WO2020066184A1 - Driving control device, driving device, and power steering device - Google Patents

Driving control device, driving device, and power steering device Download PDF

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Publication number
WO2020066184A1
WO2020066184A1 PCT/JP2019/025352 JP2019025352W WO2020066184A1 WO 2020066184 A1 WO2020066184 A1 WO 2020066184A1 JP 2019025352 W JP2019025352 W JP 2019025352W WO 2020066184 A1 WO2020066184 A1 WO 2020066184A1
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WO
WIPO (PCT)
Prior art keywords
motor
inverter
drive control
control device
temperature
Prior art date
Application number
PCT/JP2019/025352
Other languages
French (fr)
Japanese (ja)
Inventor
知幸 ▲高▼田
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日本電産株式会社
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Publication date
Application filed by 日本電産株式会社 filed Critical 日本電産株式会社
Priority to JP2020547994A priority Critical patent/JPWO2020066184A1/en
Publication of WO2020066184A1 publication Critical patent/WO2020066184A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • 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
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
    • H02P25/22—Multiple windings; Windings for more than three phases
    • 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
    • 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
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/60—Controlling or determining the temperature of the motor or of the drive
    • H02P29/68—Controlling or determining the temperature of the motor or of the drive based on the temperature of a drive component or a semiconductor component

