WO2020246371A1 - Control device and drive mechanism control method - Google Patents

Control device and drive mechanism control method Download PDF

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Publication number
WO2020246371A1
WO2020246371A1 PCT/JP2020/021292 JP2020021292W WO2020246371A1 WO 2020246371 A1 WO2020246371 A1 WO 2020246371A1 JP 2020021292 W JP2020021292 W JP 2020021292W WO 2020246371 A1 WO2020246371 A1 WO 2020246371A1
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WO
WIPO (PCT)
Prior art keywords
torque value
upper limit
control device
mode
temperature
Prior art date
Application number
PCT/JP2020/021292
Other languages
French (fr)
Japanese (ja)
Inventor
佐藤　泰亮
関口　秀樹
敬晃 宅間
Original Assignee
日立オートモティブシステムズ株式会社
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Application filed by 日立オートモティブシステムズ株式会社 filed Critical 日立オートモティブシステムズ株式会社
Priority to JP2021524806A priority Critical patent/JP7280950B2/en
Publication of WO2020246371A1 publication Critical patent/WO2020246371A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L9/00—Electric propulsion with power supply external to the vehicle
    • B60L9/16—Electric propulsion with power supply external to the vehicle using ac induction motors
    • B60L9/18—Electric propulsion with power supply external to the vehicle using ac induction motors fed from dc supply lines
    • 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
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • 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
    • H02P29/62—Controlling or determining the temperature of the motor or of the drive for raising the temperature of the motor
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the present invention relates to a device and a control method for controlling a drive mechanism using a motor as a power source.
  • the coil temperature protection unit 113 estimates the temperature rise of the stator coil of the motor 2 based on the history information stored in the operation history recording unit 112, and a predetermined time based on the estimated temperature rise. It is determined whether or not the predicted temperature after the lapse has reached the preset protection temperature, and if it is determined that the protection temperature has been reached, the torque of the motor 2 is limited.
  • Patent Document 1 the continuously operable region is fixed, and when there is a vehicle operating point other than the region, the motor is controlled so that the torque value becomes smaller than the fixed value.
  • the motor is controlled so that the torque value becomes smaller than the fixed value.
  • a typical example of the invention disclosed in the present application is as follows. That is, the control device that controls the drive mechanism using the motor as the power source updates the upper limit torque value line indicating the upper limit torque value for controlling the upper limit of the torque value of the motor based on the state of the drive mechanism. Based on the upper limit torque value line update unit and the estimated temperature of the element constituting the drive mechanism after the delay time has elapsed from the present, it is determined whether or not the torque value needs to be limited, and the torque value is determined. When it is necessary to limit the torque value, a drive control unit that controls the torque value based on the upper limit torque value line is provided.
  • FIG. 1 It is a block diagram which shows the structural example of the control device which controls the drive mechanism mounted on the vehicle of Example 1.
  • FIG. It is a graph which shows an example of the NT characteristic of the motor of Example 1.
  • FIG. It is a figure which shows an example of the structure of the loss map held by the control device mounted on the vehicle of Example 1.
  • FIG. It is a flowchart explaining an example of the process executed by the mode determination part of Example 1.
  • FIG. It is a flowchart explaining an example of the process executed by the upper limit torque value line update part of Example 1.
  • FIG. It is a figure which shows an example of the update of the upper limit torque value line by the upper limit torque value line update part of Example 1.
  • FIG. It is a figure which shows an example of the change determination of the operation mode of the upper limit torque value line update part of Example 1.
  • FIG. It is a flowchart explaining an example of the process executed by the thermal parameter calculation part of Example 1.
  • FIG. It is a flowchart explaining an example of the restriction release determination process executed by the mode determination part of Example 1.
  • FIG. It is a flowchart explaining an example of the process executed by the mode determination part of Example 1.
  • FIG. It is a flowchart explaining an example of the process executed by the output upper limit torque value determination part of Example 1.
  • FIG. It is a flowchart explaining an example of the process executed by the parameter update part of Example 1.
  • FIG. It is a flowchart explaining an example of the process executed by the torque command part of Example 1.
  • FIG. 1 It is a figure which shows an example of torque control by the control device of Example 1.
  • FIG. 2 is a figure which shows an example of torque control by the control device of Example 1.
  • FIG. It is a flowchart explaining an example of the process executed by the mode determination part of Example 2.
  • FIG. It is a flowchart explaining an example of the process executed by the upper limit torque value line update part of Example 2.
  • FIG. 1 is a block diagram showing a configuration example of a control device that controls a drive mechanism mounted on the vehicle of the first embodiment.
  • FIG. 2 is a graph showing an example of the NT characteristics of the motor of the first embodiment.
  • FIG. 3 is a diagram showing an example of the structure of the loss map held by the control device mounted on the vehicle of the first embodiment.
  • the drive mechanism is composed of a motor 102 and a motor control unit 101.
  • the drive mechanism may include a configuration other than the motor 102 and the motor control unit 101.
  • the control device is composed of a vehicle control unit 100.
  • the control device may include a configuration other than the vehicle control unit 100.
  • the motor 102 is a device that serves as a power source for the drive mechanism.
  • the motor 102 of the first embodiment has, for example, the NT characteristics as shown in FIG.
  • the horizontal axis represents the rotation speed of the motor 102
  • the vertical axis represents the torque value.
  • Line 200 represents the maximum torque characteristics of the motor 102.
  • the line 201 represents an upper limit of the torque value when the torque value of the motor 102 is limited.
  • the line of the maximum torque characteristic of the motor 102 is described as the maximum torque characteristic line
  • the line of the upper limit of the torque value is described as the upper limit torque value line.
  • the present invention is not limited to the type, shape, size, NT characteristics, etc. of the motor 102.
  • the motor control unit 101 controls the drive of the motor 102 based on the output torque value output from the vehicle control unit 100.
  • the motor control unit 101 includes an inverter 130.
  • the motor control unit 101 calculates the current of the motor 102 from the output torque value, and inputs a current instruction to the inverter 130.
  • the inverter 130 drives the motor 102 based on the current instruction.
  • the vehicle is provided with a temperature sensor 103 that measures the temperature of the inverter 130.
  • the vehicle is provided with a temperature sensor 104 that measures the temperature of a coil or the like inside the motor 102.
  • the vehicle is provided with a speed sensor 105 for measuring the speed of the vehicle.
  • the temperature sensors 103 and 104 and the speed sensor 105 are not distinguished, they are also referred to as sensors.
  • the vehicle may be provided with a sensor other than the above, such as a torque sensor.
  • components of the drive mechanism that are subject to deterioration and damage due to heat generation such as the inverter 130 and the coil, are described as elements.
  • the temperatures measured by the temperature sensor 103 and the temperature sensor 104 are input to the vehicle control unit 100 as the element temperature 1 and the element temperature 2.
  • the speed measured by the speed sensor 105 is input to the vehicle control unit 100 as the vehicle speed.
  • an accelerator pedal signal having an opening degree corresponding to the amount of depression of the accelerator pedal by the driver is input to the vehicle control unit 100.
  • a value indicating the amount of depression of the accelerator pedal may be included.
  • the vehicle control unit 100 controls the drive mechanism. Specifically, the vehicle control unit 100 determines the output torque value and outputs the value to the motor control unit 101.
  • the vehicle control unit 100 includes a required torque value calculation unit 110, a protection control unit 111, and a torque control unit 112.
  • the required torque value calculation unit 110 calculates the required torque value required by the driver based on the accelerator pedal signal, the output torque value, and the vehicle speed.
  • the required torque value calculation unit 110 inputs the calculated required torque value to the torque command unit 112.
  • the protection control unit 111 determines whether or not it is necessary to prevent deterioration or damage of the element, and if it is determined that it is necessary to prevent damage to the element, the protection control unit 111 calculates the upper limit of the torque value. The protection control unit 111 inputs the calculated torque value as an output upper limit torque value to the torque control unit 112.
