of the present invention is to provide a motor control device capable of suppressing a load on a power supply that supplies a power supply current to an electric motor even when a load applied to the electric motor fluctuates. It is to provide.
　上記の目的を達成し、上述した課題を解決する一手段として以下の構成を備える。すなわち、本願の例示的な第１の発明は、３相以上の多相の電動モータを駆動するモータ制御装置であって、電源からの電力を前記電動モータに供給するインバータと、前記電動モータに流れる実電流を座標変換することによりｄ軸電流およびｑ軸電流を算出する手段と、前記電動モータの回転軸の角度を検出する回転角センサからの出力に基づきモータ回転数を算出する手段と、前記多相の各相に対応した実電流値とモータ印加電圧値よりインピーダンス誤差を推定するインピーダンス誤差推定部と、前記ｄ軸電流と、前記ｑ軸電流と、前記電源の電源電圧と、前記モータ回転数と、前記インピーダンス誤差とを入力とする第１の算出ロジックにより、前記電源から前記インバータへの電源電流推定値を算出する電源電流推定部と、前記電源電流推定値を変数とする第２の算出ロジックにより前記電動モータのトルク制限値を演算するトルク制限値演算部と、前記トルク制限値に基づいて電流指令値を算出する電流指令値算出部と、前記電流指令値に基づいて前記電動モータの駆動信号を生成する駆動信号生成部とを備えることを特徴とする。 。The following configuration is provided as one means for achieving the above object and solving the above-mentioned problems. That is, an exemplary first invention of the present application is a motor control device that drives a multi-phase electric motor having three or more phases, and an inverter that supplies power from a power supply to the electric motor; Means for calculating a d-axis current and a q-axis current by performing coordinate conversion of a flowing actual current; means for calculating a motor rotation speed based on an output from a rotation angle sensor for detecting an angle of a rotation axis of the electric motor; An impedance error estimator for estimating an impedance error from an actual current value corresponding to each of the polyphases and a motor applied voltage value; the d-axis current; the q-axis current; a power supply voltage of the power supply; A power supply current estimator configured to calculate an estimated value of a power supply current from the power supply to the inverter by a first calculation logic that receives the rotation speed and the impedance error; A torque limit value calculation unit that calculates a torque limit value of the electric motor by a second calculation logic using a current estimation value as a variable, a current command value calculation unit that calculates a current command value based on the torque limit value, A drive signal generation unit that generates a drive signal for the electric motor based on the current command value.
　本願の例示的な第２の発明は、車両等の運転者のハンドル操作をアシストする電動パワーステアリング装置であって、前記運転者の操舵を補助する電動モータと、上記例示的な第１の発明に係るモータ制御装置により前記電動モータを駆動制御する手段とを備えることを特徴とする。 An exemplary second invention of the present application is an electric power steering apparatus that assists a driver of a vehicle or the like to operate a steering wheel, and an electric motor that assists the driver in steering, and the above-described exemplary first invention. Means for controlling the drive of the electric motor by the motor control device according to (1).
　本願の例示的な第３の発明は、電動ポンプ用モータ制御装置であって、液体を吸入部から吸入して吐出部から外部へ吐出するポンプ駆動用の電動モータと、上記例示的な第１の発明に係るモータ制御装置により前記電動モータを駆動制御する手段とを備えることを特徴とする。 An exemplary third invention of the present application is a motor control device for an electric pump, comprising: an electric motor for driving a pump that sucks a liquid from a suction part and discharges the liquid from a discharge part to the outside; Means for controlling the drive of the electric motor by the motor control device according to the invention.
　本願の例示的な第４の発明は、３相以上の多相の電動モータを駆動するモータ制御方法であって、前記多相の各相に対応した実電流とモータ印加電圧よりインピーダンス誤差を推定する工程と、前記電動モータに流れる実電流より演算したｄ軸電流およびｑ軸電流と、電源の電源電圧と、前記電動モータのモータ回転数と、前記インピーダンス誤差とに基づいて、前記電源から前記電動モータへ供給される電源電流の推定値を算出する工程と、記各相のインピーダンス誤差の平均値より求めたモータ出力オフセットゲインと、前記ｄ軸電流と、前記ｑ軸電流とに基づいて損失電力を算出する工程と、前記電源電流の推定値が所定の上限値を超えた場合、その上限値を前記電源から前記電動モータへの電流制限値として該電動モータのトルク制限値を演算する工程と、前記トルク制限値に基づいて電流指令値を算出する工程と、前記電流指令値に基づいて前記電動モータの駆動信号を生成する工程とを備えることを特徴とする。 A fourth exemplary invention of the present application is a motor control method for driving a multi-phase electric motor of three or more phases, wherein an impedance error is estimated from an actual current and a motor applied voltage corresponding to each of the multi-phases. And a d-axis current and a q-axis current calculated from an actual current flowing through the electric motor, a power supply voltage of a power supply, a motor rotation speed of the electric motor, and the impedance error. Calculating an estimated value of a power supply current supplied to the electric motor; a motor output offset gain obtained from an average value of impedance errors of the respective phases; a loss based on the d-axis current and the q-axis current; Calculating the power, and, when the estimated value of the power supply current exceeds a predetermined upper limit, setting the upper limit as a current limit value from the power supply to the electric motor, A step of calculating a limit value, characterized in that it comprises a step of calculating a current command value, and a step of the generating the drive signal of the electric motor based on the current command value based on the torque limit value.
　本発明によれば、電源電流の推定値より求めたトルク制限値をもとに電動モータの出力トルクを制限するので、電動モータに加わる負荷に変動があっても、電源から電動モータへ持ち出される電流の上限値を制限でき、電源への負荷を調整・抑制できる。 According to the present invention, since the output torque of the electric motor is limited based on the torque limit value obtained from the estimated value of the power supply current, even if the load applied to the electric motor fluctuates, it is taken out of the power supply to the electric motor. The upper limit of the current can be limited, and the load on the power supply can be adjusted and suppressed.