Definitions

  • the present invention relates to a drive control device, a drive device, and a power steering device.
  • Patent Document 1 discloses a structure in which overheating is suppressed by distributing an output to each system according to system temperature in a two-system configuration including two inverters.
  • an object of the present invention is to suppress a decrease in output of a motor while suppressing overheating of an inverter when only one system is driven.
  • One aspect of the drive control device is a drive control device that controls driving of a motor, wherein at least two inverters each of which supplies power to the motor and both the two inverters are operated to operate the motor. And a control unit that selectively executes a second drive control that drives one of the two inverters and drives the motor by operating one of the two inverters.
  • the operation of the one inverter uses the first operation method in the first temperature state, and the second temperature in which heat radiation from the one inverter to the other inverter is smaller than that in the first temperature state. In the state, the second operation mode that generates less heat than the first operation mode is used.
  • one mode of the driving device includes the driving control device and a motor whose driving is controlled by the driving control device.
  • One embodiment of a power steering device includes the drive control device, a motor whose drive is controlled by the drive control device, and a power steering mechanism driven by the motor.
  • FIG. 1 is an exploded perspective view of the motor drive unit according to the present embodiment.
  • FIG. 2 is a diagram schematically illustrating a block configuration of one system of the motor drive unit.
  • FIG. 3 is a diagram illustrating an example of a voltage waveform supplied from the inverter 100 to the motor 200.
  • FIG. 4 is a diagram schematically showing a heat distribution when driving by two systems.
  • FIG. 5 is a diagram schematically showing a heat distribution in the case of driving by one system.
  • FIG. 6 is a flowchart illustrating the drive control according to the present embodiment.
  • FIG. 7 is a diagram schematically showing a heat distribution when room for heat radiation is reduced by driving one system.
  • FIG. 8 is a diagram illustrating a control change in the first specific example of the temperature condition.
  • FIG. 1 is an exploded perspective view of the motor drive unit according to the present embodiment.
  • FIG. 2 is a diagram schematically illustrating a block configuration of one system of the motor drive unit.
  • FIG. 3 is
  • FIG. 9 is a diagram illustrating an example of a rise rate of the measured temperature.
  • FIG. 10 is a diagram illustrating a first specific example of the “driving method with low heat generation”.
  • FIG. 11 is a diagram illustrating a second specific example of the “driving method with low heat generation”.
  • FIG. 12 is a diagram illustrating a third specific example of the “driving method with low heat generation”.
  • FIG. 13 is a diagram illustrating a fourth specific example of the “driving method with low heat generation”.
  • FIG. 14 is a diagram illustrating a fifth specific example of the “driving method with low heat generation”.
  • FIG. 15 is a diagram schematically illustrating the configuration of the power steering device according to the present embodiment.
  • FIG. 1 is an exploded perspective view of a motor drive unit 1000 according to the present embodiment.
  • the motor drive unit 1000 includes a motor 200, a heat sink 1001, a power board 1002, a control board 1003, and a cover 1004.
  • the motor 200 includes two systems of three-phase (U-phase, V-phase, and W-phase) coils independently of each other.
  • the heat sink 1001 is formed integrally with a bearing holder of the motor 200.
  • the control board 1003 is provided with two drive control circuits 300 for controlling the two inverters 100, respectively.
  • the cover 1004 covers the power board 1002 and the control board 1003, and is fixed to the heat sink 1001 and the motor 200.
  • the motor drive unit 1000 is assembled as a so-called electromechanical integrated motor.
  • FIG. 2 is a diagram schematically showing a block configuration of one system of the motor drive unit 1000.
  • the motor drive unit 1000 includes an inverter 100, a control circuit 310, and a drive circuit 320 for each system.
  • the control circuit 310 and the drive circuit 320 are included in the drive control circuit 300 described above.
  • the motor 200 is, for example, a three-phase AC motor, and includes U-phase, V-phase, and W-phase coils 210, 220, and 230 for each system.
  • the winding method of the coil is, for example, concentrated winding or distributed winding.
  • the coils 210, 220, and 230 of each phase of the motor 200 are connected to each other at a neutral point 240, and the neutral point 240 is also formed independently for each system. Then, a voltage or a current is supplied for driving from one end of each of the coils 210, 220, 230 that is not connected to the neutral point 240.
  • connection between parts (components) means an electrical connection unless otherwise specified.
  • the motor according to the present invention may have the neutral point 240 connected to each other, or may have only one coil, and each of the two ends of the coil may be connected to one inverter at each end.
  • the motor drive unit 1000 can convert the electric power from the power supply 501 into the electric power to be supplied to the motor 200 by the inverter 100.
  • the inverter 100 can convert DC power into three-phase AC power that is a pseudo-sine wave of U-phase, V-phase, and W-phase.
  • the power supply 501 for example, a DC power supply is used.
  • the power supply 501 may be an AC-DC converter or a DC-DC converter, or may be a battery (rechargeable battery).
  • the motor drive unit 1000 may include a power supply inside.
  • a power supply separation switch 502 is provided between the power supply 501 and the inverter 100.
  • the power supply separation switch 502 can switch connection / disconnection between the power supply 501 and the inverter 100.
  • a phase separation switch 610 is provided between the inverter 100 and the motor 200.
  • the phase separation switch 610 can switch between connection and disconnection between the inverter 100 and the motor 200.
  • the power separation switch 502 and the phase separation switch 610 electrically disconnect the one system from the motor 200 and the power supply 501 when an abnormality occurs in one of the two inverters 100 and the like.
  • a capacitor 503 is connected to the power supply terminal via a power supply separation switch 502.
  • the capacitor 503 is connected in parallel with the inverter 100 to a power supply 501 that supplies power to the inverter 100.
  • the capacitor 503 is a so-called smoothing capacitor, and suppresses voltage ripple by absorbing a circulating current.
  • the capacitor 503 is, for example, an electrolytic capacitor, and the capacity and the number of capacitors to be used are appropriately determined according to design specifications and the like.
  • the motor drive unit 1000 is provided with a thermistor 600, which is a type of temperature sensor, and the temperature of the inverter 100 is measured for each system and input to the control circuit 310. It should be noted that the control circuit 310 of each system receives not only the measured value from the own system but also the measured value from the other system.
  • Inverter 100 includes switching elements 101 to 106 connected to coils (windings) ⁇ 210, 220, 230 ⁇ of motor 200, and supplies power to motor 200 by on / off operations of switching elements 101 to 106. More specifically, the inverter 100 includes, as switch elements, high-side switch elements 101, 103, and 105 for switching connection / disconnection of a current path through which a current flows from the power supply 501 to the motor 200, and the motor 200 to ground. Low-side switch elements 102, 104, and 106 for switching connection / disconnection of a current path through which current flows are provided.
  • FIG. 3 is a diagram illustrating an example of a voltage waveform supplied from the inverter 100 to the motor 200.
  • the horizontal axis in FIG. 3 indicates the electrical angle, and the vertical axis indicates the voltage value.
  • the inverter 100 is driven by the PWM control to convert a DC voltage from the power supply 501 into an AC voltage having a curved waveform as shown in FIG.
  • the motor 200 When the AC voltage having such a waveform is supplied to the motor 200, the motor 200 generates a smooth rotational output with little torque ripple.
  • the motor drive unit 1000 includes the two-system drive control circuit 300 (the control circuit 310 and the drive circuit 320) and the inverter 100. Therefore, even if an abnormality occurs in one system, one normal system Thus, the driving of the motor 200 can be continued.
  • the motor 200 when the motor 200 is driven by one system, heat is biased to the inverter 100 of the one system.
  • FIG. 4 is a diagram schematically showing the heat distribution when driven by two systems
  • FIG. 5 is a diagram schematically showing the heat distribution when driven by one system.
  • the power board 1002 comes into contact with the heat sink 1001, and the heat of the inverter 100 is radiated to the heat sink 1001.
  • the temperatures of the inverters 100 measured by the thermistor 600 are almost the same as indicated by oblique lines in the figure, and the temperature difference is small.
  • FIG. 6 is a flowchart showing drive control in the present embodiment.
  • step S101 it is determined whether an abnormality has occurred in one of the two systems.
  • a method for determining the occurrence of an abnormality any conventionally known arbitrary determination method is employed.
  • the target of the abnormality determination may be the inverter 100, the drive circuit 320, or the control circuit 310.
  • step S101 If no abnormality has occurred in either of the two systems (both are normal) (step S101; NO), normal driving using both of the two systems is continued. If an abnormality has occurred in one of the two systems (step S101; YES), the process proceeds to step S102, and the control circuit 310, the drive circuit 320, and the inverter 100 are stopped for the system in which the abnormality has occurred. Then, the driving is continued by one normal system.
  • steps S101 to S102 the first drive control for driving the motor 200 by operating both of the two inverters 100 and the second drive control for driving the motor 200 by operating one of the two inverters 100 are performed.
  • 2 drive control is selectively executed.
  • the drive of one system is, for example, the drive by the voltage waveform shown in FIG. 3, and the power supply for two systems is performed by one system.
  • the output of the motor 200 is also maintained.
  • the heat generated by the one system is higher than the heat generated by one system when driven by both the two systems, and as shown in FIG. Heat is biased to inverter 100_OK.
  • the unbalanced heat is radiated to the heat sink 1001, but when the abnormal inverter 100_NG is stopped, a function of radiating heat from the normal inverter 100_OK to the abnormal inverter 100_NG occurs. That is, the stopped inverter 100_NG side functions as an additional heat radiating unit.
  • the temperature condition requiring a control change is a temperature condition under which heat radiation to the stopped inverter 100_NG side is reduced. Specific conditions will be described later.
  • Step S104 While the temperature condition requiring the control change is not reached (Step S103; NO), the drive of one system that generates high heat is continued, and when the temperature condition requiring the control change is reached (Step S103; YES), Step S104 is performed. And the driving method is changed to a driving method with low heat generation. That is, in steps S103 to S104, the first operation (driving) method is used in the first temperature state, and the second temperature in which heat dissipation from one inverter to the other inverter is smaller than that in the first temperature state. In the state, a second operation (drive) method that generates less heat than the first operation (drive) method is used.
  • the driving method with low heat generation performed in step S104 maintains the output of the motor 200 while suppressing generation of torque ripple by suppressing heat generation. It is a driving method. After shifting to such a driving method in which heat generation is low, it is determined whether or not a temperature condition that requires overheating protection has been reached (step S105).
  • the temperature condition that requires overheating protection is, for example, a temperature that exceeds a threshold temperature at which overheating protection starts.
  • step S105 While the temperature condition that requires overheat protection is not reached (step S105; NO), the above-described drive method with low heat generation is continued, and when the temperature condition that requires overheat protection is reached (step S105; YES), the process proceeds to step S106. Then, the current is limited by the overheat protection, so that the heat generation of the inverter 100 is suppressed. As described above, in the overheat protection, the heat generation is suppressed and the output of the motor 200 is also suppressed. That is, in steps S105 to S106, the power supply to the motor 200 is limited in the third temperature state in which heat radiation from one inverter to the other inverter is smaller than in the second temperature state described above.
  • the output of the motor 200 is maintained as much as possible by using the drive system with low heat generation before the overheat protection is performed.
  • a specific example of the above-mentioned “temperature condition requiring control change” will be described.
  • the second operation method is used in the second temperature state in which the temperature difference between the two inverters is smaller than the first temperature state. That is, when the difference between the temperatures measured by the thermistor 600 for each of the two systems falls below a predetermined threshold, a driving method that generates less heat is used.
  • FIG. 7 is a diagram schematically showing a heat distribution when room for heat radiation is reduced by driving one system.
  • FIG. 8 is a diagram illustrating a control change in the first specific example of the temperature condition.
  • the horizontal axis of FIG. 8 indicates the passage of time, and the vertical axis indicates the temperature difference.
  • the temperature difference between the two systems decreases over time.
  • the driving method is changed to a low heat generation driving method and driving is continued.
  • the temperature difference also stops decreasing, and there is room for heat radiation, so that the output can be maintained.
  • a low heat generation driving method Is preferably used.
  • the temperature of one of the driven inverters exceeds a predetermined temperature, and the temperature rise of the one inverter is higher than the first temperature state.
  • the second operation mode is used. That is, when the measured temperature of the thermistor 600 exceeds a predetermined threshold value and the rate of increase of the measured temperature exceeds the predetermined threshold value, a low heat generation driving method is used.
  • the temperature state is determined only by the temperature on the driving side, wiring and the like for obtaining a measured value of the system on the other side become unnecessary, and cost reduction is expected.
  • FIG. 9 is a diagram showing an example of the rate of rise of the measured temperature. ⁇ The horizontal axis in FIG. 9 indicates the passage of time, and the vertical axis indicates the temperature measured by the thermistor 600 on the drive side.
  • the graph of FIG. 9 shows a line L1 representing an example with a large temperature rise rate and a line L2 representing an example with a small temperature rise rate. If the rate of temperature rise is large, the same temperature rise occurs in a short time. For this reason, if the driving method of high heat generation is continued, there is a possibility that the temperature may reach the threshold temperature TV2 for overheating protection and the current may be limited. Therefore, it is desirable to change to a drive system that generates less heat before reaching overheat protection.
  • the state of heat radiation can be determined based on the temperature rise rate, and the drive system can be appropriately changed. (Specific example of drive system)
  • the drive system can be appropriately changed.
  • the two-system inverter 100 includes switch elements 101 to 106 in each of the inverters 100, and supplies power to the motor 200 by turning on and off the switch elements 101 to 106.
  • the switching elements 101 to 106 are turned on and off less frequently than in the first operation (driving) method. Since the switch elements 101 to 106 generate heat with the on / off operation (switching), the frequency of the on / off operation of the switch elements 101 to 106 is reduced, so that the heat generation of the inverter 100 is reduced. Further, as described below, the output of the motor 200 can be maintained even if the frequency of the on / off operation is reduced.
  • FIG. 10 is a diagram showing a first specific example of the “driving method with low heat generation”.
  • the driving method that generates the voltage waveform shown in FIG. 3 is called a three-phase modulation method, and the driving method shown in FIG. 10 is called a two-phase modulation method. That is, in the driving method shown in FIG. 10, the V-phase is maintained at the voltage 0 from the electrical angle of 0 ° to 90 °, and the V-phase switch element is fixed to the on / off state indicating the voltage of 0. Therefore, the on / off operation of the PWM control is stopped for the V-phase switch element from the electrical angle of 0 ° to 90 °. (4) The voltage of the W-phase is maintained at 0 from the electrical angle of 90 ° to 210 °, and the ON / OFF operation of the PWM control is stopped for the W-phase switch element.
  • the U phase is maintained at the voltage 0 from 210 ° to 330 ° of the electrical angle, and the ON / OFF operation of the PWM control is stopped for the U phase switch element.
  • the V phase is maintained at the voltage 0 from the electrical angle of 330 ° to 360 ° (0 °), and the ON / OFF operation of the PWM control is stopped for the V phase switch element.
  • the on / off operation is performed only in two phases at a time among the three phases of the motor 200, and the on / off operation is always stopped in any one phase.
  • the on-off operation of the switch element is reduced by about one third in the two-phase modulation method as compared with the three-phase modulation method shown in FIG.
  • FIG. 11 is a diagram showing a second specific example of the “driving method with low heat generation”.
  • the inverter 100 turns on and off the switching elements 101 to 106 at the set carrier frequency, and the second operation (drive) method has a carrier frequency higher than that of the first operation (drive) method. Low.
  • the left side of FIG. 11 illustrates an example of the carrier frequency in the first operation mode, and the right side of FIG. 11 illustrates the example of the carrier frequency in the second operation mode.
  • the drive circuit 320 is set to, for example, 20 kHz as a carrier frequency in the PWM control by the control circuit 310, and the drive circuit 320 is set to 20 kHz at the set 20 kHz when driving with two systems or in a drive system with high heat generation by one system.
  • the switch elements 101 to 106 of the inverter 100 are turned on and off.
  • the drive circuit 320 sets a carrier frequency of, for example, 16 kHz by the control circuit 310, and the drive circuit 320 turns on and off the switch elements 101 to 106 of the inverter 100 at 16 kHz.
  • the carrier frequency can be changed independently of the power waveform by the inverter 100. Therefore, for example, the voltage waveform shown in FIG. 3 may be used in both the high heat generation drive method and the low heat generation drive method. That is, in the second specific example shown in FIG. 11, the heat generation of the inverter 100 is suppressed even if the voltage waveform is not changed between the high heat generation drive method and the low heat generation drive method.
  • the second specific example shown in FIG. 11 may be employed in combination with the first specific example shown in FIG. That is, in the driving method of high heat generation, for example, the voltage waveform shown in FIG. 3 and the carrier frequency of 20 kHz are used, and in the driving method of low heat generation, the voltage waveform shown in FIG. 10 and the carrier frequency of 16 kHz are used. Similarly, the second specific example shown in FIG. 11 may be employed in combination with another specific example described later.
  • FIG. 12 is a diagram showing a third specific example of the “driving method with low heat generation”.
  • a sine wave power waveform is formed by the on / off operation of the switch element
  • the switch element is used in the second operation (drive) method of low heat generation.
  • a trapezoidal wave is formed by the on / off operation of.
  • the left side of FIG. 12 shows a sine wave which is a power waveform in the first operation mode
  • the right side of FIG. 12 shows a trapezoidal wave which is a power waveform in the second operation mode.
  • FIG. 13 is a diagram showing a fourth specific example of the “driving method with low heat generation”.
  • a sine wave power waveform is formed by the on / off operation of the switch element
  • the switch element A rectangular wave is formed by the on / off operation of.
  • the left side of FIG. 13 shows a sine wave which is a power waveform in the first operation mode
  • the right side of FIG. 13 shows a rectangular wave which is a power waveform in the second operation mode.
  • FIG. 14 is a diagram showing a fifth specific example of the “driving method with low heat generation”.
  • both the high-side switch element and the low-side switch element perform on / off operations in parallel
  • the high-side switch element And the low-side switch element has a lower on / off frequency than the other. More specifically, in FIG. 14, a solid-on operation (that is, an operation fixed to an ON state in a partial section) is used as an on-off operation in the high-side switch element, and an on-off operation of PWM control is used in the low-side switch element. An example is shown.
  • the high-side switch element that performed the PWM control on / off operation in parallel with the low-side switch element in the drive system with high heat generation stops almost on-off operation by the solid-on operation in the drive system with low heat generation. Therefore, in the drive system with low heat generation, the on / off operation of the switch element is reduced by almost half as a whole, and the heat generation of the inverter 100 is suppressed.
  • the fifth specific example shown in FIG. 14 may be combined with the second specific example described above. Further, the fifth specific example shown in FIG. 14 may be combined with the above-described first, third, and fourth specific examples and also with the above-described second specific example. (Embodiment of power steering device)
  • Vehicles such as automobiles generally include a power steering device.
  • the power steering device generates an assist torque for assisting a steering torque of a steering system generated by a driver operating a steering handle.
  • the auxiliary torque is generated by the auxiliary torque mechanism, and can reduce the burden of the driver's operation.
  • FIG. 15 is a diagram schematically illustrating a configuration of a power steering device 2000 according to the present embodiment.
  • the electric power steering apparatus 2000 includes a steering system 520 and an auxiliary torque mechanism 540.
  • the steering system 520 is, for example, a steering handle 521, a steering shaft 522 (also referred to as a “steering column”), a universal joint 523A, 523B, and a rotating shaft 524 (also referred to as a “pinion shaft” or “input shaft”). ).
  • the steering system 520 includes, for example, a rack and pinion mechanism 525, a rack shaft 526, left and right ball joints 552A and 552B, tie rods 527A and 527B, knuckles 528A and 528B, and left and right steering wheels (for example, left and right front wheels) 529A. 529B.
  • a rack and pinion mechanism 525 for example, a rack and pinion mechanism 525, a rack shaft 526, left and right ball joints 552A and 552B, tie rods 527A and 527B, knuckles 528A and 528B, and left and right steering wheels (for example, left and right front wheels) 529A. 529B.
  • the steering handle 521 is connected to a rotating shaft 524 via a steering shaft 522 and universal shaft joints 523A and 523B.
  • a rack shaft 526 is connected to the rotation shaft 524 via a rack and pinion mechanism 525.
  • the rack and pinion mechanism 525 has a pinion 531 provided on the rotation shaft 524 and a rack 532 provided on the rack shaft 526.
  • the right steering wheel 529A is connected to the right end of the rack shaft 526 via a ball joint 552A, a tie rod 527A, and a knuckle 528A in this order.
  • the left steering wheel 529B is connected to the left end of the rack shaft 526 via a ball joint 552B, a tie rod 527B, and a knuckle 528B in this order.
  • the right side and the left side respectively correspond to the right side and the left side viewed from the driver sitting on the seat.
  • a steering torque is generated and transmitted to the left and right steering wheels 529A and 529B via the rack and pinion mechanism 525.
  • the driver can operate the left and right steering wheels 529A, 529B.
  • the auxiliary torque mechanism 540 includes, for example, a steering torque sensor 541, a mechanical and electric integrated motor 543, and a speed reduction mechanism 544.
  • the auxiliary torque mechanism 540 applies an auxiliary torque to a steering system 520 from the steering handle 521 to the left and right steering wheels 529A, 529B.
  • the auxiliary torque may be referred to as “additional torque”.
  • the motor drive unit 1000 shown in FIG. 1 is preferably used as the electromechanical integrated motor 543.
  • a mechanism constituted by elements other than the steering torque sensor 541 and the electric and mechanical integrated motor 543 among the elements shown in FIG. 15 corresponds to an example of a power steering mechanism driven by the motor 200.
  • the steering torque sensor 541 detects the steering torque of the steering system 520 given by the steering handle 521.
  • a detection signal (hereinafter, referred to as “torque signal”) from the steering torque sensor 541 is input to the electromechanical integrated motor 543, and a control circuit in the electromechanical integrated motor 543 calculates an auxiliary torque, and the auxiliary torque is calculated. Is generated.
  • the electromechanical integrated motor 543 generates an auxiliary torque corresponding to the steering torque based on the drive signal.
  • the assist torque is transmitted to the rotation shaft 524 of the steering system 520 via the speed reduction mechanism 544.
  • the reduction mechanism 544 is, for example, a worm gear mechanism.
  • the auxiliary torque is further transmitted from the rotation shaft 524 to the rack and pinion mechanism 525.
  • the power steering apparatus 2000 is classified into a pinion assist type, a rack assist type, a column assist type, and the like, depending on a position where the assist torque is applied to the steering system 520.
  • FIG. 15 shows a column assist type power steering device 2000.
  • the power steering device 2000 is also applied to a rack assist type, a pinion assist type, and the like.
  • the left and right steering wheels 529A and 529B can be operated by the rack shaft 526 using a combined torque obtained by adding the assisting torque of the electric and mechanical integrated motor 543 to the steering torque of the driver.
  • the motor drive unit 1000 of the above-described embodiment for the electromechanical motor 543 even if an abnormality occurs in one of the two systems, heat generation is suppressed and the assist torque is maintained.
  • a power steering device is exemplified as an example of a method of using the drive control device and the drive device of the present invention.
  • a method of using the drive control device and the drive device of the present invention is not limited to the above. It can be used widely.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Inverter Devices (AREA)
  • Control Of Electric Motors In General (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

One embodiment of this driving control device is a driving control device that controls the driving of a motor and comprises: at least two inverters that each supply power to the motor; and a control unit that selectively performs first driving control and second driving control, said first driving control causing both of the two inverters to operate to drive the motor, and said second driving control causing one of the two inverters to operate to drive the motor, wherein the control unit uses, as the operation of the one inverter during the second driving control, a first operation mode during a first temperature condition, and a second operation mode, which produces less heat than the first production mode, during a second temperature condition, in which there is less heat dissipation from the one inverter to the other inverter compared to during the first temperature condition.