  • the torque control unit 112 determines the torque value to be input to the motor control unit 101, and inputs the determined torque value to the motor control unit 101 as an output torque value. The process executed by the torque command unit 112 will be described with reference to FIG.
  • the protection control unit 111 includes a mode determination unit 120, an upper limit torque value line update unit 121, a thermal parameter calculation unit 122, an output upper limit torque value determination unit 123, a parameter update unit 124, and an operation history recording unit 125. Further, the protection control unit 111 holds the parameters (processing parameters) used in the processing and the loss map as shown in FIG.
  • the horizontal axis represents the rotation speed of the motor 102
  • the vertical axis represents the torque value of the motor 102.
  • the element loss Xi is defined for the combination of the rotation speed and the torque value.
  • the subscript i is a character that identifies the combination of the rotation speed and the torque value.
  • a loss map may be defined for each element, or a loss map of the drive mechanism, particularly the motor 102, may be defined. In this case, the loss of each element may be estimated from the loss of the drive mechanism.
  • the protection control unit 111 holds the delay time, the heat capacity of the element, and the operating limit temperature of the element as processing parameters.
  • the initial value of the operating limit temperature of the element is set to be equal to or less than the maximum value in the temperature range in which the element normally operates.
  • the mode determination unit 120 determines the operation mode of the vehicle control unit 100.
  • the mode determination unit 120 has two operation modes: mode 1 in which the torque value of the motor 102 is not limited based on the upper limit torque value line, and mode 2 in which the torque value of the motor 102 is limited based on the upper limit torque value line. Works with either. In mode 1, the torque value of the motor is limited based on the maximum torque characteristic.
  • the upper limit torque value line update unit 121 updates the upper limit torque value line based on the state of the drive mechanism such as the motor control unit 101 and the motor 102.
  • the thermal parameter calculation unit 122 calculates a parameter (thermal parameter) related to the calorific value of the element.
  • the output upper limit torque value determination unit 123 determines the output upper limit torque value based on the state of the drive mechanism and the upper limit torque value line.
  • the parameter update unit 124 updates the processing parameters based on the operation information recorded by the operation history recording unit 125.
  • the driving history recording unit 125 records historical data such as the temperature, torque value, and vehicle speed of the element while the vehicle is driving as driving information.
  • the operation information for example, historical data composed of a time stamp, an operation mode, and a value (temperature, torque value, etc.) is recorded.
  • a plurality of functional units may be combined into one functional unit, or one functional unit may be divided into a plurality of functional units for each function.
  • the required torque value calculation unit 110, the output upper limit torque value determination unit 123, the torque control unit 112, and the motor control unit 101 may be realized as drive control units.
  • processing may be executed for each element. Further, the process may be executed on the element having the smallest difference between the operating limit temperature and the current temperature.
  • FIG. 4 is a flowchart illustrating an example of processing executed by the mode determination unit 120 of the first embodiment.
  • the mode determination unit 120 periodically executes the process described below. It is assumed that the execution cycle is set in advance.
  • the mode determination unit 120 determines whether or not the operation mode of the vehicle control unit 100 is mode 1 (step S101).
  • the mode determination unit 120 calls the thermal parameter calculation unit 122 (step S102) and instructs the calculation of the element loss and the element heat outflow component output. To do.
  • the details of the process executed by the thermal parameter calculation unit 122 will be described with reference to FIG.
  • the mode determination unit 120 determines whether or not to change to the mode 2 (step S103).
  • the mode determination unit 120 determines whether or not the estimated temperature of the element after the lapse of the delay time is equal to or less than the operating limit temperature. As information processing, it is determined whether or not the equation (1) is satisfied. The right side of equation (1) represents the estimated temperature of the device. If the equation (1) is not satisfied, the mode determination unit 120 determines that the mode is changed to 2.
  • TNOK represents the operating limit temperature of the element
  • T now represents the current temperature of the element
  • Plus represents the loss of the element based on the current accelerator pedal information
  • P move represents the element.
  • the heat outflow output of the element represents the output of the outflow heat.
  • t n represents the current time
  • t D represents the delay time.
  • C represents the heat capacity of the element.
  • the unit of element loss and element heat outflow output is W (watt).
  • the accuracy of estimating the element temperature after the delay time can be improved.
  • the mode determination unit 120 ends the process.
  • the mode determination unit 120 changes the operation mode from mode 1 to mode 2 (step S104).
  • the mode determination unit 120 calls the upper limit torque value line update unit 121 (step S105), and then ends the process.
  • the mode determination unit 120 executes the restriction release determination process (step S106), and then ends the process.
  • the details of the restriction release determination process will be described with reference to FIG.
  • FIG. 5 is a flowchart illustrating an example of processing executed by the upper limit torque value line updating unit 121 of the first embodiment.
  • FIG. 6 is a diagram showing an example of updating the upper limit torque value line by the upper limit torque value line updating unit 121 of the first embodiment.
  • FIG. 7 is a diagram showing an example of a change determination of the operation mode of the upper limit torque value line updating unit 121 of the first embodiment.
  • the upper limit torque value line update unit 121 calls the heat parameter calculation unit 122 (step S201) and instructs the calculation of the heat outflow component output of the element.
  • the details of the process executed by the thermal parameter calculation unit 122 will be described with reference to FIG.
  • step S201 If the heat outflow output of the element is input from the mode determination unit 120, the process of step S201 can be omitted.
  • the upper limit torque value line update unit 121 calculates the estimated loss of the element based on the heat outflow output of the element and the current temperature of the element (step S202).
  • the upper limit torque value line update unit 121 calculates the maximum value of P'loss satisfying the equation (2).
  • the upper limit torque value line update unit 121 calculates the upper limit torque value line (step S203). Specifically, the following processing is executed.
  • the upper limit torque value line update unit 121 extracts samples of an arbitrary number of rotation speeds. It is assumed that the number of samples to be selected is 2 or more. The present invention is not limited to the sample selection method.
  • the upper limit torque value line update unit 121 selects one sample and refers to the element loss map based on the estimated loss of the sample and the element.
  • the upper limit torque value line update unit 121 identifies the loss of the element having the smallest difference between the estimated loss of the element and the loss of the element from the loss of the element corresponding to the sample.
  • the upper limit torque value line update unit 121 determines the torque value corresponding to the loss of the specified element as the upper limit torque value for the selected sample.
  • the upper limit torque value line update unit 121 executes the process (A2) for all the extracted samples.
  • Upper limit torque value line update unit 121 calculates the upper limit torque value for rotation speeds other than the sample by linear interpolation. A method other than linear interpolation may be used.
  • the upper limit torque value line is updated from line 200 to line 202.
  • Patent Document 1 the transition from the line 200 to the line 201 that does not always reach a high temperature was made. The above is the description of the process of step S203.
  • the upper limit torque value line update unit 121 determines whether or not to change the operation mode to mode 1 based on the updated upper limit torque value line (step S204).
  • the upper limit torque value line update unit 121 calculates the area of the shaded portion in FIG. 7 as a value for evaluating the difference (line similarity) between the maximum torque characteristic line and the upper limit torque value line.
  • the upper limit torque value line update unit 121 determines whether or not the area is smaller than the threshold value. If the area is smaller than the threshold value, the upper limit torque value line update unit 121 determines that the operation mode is changed to mode 1. It is assumed that the threshold value is set in advance. However, the threshold can be updated as appropriate.
  • the upper limit torque value line update unit 121 ends the process.
  • the upper limit torque value line update unit 121 instructs the mode determination unit 120 to change to mode 1 (step S205), and then ends the process.