図１は、本発明の実施形態に係るモータ制御装置の全体構成を示すブロック図である。FIG. 1 is a block diagram illustrating an overall configuration of a motor control device according to an embodiment of the present invention. 図２は、電源電流の推定処理手順を示すフローチャートである。FIG. 2 is a flowchart illustrating a procedure for estimating the power supply current. 図３は、トルク制御の処理手順を示すフローチャートである。FIG. 3 is a flowchart illustrating a processing procedure of the torque control. 図４Ａは、条件１において環境温度を２５℃としたときの電源電流の推定値と実測値との誤差を示す。FIG. 4A shows an error between the estimated value of the power supply current and the actually measured value when the environmental temperature is 25 ° C. under condition 1. 図４Ｂは、条件１において環境温度を－４０℃としたときの電源電流の推定値と実測値との誤差を示す。FIG. 4B shows an error between the estimated value and the measured value of the power supply current when the environmental temperature is set to −40 ° C. in the condition 1. 図４Ｃは、条件１において環境温度を１２０℃としたときの電源電流の推定値と実測値との誤差を示す。FIG. 4C shows an error between the estimated value of the power supply current and the actually measured value when the environmental temperature is set to 120 ° C. in the condition 1. 図４Ｄは、条件２において環境温度を２５℃としたときの電源電流の推定値と実測値との誤差を示す。FIG. 4D shows an error between the estimated value of the power supply current and the actually measured value when the environmental temperature is set to 25 ° C. in the condition 2. 図４Ｅは、条件２において環境温度を－４０℃としたときの電源電流の推定値と実測値との誤差を示す。FIG. 4E shows an error between the estimated value and the measured value of the power supply current when the environmental temperature is set to −40 ° C. in the condition 2. 図４Ｆは、条件２において環境温度を１２０℃としたときの電源電流の推定値と実測値との誤差を示す。FIG. 4F shows an error between the estimated value and the actually measured value of the power supply current when the environmental temperature is set to 120 ° C. in the condition 2. 図５Ａは、条件３において電源電圧を９Ｖとした場合における電源電流の推定値と実測値との比較結果を示す。FIG. 5A shows a comparison result between the estimated value of the power supply current and the actually measured value when the power supply voltage is 9 V under the condition 3. 図５Ｂは、条件３において電源電圧を１３．５Ｖとした場合における電源電流の推定値と実測値との比較結果を示す。FIG. 5B shows a comparison result between the estimated value and the measured value of the power supply current when the power supply voltage is 13.5 V under the condition 3. 図５Ｃは、条件３において電源電圧を１６．５Ｖとした場合における電源電流の推定値と実測値との比較結果を示す。FIG. 5C shows a comparison result between the estimated value and the measured value of the power supply current when the power supply voltage is 16.5 V under the condition 3. 図６Ａは、環境温度を２５℃とした場合の電源電流制限の結果を示す。FIG. 6A shows the result of power supply current limitation when the environmental temperature is 25 ° C. 図６Ｂは、環境温度を－４０℃とした場合の電源電流制限の結果を示す。FIG. 6B shows the result of power supply current limitation when the environmental temperature is -40 ° C. 図６Ｃは、環境温度を１２０℃とした場合の電源電流制限の結果を示す。FIG. 6C shows the result of power supply current limitation when the environmental temperature is 120 ° C. 図７は、実施形態に係るモータ制御装置を搭載した電動パワーステアリング装置の概略構成である。FIG. 7 is a schematic configuration of an electric power steering device equipped with the motor control device according to the embodiment.
　以下、本発明に係る実施形態について添付図面を参照して詳細に説明する。 Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
　図１は、本発明の実施形態に係るモータ制御装置の全体構成を示すブロック図である。図１のモータ制御装置１は、例えば３相ブラシレスＤＣモータである電動モータ１５の駆動制御部として機能するモータ制御部１０を備える。モータ制御装置１０は、オブザーバ制御部（インピーダンス推定部）３１、電源ＢＴからインバータ回路（モータ駆動回路）２３へ供給される電源電流推定値を求める電源電流推定部３０、電源電流推定値を変数（パラメータ）としてトルク制限値を求めるトルク制限値演算部１１、トルク制限値をもとに電流指令値を算出する電流指令値演算部１２等を備える。 FIG. 1 is a block diagram showing the overall configuration of the motor control device according to the embodiment of the present invention. The motor control device 1 of FIG. 1 includes a motor control unit 10 that functions as a drive control unit of an electric motor 15 that is, for example, a three-phase brushless DC motor. The motor control device 10 includes an observer control unit (impedance estimation unit) 31, a power supply current estimation unit 30 for obtaining an estimated power supply current supplied from the power supply BT to the inverter circuit (motor drive circuit) 23, and a variable As parameters, a torque limit value calculator 11 for calculating a torque limit value, a current command value calculator 12 for calculating a current command value based on the torque limit value, and the like are provided.
　モータ制御部１０のＰＷＭ信号生成部２１は、後述する電圧指令値にしたがって、インバータ回路２３を構成する複数の半導体スイッチング素子（ＦＥＴ）のＯＮ／ＯＦＦ制御信号（ＰＷＭ信号）を生成する。半導体スイッチング素子は電動モータ１５の各相（ａ相、ｂ相、ｃ相）に対応している。 The PWM signal generation unit 21 of the motor control unit 10 generates an ON / OFF control signal (PWM signal) for a plurality of semiconductor switching elements (FETs) included in the inverter circuit 23 according to a voltage command value described later. The semiconductor switching elements correspond to each phase (a phase, b phase, c phase) of the electric motor 15.
　スイッチング素子（ＦＥＴ）はパワー素子とも呼ばれ、例えば、ＭＯＳＦＥＴ(Metal-Oxide Semiconductor Field-Effect Transistor)、ＩＧＢＴ（Insulated Gate Bipolar Transistor）等のスイッチング素子を用いる。 The switching element (FET) is also called a power element, and uses a switching element such as a MOSFET (Metal-Oxide Semiconductor Field-Effect Transistor) and an IGBT (Insulated Gate Bipolar Transistor).
　インバータ回路２３には、電源リレー２７を介して外部バッテリＢＴよりモータ駆動用の電源が供給される。電源リレー２７は、バッテリＢＴからの電力を遮断可能に構成され、半導体リレーで構成することもできる。 (4) The inverter circuit 23 is supplied with power for driving the motor from the external battery BT via the power supply relay 27. The power relay 27 is configured to be able to cut off the power from the battery BT, and may be configured by a semiconductor relay.
　モータ駆動回路としてのインバータ回路２３より電動モータ１５に供給されるモータ駆動電流は、各相に対応して配置した電流センサ（不図示）からなる電流検出部２５で検出される。電流検出部２５は、例えばモータ駆動電流検出用のシャント抵抗に流れる直流電流を、オペアンプ等からなる増幅回路を用いて検出する。 (4) The motor drive current supplied to the electric motor 15 from the inverter circuit 23 as a motor drive circuit is detected by a current detection unit 25 including current sensors (not shown) arranged corresponding to each phase. The current detection unit 25 detects, for example, a DC current flowing through a shunt resistor for detecting a motor drive current using an amplifier circuit including an operational amplifier or the like.
　電流検出部２５からの出力信号（電流検出信号）は、Ａ／Ｄ変換部（ＡＤＣ）４０に入力される。ＡＤＣ４０は、そのＡ／Ｄ変換機能によりアナログ電流値をデジタル値に変換し、３相電流Ｉａ，Ｉｂ，Ｉｃとして座標変換部４２に入力される。座標変換部４２は３相/２相変換機能を有し、回転角センサ５１で検出された回転角度θと３相電流Ｉａ，Ｉｂ，Ｉｃより、ｄ軸上の電流Ｉｄとｑ軸上の電流Ｉｑを演算する。すなわち、座標変換部４２は、実電流よりｄ軸電流とｑ軸電流を演算する。 The output signal (current detection signal) from the current detection unit 25 is input to an A / D conversion unit (ADC) 40. The ADC 40 converts an analog current value into a digital value by its A / D conversion function, and is input to the coordinate conversion unit 42 as three-phase currents Ia, Ib, and Ic. The coordinate conversion unit 42 has a three-phase / two-phase conversion function, and calculates a current Id on the d-axis and a current on the q-axis based on the rotation angle θ detected by the rotation angle sensor 51 and the three-phase currents Ia, Ib, and Ic. Calculate Iq. That is, the coordinate conversion unit 42 calculates the d-axis current and the q-axis current from the actual current.