Description

駆動制御装置、駆動装置およびパワーステアリング装置Drive control device, drive device, and power steering device
本発明は、駆動制御装置、駆動装置およびパワーステアリング装置に関する。 The present invention relates to a drive control device, a drive device, and a power steering device.
従来、モータ駆動において冗長設計としてインバータを複数備える構成が知られている。この時、一方のインバータが故障した場合、他方のインバータで駆動を継続させることができる。これにより、例えばパワーステアリング装置のモータ駆動であれば、インバータの故障時にもパワーアシストが継続可能となる。また、インバータの出力が一定の電流値を超えた場合に、素子の発熱によるインバータの過熱を抑えるために過熱保護制御を行う構造が知られている。　 2. Description of the Related Art Conventionally, a configuration including a plurality of inverters as a redundant design in driving a motor is known. At this time, if one of the inverters fails, the drive can be continued by the other inverter. Thus, for example, if the motor is driven by a power steering device, power assist can be continued even when the inverter fails. Further, there is known a structure in which when the output of the inverter exceeds a certain current value, overheat protection control is performed to suppress overheating of the inverter due to heat generation of the element.
例えば、特許文献１には、インバータを２つ備える２系統の構成において、系統温度に応じて各系統に出力を分配することで過熱を抑制する構造が開示されている。 For example, Patent Document 1 discloses a structure in which overheating is suppressed by distributing an output to each system according to system temperature in a two-system configuration including two inverters.
特開２０１６－１５２６８２号公報JP 2016-152682 A
一方のインバータが故障して１系統のみで駆動する場合、通常駆動時の２倍の電流を出力する必要があるため、インバータの熱が片側に集中しやすい。そのため、１系統が故障した際には出力制限による過熱保護制御が考えられる。　 When one of the inverters fails and is driven by only one system, it is necessary to output twice as much current as during normal driving, so that the heat of the inverter tends to concentrate on one side. Therefore, when one system fails, overheat protection control by output restriction is conceivable.
しかし、電流の出力が制限されると、モータの出力が低下するので、例えばパワーステアリング装置のモータ駆動であれば、ドライバーへの操舵力の負荷が高くなり、ドライビング性能の悪化を招く。そこで、本発明は、１系統のみの駆動時に、インバータの過熱を抑えながらもモータの出力低下を抑制することを本発明の目的の一つとする。 However, if the output of the current is limited, the output of the motor is reduced. For example, when the motor is driven by a power steering device, the load of the steering force on the driver increases, and the driving performance deteriorates. Therefore, an object of the present invention is to suppress a decrease in output of a motor while suppressing overheating of an inverter when only one system is driven.
本発明に係る駆動制御装置の一態様は、モータの駆動を制御する駆動制御装置において、それぞれが上記モータに電力を供給する少なくとも２つのインバータと、上記２つのインバータの両方を動作させて上記モータを駆動する第１駆動制御と、上記２つのインバータの片方を動作させて上記モータを駆動する第２駆動制御とを選択的に実行する制御部と、を備え、上記制御部が、上記第２駆動制御における上記片方のインバータの動作として、第１の温度状態では第１の動作方式を用い、上記第１の温度状態に較べ、上記片方のインバータから他のインバータへ放熱が少ない第２の温度状態では、上記第１の動作方式よりも発熱が低い第２の動作方式を用いる。　また、本発明に係る駆動装置の一態様は、上記駆動制御装置と、上記駆動制御装置によって駆動が制御されるモータと、を備える。　 One aspect of the drive control device according to the present invention is a drive control device that controls driving of a motor, wherein at least two inverters each of which supplies power to the motor and both the two inverters are operated to operate the motor. And a control unit that selectively executes a second drive control that drives one of the two inverters and drives the motor by operating one of the two inverters. In the drive control, the operation of the one inverter uses the first operation method in the first temperature state, and the second temperature in which heat radiation from the one inverter to the other inverter is smaller than that in the first temperature state. In the state, the second operation mode that generates less heat than the first operation mode is used. In addition, one mode of the driving device according to the present invention includes the driving control device and a motor whose driving is controlled by the driving control device.
また、本発明に係るパワーステアリング装置の一態様は、上記駆動制御装置と、上記駆動制御装置によって駆動が制御されるモータと、上記モータによって駆動されるパワーステアリング機構とを備える。 One embodiment of a power steering device according to the present invention includes the drive control device, a motor whose drive is controlled by the drive control device, and a power steering mechanism driven by the motor.
本発明によれば、１系統のみの駆動時に、インバータの過熱を抑えながらもモータの出力低下を抑制することできる。 According to the present invention, when only one system is driven, it is possible to suppress a decrease in the output of the motor while suppressing overheating of the inverter.
図１は、本実施形態によるモータ駆動ユニットの分解斜視図である。FIG. 1 is an exploded perspective view of the motor drive unit according to the present embodiment. 図２は、モータ駆動ユニットの１系統分のブロック構成を模式的に示す図である。FIG. 2 is a diagram schematically illustrating a block configuration of one system of the motor drive unit. 図３は、インバータ１００がモータ２００に供給する電圧波形の一例を示す図である。FIG. 3 is a diagram illustrating an example of a voltage waveform supplied from the inverter 100 to the motor 200. 図４は、２系統で駆動する場合の熱分布を模式的に示す図である。FIG. 4 is a diagram schematically showing a heat distribution when driving by two systems. 図５は、図５は、１系統で駆動する場合の熱分布を模式的に示す図である。FIG. 5 is a diagram schematically showing a heat distribution in the case of driving by one system. 図６は、本実施形態における駆動制御を示すフローチャートである。FIG. 6 is a flowchart illustrating the drive control according to the present embodiment. 図７は、１系統の駆動で放熱の余地が減少した場合の熱分布を模式的に示す図である。FIG. 7 is a diagram schematically showing a heat distribution when room for heat radiation is reduced by driving one system. 図８は、温度条件の第１の具体例における制御変更を示す図である。FIG. 8 is a diagram illustrating a control change in the first specific example of the temperature condition. 図９は、測定温度の上昇率の例を示す図である。FIG. 9 is a diagram illustrating an example of a rise rate of the measured temperature. 図１０は、「発熱が低い駆動方式」の第１の具体例を示す図である。FIG. 10 is a diagram illustrating a first specific example of the “driving method with low heat generation”. 図１１は、「発熱が低い駆動方式」の第２の具体例を示す図である。FIG. 11 is a diagram illustrating a second specific example of the “driving method with low heat generation”. 図１２は、「発熱が低い駆動方式」の第３の具体例を示す図である。FIG. 12 is a diagram illustrating a third specific example of the “driving method with low heat generation”. 図１３は、「発熱が低い駆動方式」の第４の具体例を示す図である。FIG. 13 is a diagram illustrating a fourth specific example of the “driving method with low heat generation”. 図１４は、「発熱が低い駆動方式」の第５の具体例を示す図である。FIG. 14 is a diagram illustrating a fifth specific example of the “driving method with low heat generation”. 図１５は、本実施形態によるパワーステアリング装置の構成を模式的に示す図である。FIG. 15 is a diagram schematically illustrating the configuration of the power steering device according to the present embodiment.
以下、添付の図面を参照しながら、本開示の駆動制御装置、駆動装置およびパワーステアリング装置の実施形態を詳細に説明する。但し、以下の説明が不必要に冗長になるのを避け、当業者の理解を容易にするため、必要以上に詳細な説明は省略する場合がある。例えば、既によく知られた事項の詳細説明や実質的に同一の構成に対する重複説明を省略する場合がある。　 Hereinafter, embodiments of a drive control device, a drive device, and a power steering device according to the present disclosure will be described in detail with reference to the accompanying drawings. However, in order to avoid the following description from being unnecessarily redundant and to make it easier for those skilled in the art to understand, a detailed description more than necessary may be omitted. For example, a detailed description of a well-known item or a redundant description of substantially the same configuration may be omitted.
本明細書において、電源からの電力を、三相（Ｕ相、Ｖ相、Ｗ相）の巻線（「コイル」と表記する場合がある。）を有する三相モータに供給する駆動制御装置を例にして、本開示の実施形態を説明する。ただし、電源からの電力を、四相または五相などのｎ相（ｎは４以上の整数）の巻線を有するｎ相モータに供給する駆動制御装置も本開示の範疇である。



（モータ駆動ユニット１０００の構造）



　図１は、本実施形態によるモータ駆動ユニット１０００の分解斜視図である。　モータ駆動ユニット１０００は、モータ２００と、ヒートシンク１００１と、パワー基板１００２と、制御基板１００３と、カバー１００４とを備える。　モータ２００は、三相（Ｕ相、Ｖ相、Ｗ相）のコイルを、互いに独立に２系統備える。　ヒートシンク１００１は、モータ２００のベアリングホルダと一体に形成される。　 In this specification, a drive control device that supplies electric power from a power supply to a three-phase motor having three-phase (U-phase, V-phase, and W-phase) windings (may be referred to as “coils”). As an example, an embodiment of the present disclosure will be described. However, a drive control device that supplies power from a power supply to an n-phase motor having windings of n-phase (n is an integer of 4 or more) such as four-phase or five-phase is also included in the scope of the present disclosure.



(Structure of motor drive unit 1000)