  • the mode determination unit 120 When the mode determination unit 120 receives an instruction from the upper limit torque value line update unit 121, the mode determination unit 120 changes the operation mode from mode 2 to mode 1.
  • the upper limit torque value line that does not exceed the operating limit temperature, deterioration and damage of the element due to heat generation can be prevented. Further, even when the torque is limited, the upper limit torque value as large as possible can be output. Therefore, the operating point of the vehicle under torque limitation can be widened.
  • FIG. 8 is a flowchart illustrating an example of processing executed by the thermal parameter calculation unit 122 of the first embodiment.
  • the thermal parameter calculation unit 122 acquires the temperature of the current element, the temperature of the element immediately before the time series, the output torque value, and the vehicle speed (step S301).
  • the temperature of the element one before the time series is a value acquired from the operation information managed by the operation history recording unit 125.
  • the current element temperature, output torque value, and vehicle speed are obtained from each sensor.
  • the thermal parameter calculation unit 122 calculates the rotation speed of the motor 102 from the vehicle speed (step S302).
  • the method of acquiring the motor rotation speed may be acquired directly from the motor.
  • the thermal parameter calculation unit 122 refers to the loss map based on the rotation speed and the output torque value, and calculates the loss of the element (step S303).
  • the thermal parameter calculation unit 122 calculates the heat outflow output of the element by substituting the element loss, the current element temperature, and the temperature of the element one time series before into the following equation (3). Step S304).
  • t is an arbitrary time
  • the integration interval is set to be longer than the delay time and the measurement interval of the sensor.
  • the thermal parameter calculation unit 122 outputs a response value (step S305), and then ends the process.
  • the thermal parameter calculation unit 122 when the thermal parameter calculation unit 122 receives an instruction to calculate the loss and heat outflow of the element, the thermal parameter calculation unit 122 outputs the loss and heat outflow output of the element as a response value, and outputs the heat outflow of the element. In the case of a calculation instruction, the output of the heat outflow of the element is output as a response value.
  • FIG. 9 is a flowchart illustrating an example of the restriction release determination process executed by the mode determination unit 120 of the first embodiment.
  • the mode determination unit 120 calls the heat parameter calculation unit 122 (step S401) and instructs the calculation of the heat outflow component output of the element.
  • the mode determination unit 120 determines whether or not to update the upper limit torque value line (step S402).
  • the mode determination unit 120 determines whether or not the equation (1) is satisfied. If the equation (1) is not satisfied, the mode determination unit 120 determines that the upper limit torque value line is updated.
  • the mode determination unit 120 ends the process.
  • the mode determination unit 120 calls the upper limit torque value line update unit 121 (step S403).
  • the mode determination unit 120 determines whether or not the restriction release condition is satisfied (step S404).
  • the mode determination unit 120 determines whether or not the temperature of the current element is lower than the temperature of the element when the operation mode is changed to mode 2.
  • the mode determination unit 120 changes the operation mode to mode 1 based on the updated upper limit torque value line. Whether or not it is determined (step S405).
  • the upper limit torque value line update unit 121 calculates the area of the shaded portion in FIG. 7 as a value for evaluating the difference (line similarity) between the maximum torque characteristic line and the upper limit torque value line.
  • the upper limit torque value line update unit 121 determines whether or not the area is smaller than the threshold value. If the area is smaller than the threshold value, the upper limit torque value line update unit 121 determines that the operation mode is changed to mode 1. It is assumed that the threshold value is set in advance. However, the threshold can be updated as appropriate.
  • the upper limit torque value line update unit 121 ends the process.
  • the upper limit torque value line update unit 121 instructs the mode determination unit 120 to change to mode 1 (step S406), and then ends the process.
  • the control device updates the upper limit torque value line again. By controlling the torque value based on the updated upper limit torque value line, it is possible to prevent the element temperature from reaching the operating limit temperature.
  • FIG. 10 is a flowchart illustrating an example of processing executed by the mode determination unit 120 of the first embodiment.
  • the mode determination unit 120 starts monitoring the accelerator pedal signal.
  • the mode determination unit 120 determines whether the opening degree of the accelerator pedal signal has increased (step S501). That is, it is determined whether or not the request for increasing the output of the motor 102 has been accepted.
  • the mode determination unit 120 determines that the opening degree of the accelerator pedal signal has increased.
  • the mode determination unit 120 ends the process.
  • the mode determination unit 120 may execute the restriction release determination process.
  • the mode determination unit 120 calls the upper limit torque value line update unit 121 (step S502), and then ends the process.
  • the upper limit torque value line update unit 121 executes the process described with reference to FIG.
  • the control device updates the upper limit torque value within the range that can prevent deterioration and damage of the element due to heat generation. This makes it possible to improve the drive performance of the drive mechanism in response to the driver's request.
  • FIG. 11 is a flowchart illustrating an example of processing executed by the output upper limit torque value determination unit 123 of the first embodiment.
  • the output upper limit torque value determination unit 123 executes the process described below periodically or when an increase in the accelerator pedal opening signal is detected.
  • the output upper limit torque value determination unit 123 acquires the rotation speed from the vehicle speed sensor and the motor rotation speed sensor (step S601).
  • the output upper limit torque value determination unit 123 determines whether or not the operation mode is mode 1 (step S602).
  • the output upper limit torque value determination unit 123 calculates the maximum torque value based on the acquired rotation speed and the maximum torque characteristic line (step). S603). Further, the output upper limit torque value determination unit 123 outputs the maximum torque value as the output upper limit torque value to the torque command unit 112 (step S605), and then ends the process.
  • the output upper limit torque value determination unit 123 calculates the upper limit torque value from the upper limit torque value line set based on the acquired rotation speed (step S604). Proceed to step 605.
  • step S605 the output upper limit torque value determination unit 123 outputs the upper limit torque value as the output upper limit torque value to the torque command unit 112 (step S605), and then ends the process.
  • FIG. 12 is a flowchart illustrating an example of the process executed by the parameter update unit 124 of the first embodiment.
  • the parameter update unit 124 executes the process described below periodically or when an arbitrary event occurs.
  • the event may be, for example, a change in the operation mode, an output of an output upper limit torque value, or the like.
  • the parameter update unit 124 updates the operating limit temperature of the element (step S701). Specifically, the following processing is executed.
  • the parameter update unit 124 acquires the maximum temperature of the element when the operation mode is mode 2 from the operation information. When there are a plurality of periods in mode 2, the maximum temperature of the element is acquired for each period.
  • the parameter update unit 124 calculates the average value of the deviation between the acquired maximum temperature and the operating limit temperature.
  • the deviation between the acquired maximum temperature and the operating limit temperature will be referred to as a temperature deviation.
  • the parameter updating unit 124 updates the operating limit temperature of the element to the value calculated by using the equation (4).
  • TNOK_old represents the operating limit temperature of the element before the update
  • TNOK_new represents the operating limit temperature of the element after the update
  • T gap represents the average value of the temperature deviation.
  • the parameter update unit 124 can newly substitute the maximum temperature during the period of the latest mode 2 and the average value of the temperature deviation into the equation (5).
  • the average value of temperature deviation can be calculated.
  • T gap_old represents the average value of the temperature deviation before the update
  • T gap_new represents the average value of the temperature shift after the update
  • T timeme represents the maximum temperature during the period of the latest mode 2.
  • n represents the number of updates.
  • the parameter update unit 124 updates the delay time (step S702), and then ends the process. Specifically, the following processing is executed.
  • the parameter update unit 124 acquires the history of the temperature of the element when the operation mode is mode 2 from the operation information. If there are a plurality of periods in mode 2, the history is acquired for each period.
  • the parameter update unit 124 calculates the time until the operation limit temperature is reached from the time when the operation mode is changed and the time when the operation limit temperature is reached after the operation mode is changed. In the following description, the calculated time will be referred to as the arrival time.