　電源電流推定部３０は、ｄ軸電流Ｉｄと、ｑ軸電流Ｉｑと、電源電圧Ｖと、モータ回転数と、後述するインピーダンス誤差をもとに電源電流推定ロジック演算式による演算を行うことにより、電源ＢＴからインバータ回路２３へ流れる電源電流推定値を算出する。モータ回転数は、例えば電動モータ１５の回転軸に設けた磁石と、それに対向するＭＲセンサを備える回転角センサ５１から出力される回転角度信号に基づいて、不図示の回転数演算部で回転角度θとともに求める。 The power supply current estimating unit 30 performs a calculation based on a power supply current estimation logic calculation formula based on the d-axis current Id, the q-axis current Iq, the power supply voltage V, the motor speed, and an impedance error described later. An estimated value of the power supply current flowing from the power supply BT to the inverter circuit 23 is calculated. The rotation speed of the motor is calculated by a rotation speed calculation unit (not shown) based on a rotation angle signal output from a rotation angle sensor 51 including a magnet provided on a rotation shaft of the electric motor 15 and an MR sensor opposed thereto, for example. Obtained together with θ.
　オブザーバ制御部３１は、適応オブザーバ（オブザーバモデル）を用いて各相毎のインピーダンス誤差を推定する。すなわち、オブザーバ制御部３１はインピーダンス誤差推定部である。オブザーバ制御部３１では、最初に下記の式（１）に示すように実電流Ｉからなる算出電圧値であるオブザーバ電圧値Ｖｏｂを演算する。 The observer control unit 31 estimates an impedance error for each phase using an adaptive observer (observer model). That is, the observer control unit 31 is an impedance error estimating unit. The observer control unit 31 first calculates an observer voltage value V ob which is a calculated voltage value including the actual current I as shown in the following equation (1).
Figure JPOXMLDOC01-appb-M000001
Figure JPOXMLDOC01-appb-M000001
　式（１）において、Ｒｔｈはモータのインピーダンス、ΔＲｔｈはインピーダンス誤差、Ｌはインダクタンスである。また、ＥＭＦは逆起電力である。 In the formula (1), R th impedance of the motor, [Delta] R th is the impedance error, L is the inductance. EMF is a back electromotive force.
　ここで、電流指令値演算部１２は、指示トルクＴｑから電流指令値（目標電流値）を求め、電流制御部として、ＰＩ制御部１６ａ，１６ｂが、ｄ軸とｑ軸の電流指令値と検出電流値との差分をゼロにするようにｄ軸とｑ軸の電圧指令値を求め、さらに座標変換部１７が、電圧指令値と電動モータ１５の回転角度とからモータ印加電圧Ｖ＊を演算する。オブザーバ制御部３１では、下記の式（２）に示すように、座標変換部１７で演算されたモータ印加電圧Ｖ＊とオブザーバ電圧値Ｖｏｂとの差分をとることで、印加すべき電圧の差分が分かる。 Here, the current command value calculation unit 12 obtains a current command value (target current value) from the command torque Tq, and as the current control unit, the PI control units 16a and 16b detect the current command values of the d axis and the q axis. The d-axis and q-axis voltage command values are determined so that the difference between the current value and the current value becomes zero, and the coordinate conversion unit 17 calculates the motor applied voltage V * from the voltage command value and the rotation angle of the electric motor 15. . The observer control unit 31 obtains the difference between the motor applied voltage V * calculated by the coordinate conversion unit 17 and the observer voltage value Vob , as shown in the following equation (2), thereby obtaining the difference between the voltages to be applied. I understand.
　そこで、式（２）において電圧の差分を実電流Ｉで除することによって、各相毎の電圧の差分をもとに各相毎の抵抗値の差分ΔＲｔｈａ，ΔＲｔｈｂ，ΔＲｔｈｃを演算することができる。 Therefore, computed by dividing the difference between the voltage at the actual current I in equation (2), the difference [Delta] R tha of the resistance value of each phase based on the difference between the voltage of each phase, [Delta] R thb, the [Delta] R thc be able to.
Figure JPOXMLDOC01-appb-M000002
Figure JPOXMLDOC01-appb-M000002
　オブザーバ制御部３１で求めた各相毎の抵抗値誤差（インピーダンス誤差）ΔＲｔｈａ，ΔＲｔｈｂ，ΔＲｔｈｃは、電源電流推定部３０のオフセットゲイン算出部３３に入力される。なお、インピーダンス誤差は、モータの逆モデルより逆算した電流値と実電流値との差分と考えることもできる。 Resistance value error (impedance error) [Delta] R tha of each phase determined by the observer controller 31, ΔR thb, ΔR thc is input to the offset gain calculation section 33 of the power supply current inference section 30. It should be noted that the impedance error can also be considered as a difference between a current value calculated by an inverse model of the motor and an actual current value.
　オフセットゲイン算出部３３は、式（３）により、モータ出力オフセットゲインＧａｉｎ２を算出する。ここでは、相毎のインピーダンス誤差のバラツキを考慮して、一相のインピーダンス誤差を代表値として使用せず、三相のインピーダンス誤差ΔＲｔｈａ，ΔＲｔｈｂ，ΔＲｔｈｃの平均値を使用する。 The offset gain calculation unit 33 calculates the motor output offset gain Gain2 using Expression (3). Here, in consideration of the variation of impedance error of each phase, without using an impedance error of one phase as a representative value, the three-phase impedance error [Delta] R tha, [Delta] R thb, using the average value of [Delta] R thc.
Figure JPOXMLDOC01-appb-M000003
Figure JPOXMLDOC01-appb-M000003
　損出算出部３４は、ｄ軸電流Ｉｄと、ｑ軸電流Ｉｑと、オフセットゲインＧａｉｎ２とから、式（４）によりモータ電力損失αを求める。 The loss calculation unit 34 obtains the motor power loss α from the d-axis current Id, the q-axis current Iq, and the offset gain Gain2 according to equation (4).
Figure JPOXMLDOC01-appb-M000004
Figure JPOXMLDOC01-appb-M000004
　式（４）において、Ｉα ２＝Ｉｄ２＋Ｉｑ２である。 In the formula (4), which is I α 2 = Id 2 + Iq 2.
　一方、電力算出部３５は、下記の式（５）に示すように、回転角センサ５１からの出力である回転角速度ωｍと、式（６）より求められるモータトルクＴとを乗算して、電動モータの消費電力Ｐを求める。 On the other hand, the power calculation unit 35 multiplies the rotation angular velocity ω m output from the rotation angle sensor 51 by the motor torque T obtained from Expression (6), as shown in Expression (5) below. The power consumption P of the electric motor is obtained.
　なお、式（６）において、Ｐｎはモータの極対数、Ψαはｄ軸鎖交磁束である。 In the equation (6), the P n motor pole pairs, is [psi alpha is d-axis flux linkage.
　また、ｄ軸鎖交磁束Ψαは、式（７）で求められる。式（７）中のβは電流位相であって式（８）で表わされ、Ｇａｉｎ１は固定値である。 Also, the d-axis flux linkage [psi alpha, determined by Equation (7). In Expression (7), β is a current phase and is represented by Expression (8), and Gain1 is a fixed value.
Figure JPOXMLDOC01-appb-M000005
Figure JPOXMLDOC01-appb-M000005
　推定電源電流算出部３７は、上記の電動モータ消費電力Ｐ、モータ電力損失α、電源電圧Ｖより、式（９）を第１の算出ロジックに係る演算式として電源電流推定値Ｉｄｃを求める。 The estimated power supply current calculation unit 37 obtains the power supply current estimated value Idc from the electric motor power consumption P, the motor power loss α, and the power supply voltage V, using Equation (9) as an arithmetic expression relating to the first calculation logic.