FIG. 1 is an exploded perspective view of a motor drive unit 1000 according to the present embodiment. The motor drive unit 1000 includes a motor 200, a heat sink 1001, a power board 1002, a control board 1003, and a cover 1004. The motor 200 includes two systems of three-phase (U-phase, V-phase, and W-phase) coils independently of each other. The heat sink 1001 is formed integrally with a bearing holder of the motor 200.
パワー基板１００２には、モータ２００が備えた２系統のコイルそれぞれに電力を供給する２系統のインバータ１００が搭載される。各インバータ１００の熱は、共通のヒートシンク１００１に放熱される。　制御基板１００３には、２系統のインバータ１００それぞれを制御する２系統の駆動制御回路３００が搭載される。　 On the power board 1002 are mounted two systems of inverters 100 that supply power to each of the two systems of coils provided in the motor 200. The heat of each inverter 100 is radiated to a common heat sink 1001. (2) The control board 1003 is provided with two drive control circuits 300 for controlling the two inverters 100, respectively.
カバー１００４は、パワー基板１００２および制御基板１００３を覆ってヒートシンク１００１およびモータ２００に固定される。これより、モータ駆動ユニット１０００はいわゆる機電一体型モータとして組み立てられる。　 The cover 1004 covers the power board 1002 and the control board 1003, and is fixed to the heat sink 1001 and the motor 200. Thus, the motor drive unit 1000 is assembled as a so-called electromechanical integrated motor.
本明細書では、構成要素としてモータ２００を備えるモータ駆動ユニット１０００を説明する。モータ２００を備えるモータ駆動ユニット１０００は、本発明の駆動装置の一例に相当する。ただし、モータ駆動ユニット１０００は、構成要素としてモータ２００を備えない、モータ２００を駆動するための装置であってもよい。モータ２００を備えないモータ駆動ユニット１０００は、本発明の駆動制御装置の一例に相当する。　図２は、モータ駆動ユニット１０００の１系統分のブロック構成を模式的に示す図である。　 In this specification, a motor drive unit 1000 including a motor 200 as a component will be described. The motor drive unit 1000 including the motor 200 corresponds to an example of the drive device of the present invention. However, the motor drive unit 1000 may be a device for driving the motor 200 without the motor 200 as a component. The motor drive unit 1000 without the motor 200 corresponds to an example of the drive control device of the present invention. FIG. 2 is a diagram schematically showing a block configuration of one system of the motor drive unit 1000.
モータ駆動ユニット１０００は、インバータ１００、制御回路３１０、駆動回路３２０を１系統毎に備える。制御回路３１０と駆動回路３２０は上述した駆動制御回路３００に含まれる。　 The motor drive unit 1000 includes an inverter 100, a control circuit 310, and a drive circuit 320 for each system. The control circuit 310 and the drive circuit 320 are included in the drive control circuit 300 described above.
モータ２００は例えば三相交流モータであり、Ｕ相、Ｖ相およびＷ相のコイル２１０，２２０，２３０を１系統毎に備える。コイルの巻き方は、例えば集中巻きまたは分布巻きである。本実施形態では、モータ２００の各相のコイル２１０，２２０，２３０は中性点２４０で互いに接続され、中性点２４０も１系統毎に独立に形成される。そして、各コイル２１０，２２０，２３０の、中性点２４０に接続されない一端から駆動のために電圧や電流が供給される。本明細書において、部品（構成要素）同士の「接続」とは、特に断らない限り電気的な接続を意味する。　 The motor 200 is, for example, a three-phase AC motor, and includes U-phase, V-phase, and W- phase coils 210, 220, and 230 for each system. The winding method of the coil is, for example, concentrated winding or distributed winding. In the present embodiment, the coils 210, 220, and 230 of each phase of the motor 200 are connected to each other at a neutral point 240, and the neutral point 240 is also formed independently for each system. Then, a voltage or a current is supplied for driving from one end of each of the coils 210, 220, 230 that is not connected to the neutral point 240. In this specification, “connection” between parts (components) means an electrical connection unless otherwise specified.
なお、本発明にいうモータは、互いに接続された中性点２４０を有してもよいし、コイルを１系統のみ有してコイルの両端それぞれに各１系統のインバータが接続されてもよい。　 It should be noted that the motor according to the present invention may have the neutral point 240 connected to each other, or may have only one coil, and each of the two ends of the coil may be connected to one inverter at each end.
モータ駆動ユニット１０００は、インバータ１００によって、電源５０１からの電力をモータ２００に供給する電力に変換することが可能である。例えば、インバータ１００は、直流電力を、Ｕ相、Ｖ相およびＷ相の擬似正弦波である三相交流電力に変換することが可能である。　 The motor drive unit 1000 can convert the electric power from the power supply 501 into the electric power to be supplied to the motor 200 by the inverter 100. For example, the inverter 100 can convert DC power into three-phase AC power that is a pseudo-sine wave of U-phase, V-phase, and W-phase.
電源５０１としては、例えば直流電源が用いられる。ただし、電源５０１は、ＡＣ－ＤＣコンバータまたはＤＣ―ＤＣコンバータであってもよいし、バッテリー（蓄電池）であってもよい。また、モータ駆動ユニット１０００は、内部に電源を備えてもよい。　 As the power supply 501, for example, a DC power supply is used. However, the power supply 501 may be an AC-DC converter or a DC-DC converter, or may be a battery (rechargeable battery). Further, the motor drive unit 1000 may include a power supply inside.
電源５０１とインバータ１００との間には、電源分離スイッチ５０２が備えられる。電源分離スイッチ５０２は、電源５０１とインバータ１００との接続・非接続を切替えることができる。　 A power supply separation switch 502 is provided between the power supply 501 and the inverter 100. The power supply separation switch 502 can switch connection / disconnection between the power supply 501 and the inverter 100.
インバータ１００とモータ２００との間には、相分離スイッチ６１０が備えられる。相分離スイッチ６１０は、インバータ１００とモータ２００との接続・非接続を切替えることができる。　 A phase separation switch 610 is provided between the inverter 100 and the motor 200. The phase separation switch 610 can switch between connection and disconnection between the inverter 100 and the motor 200.
電源分離スイッチ５０２および相分離スイッチ６１０は、２系統のインバータ１００などのうち１系統に異常が生じた場合に、当該１系統をモータ２００および電源５０１から電気的に切り離す。　 The power separation switch 502 and the phase separation switch 610 electrically disconnect the one system from the motor 200 and the power supply 501 when an abnormality occurs in one of the two inverters 100 and the like.
電源端子には、電源分離スイッチ５０２を介してコンデンサ５０３が接続される。コンデンサ５０３は、インバータ１００に電力を供給する電源５０１に対し、インバータ１００と並列に接続される。コンデンサ５０３は、いわゆる平滑コンデンサであり、環流電流を吸収することで電圧リプルを抑制する。コンデンサ５０３は、例えば電解コンデンサであり、容量および使用する個数は設計仕様などによって適宜決定される。　 A capacitor 503 is connected to the power supply terminal via a power supply separation switch 502. The capacitor 503 is connected in parallel with the inverter 100 to a power supply 501 that supplies power to the inverter 100. The capacitor 503 is a so-called smoothing capacitor, and suppresses voltage ripple by absorbing a circulating current. The capacitor 503 is, for example, an electrolytic capacitor, and the capacity and the number of capacitors to be used are appropriately determined according to design specifications and the like.
モータ駆動ユニット１０００には温度センサの一種であるサーミスタ６００が備えられ、インバータ１００の温度が１系統毎に測定されて制御回路３１０に入力される。なお、各系統の制御回路３１０には、自己の系統からの測定値だけでなく、相手の系統からの測定値も入力される。　 The motor drive unit 1000 is provided with a thermistor 600, which is a type of temperature sensor, and the temperature of the inverter 100 is measured for each system and input to the control circuit 310. It should be noted that the control circuit 310 of each system receives not only the measured value from the own system but also the measured value from the other system.
インバータ１００は、モータ２００のコイル(巻線) ２１０，２２０，２３０ に接続されたスイッチ素子１０１～１０６を備え、スイッチ素子１０１～１０６のオンオフ動作によってモータ２００に電力を供給する。より具体的には、インバータ１００は、スイッチ素子として、電源５０１からモータ２００へと電流が流れる電流路の接続・非接続を切替えるハイサイドスイッチ素子１０１，１０３，１０５と、モータ２００からグランドへと電流が流れる電流路の接続・非接続を切替えるローサイドスイッチ素子１０２，１０４，１０６とを備える。　 Inverter 100 includes switching elements 101 to 106 connected to coils (windings) {210, 220, 230} of motor 200, and supplies power to motor 200 by on / off operations of switching elements 101 to 106. More specifically, the inverter 100 includes, as switch elements, high- side switch elements 101, 103, and 105 for switching connection / disconnection of a current path through which a current flows from the power supply 501 to the motor 200, and the motor 200 to ground. Low- side switch elements 102, 104, and 106 for switching connection / disconnection of a current path through which current flows are provided.
インバータ１００に備えられた各スイッチ素子１０１～１０６は、駆動回路３２０によってオンオフ動作され、そのオンオフ動作の結果、モータ２００に電力が供給されて出力が生じる。オンオフ動作の制御は、制御回路３２０によるＰＷＭ制御で実行される。即ち、制御回路３２０は各スイッチ素子１０１～１０６のオンオフ動作を制御してモータ２００の出力を制御する。



（インバータ１００の駆動制御）



　図３は、インバータ１００がモータ２００に供給する電圧波形の一例を示す図である。　図３の横軸は電気角を示し、縦軸は電圧値を示す。　 Each of the switch elements 101 to 106 provided in the inverter 100 is turned on and off by the drive circuit 320, and as a result of the on / off operation, power is supplied to the motor 200 to generate an output. The control of the on / off operation is executed by PWM control by the control circuit 320. That is, the control circuit 320 controls the output of the motor 200 by controlling the on / off operation of each of the switch elements 101 to 106.



(Drive control of inverter 100)