  • the parameter update unit 124 calculates the average value of the deviation between the arrival time and the delay time.
  • the difference between the arrival time and the delay time is referred to as a time difference.
  • the parameter update unit 124 updates the delay time to the value calculated by using the equation (6).
  • t D_new represents the delay time after the update
  • t soft represents the soft delay time
  • t dttime represents the average value of the time lag.
  • the parameter update unit 124 can newly substitute the time shift of the latest mode 2 period and the average value of the time shift into the equation (7).
  • the average value of time lag can be calculated.
  • t dttime_old represents the average value of the time lag before the update
  • t dttime_new represents the average value of the time lag after the update
  • ⁇ dttime represents the time lag during the period of the latest mode 2.
  • n represents the number of updates.
  • FIG. 13 is a flowchart illustrating an example of processing executed by the torque command unit 112 of the first embodiment.
  • the torque command unit 112 determines whether or not the required torque value is smaller than the upper limit torque value (step S801).
  • the torque control unit 112 When it is determined that the required torque value is smaller than the upper limit torque value, the torque control unit 112 outputs the output torque value to the required torque value to the motor control unit 101 (step S802), and then ends the process.
  • the torque control unit 112 When it is determined that the required torque value is equal to or greater than the upper limit torque value, the torque control unit 112 outputs the upper limit torque value as the output torque value to the motor control unit 101 (step S803), and then ends the process.
  • FIG 14 and 15 are diagrams showing an example of torque control by the control device of the first embodiment.
  • the first graph of FIG. 14 shows the change in the temperature of the element
  • the second graph shows the upper limit of the torque value
  • the third graph shows the opening degree of the accelerator pedal signal.
  • the torque value is not limited, so the maximum value of the output torque value is the torque value on the maximum torque characteristic line.
  • the operation mode is changed to mode 2 because the estimated temperature of the element at point 1202 after the lapse of the delay time becomes larger than the operation limit temperature. Therefore, the output torque value is the torque value on the upper limit torque value line.
  • the upper limit torque value line is updated. Therefore, the output torque value is the torque value on the upper limit torque value line, but the upper limit torque value after the update is larger than the upper limit torque value before the update.
  • the motion operating point 1501 limits the operating range without the upper limit torque value line 202.
  • the motion operating point has fluctuated so as to be within the range of line 201 or less, it is possible to generate the driving force of the torque value and the output as large as possible.
  • the upper limit torque value as large as possible can be output even during the torque limitation. Therefore, it is possible to widen the operating point of the vehicle during torque limitation while preventing deterioration and damage of the element due to heat generation.
  • the control device updates the upper limit torque value line when the operation mode is mode 1.
  • Example 2 will be described with a focus on the differences from Example 1.
  • the configuration of the control device of the second embodiment is the same as that of the first embodiment. In the second embodiment, a part of the processing is different.
  • FIG. 16 is a flowchart illustrating an example of processing executed by the mode determination unit 120 of the second embodiment.
  • step S105 when it is determined in step S103 that the operation mode is not changed to the mode 2, the mode determination unit 120 calls the upper limit torque value line update unit 121 (step S105). Other processing is the same as in Example 1.
  • FIG. 17 is a flowchart illustrating an example of processing executed by the upper limit torque value line updating unit 121 of the second embodiment.
  • the upper limit torque value line update unit 121 calls the heat parameter calculation unit 122 (step S901) and instructs the calculation of the heat outflow component output of the element.
  • the upper limit torque value line update unit 121 calculates the loss of the element at the operating operating point between the current upper limit torque value line and the maximum torque characteristic line with reference to the element loss map (step S902). .. At this time, the combination of the torque value and the rotation speed corresponding to the loss of the element is also calculated.
  • the upper limit torque value line update unit 121 starts the loop processing of the element loss (step S903).
  • the upper limit torque value line update unit 121 selects the processing loss of the processing target from the calculated element loss.
  • the upper limit torque value line update unit 121 determines whether or not the estimated temperature of the element is equal to or higher than the operating limit temperature (step S904).
  • the upper limit torque value line update unit 121 determines whether or not the equation (8) is satisfied. When the equation (8) is satisfied, the upper limit torque value line update unit 121 determines that the estimated temperature of the element is equal to or higher than the operating limit temperature.
  • the loss of the selected element is substituted for P loss, and the heat outflow output of the element calculated by the thermal parameter calculation unit 122 is substituted for P move .
  • the upper limit torque value line updating unit 121 proceeds to step S906.
  • the upper limit torque value line update unit 121 registers the loss of the selected element in the list (step S905), and then proceeds to step S906.
  • step S906 the upper limit torque value line update unit 121 determines whether or not the processing for the loss of all the elements is completed (step S906).
  • the upper limit torque value line updating unit 121 returns to step S903 and executes the same processing.
  • the upper limit torque value line update unit 121 calculates the upper limit torque value line based on the list (step S907).
  • the upper limit torque value line update unit 121 generates a loss group of elements having the same rotation speed, and selects the largest loss of the elements in the group. Further, the upper limit torque value line update unit 121 calculates the upper limit torque value from the loss with respect to the rotation speed, linearly interpolates the upper limit torque value with respect to the rotation speed, and calculates the upper limit torque value line.
  • the upper limit torque value line update unit 121 executes the process shown in FIG. 5 when called from the mode determination unit 120 when the operation mode is mode 2. However, the processing in step S203 is partially different.
  • the upper limit torque value line update unit 121 executes the processes (A1) to (A3) and calculates the upper limit torque value line.
  • the upper limit torque value line update unit 121 integrates the two upper limit torque value lines. Specifically, the upper limit torque value line update unit 121 compares the upper limit torque value line before the update with the calculated upper limit torque value line, and selects a smaller torque value at the same rotation speed.
  • the control device can update the upper limit torque value line in advance by estimating the estimated temperature of the element for a torque value larger than the current upper limit torque value line. This makes it possible to protect the element even when the temperature of the element rises sharply.
  • the present invention is not limited to the above-mentioned examples, and includes various modifications.
  • the above-described embodiment describes the configuration in detail in order to explain the present invention in an easy-to-understand manner, and is not necessarily limited to the one including all the described configurations. Further, it is possible to add, delete, or replace a part of the configuration of each embodiment with other configurations.
  • each of the above configurations, functions, processing units, processing means, etc. may be realized by hardware by designing a part or all of them by, for example, an integrated circuit.
  • the present invention can also be realized by a program code of software that realizes the functions of the examples.
  • a storage medium in which the program code is recorded is provided to the computer, and the processor included in the computer reads the program code stored in the storage medium.
  • the program code itself read from the storage medium realizes the functions of the above-described embodiment, and the program code itself and the storage medium storing the program code itself constitute the present invention.
  • Examples of the storage medium for supplying such a program code include a flexible disk, a CD-ROM, a DVD-ROM, a hard disk, an SSD (Solid State Drive), an optical disk, a magneto-optical disk, a CD-R, and a magnetic tape.
  • Non-volatile memory cards, ROMs, etc. are used.
  • program code that realizes the functions described in this embodiment can be implemented in a wide range of programs or script languages such as assembler, C / C ++, perl, Shell, PHP, Python, and Java (registered trademark).
  • the program code is stored in a storage means such as a hard disk or a memory of a computer or a storage medium such as a CD-RW or a CD-R.
  • the processor provided in the computer may read and execute the program code stored in the storage means or the storage medium.
  • control lines and information lines indicate those considered necessary for explanation, and do not necessarily indicate all the control lines and information lines in the product. All configurations may be interconnected.