Figure JPOXMLDOC01-appb-M000006
Figure JPOXMLDOC01-appb-M000006
　モータ制御部１０のトルク制限値演算部１１は、電源電流推定部３０で第１の算出ロジックを使用して求めた電源電流推定値Ｉｄｃを変数（パラメータ）としてトルク制限値を求める。より具体的には、第１の算出ロジックの演算式である式（９）を変形した式（１０）を第２の算出ロジックに係る演算式として、電動モータ１５のトルク制限値を算出する。 (4) The torque limit value calculation unit 11 of the motor control unit 10 obtains a torque limit value using the power supply current estimation value Idc obtained by the power supply current estimation unit 30 using the first calculation logic as a variable (parameter). More specifically, the torque limit value of the electric motor 15 is calculated by using an expression (10) obtained by modifying the expression (9), which is an operation expression of the first calculation logic, as an operation expression relating to the second calculation logic.
Figure JPOXMLDOC01-appb-M000007
Figure JPOXMLDOC01-appb-M000007
　ここで、ＴLimはトルク制限値、ＩｄｃＬｉｍは、電源ＢＴからの持ち出し電流値（制限したい電流値）、ωｍは回転角速度、αはモータ電力損失、Ｖは電源電圧である。 Here, T Lim is a torque limit value, I dcLim is a current value taken out of the power supply BT (current value to be limited), ω m is a rotational angular velocity, α is a motor power loss, and V is a power supply voltage.
　このように、電源電流推定値の算出とトルク制限値の演算に必要な変数であるモータ出力オフセットゲイン、各相対応の抵抗値変動分から逆算して求めた損失電力等から電源電流を推定することで、推定誤差の小さい、高精度の電源電流推定値を得ることができる。そして、電源電流推定値を算出するロジックを変形して、トルク制限値の演算ロジックとして使用することで、トルク制限値の演算を迅速化、簡素化できる。 As described above, the power supply current is estimated from the motor output offset gain, which is a variable necessary for the calculation of the power supply current estimated value and the calculation of the torque limit value, and the loss power obtained by back-calculating the resistance value variation corresponding to each phase. Thus, a highly accurate power supply current estimated value with a small estimation error can be obtained. Then, by modifying the logic for calculating the power supply current estimated value and using it as the torque limit value calculation logic, the calculation of the torque limit value can be speeded up and simplified.
　電流指令値演算部１２は、指示トルクＴｑとトルク制限値制御部１１より出力されたトルク制限値ＴLimをもとに、磁界成分であるｄ軸指令電流Ｉｄ＊と、トルク成分であるｑ軸指令電流Ｉｑ＊を演算する。 Based on the command torque Tq and the torque limit value T Lim output from the torque limit value control unit 11, the current command value calculation unit 12 calculates a d-axis command current Id * as a magnetic field component and a q-axis command current as a torque component. The command current Iq * is calculated.
　減算器１３ａによって、ｑ軸指令電流Ｉｑ＊とｑ軸電流Ｉｑの差分（Ｄｑとする）が演算され、減算器１３ｂによって、ｄ軸指令電流Ｉｄ＊とｄ軸電流Ｉｄの差分（Ｄｄとする）が演算される。そして、ＤｑはＰＩ制御部１６ａに入力され、ＤｄはＰＩ制御部１６ｂに入力される。 The subtractor 13a calculates the difference (Dq) between the q-axis command current Iq * and the q-axis current Iq, and the subtractor 13b calculates the difference (Dd) between the d-axis command current Id * and the d-axis current Id. Is calculated. Then, Dq is input to the PI control unit 16a, and Dd is input to the PI control unit 16b.
　ＰＩ制御部１６ａは、Ｄｑをゼロに収束させるようにＰＩ（比例＋積分）制御を行って、ｑ軸電圧の指令値であるｑ軸電圧指令値Ｖｑ＊を算出する。同様に、ＰＩ制御部１６ｂは、Ｄｄをゼロに収束させるようにＰＩ（比例＋積分）制御を行うことで、ｄ軸電圧の指令値であるｄ軸電圧指令値Ｖｄ＊を算出する。 The PI control unit 16a performs PI (proportional + integral) control so that Dq converges to zero, and calculates a q-axis voltage command value Vq * that is a q-axis voltage command value. Similarly, the PI control unit 16b calculates a d-axis voltage command value Vd * , which is a d-axis voltage command value, by performing PI (proportional + integral) control so that Dd converges to zero.
　ｑ軸電圧指令値Ｖｑ＊とｄ軸電圧指令値Ｖｄ＊は、２相/３相変換機能を有する座標変換部１７に入力される。座標変換部１７は、回転角度θに基づいて、Ｖｑ＊、Ｖｄ＊を３相の各相毎の電圧指令値である電圧指令値Ｖａ＊、Ｖｂ＊、Ｖｃ＊に変換する。変換後の電圧指令値Ｖａ＊、Ｖｂ＊、Ｖｃ＊は、ＰＷＭ信号生成部２１に入力される。 The q-axis voltage command value Vq * and the d-axis voltage command value Vd * are input to a coordinate conversion unit 17 having a two-phase / three-phase conversion function. The coordinate conversion unit 17 converts Vq * , Vd * into voltage command values Va * , Vb * , Vc * , which are voltage command values for each of the three phases, based on the rotation angle θ. The converted voltage command values Va * , Vb * , Vc * are input to the PWM signal generation unit 21.
　なお、オブザーバ制御部３１、電源電流推定部３０、トルク制限値演算部１１等は、後述する電源電流推定、およびトルク制限を行う制御プログラム（ソフトウェア）によって動作する単一のマイクロプロセッサで構成してもよい。 The observer control unit 31, the power supply current estimation unit 30, the torque limit value calculation unit 11, and the like are configured by a single microprocessor that operates by a control program (software) for performing power supply current estimation and torque limitation, which will be described later. Is also good.
　次に、本実施形態に係るモータ制御装置における電動モータの駆動・制御方法について説明する。 Next, a method of driving and controlling the electric motor in the motor control device according to the present embodiment will be described.
　電源から電動モータへ流れる電流値が上限値（閾値）を越えたかどうかは、例えば、電流センサ等を用いて電流値の変化を監視することで判断できるが、本実施形態では、電動モータにおけるエネルギの平衡関係から推定する。具体的には、電源から電動モータに供給されるエネルギ、仕事量（発生トルクと回転速度との積）、摩擦、抵抗等による損失をもとに電流を推定する。そして、この電流推定値からトルクの上限（トルク制限値）を求める。 Whether the value of the current flowing from the power supply to the electric motor exceeds the upper limit (threshold) can be determined, for example, by monitoring a change in the current value using a current sensor or the like. From the equilibrium relationship of Specifically, the current is estimated on the basis of energy supplied from the power supply to the electric motor, work (product of generated torque and rotation speed), friction, resistance, and the like. Then, an upper limit of the torque (torque limit value) is obtained from the estimated current value.
　最初に本実施形態に係るモータ制御装置における電源電流の推定値算出方法について説明する。図２は、電源電流の推定処理手順を示すフローチャートである。 First, a method of calculating the estimated value of the power supply current in the motor control device according to the present embodiment will be described. FIG. 2 is a flowchart illustrating a procedure for estimating the power supply current.