FIG. 3 is a diagram illustrating an example of a voltage waveform supplied from the inverter 100 to the motor 200. The horizontal axis in FIG. 3 indicates the electrical angle, and the vertical axis indicates the voltage value.
インバータ１００は、ＰＷＭ制御によって駆動されることにより、電源５０１からの直流電圧を、図３に示すような曲線的な波形の交流電圧に変換する。このような波形の交流電圧がモータ２００に供給されることにより、モータ２００はトルクリップルの少ない滑らかな回転出力を生じる。　 The inverter 100 is driven by the PWM control to convert a DC voltage from the power supply 501 into an AC voltage having a curved waveform as shown in FIG. When the AC voltage having such a waveform is supplied to the motor 200, the motor 200 generates a smooth rotational output with little torque ripple.
上述したように、モータ駆動ユニット１０００は２系統の駆動制御回路３００（制御回路３１０および駆動回路３２０）とインバータ１００を備えるので、１系統に異常が生じた場合であっても、正常な１系統でモータ２００の駆動を継続することができる。このように１系統でモータ２００が駆動されると、その１系統のインバータ１００に熱が偏ることになる。　図４は、２系統で駆動する場合の熱分布を模式的に示す図であり、図５は、１系統で駆動する場合の熱分布を模式的に示す図である。　 As described above, the motor drive unit 1000 includes the two-system drive control circuit 300 (the control circuit 310 and the drive circuit 320) and the inverter 100. Therefore, even if an abnormality occurs in one system, one normal system Thus, the driving of the motor 200 can be continued. As described above, when the motor 200 is driven by one system, heat is biased to the inverter 100 of the one system. FIG. 4 is a diagram schematically showing the heat distribution when driven by two systems, and FIG. 5 is a diagram schematically showing the heat distribution when driven by one system.
パワー基板１００２はヒートシンク１００１と接触し、インバータ１００の熱はヒートシンク１００１へと放熱される。２系統のインバータ１００の双方が駆動する場合、サーミスタ６００で測定される各インバータ１００の温度は、図に斜線で示されているようにほぼ同等であり、温度差は小さい。　 The power board 1002 comes into contact with the heat sink 1001, and the heat of the inverter 100 is radiated to the heat sink 1001. When both of the two inverters 100 are driven, the temperatures of the inverters 100 measured by the thermistor 600 are almost the same as indicated by oblique lines in the figure, and the temperature difference is small.
２系統のインバータ１００のうち、一方のインバータ１００＿ＮＧに異常が生じると、当該一方のインバータ１００＿ＮＧは駆動が停止され、正常なもう一方のインバータ１００＿ＯＫのみが駆動してモータ２００に電力を供給する。この結果、図に斜線で示されているように、正常なインバータ１００＿ＯＫに熱が偏る。但し、このような熱の偏りは、２系統での駆動時から生じている場合もある。　また、例えばパワーステアリング装置などの様に、モータ２００の出力維持が求められる装置の場合は、正常なインバータ１００＿ＯＫで２系統分の電力供給を担うことになり、インバータ１００＿ＯＫの発熱も増加する。その結果、サーミスタ６００で測定されるインバータ１００＿ＯＫの温度は、２系統のインバータ１００の双方が駆動する場合の温度よりも高温となる。　 When an abnormality occurs in one of the two inverters 100_NG, the drive of the one inverter 100_NG is stopped, and only the other normal inverter 100_OK is driven to supply power to the motor 200. As a result, heat is biased toward the normal inverter 100_OK, as indicated by hatching in the figure. However, such a heat bias may occur from the time of driving with two systems. In addition, in the case of a device such as a power steering device that requires the output of the motor 200 to be maintained, the normal inverter 100_OK supplies power for two systems, and the heat generated by the inverter 100_OK also increases. As a result, the temperature of the inverter 100_OK measured by the thermistor 600 is higher than the temperature when both of the two inverters 100 are driven.
インバータ１００の温度が高くなりすぎると故障の原因となるので、一般に、高温時のインバータ１００の制御として過熱保護制御が知られており、電流が制限されることによってインバータ１００の発熱が抑制される。しかし、電流の制限によってモータ２００への供給電力も制限されることになり、モータ２００の出力維持が失われる虞がある。　そこで、本実施形態では、インバータ１００の過熱を抑えながらもモータ２００の出力低下を抑制するため、以下説明するような駆動制御が実行される。　図６は、本実施形態における駆動制御を示すフローチャートである。　 If the temperature of the inverter 100 becomes too high, it causes a failure. Therefore, generally, overheat protection control is known as control of the inverter 100 at a high temperature, and heat generation of the inverter 100 is suppressed by limiting the current. . However, the power supply to the motor 200 is also limited by the current limitation, and there is a possibility that the output maintenance of the motor 200 is lost. Therefore, in the present embodiment, in order to suppress a decrease in the output of the motor 200 while suppressing overheating of the inverter 100, drive control as described below is executed. FIG. 6 is a flowchart showing drive control in the present embodiment.
この駆動制御では、先ずステップＳ１０１で、２系統のいずれかに異常が発生したか否かが判定される。異常発生の判定方法としては、従来周知の任意の判定方法が採用される。また、異常の判定対象としては、インバータ１００であってもよく、駆動回路３２０であってもよく、制御回路３１０であってもよい。　 In this drive control, first, in step S101, it is determined whether an abnormality has occurred in one of the two systems. As a method for determining the occurrence of an abnormality, any conventionally known arbitrary determination method is employed. In addition, the target of the abnormality determination may be the inverter 100, the drive circuit 320, or the control circuit 310.
２系統のいずれにも異常が生じていない(双方とも正常である)場合には(ステップＳ１０１；ＮＯ）、２系統の双方が用いられる通常の駆動が継続される。そして、２系統のいずれかに異常が発生した場合は(ステップＳ１０１；ＹＥＳ）、ステップＳ１０２に進み、異常が発生した系統について、制御回路３１０、駆動回路３２０およびインバータ１００が停止される。そして、正常な１系統で駆動が継続される。　 If no abnormality has occurred in either of the two systems (both are normal) (step S101; NO), normal driving using both of the two systems is continued. If an abnormality has occurred in one of the two systems (step S101; YES), the process proceeds to step S102, and the control circuit 310, the drive circuit 320, and the inverter 100 are stopped for the system in which the abnormality has occurred. Then, the driving is continued by one normal system.
つまり、ステップＳ１０１～ステップＳ１０２では、２つのインバータ１００の両方を動作させてモータ２００を駆動する第１駆動制御と、２つのインバータ１００のうち片方のインバータ１００を動作させてモータ２００を駆動する第２駆動制御とを選択的に実行する。　 That is, in steps S101 to S102, the first drive control for driving the motor 200 by operating both of the two inverters 100 and the second drive control for driving the motor 200 by operating one of the two inverters 100 are performed. 2 drive control is selectively executed.
２系統双方による駆動から切り替わった場合の１系統の駆動は、例えば図３に示す電圧波形による駆動であり、１系統で２系統分の電力供給が行われる。この結果、モータ２００の出力も維持される。また、正常な１系統のみでモータ２００が駆動されると、当該１系統での発熱は、２系統双方による駆動時における１系統分の発熱よりも高く、図５に示したように、正常なインバータ１００＿ＯＫに熱が偏る。その偏った熱は、ヒートシンク１００１に放熱されるが、異常なインバータ１００＿ＮＧが停止している場合には、正常なインバータ１００＿ＯＫ側から異常なインバータ１００＿ＮＧ側へと放熱される作用が生じる。つまり、停止しているインバータ１００＿ＮＧ側が追加の放熱部として機能する。　 When the drive is switched from the drive by both the two systems, the drive of one system is, for example, the drive by the voltage waveform shown in FIG. 3, and the power supply for two systems is performed by one system. As a result, the output of the motor 200 is also maintained. Further, when the motor 200 is driven by only one normal system, the heat generated by the one system is higher than the heat generated by one system when driven by both the two systems, and as shown in FIG. Heat is biased to inverter 100_OK. The unbalanced heat is radiated to the heat sink 1001, but when the abnormal inverter 100_NG is stopped, a function of radiating heat from the normal inverter 100_OK to the abnormal inverter 100_NG occurs. That is, the stopped inverter 100_NG side functions as an additional heat radiating unit.
１系統による高発熱のモータ２００駆動が行われると、その後、制御変更が必要な温度条件に達したか判定される（ステップＳ１０３）。ここで、制御変更が必要な温度条件とは、停止しているインバータ１００＿ＮＧ側への放熱が少なくなる温度条件である。具体的な条件については後述する。　 When the high heat generation motor 200 is driven by one system, it is then determined whether a temperature condition requiring a control change has been reached (step S103). Here, the temperature condition requiring a control change is a temperature condition under which heat radiation to the stopped inverter 100_NG side is reduced. Specific conditions will be described later.
制御変更が必要な温度条件に達しない（ステップＳ１０３；ＮＯ）間は、高い発熱を生じる１系統の駆動が継続され、制御変更が必要な温度条件に達すると（ステップＳ１０３；ＹＥＳ）、ステップＳ１０４に進み、発熱が低い駆動方式に変更される。つまり、ステップＳ１０３～ステップＳ１０４では、第１の温度状態では第１の動作（駆動）方式を用い、第１の温度状態に較べ、片方のインバータから他のインバータへの放熱が少ない第２の温度状態では、第１の動作（駆動）方式よりも発熱が低い第２の動作（駆動）方式を用いる。　 While the temperature condition requiring the control change is not reached (Step S103; NO), the drive of one system that generates high heat is continued, and when the temperature condition requiring the control change is reached (Step S103; YES), Step S104 is performed. And the driving method is changed to a driving method with low heat generation. That is, in steps S103 to S104, the first operation (driving) method is used in the first temperature state, and the second temperature in which heat dissipation from one inverter to the other inverter is smaller than that in the first temperature state. In the state, a second operation (drive) method that generates less heat than the first operation (drive) method is used.
後で具体的な駆動方式について詳述するように、ステップＳ１０４で実行される発熱が低い駆動方式は、モータ２００の出力を維持する一方でトルクリップルの発生などについては妥協して発熱を抑制する駆動方式である。このような発熱が低い駆動方式に移行した後は、過熱保護が必要な温度条件に達したか判定される（ステップＳ１０５）。過熱保護が必要な温度条件とは、例えば過熱保護開始の閾値温度を超える温度などである。　 As will be described later in detail for a specific driving method, the driving method with low heat generation performed in step S104 maintains the output of the motor 200 while suppressing generation of torque ripple by suppressing heat generation. It is a driving method. After shifting to such a driving method in which heat generation is low, it is determined whether or not a temperature condition that requires overheating protection has been reached (step S105). The temperature condition that requires overheating protection is, for example, a temperature that exceeds a threshold temperature at which overheating protection starts.
過熱保護が必要な温度条件に達しない（ステップＳ１０５；ＮＯ）間は、上述した発熱が低い駆動方式が継続され、過熱保護が必要な温度条件に達すると（ステップＳ１０５；ＹＥＳ）、ステップＳ１０６に進み、過熱保護によって電流が制限されることによってインバータ１００の発熱が抑制される。上述したように、過熱保護では発熱が抑制されると共に、モータ２００の出力も抑制される。つまり、ステップＳ１０５～ステップＳ１０６では、上述した第２の温度状態に較べ、片方のインバータから他のインバータへの放熱が更に少ない第３の温度状態では、モータ２００への供給電力を制限する。　このように、本実施形態の駆動制御では、過熱保護に至る前に低発熱の駆動方式が用いられてモータ２００の出力ができるだけ維持される。　以下、上述した「制御変更が必要な温度条件」の具体例について説明する。　 While the temperature condition that requires overheat protection is not reached (step S105; NO), the above-described drive method with low heat generation is continued, and when the temperature condition that requires overheat protection is reached (step S105; YES), the process proceeds to step S106. Then, the current is limited by the overheat protection, so that the heat generation of the inverter 100 is suppressed. As described above, in the overheat protection, the heat generation is suppressed and the output of the motor 200 is also suppressed. That is, in steps S105 to S106, the power supply to the motor 200 is limited in the third temperature state in which heat radiation from one inverter to the other inverter is smaller than in the second temperature state described above. As described above, in the drive control according to the present embodiment, the output of the motor 200 is maintained as much as possible by using the drive system with low heat generation before the overheat protection is performed. Hereinafter, a specific example of the above-mentioned “temperature condition requiring control change” will be described.
第１の具体例では、第１の温度状態よりも２つのインバータの温度差が小さい第２の温度状態では第２の動作方式が用いられる。即ち、２つの系統それぞれについてサーミスタ６００で測定された温度の差が所定の閾値を下回った場合に、低発熱の駆動方式が用いられる。　 In the first specific example, the second operation method is used in the second temperature state in which the temperature difference between the two inverters is smaller than the first temperature state. That is, when the difference between the temperatures measured by the thermistor 600 for each of the two systems falls below a predetermined threshold, a driving method that generates less heat is used.
図５に示されるように、駆動中のインバータ１００＿ＯＫに熱が偏っている場合には、２つのサーミスタ６００による測定値の差（即ち温度差）が大きい。そして、そのような温度差により、停止中のインバータ１００＿ＮＧが放熱部として機能するので、駆動中のインバータ１００＿ＯＫは放熱に余裕があり、高い発熱の駆動方式を継続することができる。しかし、駆動中のインバータ１００＿ＯＫによる高い発熱が続くと、環境温度などによっては放熱の余地が減少する虞がある。　図７は、１系統の駆動で放熱の余地が減少した場合の熱分布を模式的に示す図である。　 As shown in FIG. 5, when heat is biased in the driving inverter 100_OK, the difference between the measured values of the two thermistors 600 (that is, the temperature difference) is large. Then, the stopped inverter 100_NG functions as a heat radiator due to such a temperature difference, so that the driven inverter 100_OK has room for heat radiation and can continue the driving method of generating high heat. However, if high heat generation by the inverter 100_OK during driving continues, there is a possibility that room for heat radiation may decrease depending on the environmental temperature and the like. FIG. 7 is a diagram schematically showing a heat distribution when room for heat radiation is reduced by driving one system.
駆動中のインバータ１００＿ＯＫによる高い発熱が続くと、例えば環境温度が高い場合などは、ヒートシンク１００１の温度も上昇するとともに停止中のインバータ１００＿ＮＧの温度も上昇する。その結果、２つのサーミスタ６００による測定値の差（即ち温度差）が低下し、停止中のインバータ１００＿ＮＧによる放熱部としての機能も低下する。従って、放熱の余地が全体として失われ、駆動中のインバータ１００＿ＯＫが更に高温化する虞がある。　このような温度状態（温度条件）に達した場合には、駆動中のインバータ１００＿ＯＫにおける駆動方式が、低発熱の駆動方式に変更される。



（温度条件の具体例）



　図８は、温度条件の第１の具体例における制御変更を示す図である。　図８の横軸は時間経過を示し、縦軸は温度差を示す。　 If the high heat generated by the driven inverter 100_OK continues, for example, when the environmental temperature is high, the temperature of the heat sink 1001 increases and the temperature of the stopped inverter 100_NG also increases. As a result, the difference between the measured values of the two thermistors 600 (that is, the temperature difference) decreases, and the function of the stopped inverter 100_NG as a heat radiating unit also decreases. Therefore, room for heat radiation is lost as a whole, and the temperature of the inverter 100_OK during driving may be further increased. When such a temperature state (temperature condition) is reached, the driving method of the driving inverter 100_OK is changed to the driving method of low heat generation.



(Specific examples of temperature conditions)