  • Vehicle control unit 101 Motor control unit 102 Motor 103 Temperature sensor 104 Temperature sensor 105 Speed sensor 110 Required torque value calculation unit 111 Protection control unit 112 Torque control unit 120 Mode determination unit 121 Upper limit torque value line update unit 122 Thermal parameter calculation unit 123 Output upper limit torque value determination unit 124 Parameter update unit 125 Operation history recording unit 130 Inverter

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Abstract

The present invention addresses the problem of preventing elements such as, for example, a coil of a motor and an inverter from being degraded and damaged due to heat generation and obtaining a high vehicle driving performance.　This control device controls a drive mechanism including a motor and is provided with: an upper limit torque value line update unit for updating, on the basis of the state of the drive mechanism, an upper limit torque value line indicating an upper limit torque value; and a drive control unit for determining, on the basis of the estimated temperature of an element after a delay time has elapsed from the present, whether it is necessary to limit a torque value or not and controlling the torque value on the basis of the upper limit torque value line when it is necessary to limit the torque value.

Description

制御装置及び駆動機構の制御方法Control method of control device and drive mechanism
　本発明は、モータを動力源とする駆動機構を制御する装置及び制御方法に関する。 The present invention relates to a device and a control method for controlling a drive mechanism using a motor as a power source.
　インバータを用いて、自動車等車両に搭載され、モータを動力源とする駆動機構を制御する場合、発熱によるコイル及びインバータ等の駆動機構の素子（部品）の劣化や損傷を防止する必要がある。一方、車両の駆動性能も確保する必要がある。前述の課題に対して、例えば、特許文献１に記載の技術が知られている。 When using an inverter to control a drive mechanism mounted on a vehicle such as an automobile and using a motor as a power source, it is necessary to prevent deterioration and damage of the coil and the elements (parts) of the drive mechanism such as the inverter due to heat generation. On the other hand, it is also necessary to ensure the driving performance of the vehicle. For the above-mentioned problems, for example, the technique described in Patent Document 1 is known.
　特許文献１には、「コイル温度保護部１１３は、運転履歴記録部１１２に記憶された履歴情報に基づいて、モータ２のステータコイルの温度上昇を推定し、推定された温度上昇に基づく所定時間経過後の予測温度が予め設定された保護温度に達しているか否かを判定し、保護温度に達していると判定されると、モータ２のトルクを制限する。」ことが記載されている。 In Patent Document 1, "The coil temperature protection unit 113 estimates the temperature rise of the stator coil of the motor 2 based on the history information stored in the operation history recording unit 112, and a predetermined time based on the estimated temperature rise. It is determined whether or not the predicted temperature after the lapse has reached the preset protection temperature, and if it is determined that the protection temperature has been reached, the torque of the motor 2 is limited. "
特開２００８－１０９８１６号公報Japanese Unexamined Patent Publication No. 2008-109816
　特許文献１は、連続的に運転可能な領域は固定されており、当該領域以外の車両動作点がある場合、トルク値が固定値より小さくなるようにモータは制御される。しかし、モータの状態によっては、より高いトルク値でモータを駆動させることが可能な場合もある。 In Patent Document 1, the continuously operable region is fixed, and when there is a vehicle operating point other than the region, the motor is controlled so that the torque value becomes smaller than the fixed value. However, depending on the state of the motor, it may be possible to drive the motor with a higher torque value.
　本願において開示される発明の代表的な一例を示せば以下の通りである。すなわち、モータを動力源とする駆動機構を制御する制御装置は、前記駆動機構の状態に基づいて、前記モータのトルク値の上限を制御するための上限トルク値を示す上限トルク値ラインを更新する上限トルク値ライン更新部と、現在から遅延時間が経過した後の前記駆動機構を構成する素子の推定温度に基づいて、前記トルク値を制限する必要があるか否かを判定し、前記トルク値を制限する必要がある場合、前記上限トルク値ラインに基づいて、前記トルク値を制御する駆動制御部と、を備える。 A typical example of the invention disclosed in the present application is as follows. That is, the control device that controls the drive mechanism using the motor as the power source updates the upper limit torque value line indicating the upper limit torque value for controlling the upper limit of the torque value of the motor based on the state of the drive mechanism. Based on the upper limit torque value line update unit and the estimated temperature of the element constituting the drive mechanism after the delay time has elapsed from the present, it is determined whether or not the torque value needs to be limited, and the torque value is determined. When it is necessary to limit the torque value, a drive control unit that controls the torque value based on the upper limit torque value line is provided.
　本発明によれば、発熱によるモータのコイル及びインバータ等の素子の劣化や損傷を防止し、かつ、高い駆動機構の駆動性能を実現できる。上記した以外の課題、構成及び効果は、以下の実施例の説明により明らかにされる。 According to the present invention, it is possible to prevent deterioration and damage of elements such as motor coils and inverters due to heat generation, and to realize high drive performance of a drive mechanism. Issues, configurations and effects other than those mentioned above will be clarified by the description of the following examples.
実施例１の車両に搭載される駆動機構を制御する制御装置の構成例を示すブロック図である。It is a block diagram which shows the structural example of the control device which controls the drive mechanism mounted on the vehicle of Example 1. FIG. 実施例１のモータのＮＴ特性の一例を示すグラフである。It is a graph which shows an example of the NT characteristic of the motor of Example 1. FIG. 実施例１の車両に搭載される制御装置が保持する損失マップの構造の一例を示す図である。It is a figure which shows an example of the structure of the loss map held by the control device mounted on the vehicle of Example 1. FIG. 実施例１のモード判定部が実行する処理の一例を説明するフローチャートである。It is a flowchart explaining an example of the process executed by the mode determination part of Example 1. FIG. 実施例１の上限トルク値ライン更新部が実行する処理の一例を説明するフローチャートである。It is a flowchart explaining an example of the process executed by the upper limit torque value line update part of Example 1. FIG. 実施例１の上限トルク値ライン更新部による上限トルク値ラインの更新の一例を示す図である。It is a figure which shows an example of the update of the upper limit torque value line by the upper limit torque value line update part of Example 1. FIG. 実施例１の上限トルク値ライン更新部の動作モードの変更判定の一例を示す図である。It is a figure which shows an example of the change determination of the operation mode of the upper limit torque value line update part of Example 1. FIG. 実施例１の熱パラメータ算出部が実行する処理の一例を説明するフローチャートである。It is a flowchart explaining an example of the process executed by the thermal parameter calculation part of Example 1. FIG. 実施例１のモード判定部が実行する制限解除判定処理の一例を説明するフローチャートである。It is a flowchart explaining an example of the restriction release determination process executed by the mode determination part of Example 1. FIG. 実施例１のモード判定部が実行する処理の一例を説明するフローチャートである。It is a flowchart explaining an example of the process executed by the mode determination part of Example 1. FIG. 実施例１の出力上限トルク値決定部が実行する処理の一例を説明するフローチャートである。It is a flowchart explaining an example of the process executed by the output upper limit torque value determination part of Example 1. FIG. 実施例１のパラメータ更新部が実行する処理の一例を説明するフローチャートである。It is a flowchart explaining an example of the process executed by the parameter update part of Example 1. FIG. 実施例１のトルク司令部が実行する処理の一例を説明するフローチャートである。It is a flowchart explaining an example of the process executed by the torque command part of Example 1. FIG. 実施例１の制御装置によるトルク制御の一例を示す図である。It is a figure which shows an example of torque control by the control device of Example 1. FIG. 実施例１の制御装置によるトルク制御の一例を示す図である。It is a figure which shows an example of torque control by the control device of Example 1. FIG. 実施例２のモード判定部が実行する処理の一例を説明するフローチャートである。It is a flowchart explaining an example of the process executed by the mode determination part of Example 2. FIG. 実施例２の上限トルク値ライン更新部が実行する処理の一例を説明するフローチャートである。It is a flowchart explaining an example of the process executed by the upper limit torque value line update part of Example 2. FIG.