　図２のステップＳ１１においてオブザーバ制御部３１は、３相の各相に対応した実電流とモータ印加電圧よりインピーダンス誤差を推定する。ここでは、上述したように適応オブザーバを用いて、環境温度に対応した各相毎のインピーダンス誤差を推定する。 {Circle around (2)} In step S11 in FIG. 2, the observer control unit 31 estimates an impedance error from the actual current and the motor applied voltage corresponding to each of the three phases. Here, the impedance error of each phase corresponding to the environmental temperature is estimated using the adaptive observer as described above.
　次にステップＳ１３において、電源電流推定部３０のオフセットゲイン算出部３３は、各相のインピーダンス誤差の平均値等よりモータ出力オフセットゲインＧａｉｎ２を求める。続くステップＳ１５において、損失算出部３４は、上記のモータ出力オフセットゲインＧａｉｎ２と、電動モータに流れる実電流より演算したｄ軸電流およびｑ軸電流とに基づいてモータ電力損失αを算出する。そして、電力算出部３５は、ステップＳ１７で、電動モータの消費電力Ｐを算出する。 Next, in step S13, the offset gain calculator 33 of the power supply current estimator 30 obtains the motor output offset gain Gain2 from the average value of the impedance error of each phase and the like. In the following step S15, the loss calculator 34 calculates the motor power loss α based on the motor output offset gain Gain2 and the d-axis current and the q-axis current calculated from the actual current flowing through the electric motor. Then, the power calculator 35 calculates the power consumption P of the electric motor in step S17.
　ステップＳ１９において、推定電源電流算出部３７は、上記のステップで算出した電力損失α、消費電力Ｐ、および電源の電源電圧Ｖをもとに、上述した第１の算出ロジックとしての式（９）によって、電源から電動モータへ供給される電源電流の推定値Ｉｄｃを算出する。 In step S19, the estimated power supply current calculator 37 calculates the above-described equation (9) as the first calculation logic based on the power loss α, the power consumption P, and the power supply voltage V of the power supply calculated in the above steps. With this, the estimated value Idc of the power supply current supplied from the power supply to the electric motor is calculated.
　次に、本実施形態に係るモータ制御装置におけるトルク制御方法について説明する。図３は、トルク制御の処理手順を示すフローチャートである。 Next, a torque control method in the motor control device according to the present embodiment will be described. FIG. 3 is a flowchart illustrating a processing procedure of the torque control.
　図３のステップＳ２１では、図２に示す電源電流の推定処理で得た電源電流の推定値Ｉｄｃが所定の上限値を超えているか否かを判断する。電源電流推定値Ｉｄｃが所定の上限値を超えた場合、ステップＳ２３において、その上限値を、電源ＢＴから電動モータ１５へ流れる電流の制限値（持ち出し電流値）ＩｄｃＬｉｍとして設定する。 In step S21 in FIG. 3, it is determined whether or not the estimated value Idc of the power supply current obtained in the power supply current estimation processing shown in FIG. 2 exceeds a predetermined upper limit. When the power supply current estimated value Idc exceeds the predetermined upper limit value, the upper limit value is set as a limit value (takeout current value) IdcLim of the current flowing from the power supply BT to the electric motor 15 in step S23.
　続くステップＳ２５で、上述した第２の算出ロジックとしての式（１０）を使用して、電動モータ１５のトルク制限値ＴLimを算出する。 In the following step S25, the torque limit value T Lim of the electric motor 15 is calculated using the above-described equation (10) as the second calculation logic.
　ステップＳ２７では、上記のトルク制限値ＴLimに基づいて電流指令値を算出し、さらに、その電流指令値に基づいて電動モータ１５の駆動信号（ＰＷＭ信号）を生成する。その結果、電動モータ１５に加わる負荷に変動があっても、電源ＢＴから電動モータ１５へ持ち出される電流の上限値が制限され、電源ＢＴへの負荷を調整・抑制できる。 In step S27, a current command value is calculated based on the torque limit value T Lim, and a drive signal (PWM signal) for the electric motor 15 is generated based on the current command value. As a result, even if the load applied to the electric motor 15 fluctuates, the upper limit value of the current taken out from the power supply BT to the electric motor 15 is limited, and the load on the power supply BT can be adjusted and suppressed.
　ここでは、上記の式（９）、式（１０）等で示すように、抵抗値の誤差から電力を逆算し、その結果をもとにトルクの制限値を求めている。すなわち、設定された制限電流ＩｄｃＬｉｍによって直ちに指示トルクが制限され、電動モータ１５には制限電流以上の電流が供給されない制御が行われる。 Here, as shown in the above equations (9) and (10), the power is calculated backward from the error of the resistance value, and the torque limit value is obtained based on the result. That is, the command torque is immediately limited by the set limit current IdcLim , and control is performed such that a current higher than the limit current is not supplied to the electric motor 15.
　次に、本実施形態に係るモータ制御装置における電流制限処理とその効果について説明する。図４Ａ～図４Ｆは、電源ＢＴから電動モータへの持ち出し電流を制限するために、上述した電源電流の推定を行った場合の推定値と、実際の電流の実測値と、推定値と実測値との誤差を示している。 Next, the current limiting process and its effect in the motor control device according to the present embodiment will be described. FIGS. 4A to 4F show estimated values obtained when the above-described power supply current is estimated, actual measured values of actual currents, and estimated and actual measured values in order to limit the current taken out from the power supply BT to the electric motor. This shows the error with respect to FIG.
　図４Ａ～図４Ｆにおいて、縦軸は電流[Ａ]／誤差[Ａ]であり、横軸は時間[秒]である。 4A to 4F, the vertical axis represents current [A] / error [A], and the horizontal axis represents time [seconds].
　図４Ａ～図４Ｃは条件１、すなわち、トルク指示が２［Ｎｍ］、モータ回転数が５００［ｒｐｍ］、電源電圧が１３．５［Ｖ］で、環境温度を２５℃、－４０℃、および１２０℃に変動させた場合における、電源電流の推定値と実測値との誤差を示す。 4A to 4C show the condition 1, that is, the torque instruction is 2 [Nm], the motor speed is 500 [rpm], the power supply voltage is 13.5 [V], the environmental temperature is 25 ° C., −40 ° C., and The error between the estimated value of the power supply current and the actually measured value when the temperature is changed to 120 ° C. is shown.
　図４Ｄ～図４Ｆは条件２、すなわち、トルク指示が２［Ｎｍ］、モータ回転数が１５００［ｒｐｍ］、電源電圧が１３．５［Ｖ］で、環境温度を２５℃、－４０℃、および１２０℃にそれぞれ変動させた場合における、電源電流の推定値と実測値との誤差を示す。 4D to 4F show the condition 2, that is, the torque instruction is 2 [Nm], the motor speed is 1500 [rpm], the power supply voltage is 13.5 [V], the environmental temperature is 25 ° C., −40 ° C., and The error between the estimated value of the power supply current and the actually measured value when the temperature is changed to 120 ° C. is shown.
　図４Ａ～図４Ｆから明らかなように、条件１および条件２において、温度を変化させた場合であっても、実測値と推定値との誤差は数アンペア、例えば±３Ａ以下となることが分かる。 As is clear from FIGS. 4A to 4F, even when the temperature is changed under the conditions 1 and 2, the error between the measured value and the estimated value is several amperes, for example, ± 3 A or less. .