FIG. 8 is a diagram illustrating a control change in the first specific example of the temperature condition. The horizontal axis of FIG. 8 indicates the passage of time, and the vertical axis indicates the temperature difference.
高い発熱の駆動がある程度の高温環境などで継続されると、２つの系統における温度差が時間経過と共に減少する。そして、温度差が閾値ＴＶ１を下回ると、低発熱の駆動方式に変更されて駆動が継続される。駆動方式が変更されて発熱が減ることで温度差も下げ止まり、放熱の余地が生まれるので、出力の維持が図られる。　 If the drive of high heat generation is continued in a certain high-temperature environment or the like, the temperature difference between the two systems decreases over time. When the temperature difference falls below the threshold value TV1, the driving method is changed to a low heat generation driving method and driving is continued. By changing the driving method and reducing heat generation, the temperature difference also stops decreasing, and there is room for heat radiation, so that the output can be maintained.
なお、温度差のみによる判断では、駆動中のインバータ１００＿ＯＫの発熱が小さくて２つのインバータ１００＿ＯＫ，１００＿ＮＧが双方とも低温である場合と放熱の余地が少ない場合との区別が困難である。従って、第１の具体例では、望ましくは、駆動中の片方のインバータの温度が所定の温度を超え、かつ、第１の温度状態よりも２つのインバータの温度差が小さい第２の温度状態では第２の動作方式が用いられる。即ち、駆動中の系統におけるサーミスタ６００の測定温度が所定の閾値を超え、かつ、２つの系統それぞれについてサーミスタ６００で測定された温度の差が所定の閾値を下回った場合に、低発熱の駆動方式が用いられることが望ましい。　 It should be noted that it is difficult to discriminate between a case where both the inverters 100_OK and 100_NG are at low temperature and a case where there is little room for heat radiation, based on the judgment based on only the temperature difference, because the heat generated by the inverter 100_OK during driving is small. Therefore, in the first specific example, desirably, in the second temperature state in which the temperature of one of the driven inverters exceeds a predetermined temperature and the temperature difference between the two inverters is smaller than the first temperature state. A second mode of operation is used. That is, when the measured temperature of the thermistor 600 in the system being driven exceeds a predetermined threshold value and the difference between the temperatures measured by the thermistor 600 for each of the two systems falls below the predetermined threshold value, a low heat generation driving method Is preferably used.
「制御変更が必要な温度条件」の第２の具体例では、駆動中の片方のインバータの温度が所定の温度を超え、かつ、第１の温度状態よりも当該片方のインバータの温度上昇が高い第２の温度状態では第２の動作方式が用いられる。即ち、駆動中の系統について、サーミスタ６００の測定温度が所定の閾値を超えるとともに測定温度の上昇率も所定の閾値を超える場合に、低発熱の駆動方式が用いられる。この第２の具体例によれば、駆動側の温度のみで温度状態が決められるので、相手側の系統の測定値を得るための配線などが不要となりコストダウンが見込まれる。　図９は、測定温度の上昇率の例を示す図である。　図９の横軸は時間経過を示し、縦軸は、駆動側の系統のサーミスタ６００による測定温度を示す。　 In the second specific example of the “temperature condition requiring control change”, the temperature of one of the driven inverters exceeds a predetermined temperature, and the temperature rise of the one inverter is higher than the first temperature state. In the second temperature state, the second operation mode is used. That is, when the measured temperature of the thermistor 600 exceeds a predetermined threshold value and the rate of increase of the measured temperature exceeds the predetermined threshold value, a low heat generation driving method is used. According to the second specific example, since the temperature state is determined only by the temperature on the driving side, wiring and the like for obtaining a measured value of the system on the other side become unnecessary, and cost reduction is expected. FIG. 9 is a diagram showing an example of the rate of rise of the measured temperature.横 The horizontal axis in FIG. 9 indicates the passage of time, and the vertical axis indicates the temperature measured by the thermistor 600 on the drive side.
図９のグラフには、温度上昇率が大きい例を表したラインＬ１と、温度上昇率が小さい例を表したラインＬ２が示されている。温度上昇率が大きいと、同じ温度上昇が短時間で生じる。このため、仮に高い発熱の駆動方式を継続するならば、過熱保護の閾値温度ＴＶ２に到達して電流制限が掛かる虞がある。従って、過熱保護に至る前に、低発熱の駆動方式に変更することが望ましい。　 The graph of FIG. 9 shows a line L1 representing an example with a large temperature rise rate and a line L2 representing an example with a small temperature rise rate. If the rate of temperature rise is large, the same temperature rise occurs in a short time. For this reason, if the driving method of high heat generation is continued, there is a possibility that the temperature may reach the threshold temperature TV2 for overheating protection and the current may be limited. Therefore, it is desirable to change to a drive system that generates less heat before reaching overheat protection.
一方、温度上昇率が小さいと、同じ温度上昇が生じるのに長時間を要し、その間にヒートシンク１００１や停止中のインバータ１００＿ＮＧへと放熱も進む。このため、高い発熱の駆動方式を継続しても過熱保護の閾値温度ＴＶ２には到達せずに温度の上昇が頭打ちとなることが期待される。　このように、温度上昇率によって放熱の状況が判定可能であり、駆動方式の適切な変更も可能となる。



（駆動方式の具体例）



　以下、上述した「発熱が低い駆動方式」の具体例について説明する。　 On the other hand, if the rate of temperature rise is small, it takes a long time for the same temperature rise to occur, during which time heat dissipation proceeds to the heat sink 1001 and the stopped inverter 100_NG. For this reason, it is expected that even if the driving method of high heat generation is continued, the temperature will not reach the threshold temperature TV2 for overheating protection and the rise in temperature will level off. As described above, the state of heat radiation can be determined based on the temperature rise rate, and the drive system can be appropriately changed.



(Specific example of drive system)



Hereinafter, a specific example of the “driving method with low heat generation” will be described.
２系統のインバータ１００は、各インバータ１００にそれぞれスイッチ素子１０１～１０６を備え、当該スイッチ素子１０１～１０６のオンオフ動作によってモータ２００に電力を供給する。発熱が低い第２の動作（駆動）方式は、第１の動作（駆動）方式よりもスイッチ素子１０１～１０６のオンオフの頻度が少ない。スイッチ素子１０１～１０６は、オンオフ動作（スイッチング）に伴って発熱を生じるので、スイッチ素子１０１～１０６におけるオンオフ動作の頻度が減ることでインバータ１００の発熱が低減される。また、以下説明するように、オンオフ動作の頻度が減ってもモータ２００の出力を維持することができる。　図１０は、「発熱が低い駆動方式」の第１の具体例を示す図である。　 The two-system inverter 100 includes switch elements 101 to 106 in each of the inverters 100, and supplies power to the motor 200 by turning on and off the switch elements 101 to 106. In the second operation (driving) method with low heat generation, the switching elements 101 to 106 are turned on and off less frequently than in the first operation (driving) method. Since the switch elements 101 to 106 generate heat with the on / off operation (switching), the frequency of the on / off operation of the switch elements 101 to 106 is reduced, so that the heat generation of the inverter 100 is reduced. Further, as described below, the output of the motor 200 can be maintained even if the frequency of the on / off operation is reduced. FIG. 10 is a diagram showing a first specific example of the “driving method with low heat generation”.
第１の動作（駆動）方式で、ｎ相（例えば３相）のそれぞれについて並行でオンオフ動作を行うのに対し、図１０に示す第２の動作（駆動）方式では、ｎ相のうちオンオフ動作が停止している相が、どの時点においても１つ以上存在する。　 In the first operation (drive) method, on / off operations are performed in parallel for each of n phases (for example, three phases), whereas in the second operation (drive) method shown in FIG. Is stopped at any one time.
図３に示す電圧波形を生じる駆動方式を３相変調方式と称し、図１０に示す駆動方式を２相変調方式と称する。即ち、図１０に示す駆動方式では、電気角の０°から９０°まではＶ相が電圧０に維持され、Ｖ相のスイッチ素子は電圧０を示すオンオフ状態に固定される。従って、電気角の０°から９０°まではＶ相のスイッチ素子についてはＰＷＭ制御のオンオフ動作が停止する。　また、電気角の９０°から２１０°まではＷ相が電圧０に維持され、Ｗ相のスイッチ素子についてはＰＷＭ制御のオンオフ動作が停止する。　更に、電気角の２１０°から３３０°まではＵ相が電圧０に維持され、Ｕ相のスイッチ素子についてはＰＷＭ制御のオンオフ動作が停止する。　更にまた、電気角の３３０°から３６０°（０°）まではＶ相が電圧０に維持され、Ｖ相のスイッチ素子についてはＰＷＭ制御のオンオフ動作が停止する。　 The driving method that generates the voltage waveform shown in FIG. 3 is called a three-phase modulation method, and the driving method shown in FIG. 10 is called a two-phase modulation method. That is, in the driving method shown in FIG. 10, the V-phase is maintained at the voltage 0 from the electrical angle of 0 ° to 90 °, and the V-phase switch element is fixed to the on / off state indicating the voltage of 0. Therefore, the on / off operation of the PWM control is stopped for the V-phase switch element from the electrical angle of 0 ° to 90 °. (4) The voltage of the W-phase is maintained at 0 from the electrical angle of 90 ° to 210 °, and the ON / OFF operation of the PWM control is stopped for the W-phase switch element. Furthermore, the U phase is maintained at the voltage 0 from 210 ° to 330 ° of the electrical angle, and the ON / OFF operation of the PWM control is stopped for the U phase switch element. Furthermore, the V phase is maintained at the voltage 0 from the electrical angle of 330 ° to 360 ° (0 °), and the ON / OFF operation of the PWM control is stopped for the V phase switch element.
このように、図１０に示す駆動方式では、モータ２００の３相のうち、一時には２相のみでオンオフ動作が実行され、常にいずれか１相はオンオフ動作が停止される。この結果、図３に示す３相変調方式に対して２相変調方式ではスイッチ素子のオンオフ動作が約３分の１低減され、スイッチングに伴う発熱も低減される。　 As described above, in the driving method shown in FIG. 10, the on / off operation is performed only in two phases at a time among the three phases of the motor 200, and the on / off operation is always stopped in any one phase. As a result, in the two-phase modulation method, the on-off operation of the switch element is reduced by about one third in the two-phase modulation method as compared with the three-phase modulation method shown in FIG.
一方で、モータ２００の出力は、図１０に示す電圧波形によって供給される電力によって決まるが、供給電力は図３に示す電圧波形による供給電力とほぼ同等である。従って、モータ２００の出力は、３相変調方式から２相変調方式になってもほぼ維持されることになる。　図１１は、「発熱が低い駆動方式」の第２の具体例を示す図である。　 On the other hand, the output of the motor 200 is determined by the power supplied by the voltage waveform shown in FIG. 10, but the supplied power is substantially equal to the power supplied by the voltage waveform shown in FIG. Therefore, the output of the motor 200 is almost maintained even when the three-phase modulation method is changed to the two-phase modulation method. FIG. 11 is a diagram showing a second specific example of the “driving method with low heat generation”.
図１１に示す例では、インバータ１００が、設定されたキャリア周波数でスイッチ素子１０１～１０６をオンオフ動作し、第２の動作（駆動）方式は、第１の動作（駆動）方式よりもキャリア周波数が低い。図１１の左方には、第１の動作方式におけるキャリア周波数の例が示され、図１１の右方には、第２の動作方式におけるキャリア周波数の例が示される。　 In the example shown in FIG. 11, the inverter 100 turns on and off the switching elements 101 to 106 at the set carrier frequency, and the second operation (drive) method has a carrier frequency higher than that of the first operation (drive) method. Low. The left side of FIG. 11 illustrates an example of the carrier frequency in the first operation mode, and the right side of FIG. 11 illustrates the example of the carrier frequency in the second operation mode.
即ち、駆動回路３２０は制御回路３１０により、ＰＷＭ制御におけるキャリア周波数として例えば２０ｋＨｚが設定され、２系統での駆動時や、１系統による高い発熱の駆動方式では、設定された２０ｋＨｚで駆動回路３２０がインバータ１００のスイッチ素子１０１～１０６をオンオフ動作させる。　 That is, the drive circuit 320 is set to, for example, 20 kHz as a carrier frequency in the PWM control by the control circuit 310, and the drive circuit 320 is set to 20 kHz at the set 20 kHz when driving with two systems or in a drive system with high heat generation by one system. The switch elements 101 to 106 of the inverter 100 are turned on and off.
これに対して低発熱の駆動方式では、駆動回路３２０は制御回路３１０により、キャリア周波数として例えば１６ｋＨｚが設定され、駆動回路３２０がインバータ１００のスイッチ素子１０１～１０６を１６ｋＨｚでオンオフ動作させる。　 On the other hand, in the drive system with low heat generation, the drive circuit 320 sets a carrier frequency of, for example, 16 kHz by the control circuit 310, and the drive circuit 320 turns on and off the switch elements 101 to 106 of the inverter 100 at 16 kHz.
このようにキャリア周波数が低周波数に変更されることでスイッチ素子１０１～１０６のオンオフ動作の頻度が容易に低減され、インバータ１００の発熱も抑制される。なお、キャリア周波数は、インバータ１００による電力波形とは独立に変更可能である。従って、高い発熱の駆動方式と低発熱の駆動方式との双方で、例えば図３に示す電圧波形が用いられてもよい。つまり、図１１に示す第２の具体例では、高い発熱の駆動方式と低発熱の駆動方式とで電圧波形が変更されなくてもインバータ１００の発熱が抑制される。　 By changing the carrier frequency to a low frequency in this manner, the frequency of the on / off operation of the switch elements 101 to 106 is easily reduced, and the heat generation of the inverter 100 is also suppressed. Note that the carrier frequency can be changed independently of the power waveform by the inverter 100. Therefore, for example, the voltage waveform shown in FIG. 3 may be used in both the high heat generation drive method and the low heat generation drive method. That is, in the second specific example shown in FIG. 11, the heat generation of the inverter 100 is suppressed even if the voltage waveform is not changed between the high heat generation drive method and the low heat generation drive method.
図１１に示す第２の具体例は、図１０に示す第１の具体例と組み合わせで採用されてもよい。即ち、高い発熱の駆動方式では、例えば、図３に示す電圧波形と２０ｋＨｚのキャリア周波数が用いられ、低発熱の駆動方式では、図１０に示す電圧波形と１６ｋＨｚのキャリア周波数が用いられる。　同様に、図１１に示す第２の具体例は、後述する他の具体例と組み合わせで採用されてもよい。　図１２は、「発熱が低い駆動方式」の第３の具体例を示す図である。　 The second specific example shown in FIG. 11 may be employed in combination with the first specific example shown in FIG. That is, in the driving method of high heat generation, for example, the voltage waveform shown in FIG. 3 and the carrier frequency of 20 kHz are used, and in the driving method of low heat generation, the voltage waveform shown in FIG. 10 and the carrier frequency of 16 kHz are used. Similarly, the second specific example shown in FIG. 11 may be employed in combination with another specific example described later. FIG. 12 is a diagram showing a third specific example of the “driving method with low heat generation”.
図１２に示す例では、高い発熱の第１の動作（駆動）方式では、スイッチ素子のオンオフ動作で正弦波の電力波形を形成し、低発熱の第２の動作（駆動）方式では、スイッチ素子のオンオフ動作で台形波を形成する。図１２の左方には、第１の動作方式における電力波形である正弦波が示され、図１２の右方には、第２の動作方式における電力波形である台形波が示される。　 In the example shown in FIG. 12, in the first operation (drive) method of high heat generation, a sine wave power waveform is formed by the on / off operation of the switch element, and in the second operation (drive) method of low heat generation, the switch element is used. A trapezoidal wave is formed by the on / off operation of. The left side of FIG. 12 shows a sine wave which is a power waveform in the first operation mode, and the right side of FIG. 12 shows a trapezoidal wave which is a power waveform in the second operation mode.
電力波形が滑らかな曲線である正弦波では、ＰＷＭ制御によるスイッチ素子のオンオフ動作が絶えず行われることで波形が形成されるが、台形波の場合には、振幅が一定の区間でオンオフ動作が停止可能となる。従って、台形波では、一部区間でオンオフ動作が停止されることにより、インバータの発熱が抑制される。　図１３は、「発熱が低い駆動方式」の第４の具体例を示す図である。　 In the case of a sine wave whose power waveform is a smooth curve, the waveform is formed by the on / off operation of the switch element being constantly performed by PWM control, but in the case of a trapezoidal wave, the on / off operation is stopped in a section where the amplitude is constant. It becomes possible. Therefore, in the trapezoidal wave, the on / off operation is stopped in some sections, thereby suppressing the heat generation of the inverter. FIG. 13 is a diagram showing a fourth specific example of the “driving method with low heat generation”.
図１３に示す例では、高い発熱の第１の動作（駆動）方式では、スイッチ素子のオンオフ動作で正弦波の電力波形を形成し、低発熱の第２の動作（駆動）方式では、スイッチ素子のオンオフ動作で矩形波を形成する。図１３の左方には、第１の動作方式における電力波形である正弦波が示され、図１３の右方には、第２の動作方式における電力波形である矩形波が示される。　 In the example shown in FIG. 13, in the first operation (drive) method of high heat generation, a sine wave power waveform is formed by the on / off operation of the switch element, and in the second operation (drive) method of low heat generation, the switch element A rectangular wave is formed by the on / off operation of. The left side of FIG. 13 shows a sine wave which is a power waveform in the first operation mode, and the right side of FIG. 13 shows a rectangular wave which is a power waveform in the second operation mode.
電力波形が滑らかな曲線である正弦波では、ＰＷＭ制御によるスイッチ素子のオンオフ動作が絶えず行われることで波形が形成されるが、矩形波の場合には振幅が一定であるので、極性が逆転する箇所を除くと、任意の区間でオンオフ動作が停止可能となる。従って、矩形波では、任意の区間でオンオフ動作が停止されることにより、インバータの発熱が抑制される。　図１４は、「発熱が低い駆動方式」の第５の具体例を示す図である。　 In the case of a sine wave whose power waveform is a smooth curve, the waveform is formed by the on / off operation of the switch element constantly performed by PWM control, but in the case of a rectangular wave, the polarity is reversed because the amplitude is constant. Excluding the point, the on / off operation can be stopped in an arbitrary section. Therefore, in the case of the rectangular wave, the on / off operation is stopped in an arbitrary section, so that heat generation of the inverter is suppressed. FIG. 14 is a diagram showing a fifth specific example of the “driving method with low heat generation”.
図１４に示す例では、第１の動作（駆動）方式で、ハイサイドスイッチ素子とローサイドスイッチ素子との双方が並行してオンオフ動作し、第２の動作（駆動）方式では、ハイサイドスイッチ素子とローサイドスイッチ素子とのうち一方が他方よりオンオフ頻度が低い。より詳細には、図１４には、ハイサイドスイッチ素子におけるオンオフ動作としてベタオン動作（即ち一部区間でオン状態に固定された動作）が用いられ、ローサイドスイッチ素子でＰＷＭ制御のオンオフ動作が用いられる例が示される。　 In the example shown in FIG. 14, in the first operation (drive) method, both the high-side switch element and the low-side switch element perform on / off operations in parallel, and in the second operation (drive) method, the high-side switch element And the low-side switch element has a lower on / off frequency than the other. More specifically, in FIG. 14, a solid-on operation (that is, an operation fixed to an ON state in a partial section) is used as an on-off operation in the high-side switch element, and an on-off operation of PWM control is used in the low-side switch element. An example is shown.
高い発熱の駆動方式ではローサイドスイッチ素子と並行でＰＷＭ制御のオンオフ動作を行っていたハイサイドスイッチ素子が、低発熱の駆動方式ではベタオン動作によって殆どオンオフ動作を停止する。従って、低発熱の駆動方式では、全体としてスイッチ素子のオンオフ動作がほぼ半減することになり、インバータ１００の発熱が抑制される。　 The high-side switch element that performed the PWM control on / off operation in parallel with the low-side switch element in the drive system with high heat generation stops almost on-off operation by the solid-on operation in the drive system with low heat generation. Therefore, in the drive system with low heat generation, the on / off operation of the switch element is reduced by almost half as a whole, and the heat generation of the inverter 100 is suppressed.
なお、ハイサイドスイッチ素子とローサイドスイッチ素子との一方のみのＰＷＭ制御であっても、電力波形としては任意の電力波形が形成可能である。従って、図１４に示す第５の具体例は、上述した第３，第４の具体例との組み合わせが可能である。　 Note that, even in the PWM control of only one of the high-side switch element and the low-side switch element, an arbitrary power waveform can be formed as the power waveform. Therefore, the fifth specific example shown in FIG. 14 can be combined with the third and fourth specific examples described above.
また、ハイサイドスイッチ素子とローサイドスイッチ素子との一方のみのＰＷＭ制御であっても、キャリア周波数としては任意の周波数が採用可能である。従って、図１４に示す第５の具体例は、上述した第２の具体例と組み合わされてもよい。　更には、図１４に示す第５の具体例は、上述した第１，第３，第４の具体例と組み合わされた上に、上述した第２の具体例とも組み合わされてもよい。