　以下、本発明の実施例を、図面を用いて説明する。ただし、本発明は以下に示す実施例の記載内容に限定して解釈されるものではない。本発明の思想ないし趣旨から逸脱しない範囲で、その具体的構成を変更し得ることは当業者であれば容易に理解される。 Hereinafter, examples of the present invention will be described with reference to the drawings. However, the present invention is not construed as being limited to the contents of the examples shown below. It is easily understood by those skilled in the art that a specific configuration thereof can be changed without departing from the idea or purpose of the present invention.
　以下に説明する発明の構成において、同一又は類似する構成又は機能には同一の符号を付し、重複する説明は省略する。 In the configurations of the invention described below, the same or similar configurations or functions are designated by the same reference numerals, and duplicate description will be omitted.
　図面等において示す各構成の位置、大きさ、形状、及び範囲等は、発明の理解を容易にするため、実際の位置、大きさ、形状、及び範囲等を表していない場合がある。したがって、本発明では、図面等に開示された位置、大きさ、形状、及び範囲等に限定されない。 The position, size, shape, range, etc. of each configuration shown in the drawings, etc. may not represent the actual position, size, shape, range, etc. in order to facilitate understanding of the invention. Therefore, the present invention is not limited to the position, size, shape, range, etc. disclosed in the drawings and the like.
　図１は、実施例１の車両に搭載される駆動機構を制御する制御装置の構成例を示すブロック図である。図２は、実施例１のモータのＮＴ特性の一例を示すグラフである。図３は、実施例１の車両に搭載される制御装置が保持する損失マップの構造の一例を示す図である。 FIG. 1 is a block diagram showing a configuration example of a control device that controls a drive mechanism mounted on the vehicle of the first embodiment. FIG. 2 is a graph showing an example of the NT characteristics of the motor of the first embodiment. FIG. 3 is a diagram showing an example of the structure of the loss map held by the control device mounted on the vehicle of the first embodiment.
　駆動機構は、モータ１０２及びモータ制御部１０１から構成される。なお、駆動機構は、モータ１０２及びモータ制御部１０１以外の構成を含んでもよい。制御装置は車両制御部１００から構成される。なお、制御装置は車両制御部１００以外の構成を含んでもよい。 The drive mechanism is composed of a motor 102 and a motor control unit 101. The drive mechanism may include a configuration other than the motor 102 and the motor control unit 101. The control device is composed of a vehicle control unit 100. The control device may include a configuration other than the vehicle control unit 100.
　モータ１０２は、駆動機構の動力源となる装置である。実施例１のモータ１０２は、例えば、図２に示すようなＮＴ特性を有する。 The motor 102 is a device that serves as a power source for the drive mechanism. The motor 102 of the first embodiment has, for example, the NT characteristics as shown in FIG.
　図２に示すグラフでは、横軸がモータ１０２の回転数を表し、縦軸がトルク値を表す。ライン２００は、モータ１０２の最大トルク特性を表す。また、ライン２０１は、モータ１０２のトルク値を制限する場合のトルク値の上限を表す。以下の説明では、モータ１０２の最大トルク特性のラインを最大トルク特性ラインと記載し、トルク値の上限のラインを上限トルク値ラインと記載する。 In the graph shown in FIG. 2, the horizontal axis represents the rotation speed of the motor 102, and the vertical axis represents the torque value. Line 200 represents the maximum torque characteristics of the motor 102. Further, the line 201 represents an upper limit of the torque value when the torque value of the motor 102 is limited. In the following description, the line of the maximum torque characteristic of the motor 102 is described as the maximum torque characteristic line, and the line of the upper limit of the torque value is described as the upper limit torque value line.
　なお、本発明はモータ１０２の種別、形状、大きさ、及びＮＴ特性等に限定されない。 The present invention is not limited to the type, shape, size, NT characteristics, etc. of the motor 102.
　モータ制御部１０１は、車両制御部１００から出力された出力トルク値に基づいてモータ１０２の駆動を制御する。モータ制御部１０１にはインバータ１３０が含まれる。モータ制御部１０１は、出力トルク値からモータ１０２の電流を算出し、インバータ１３０に電流指示を入力する。インバータ１３０は、電流指示に基づいて、モータ１０２を駆動する。 The motor control unit 101 controls the drive of the motor 102 based on the output torque value output from the vehicle control unit 100. The motor control unit 101 includes an inverter 130. The motor control unit 101 calculates the current of the motor 102 from the output torque value, and inputs a current instruction to the inverter 130. The inverter 130 drives the motor 102 based on the current instruction.
　車両には、インバータ１３０の温度を計測する温度センサ１０３が設けられる。車両には、モータ１０２の内部のコイル等の温度を計測する温度センサ１０４が設けられる。また、車両には、当該車両の速度を計測する速度センサ１０５が設けられる。以下の説明では、温度センサ１０３、１０４、及び速度センサ１０５を区別しない場合、センサとも記載する。 The vehicle is provided with a temperature sensor 103 that measures the temperature of the inverter 130. The vehicle is provided with a temperature sensor 104 that measures the temperature of a coil or the like inside the motor 102. Further, the vehicle is provided with a speed sensor 105 for measuring the speed of the vehicle. In the following description, when the temperature sensors 103 and 104 and the speed sensor 105 are not distinguished, they are also referred to as sensors.
　なお、車両には、トルクセンサ等、前述以外のセンサが設けられてもよい。 The vehicle may be provided with a sensor other than the above, such as a torque sensor.
　以下の説明では、インバータ１３０及びコイル等、発熱による劣化や損傷の防止対象となる駆動機構の部品を素子と記載する。 In the following description, components of the drive mechanism that are subject to deterioration and damage due to heat generation, such as the inverter 130 and the coil, are described as elements.
　温度センサ１０３及び温度センサ１０４が計測した温度は、素子温度１及び素子温度２として車両制御部１００に入力される。速度センサ１０５によって計測された速度は、車速として車両制御部１００に入力される。また、車両制御部１００には、運転手によるアクセルペダルの踏み込み量に応じた開度のアクセルペダル信号が入力される。なお、アクセルペダル信号の開度の代わりに、アクセルペダルの踏み込み量を示す値を含めてもよい。 The temperatures measured by the temperature sensor 103 and the temperature sensor 104 are input to the vehicle control unit 100 as the element temperature 1 and the element temperature 2. The speed measured by the speed sensor 105 is input to the vehicle control unit 100 as the vehicle speed. Further, an accelerator pedal signal having an opening degree corresponding to the amount of depression of the accelerator pedal by the driver is input to the vehicle control unit 100. In addition, instead of the opening degree of the accelerator pedal signal, a value indicating the amount of depression of the accelerator pedal may be included.
　車両制御部１００は駆動機構を制御する。具体的には、車両制御部１００は、出力トルク値を決定し、モータ制御部１０１に当該値を出力する。車両制御部１００は、要求トルク値算出部１１０、保護制御部１１１、及びトルク司令部１１２を含む。 The vehicle control unit 100 controls the drive mechanism. Specifically, the vehicle control unit 100 determines the output torque value and outputs the value to the motor control unit 101. The vehicle control unit 100 includes a required torque value calculation unit 110, a protection control unit 111, and a torque control unit 112.
　要求トルク値算出部１１０は、アクセルペダル信号、出力トルク値、及び車速に基づいて、ドライバが要求する要求トルク値を算出する。要求トルク値算出部１１０は、算出された要求トルク値をトルク司令部１１２に入力する。 The required torque value calculation unit 110 calculates the required torque value required by the driver based on the accelerator pedal signal, the output torque value, and the vehicle speed. The required torque value calculation unit 110 inputs the calculated required torque value to the torque command unit 112.