　図５Ａ～図５Ｃは条件３、すなわち、回転数を０～１５００ｒｐｍに変化させ、電圧条件（電源電圧）をそれぞれ９［Ｖ］、１３．５［Ｖ］、１６．５［Ｖ］とした場合における電源電流の推定値と実測値との比較結果を示す。 5A to 5C show the condition 3, that is, the case where the rotation speed is changed from 0 to 1500 rpm and the voltage conditions (power supply voltage) are 9 [V], 13.5 [V], and 16.5 [V], respectively. 7 shows the comparison result between the estimated value of the power supply current and the actually measured value.
　図５Ａ～図５Ｃにおいて、縦軸は電流[Ａ]、横軸は機械角速度（モータ回転数）[ｒｐｍ]である。なお、条件３では、環境温度を常温とした。 5A to 5C, the vertical axis represents current [A], and the horizontal axis represents mechanical angular velocity (motor rotation speed) [rpm]. In the condition 3, the ambient temperature was normal temperature.
　図５Ａ～図５Ｃより、回転数および電源電圧を変化させた場合であっても、実測値と推定値との誤差は数アンペア（例えば±３Ａ以下）となっていることが分かる。 5A to 5C that the error between the measured value and the estimated value is several amperes (for example, ± 3 A or less) even when the rotation speed and the power supply voltage are changed.
　図６Ａ～図６Ｃは、トルク指示を２［Ｎｍ］、モータ回転数を１５００［ｒｐｍ］、電源電圧を１３．５［Ｖ］とし、環境温度を２５℃、－４０℃、および１２０℃にそれぞれ変動させた場合の電源電流制限の結果を示す。ここでは、制限をかけた際の電源電流の上限値を２０Ａに設定した。 6A to 6C show the case where the torque instruction is 2 [Nm], the motor speed is 1500 [rpm], the power supply voltage is 13.5 [V], and the environmental temperature is 25 ° C., −40 ° C., and 120 ° C., respectively. The result of the power supply current limitation when it is varied is shown. Here, the upper limit value of the power supply current when the restriction is applied is set to 20A.
　図６Ａ～図６Ｃから分かるように、電源電流制限がある場合（すなわち、電源の保護がある場合）には、電源電流の上限を設定した閾値（例えば２０Ａ）以下に抑えることができる。その結果、このような電源電流制限により、電源電圧への負荷を抑えることができる。 6A to 6C, when there is a power supply current limit (that is, when there is power supply protection), the upper limit of the power supply current can be suppressed to a set threshold value (for example, 20 A) or less. As a result, the load on the power supply voltage can be suppressed by such power supply current limitation.
　本実施形態に係るモータ制御装置は、例えば、電動パワーステアリング装置、電動ポンプ、洗濯機等の家電用途、各種車載用途等、様々な用途に使用できる。 The motor control device according to the present embodiment can be used for various purposes such as electric power steering devices, electric pumps, home electric appliances such as washing machines, and various in-vehicle applications.
　図７は、本実施形態に係るモータ制御装置を搭載した電動パワーステアリング装置の概略構成である。図７の電動パワーステアリング装置１００は、電子制御ユニット(Electronic Control Unit: ECU)としてのモータ制御装置１、操舵部材であるステアリングハンドル１０２、ステアリングハンドル１０２に接続された回転軸１０３、ピニオンギア１０６、ラック軸１０７等を備える。 FIG. 7 is a schematic configuration of an electric power steering device equipped with the motor control device according to the present embodiment. The electric power steering device 100 shown in FIG. 7 includes a motor control device 1 as an electronic control unit (Electronic Control Unit: ECU), a steering handle 102 as a steering member, a rotating shaft 103 connected to the steering handle 102, a pinion gear 106, A rack shaft 107 and the like are provided.
　回転軸１０３は、その先端に設けられたピニオンギア１０６に噛み合っている。ピニオンギア１０６により、回転軸１０３の回転運動がラック軸１０７の直線運動に変換され、ラック軸１０７の変位量に応じた角度に、そのラック軸１０７の両端に設けられた一対の車輪１０５ａ，１０５ｂが操舵される。 The rotating shaft 103 is engaged with a pinion gear 106 provided at the tip thereof. The rotation of the rotation shaft 103 is converted into a linear movement of the rack shaft 107 by the pinion gear 106, and a pair of wheels 105 a and 105 b provided at both ends of the rack shaft 107 at an angle corresponding to the amount of displacement of the rack shaft 107. Is steered.
　回転軸１０３には、ステアリングハンドル１０２が操作された際の操舵トルクを検出するトルクセンサ１０９が設けられており、検出された操舵トルクはモータ制御装置１へ送られる。モータ制御装置１は、トルクセンサ１０９より取得した操舵トルク、車速センサ（不図示）からの車速等の信号に基づくモータ駆動信号を生成し、その信号を電動モータ１５に出力する。 ト ル ク The rotating shaft 103 is provided with a torque sensor 109 for detecting a steering torque when the steering handle 102 is operated, and the detected steering torque is sent to the motor control device 1. The motor control device 1 generates a motor drive signal based on signals such as the steering torque acquired from the torque sensor 109 and the vehicle speed from a vehicle speed sensor (not shown), and outputs the signal to the electric motor 15.
　モータ駆動信号が入力された電動モータ１５からは、ステアリングハンドル１０２の操舵を補助するための補助トルクが出力され、その補助トルクが減速ギア１０４を介して回転軸１０３に伝達される。その結果、電動モータ１５で発生したトルクによって回転軸１０３の回転がアシストされることで、運転者のハンドル操作を補助する。 補助 Auxiliary torque for assisting the steering of the steering handle 102 is output from the electric motor 15 to which the motor drive signal is input, and the auxiliary torque is transmitted to the rotating shaft 103 via the reduction gear 104. As a result, the rotation of the rotating shaft 103 is assisted by the torque generated by the electric motor 15, thereby assisting the driver in operating the steering wheel.
　このように電動パワーステアリング用のモータ制御装置において、電動モータに加わる負荷が変動しても、電源から電動モータへ供給される電流の上限値を制限でき、電源への負荷を調整・抑制できる。 As described above, in the motor control device for electric power steering, even if the load applied to the electric motor fluctuates, the upper limit value of the current supplied from the power supply to the electric motor can be limited, and the load on the power supply can be adjusted and suppressed.
　本実施形態に係るモータ制御装置を、例えば、液体を吸入部から吸入して吐出部から外部へ吐出するポンプ駆動用の電動モータの駆動制御装置として使用した場合、上記の電動パワーステアリング装置と同様、電動モータに加わる負荷が変動しても、電源から電動モータへ供給される電流の上限値を制限でき、電源への負荷を調整・抑制できる。 When the motor control device according to the present embodiment is used as, for example, a drive control device of an electric motor for driving a pump that sucks a liquid from a suction portion and discharges the liquid from a discharge portion to the outside, the same as the above-described electric power steering device Even if the load applied to the electric motor fluctuates, the upper limit of the current supplied from the power supply to the electric motor can be limited, and the load on the power supply can be adjusted and suppressed.