（パワーステアリング装置の実施形態）


Further, even in the PWM control of only one of the high-side switch element and the low-side switch element, any frequency can be adopted as the carrier frequency. Therefore, the fifth specific example shown in FIG. 14 may be combined with the second specific example described above. Further, the fifth specific example shown in FIG. 14 may be combined with the above-described first, third, and fourth specific examples and also with the above-described second specific example.



(Embodiment of power steering device)


自動車等の車両は一般的に、パワーステアリング装置を備えている。パワーステアリング装置は、運転者がステアリングハンドルを操作することによって発生するステアリング系の操舵トルクを補助するための補助トルクを生成する。補助トルクは、補助トルク機構によって生成され、運転者の操作の負担を軽減することができる。　 Vehicles such as automobiles generally include a power steering device. The power steering device generates an assist torque for assisting a steering torque of a steering system generated by a driver operating a steering handle. The auxiliary torque is generated by the auxiliary torque mechanism, and can reduce the burden of the driver's operation.
上記実施形態のモータ駆動ユニット１０００は、パワーステアリング装置に好適に利用される。図１５は、本実施形態によるパワーステアリング装置２０００の構成を模式的に示す図である。　電動パワーステアリング装置２０００は、ステアリング系５２０および補助トルク機構５４０を備える。　 The motor drive unit 1000 of the above embodiment is suitably used for a power steering device. FIG. 15 is a diagram schematically illustrating a configuration of a power steering device 2000 according to the present embodiment. The electric power steering apparatus 2000 includes a steering system 520 and an auxiliary torque mechanism 540.
ステアリング系５２０は、例えば、ステアリングハンドル５２１、ステアリングシャフト５２２（「ステアリングコラム」とも称される。）、自在軸継手５２３Ａ、５２３Ｂ、および回転軸５２４（「ピニオン軸」または「入力軸」とも称される。）を備える。　 The steering system 520 is, for example, a steering handle 521, a steering shaft 522 (also referred to as a “steering column”), a universal joint 523A, 523B, and a rotating shaft 524 (also referred to as a “pinion shaft” or “input shaft”). ).
また、ステアリング系５２０は、例えば、ラックアンドピニオン機構５２５、ラック軸５２６、左右のボールジョイント５５２Ａ、５５２Ｂ、タイロッド５２７Ａ、５２７Ｂ、ナックル５２８Ａ、５２８Ｂ、および左右の操舵車輪（例えば左右の前輪）５２９Ａ、５２９Ｂを備える。　 The steering system 520 includes, for example, a rack and pinion mechanism 525, a rack shaft 526, left and right ball joints 552A and 552B, tie rods 527A and 527B, knuckles 528A and 528B, and left and right steering wheels (for example, left and right front wheels) 529A. 529B.
ステアリングハンドル５２１は、ステアリングシャフト５２２と自在軸継手５２３Ａ、５２３Ｂとを介して回転軸５２４に連結される。回転軸５２４にはラックアンドピニオン機構５２５を介してラック軸５２６が連結される。ラックアンドピニオン機構５２５は、回転軸５２４に設けられたピニオン５３１と、ラック軸５２６に設けられたラック５３２とを有する。ラック軸５２６の右端には、ボールジョイント５５２Ａ、タイロッド５２７Ａおよびナックル５２８Ａをこの順番で介して右の操舵車輪５２９Ａが連結される。右側と同様に、ラック軸５２６の左端には、ボールジョイント５５２Ｂ、タイロッド５２７Ｂおよびナックル５２８Ｂをこの順番で介して左の操舵車輪５２９Ｂが連結される。ここで、右側および左側は、座席に座った運転者から見た右側および左側にそれぞれ一致する。　 The steering handle 521 is connected to a rotating shaft 524 via a steering shaft 522 and universal shaft joints 523A and 523B. A rack shaft 526 is connected to the rotation shaft 524 via a rack and pinion mechanism 525. The rack and pinion mechanism 525 has a pinion 531 provided on the rotation shaft 524 and a rack 532 provided on the rack shaft 526. The right steering wheel 529A is connected to the right end of the rack shaft 526 via a ball joint 552A, a tie rod 527A, and a knuckle 528A in this order. Similarly to the right side, the left steering wheel 529B is connected to the left end of the rack shaft 526 via a ball joint 552B, a tie rod 527B, and a knuckle 528B in this order. Here, the right side and the left side respectively correspond to the right side and the left side viewed from the driver sitting on the seat.
ステアリング系５２０によれば、運転者がステアリングハンドル５２１を操作することによって操舵トルクが発生し、ラックアンドピニオン機構５２５を介して左右の操舵車輪５２９Ａ、５２９Ｂに伝わる。これにより、運転者は左右の操舵車輪５２９Ａ、５２９Ｂを操作することができる。　 According to the steering system 520, when the driver operates the steering handle 521, a steering torque is generated and transmitted to the left and right steering wheels 529A and 529B via the rack and pinion mechanism 525. Thus, the driver can operate the left and right steering wheels 529A, 529B.
補助トルク機構５４０は、例えば、操舵トルクセンサ５４１、機電一体型モータ５４３、減速機構５４４を備える。補助トルク機構５４０は、ステアリングハンドル５２１から左右の操舵車輪５２９Ａ、５２９Ｂに至るステアリング系５２０に補助トルクを与える。なお、補助トルクは「付加トルク」と称されることがある。　機電一体型モータ５４３としては、例えば図１に示されたモータ駆動ユニット１０００が好適に用いられる。　 The auxiliary torque mechanism 540 includes, for example, a steering torque sensor 541, a mechanical and electric integrated motor 543, and a speed reduction mechanism 544. The auxiliary torque mechanism 540 applies an auxiliary torque to a steering system 520 from the steering handle 521 to the left and right steering wheels 529A, 529B. Note that the auxiliary torque may be referred to as “additional torque”. For example, the motor drive unit 1000 shown in FIG. 1 is preferably used as the electromechanical integrated motor 543.
図１５に示された各要素のうち、操舵トルクセンサ５４１および機電一体型モータ５４３を除いた要素で構成された機構は、モータ２００によって駆動されるパワーステアリング機構の一例に相当する。　 A mechanism constituted by elements other than the steering torque sensor 541 and the electric and mechanical integrated motor 543 among the elements shown in FIG. 15 corresponds to an example of a power steering mechanism driven by the motor 200.
操舵トルクセンサ５４１は、ステアリングハンドル５２１によって付与されたステアリング系５２０の操舵トルクを検出する。操舵トルクセンサ５４１からの検出信号（以下、「トルク信号」と表記する。）は、機電一体型モータ５４３に入力され、機電一体型モータ５４３内の制御回路で補助トルクが算出され、その補助トルクを示した駆動信号が生成される。機電一体型モータ５４３は、操舵トルクに応じた補助トルクを駆動信号に基づいて発生する。補助トルクは、減速機構５４４を介してステアリング系５２０の回転軸５２４に伝達される。減速機構５４４は、例えばウォームギヤ機構である。補助トルクはさらに、回転軸５２４からラックアンドピニオン機構５２５に伝達される。　 The steering torque sensor 541 detects the steering torque of the steering system 520 given by the steering handle 521. A detection signal (hereinafter, referred to as “torque signal”) from the steering torque sensor 541 is input to the electromechanical integrated motor 543, and a control circuit in the electromechanical integrated motor 543 calculates an auxiliary torque, and the auxiliary torque is calculated. Is generated. The electromechanical integrated motor 543 generates an auxiliary torque corresponding to the steering torque based on the drive signal. The assist torque is transmitted to the rotation shaft 524 of the steering system 520 via the speed reduction mechanism 544. The reduction mechanism 544 is, for example, a worm gear mechanism. The auxiliary torque is further transmitted from the rotation shaft 524 to the rack and pinion mechanism 525.
パワーステアリング装置２０００は、補助トルクがステアリング系５２０に付与される箇所によって、ピニオンアシスト型、ラックアシスト型、およびコラムアシスト型等に分類される。図１５には、コラムアシスト型のパワーステアリング装置２０００が示されている。ただし、パワーステアリング装置２０００は、ラックアシスト型、ピニオンアシスト型等にも適用される。　 The power steering apparatus 2000 is classified into a pinion assist type, a rack assist type, a column assist type, and the like, depending on a position where the assist torque is applied to the steering system 520. FIG. 15 shows a column assist type power steering device 2000. However, the power steering device 2000 is also applied to a rack assist type, a pinion assist type, and the like.
パワーステアリング装置２０００によれば、運転者の操舵トルクに機電一体型モータ５４３の補助トルクを加えた複合トルクを利用してラック軸５２６によって左右の操舵車輪５２９Ａ、５２９Ｂを操作することができる。特に、機電一体型モータ５４３に、上記実施形態のモータ駆動ユニット１０００が利用されることにより、２系統の一方に異常が生じた場合であっても発熱が抑制されてアシストトルクが維持される。　 According to the power steering apparatus 2000, the left and right steering wheels 529A and 529B can be operated by the rack shaft 526 using a combined torque obtained by adding the assisting torque of the electric and mechanical integrated motor 543 to the steering torque of the driver. In particular, by using the motor drive unit 1000 of the above-described embodiment for the electromechanical motor 543, even if an abnormality occurs in one of the two systems, heat generation is suppressed and the assist torque is maintained.
なお、ここでは、本発明の駆動制御装置、駆動装置における使用方法の一例としてパワーステアリング装置が挙げられるが、本発明の駆動制御装置、駆動装置の使用方法は上記に限定されず、ポンプ、コンプレッサなど広範囲に使用可能である。　 Note that, here, a power steering device is exemplified as an example of a method of using the drive control device and the drive device of the present invention. However, a method of using the drive control device and the drive device of the present invention is not limited to the above. It can be used widely.
上述した実施形態は、すべての点で例示であって制限的なものではないと考えられるべきである。本発明の範囲は上記した実施の形態ではなくて請求の範囲によって示され、請求の範囲と均等の意味及び範囲内でのすべての変更が含まれることが意図される。 The embodiments described above are to be considered in all respects as illustrative and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the embodiments described above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.
１００　　：インバータ１０１，１０３，１０５　　：ハイサイドスイッチ素子１０２，１０４，１０６　　：ローサイドスイッチ素子２００　　：モータ２１０，２２０，２３０　　：コイル３１０　　：制御回路３２０　　：駆動回路５０１　　：電源５０３　　：コンデンサ６００　　：サーミスタ１０００　　：モータ駆動ユニット１００１　　：ヒートシンク１００２　　：パワー基板１００３　　：制御基板２０００　　：パワーステアリング装置 100: inverters 101, 103, 105: high- side switch elements 102, 104, 106: low-side switch elements 200: motors 210, 220, 230: coil 310: control circuit 320: drive circuit 501: power supply 503: capacitor 600: thermistor 1000 : Motor drive unit 1001 #: Heat sink 1002 #: Power board 1003 #: Control board 2000 #: Power steering device