　保護制御部１１１は、素子の劣化や損傷を防止する必要があるか否かを判定し、素子の損傷を防止する必要があると判定した場合、トルク値の上限を算出する。保護制御部１１１は、算出されたトルク値を出力上限トルク値としてトルク司令部１１２に入力する。 The protection control unit 111 determines whether or not it is necessary to prevent deterioration or damage of the element, and if it is determined that it is necessary to prevent damage to the element, the protection control unit 111 calculates the upper limit of the torque value. The protection control unit 111 inputs the calculated torque value as an output upper limit torque value to the torque control unit 112.
　トルク司令部１１２は、モータ制御部１０１に入力するトルク値を決定し、決定されたトルク値を出力トルク値としてモータ制御部１０１に入力する。トルク司令部１１２が実行する処理は図１３を用いて説明する。 The torque control unit 112 determines the torque value to be input to the motor control unit 101, and inputs the determined torque value to the motor control unit 101 as an output torque value. The process executed by the torque command unit 112 will be described with reference to FIG.
　ここで、保護制御部１１１の機能構成について説明する。保護制御部１１１は、モード判定部１２０、上限トルク値ライン更新部１２１、熱パラメータ算出部１２２、出力上限トルク値決定部１２３、パラメータ更新部１２４、及び運転履歴記録部１２５を含む。また、保護制御部１１１は、処理で使用するパラメータ（処理パラメータ）及び図３に示すような損失マップを保持する。 Here, the functional configuration of the protection control unit 111 will be described. The protection control unit 111 includes a mode determination unit 120, an upper limit torque value line update unit 121, a thermal parameter calculation unit 122, an output upper limit torque value determination unit 123, a parameter update unit 124, and an operation history recording unit 125. Further, the protection control unit 111 holds the parameters (processing parameters) used in the processing and the loss map as shown in FIG.
　損失マップは、横軸がモータ１０２の回転数を表し、縦軸がモータ１０２のトルク値を表す。回転数及びトルク値の組合せに対して素子の損失Ｘｉが定義されている。なお、添字ｉは回転数及びトルク値の組合せを識別する文字である。 In the loss map, the horizontal axis represents the rotation speed of the motor 102, and the vertical axis represents the torque value of the motor 102. The element loss Xi is defined for the combination of the rotation speed and the torque value. The subscript i is a character that identifies the combination of the rotation speed and the torque value.
　なお、素子毎に損失マップを定義してもよいし、駆動機構、特にモータ１０２の損失マップを定義してもよい。この場合、駆動機構の損失から各素子の損失を見積もればよい。 A loss map may be defined for each element, or a loss map of the drive mechanism, particularly the motor 102, may be defined. In this case, the loss of each element may be estimated from the loss of the drive mechanism.
　保護制御部１１１は、遅延時間、素子の熱容量、及び素子の動作限界温度を処理パラメータとして保持する。素子の動作限界温度の初期値は、素子が正常に稼働する温度の範囲の最大値以下に設定される。 The protection control unit 111 holds the delay time, the heat capacity of the element, and the operating limit temperature of the element as processing parameters. The initial value of the operating limit temperature of the element is set to be equal to or less than the maximum value in the temperature range in which the element normally operates.
　モード判定部１２０は、車両制御部１００の動作モードを判定する。モード判定部１２０は、上限トルク値ラインに基づいてモータ１０２のトルク値を制限しないモード１と、上限トルク値ラインに基づいてモータ１０２のトルク値を制限するモード２と、の二つの動作モードのいずれかで動作する。モード１の場合、最大トルク特性に基づいてモータのトルク値が制限される。 The mode determination unit 120 determines the operation mode of the vehicle control unit 100. The mode determination unit 120 has two operation modes: mode 1 in which the torque value of the motor 102 is not limited based on the upper limit torque value line, and mode 2 in which the torque value of the motor 102 is limited based on the upper limit torque value line. Works with either. In mode 1, the torque value of the motor is limited based on the maximum torque characteristic.
　上限トルク値ライン更新部１２１は、モータ制御部１０１及びモータ１０２等、駆動機構の状態に基づいて、上限トルク値ラインを更新する。 The upper limit torque value line update unit 121 updates the upper limit torque value line based on the state of the drive mechanism such as the motor control unit 101 and the motor 102.
　熱パラメータ算出部１２２は、素子の発熱量に関するパラメータ（熱パラメータ）を算出する。 The thermal parameter calculation unit 122 calculates a parameter (thermal parameter) related to the calorific value of the element.
　出力上限トルク値決定部１２３は、駆動機構の状態及び上限トルク値ラインに基づいて、出力上限トルク値を決定する。 The output upper limit torque value determination unit 123 determines the output upper limit torque value based on the state of the drive mechanism and the upper limit torque value line.
　パラメータ更新部１２４は、運転履歴記録部１２５によって記録された運転情報に基づいて処理パラメータを更新する。 The parameter update unit 124 updates the processing parameters based on the operation information recorded by the operation history recording unit 125.
　運転履歴記録部１２５は、車両の運転中における素子の温度、トルク値、及び車速等の履歴データを運転情報として記録する。運転情報には、例えば、タイムスタンプ、動作モード、及び値（温度及びトルク値等）から構成される履歴データが記録される。 The driving history recording unit 125 records historical data such as the temperature, torque value, and vehicle speed of the element while the vehicle is driving as driving information. In the operation information, for example, historical data composed of a time stamp, an operation mode, and a value (temperature, torque value, etc.) is recorded.
　なお、車両制御部１００が有する各機能部については、複数の機能部を一つの機能部にまとめてもよいし、一つの機能部を機能毎に複数の機能部に分けてもよい。例えば、要求トルク値算出部１１０、出力上限トルク値決定部１２３、トルク司令部１１２、及びモータ制御部１０１を駆動制御部として実現してもよい。 Regarding each functional unit included in the vehicle control unit 100, a plurality of functional units may be combined into one functional unit, or one functional unit may be divided into a plurality of functional units for each function. For example, the required torque value calculation unit 110, the output upper limit torque value determination unit 123, the torque control unit 112, and the motor control unit 101 may be realized as drive control units.
　次に、車両制御部１００が実行する処理について説明する。以下の説明では、保護対象の素子が一つであるものとする。 Next, the process executed by the vehicle control unit 100 will be described. In the following description, it is assumed that there is one element to be protected.
　なお、保護対象が複数存在する場合、各素子に対して処理を実行してもよい。また、動作限界温度と現在の温度との差が最も小さい素子に対して処理を実行してもよい。 If there are a plurality of protection targets, processing may be executed for each element. Further, the process may be executed on the element having the smallest difference between the operating limit temperature and the current temperature.
　図４は、実施例１のモード判定部１２０が実行する処理の一例を説明するフローチャートである。 FIG. 4 is a flowchart illustrating an example of processing executed by the mode determination unit 120 of the first embodiment.
　モード判定部１２０は、周期的に、以下で説明する処理を実行する。実行周期は予め設定されているものとする。 The mode determination unit 120 periodically executes the process described below. It is assumed that the execution cycle is set in advance.
　モード判定部１２０は、車両制御部１００の動作モードがモード１であるか否かを判定する（ステップＳ１０１）。 The mode determination unit 120 determines whether or not the operation mode of the vehicle control unit 100 is mode 1 (step S101).
　車両制御部１００の動作モードがモード１であると判定された場合、モード判定部１２０は、熱パラメータ算出部１２２を呼び出し（ステップＳ１０２）、素子の損失及び素子の熱流出分出力の算出を指示する。熱パラメータ算出部１２２が実行する処理の詳細は図８を用いて説明する。 When it is determined that the operation mode of the vehicle control unit 100 is mode 1, the mode determination unit 120 calls the thermal parameter calculation unit 122 (step S102) and instructs the calculation of the element loss and the element heat outflow component output. To do. The details of the process executed by the thermal parameter calculation unit 122 will be described with reference to FIG.