　以上説明したように本実施形態に係るモータ制御装置は、第１の算出ロジックによって、電源からインバータ回路へ供給される電源電流の推定値を算出し、その電源電流推定値を変数（パラメータ）とする第２の算出ロジックによって求めたトルク制限値をもとに電流指令値を算出する。そして、その電流指令値を変換して得た相電圧指令値により電動モータの駆動信号を生成する。 As described above, the motor control device according to the present embodiment calculates the estimated value of the power supply current supplied from the power supply to the inverter circuit by the first calculation logic, and uses the estimated power supply current value as a variable (parameter). The current command value is calculated based on the torque limit value obtained by the second calculation logic. Then, a drive signal for the electric motor is generated based on the phase voltage command value obtained by converting the current command value.
　こうすることで、トルク制限値をもとに電動モータの出力トルクを制限して、電源から電動モータへ流れる電流に対して制限をかけることができる。その結果、電動モータに加わる負荷に変動があっても、電源から電動モータへ持ち出される電流の上限値を制限でき、電源への負荷を調整・抑制できる。 Thus, the output torque of the electric motor can be limited based on the torque limit value, and the current flowing from the power supply to the electric motor can be limited. As a result, even if the load applied to the electric motor fluctuates, the upper limit of the current taken from the power supply to the electric motor can be limited, and the load on the power supply can be adjusted and suppressed.
　さらには、電源電流推定値の精度を上げて、電源電流推定値と実電流値との誤差を最小化できる。よって、電源電流制限により電源を保護できるとともに、環境温度が変化しても、電源電流を、目標とする推定誤差内に収めることができる。 Furthermore, the accuracy of the estimated value of the power supply current can be increased to minimize the error between the estimated value of the power supply current and the actual current value. Therefore, the power supply can be protected by the power supply current limitation, and even if the environmental temperature changes, the power supply current can be kept within the target estimation error.
　また、電源電流推定値を算出する際、適応オブザーバを用いて、環境温度によって変動する各相毎のインピーダンス誤差を推定することで、温度センサ等を追加することなく、多相（３相）の電動モータの各相におけるインピーダンス誤差（インピーダンス変動）を容易、かつ高精度に推定できる。 In addition, when calculating the estimated value of the power supply current, the adaptive observer is used to estimate the impedance error of each phase that fluctuates depending on the environmental temperature. An impedance error (impedance fluctuation) in each phase of the electric motor can be easily and accurately estimated.
　本発明の実施形態は上述した例に限定されず、適宜変更可能である。例えば、電動モータに負荷が加わった場合、その負荷の調整を行うための電流・電圧等の指令に対して優先順位をつけ、その優先順位に基づいて制御を行うようにしてもよい。 The embodiment of the present invention is not limited to the above-described example, and can be appropriately changed. For example, when a load is applied to the electric motor, priorities may be assigned to commands such as current and voltage for adjusting the load, and control may be performed based on the priorities.
　この場合、電動モータの出力（トルク）に対して影響の小さい（すなわち、優先順位が低い）負荷に対する調整のために電流指令値を与える際、その電流指令値に対して上限値を設定し、電動モータの出力であるトルクも、あらかじめ設定する上限値を超えないように制限をかけることができる。 In this case, when giving a current command value for adjustment to a load having a small effect on the output (torque) of the electric motor (that is, a low priority order), an upper limit value is set for the current command value, The torque, which is the output of the electric motor, can also be restricted so as not to exceed a preset upper limit.
１　モータ制御装置
１０　モータ制御部
１１　トルク制限値演算部
１２　電流指令値演算部
１５　電動モータ
１６ａ，１６ｂ　ＰＩ制御部
１７，４２　座標変換部
２１　ＰＷＭ信号生成部
２３　インバータ回路
２５　電流検出部
２７　電源リレー
３０　電源電流推定部
３１　オブザーバ制御部
３３　オフセットゲイン算出部
３４　損出算出部
３５　電力算出部
３７　推定電源電流算出部
４０　Ａ／Ｄ変換部（ＡＤＣ）
５１　回転角センサ
１０２　ステアリングハンドル
１０３　回転軸
１０４　減速ギア
１０６　ピニオンギア
１０７　ラック軸
１０９　トルクセンサ
ＢＴ　外部バッテリ

  REFERENCE SIGNS LIST 1 motor control device 10 motor control unit 11 torque limit value calculation unit 12 current command value calculation unit 15 electric motors 16a, 16b PI control unit 17, 42 coordinate conversion unit 21 PWM signal generation unit 23 inverter circuit 25 current detection unit 27 power supply relay Reference Signs List 30 power supply current estimator 31 observer controller 33 offset gain calculator 34 loss calculator 35 power calculator 37 estimated power supply current calculator 40 A / D converter (ADC)
51 Rotation angle sensor 102 Steering handle 103 Rotation shaft 104 Reduction gear 106 Pinion gear 107 Rack shaft 109 Torque sensor BT External battery

Claims (12)

  1. 　３相以上の多相の電動モータを駆動するモータ制御装置であって、
    　電源からの電力を前記電動モータに供給するインバータと、
    　前記電動モータに流れる実電流を座標変換することによりｄ軸電流およびｑ軸電流を算出する手段と、
    　前記電動モータの回転軸の角度を検出する回転角センサからの出力に基づきモータ回転数を算出する手段と、
    　前記多相の各相に対応した実電流値とモータ印加電圧値よりインピーダンス誤差を推定するインピーダンス誤差推定部と、
    　前記ｄ軸電流と、前記ｑ軸電流と、前記電源の電源電圧と、前記モータ回転数と、前記インピーダンス誤差とを入力とする第１の算出ロジックにより、前記電源から前記インバータへの電源電流推定値を算出する電源電流推定部と、
    　前記電源電流推定値を変数とする第２の算出ロジックにより前記電動モータのトルク制限値を演算するトルク制限値演算部と、
    　前記トルク制限値に基づいて電流指令値を算出する電流指令値算出部と、
    　前記電流指令値に基づいて前記電動モータの駆動信号を生成する駆動信号生成部と、を備えるモータ制御装置。     A motor control device for driving a multi-phase electric motor of three or more phases,
    An inverter that supplies power from a power supply to the electric motor;
    Means for calculating a d-axis current and a q-axis current by performing coordinate conversion on an actual current flowing through the electric motor;
    Means for calculating a motor rotation speed based on an output from a rotation angle sensor that detects an angle of a rotation axis of the electric motor,
    An impedance error estimating unit that estimates an impedance error from an actual current value and a motor applied voltage value corresponding to each of the polyphases,
    Estimating a power supply current from the power supply to the inverter by a first calculation logic that inputs the d-axis current, the q-axis current, the power supply voltage of the power supply, the motor rotation speed, and the impedance error. A power supply current estimator for calculating a value,
    A torque limit value calculation unit that calculates a torque limit value of the electric motor by a second calculation logic that uses the power supply current estimated value as a variable;
    A current command value calculation unit that calculates a current command value based on the torque limit value,
    A drive signal generation unit that generates a drive signal for the electric motor based on the current command value.
  2. 　前記トルク制限値は前記電動モータの出力トルクの上限値であり、前記トルク制限値演算部は、前記電源電流推定値に基づいて設定した電源電流の上限値をもとに前記トルク制限値を演算する請求項１に記載のモータ制御装置。 The torque limit value is an upper limit value of an output torque of the electric motor, and the torque limit value calculation unit calculates the torque limit value based on a power supply current upper limit value set based on the power supply current estimation value. The motor control device according to claim 1.