Claims (14)

  1. モータの駆動を制御する駆動制御装置において、



    　それぞれが前記モータに電力を供給する少なくとも２つのインバータと、



    　前記２つのインバータの両方を動作させて前記モータを駆動する第１駆動制御と、前記２つのインバータのうち片方のインバータを動作させて前記モータを駆動する第２駆動制御とを選択的に実行する制御部と、



    を備え、



    　前記制御部が、前記第２駆動制御における前記片方のインバータの動作として、



    　第１の温度状態では第１の動作方式を用い、



    　前記第１の温度状態に較べ、前記片方のインバータから他のインバータへの放熱が少ない第２の温度状態では、前記第１の動作方式よりも発熱が低い第２の動作方式を用いる駆動制御装置。     In a drive control device that controls the drive of the motor,



    At least two inverters each supplying power to the motor;



    A first drive control for driving the motor by operating both of the two inverters and a second drive control for driving the motor by operating one of the two inverters are selectively performed. A control unit;



    With



    The control unit operates as the operation of the one inverter in the second drive control,



    In the first temperature state, the first operation mode is used,



    A drive control device that uses a second operation mode in which heat generation is lower than the first operation mode in a second temperature state in which heat radiation from one inverter to the other inverter is smaller than in the first temperature state. .
  2. 前記第１の温度状態よりも前記２つのインバータの温度差が小さい前記第２の温度状態では前記第２の動作方式を用いる請求項１に記載の駆動制御装置。 The drive control device according to claim 1, wherein the second operation mode is used in the second temperature state in which the temperature difference between the two inverters is smaller than the first temperature state.
  3. 前記片方のインバータの温度が所定の温度を超え、かつ、前記第１の温度状態よりも前記２つのインバータの温度差が小さい前記第２の温度状態では前記第２の動作方式を用いる請求項１または２に記載の駆動制御装置。 2. The second operation mode is used in the second temperature state in which the temperature of the one inverter exceeds a predetermined temperature and the temperature difference between the two inverters is smaller than the first temperature state. 3. Or the drive control device according to 2.
  4. 前記片方のインバータの温度が所定の温度を超え、かつ、前記第１の温度状態よりも当該片方のインバータの温度上昇が高い前記第２の温度状態では前記第２の動作方式を用いる請求項１に記載の駆動制御装置。 2. The second operation mode is used in the second temperature state where the temperature of the one inverter exceeds a predetermined temperature and the temperature rise of the one inverter is higher than the first temperature state. 3. 3. The drive control device according to claim 1.
  5. 前記制御部が、



    　前記第２の温度状態に較べ、前記片方のインバータから他のインバータへの放熱が更に少ない第３の温度状態では、前記モータへの供給電力を制限する請求項１から４のいずれか１項に記載の駆動制御装置。     The control unit includes:



    The power supply to the motor according to any one of claims 1 to 4, wherein a power supply to the motor is limited in a third temperature state in which heat radiation from the one inverter to the other inverter is further smaller than in the second temperature state. The drive control device according to any one of the preceding claims.
  6. 前記インバータは、各インバータにそれぞれスイッチ素子を備え、当該スイッチ素子のオンオフ動作によって前記モータに電力を供給し、



    　前記第２の動作方式は、前記第１の動作方式よりも前記スイッチ素子のオンオフの頻度が少ない請求項１から５のいずれか１項に記載の駆動制御装置。     The inverter includes a switch element in each inverter, and supplies power to the motor by an on / off operation of the switch element,



    The drive control device according to any one of claims 1 to 5, wherein the second operation mode has a lower on / off frequency of the switch element than the first operation mode.
  7. 前記インバータが、設定されたキャリア周波数で前記スイッチ素子をオンオフ動作させ、



    　前記第２の動作方式は、前記第１の動作方式よりもキャリア周波数が低い請求項６に記載の駆動制御装置。     The inverter turns on and off the switch element at a set carrier frequency,



    The drive control device according to claim 6, wherein the second operation mode has a lower carrier frequency than the first operation mode.
  8. 前記モータが、３以上のｎ相の巻線を有し、



    　前記第１の動作方式では、前記ｎ相のそれぞれについて並行でオンオフ動作を行い、



    　前記第２の動作方式では、前記ｎ相のうちオンオフ動作が停止している相が、どの時点においても１つ以上存在する請求項６または７に記載の駆動制御装置。     The motor has three or more n-phase windings;



    In the first operation mode, on / off operations are performed in parallel for each of the n phases,



    8. The drive control device according to claim 6, wherein in the second operation mode, at least one phase of the n phases at which on / off operation is stopped exists at any one time. 9.
  9. 前記制御部が、



    　前記第１の動作方式では、前記スイッチ素子のオンオフ動作で正弦波の電力波形を形成し、



    　前記第２の動作方式では、前記スイッチ素子のオンオフ動作で矩形波もしくは台形波を形成する請求項６から８のいずれか１項に記載の駆動制御装置。     The control unit includes:



    In the first operation method, a power waveform of a sine wave is formed by an on / off operation of the switch element,



    The drive control device according to any one of claims 6 to 8, wherein in the second operation method, a rectangular wave or a trapezoidal wave is formed by an on / off operation of the switch element.
  10. 前記インバータが、前記スイッチ素子として、電源から前記モータへと電流が流れる電流路の接続・非接続を切替える電源側スイッチ素子と、前記モータからグランドへと電流が流れる電流路の接続・非接続を切替えるグランド側スイッチ素子とを備え、



    　前記第１の動作方式では、前記電源側スイッチ素子と前記グランド側スイッチ素子との双方が並行してオンオフ動作し、



    　前記第２の動作方式では、前記電源側スイッチ素子と前記グランド側スイッチ素子とのうち一方が他方よりオンオフ頻度が低い請求項５から９のいずれか１項に記載の駆動制御装置。     The inverter includes, as the switch element, a power supply side switch element that switches connection / disconnection of a current path through which a current flows from a power supply to the motor, and connection / disconnection of a current path through which a current flows from the motor to the ground. And a switching element on the ground side for switching.



    In the first operation mode, both the power supply-side switch element and the ground-side switch element perform on / off operations in parallel,



    The drive control device according to any one of claims 5 to 9, wherein in the second operation mode, one of the power supply-side switch element and the ground-side switch element has a lower on / off frequency than the other.
  11. 前記２つのインバータが共通に放熱するヒートシンクを更に備えた請求項１から１０のいずれか１項に記載の駆動制御装置。 The drive control device according to any one of claims 1 to 10, further comprising a heat sink that the two inverters dissipate heat in common.
  12. 前記２つのインバータそれぞれの温度を検出する２つの温度センサを更に備えた請求項１から１１のいずれか１項に記載の駆動制御装置。 The drive control device according to any one of claims 1 to 11, further comprising two temperature sensors that detect the temperatures of the two inverters, respectively.
  13. 請求項１から１２のいずれか１項に記載の駆動制御装置と、



    　前記駆動制御装置によって駆動が制御されるモータと、



    を備える駆動装置。     A drive control device according to any one of claims 1 to 12,



    A motor whose drive is controlled by the drive control device;



    A driving device comprising:
  14. 請求項１から１２のいずれか１項に記載の駆動制御装置と、



    　前記駆動制御装置によって駆動が制御されるモータと、



    　前記モータによって駆動されるパワーステアリング機構と、



    を備えるパワーステアリング装置。     A drive control device according to any one of claims 1 to 12,



    A motor whose drive is controlled by the drive control device;



    A power steering mechanism driven by the motor;



    A power steering device comprising:
PCT/JP2019/025352 2018-09-27 2019-06-26 Driving control device, driving device, and power steering device WO2020066184A1 (en)

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JP7313416B2 (en) 2021-11-16 2023-07-24 三菱電機株式会社 power converter
WO2024005116A1 (en) * 2022-06-30 2024-01-04 新電元工業株式会社 Motor control device and motor control method

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