  3. 　前記トルク制限値を演算する前記第２の算出ロジックは、あらかじめ設定した電源電流の制限値と前記電源電圧との積から所定の損失電力を減じて求めた電力値を、前記モータ回転角速度で除する算出ロジックである請求項１に記載のモータ制御装置。 The second calculation logic for calculating the torque limit value divides a power value obtained by subtracting a predetermined loss power from a product of a preset power supply current limit value and the power supply voltage by the motor rotation angular velocity. The motor control device according to claim 1, wherein the control logic is a calculation logic that performs the calculation.
  4. 　前記第１の算出ロジックと前記第２の算出ロジックは入力を共通にし、該第１の算出ロジックに係る演算式を変形した該第２の算出ロジックに係る演算式を使用して前記トルク制限値を演算する請求項３に記載のモータ制御装置。 The first calculation logic and the second calculation logic have a common input, and the torque limit value is calculated using an arithmetic expression related to the second calculation logic obtained by modifying an arithmetic expression related to the first calculation logic. The motor control device according to claim 3, which calculates
  5. 　前記電源電流推定部は、
    　前記各相のインピーダンス誤差の平均値をもとにモータ出力オフセットゲインを求めるゲイン算出部を有し、
    　前記モータ出力オフセットゲインと、前記ｄ軸電流と、前記ｑ軸電流とに基づいて前記損失電力を算出する請求項３に記載のモータ制御装置。     The power supply current estimator,
    A gain calculator for calculating a motor output offset gain based on an average value of the impedance errors of the respective phases,
    4. The motor control device according to claim 3, wherein the loss power is calculated based on the motor output offset gain, the d-axis current, and the q-axis current. 5.
  6. 　前記インピーダンス誤差推定部は、少なくとも前記電動モータの各相の実電流値と、前記電動モータの各相の印加電圧とを入力とする適応オブザーバを用いて、環境温度によって変動する前記各相毎のインピーダンス誤差を推定する請求項１に記載のモータ制御装置。 The impedance error estimating unit uses an adaptive observer that receives at least an actual current value of each phase of the electric motor and an applied voltage of each phase of the electric motor, and for each of the phases that fluctuates depending on an environmental temperature. The motor control device according to claim 1, wherein the impedance error is estimated.
  7. 　車両等の運転者のハンドル操作をアシストする電動パワーステアリング装置であって、
    　前記運転者の操舵を補助する電動モータと、
    　請求項１～６のいずれか１項に記載のモータ制御装置により前記電動モータを駆動制御する手段と、を備えることを特徴とする電動パワーステアリング用モータ制御装置。     An electric power steering device that assists a driver to operate a steering wheel of a vehicle or the like,
    An electric motor to assist the driver in steering,
    A motor control device for electric power steering, comprising: means for controlling the drive of the electric motor by the motor control device according to any one of claims 1 to 6.
  8. 　請求項７に記載の電動パワーステアリング用モータ制御装置を備えたことを特徴とする電動パワーステアリングシステム。 An electric power steering system comprising the motor control device for electric power steering according to claim 7.
  9. 　液体を吸入部から吸入して吐出部から外部へ吐出するポンプ駆動用の電動モータと、
    　請求項１～６のいずれか１項に記載のモータ制御装置により前記電動モータを駆動制御する手段と、を備えることを特徴とする電動ポンプ用モータ制御装置。     An electric motor for driving a pump for sucking liquid from the suction part and discharging the liquid from the discharge part to the outside,
    A motor control device for an electric pump, comprising: means for controlling the drive of the electric motor by the motor control device according to any one of claims 1 to 6.
  10. 　３相以上の多相の電動モータを駆動するモータ制御方法であって、
    　前記多相の各相に対応した実電流とモータ印加電圧よりインピーダンス誤差を推定する工程と、
    　前記電動モータに流れる実電流より演算したｄ軸電流およびｑ軸電流と、電源の電源電圧と、前記電動モータのモータ回転数と、前記インピーダンス誤差とに基づいて、前記電源から前記電動モータへ供給される電源電流の推定値を算出する工程と、
    　前記各相のインピーダンス誤差の平均値より求めたモータ出力オフセットゲインと、前記ｄ軸電流と、前記ｑ軸電流とに基づいて損失電力を算出する工程と、
    　前記電源電流の推定値が所定の上限値を超えた場合、その上限値を前記電源から前記電動モータへの電流制限値として該電動モータのトルク制限値を演算する工程と、
    　前記トルク制限値に基づいて電流指令値を算出する工程と、
    　前記電流指令値に基づいて前記電動モータの駆動信号を生成する工程と、を備えるモータ制御方法。     A motor control method for driving a multi-phase electric motor of three or more phases,
    Estimating an impedance error from an actual current and a motor applied voltage corresponding to each of the polyphases,
    The electric power is supplied from the power supply to the electric motor based on the d-axis current and the q-axis current calculated from the actual current flowing in the electric motor, the power supply voltage of the power supply, the motor rotation speed of the electric motor, and the impedance error. Calculating an estimated value of the power supply current to be performed;
    Calculating a power loss based on the motor output offset gain obtained from an average value of the impedance errors of the respective phases, the d-axis current, and the q-axis current;
    When the estimated value of the power supply current exceeds a predetermined upper limit, calculating the torque limit value of the electric motor using the upper limit as a current limit value from the power supply to the electric motor,
    Calculating a current command value based on the torque limit value;
    Generating a drive signal for the electric motor based on the current command value.
  11. 　前記トルク制限値の演算工程は、前記電流制限値と前記電源の電圧との積から前記損失電力を減じて求めた電力値を、前記モータ回転数より演算したモータ回転角速度で除することで該トルク制限値を演算する請求項１０に記載のモータ制御方法。 The torque limit value calculating step is performed by dividing a power value obtained by subtracting the loss power from a product of the current limit value and the voltage of the power supply by a motor rotation angular speed calculated from the motor rotation speed. The motor control method according to claim 10, wherein a torque limit value is calculated.
  12. 　少なくとも前記電動モータの各相の実電流値と、前記電動モータの各相の印加電圧とを入力とする適応オブザーバを用いて環境温度によって変動する前記各相毎のインピーダンス誤差を推定する請求項１０に記載のモータ制御方法。


          11. An impedance error for each phase, which fluctuates depending on environmental temperature, is estimated using an adaptive observer that receives at least an actual current value of each phase of the electric motor and an applied voltage of each phase of the electric motor. 3. The motor control method according to 1.


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KR20220086266A (en) * 2020-12-16 2022-06-23 현대모비스 주식회사 Apparatus for estimating angular velocity of dc motor in motor driven power steering system and method thereof
JP7501441B2 (en) 2021-05-10 2024-06-18 株式会社明電舎 Motor cooling device and method for controlling the motor cooling device

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JP2017103918A (en) * 2015-12-02 2017-06-08 三菱電機株式会社 Control device for rotary electric machine and control method thereof

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20220086266A (en) * 2020-12-16 2022-06-23 현대모비스 주식회사 Apparatus for estimating angular velocity of dc motor in motor driven power steering system and method thereof
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JP7501441B2 (en) 2021-05-10 2024-06-18 株式会社明電舎 Motor cooling device and method for controlling the motor cooling device

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