　モード判定部１２０は、熱パラメータ算出部１２２から出力された素子の損失及び素子の熱流出分出力を受け付けた場合、モード２に変更するか否かを判定する（ステップＳ１０３）。 When the mode determination unit 120 receives the loss of the element and the heat outflow output of the element output from the thermal parameter calculation unit 122, the mode determination unit 120 determines whether or not to change to the mode 2 (step S103).
　具体的には、モード判定部１２０は、遅延時間経過後の素子の推定温度が動作限界温度以下であるか否かを判定する。情報処理としては、式（１）を満たすか否かが判定される。式（１）の右辺は素子の推定温度を表す。式（１）を満たさない場合、モード判定部１２０はモード２に変更すると判定する。 Specifically, the mode determination unit 120 determines whether or not the estimated temperature of the element after the lapse of the delay time is equal to or less than the operating limit temperature. As information processing, it is determined whether or not the equation (1) is satisfied. The right side of equation (1) represents the estimated temperature of the device. If the equation (1) is not satisfied, the mode determination unit 120 determines that the mode is changed to 2.
　式（１）において、ＴＮＯＫは素子の動作限界温度を表し、Ｔｎｏｗは現在の素子の温度を表し、現在のアクセルペダル情報をもとにＰｌｏｓｓは素子の損失を表し、Ｐｍｏｖｅは素子の熱流出分出力を表す。ここで、素子の熱流出分出力は流出する熱の出力を表す。ｔｎは現在の時間を表し、ｔＤは遅延時間を表す。また、Ｃは素子の熱容量を表す。なお、素子の損失及び素子の熱流出分出力の単位はＷ（ワット）である。 In the equation (1), TNOK represents the operating limit temperature of the element, T now represents the current temperature of the element, Plus represents the loss of the element based on the current accelerator pedal information, and P move represents the element. Represents the output of heat outflow. Here, the heat outflow output of the element represents the output of the outflow heat. t n represents the current time and t D represents the delay time. Further, C represents the heat capacity of the element. The unit of element loss and element heat outflow output is W (watt).
Figure JPOXMLDOC01-appb-M000001
Figure JPOXMLDOC01-appb-M000001
　現在の素子の温度及び熱流出分出力を用いることによって、遅延時間後の素子の温度の推定精度を向上させることができる。 By using the current element temperature and heat outflow component output, the accuracy of estimating the element temperature after the delay time can be improved.
　モード２に変更しないと判定された場合、モード判定部１２０は処理を終了する。 If it is determined not to change to mode 2, the mode determination unit 120 ends the process.
　モード２に変更すると判定された場合、モード判定部１２０は、動作モードをモード１からモード２に変更する（ステップＳ１０４）。 When it is determined to change to mode 2, the mode determination unit 120 changes the operation mode from mode 1 to mode 2 (step S104).
　次に、モード判定部１２０は、上限トルク値ライン更新部１２１を呼び出し（ステップＳ１０５）、その後、処理を終了する。 Next, the mode determination unit 120 calls the upper limit torque value line update unit 121 (step S105), and then ends the process.
　車両制御部１００の動作モードがモード１でないと判定された場合、モード判定部１２０は制限解除判定処理を実行し（ステップＳ１０６）、その後、処理を終了する。制限解除判定処理の詳細は図９を用いて説明する。 When it is determined that the operation mode of the vehicle control unit 100 is not mode 1, the mode determination unit 120 executes the restriction release determination process (step S106), and then ends the process. The details of the restriction release determination process will be described with reference to FIG.
　図５は、実施例１の上限トルク値ライン更新部１２１が実行する処理の一例を説明するフローチャートである。図６は、実施例１の上限トルク値ライン更新部１２１による上限トルク値ラインの更新の一例を示す図である。図７は、実施例１の上限トルク値ライン更新部１２１の動作モードの変更判定の一例を示す図である。 FIG. 5 is a flowchart illustrating an example of processing executed by the upper limit torque value line updating unit 121 of the first embodiment. FIG. 6 is a diagram showing an example of updating the upper limit torque value line by the upper limit torque value line updating unit 121 of the first embodiment. FIG. 7 is a diagram showing an example of a change determination of the operation mode of the upper limit torque value line updating unit 121 of the first embodiment.
　上限トルク値ライン更新部１２１は、熱パラメータ算出部１２２を呼び出し（ステップＳ２０１）、素子の熱流出分出力の算出を指示する。熱パラメータ算出部１２２が実行する処理の詳細は図８を用いて説明する。 The upper limit torque value line update unit 121 calls the heat parameter calculation unit 122 (step S201) and instructs the calculation of the heat outflow component output of the element. The details of the process executed by the thermal parameter calculation unit 122 will be described with reference to FIG.
　なお、モード判定部１２０から素子の熱流出分出力が入力されている場合、ステップＳ２０１の処理を省略することができる。 If the heat outflow output of the element is input from the mode determination unit 120, the process of step S201 can be omitted.
　次に、上限トルク値ライン更新部１２１は、素子の熱流出分出力及び現在の素子の温度に基づいて、素子の推定損失を算出する（ステップＳ２０２）。 Next, the upper limit torque value line update unit 121 calculates the estimated loss of the element based on the heat outflow output of the element and the current temperature of the element (step S202).
　具体的には、上限トルク値ライン更新部１２１は、式（２）を満たすＰ’ｌｏｓｓの最大値を算出する。 Specifically, the upper limit torque value line update unit 121 calculates the maximum value of P'loss satisfying the equation (2).
Figure JPOXMLDOC01-appb-M000002
Figure JPOXMLDOC01-appb-M000002
　次に、上限トルク値ライン更新部１２１は、上限トルク値ラインを算出する（ステップＳ２０３）。具体的には、以下のような処理が実行される。 Next, the upper limit torque value line update unit 121 calculates the upper limit torque value line (step S203). Specifically, the following processing is executed.
　（Ａ１）上限トルク値ライン更新部１２１は、任意の数だけ回転数のサンプルを抽出する。選択するサンプルの数は２以上であるものとする。なお、本発明はサンプルの選択方法に限定されない。 (A1) The upper limit torque value line update unit 121 extracts samples of an arbitrary number of rotation speeds. It is assumed that the number of samples to be selected is 2 or more. The present invention is not limited to the sample selection method.
　（Ａ２）上限トルク値ライン更新部１２１は、サンプルを一つ選択し、サンプル及び素子の推定損失に基づいて素子の損失マップを参照する。上限トルク値ライン更新部１２１は、サンプルに対応する素子の損失の中から、素子の推定損失及び素子の損失の差が最も小さい素子の損失を特定する。上限トルク値ライン更新部１２１は、特定された素子の損失に対応するトルク値を、選択されたサンプルに対する上限トルク値に決定する。 (A2) The upper limit torque value line update unit 121 selects one sample and refers to the element loss map based on the estimated loss of the sample and the element. The upper limit torque value line update unit 121 identifies the loss of the element having the smallest difference between the estimated loss of the element and the loss of the element from the loss of the element corresponding to the sample. The upper limit torque value line update unit 121 determines the torque value corresponding to the loss of the specified element as the upper limit torque value for the selected sample.
　上限トルク値ライン更新部１２１は、抽出された全てのサンプルに対して（Ａ２）の処理を実行する。 The upper limit torque value line update unit 121 executes the process (A2) for all the extracted samples.
　（Ａ３）上限トルク値ライン更新部１２１は、線形補間によってサンプル以外の回転数に対する上限トルク値を算出する。なお、線形補間以外の手法を用いてもよい。 (A3) Upper limit torque value line update unit 121 calculates the upper limit torque value for rotation speeds other than the sample by linear interpolation. A method other than linear interpolation may be used.
　図６に示すように、上限トルク値ラインは、ライン２００からライン２０２に更新される。特許文献１では、ライン２００から、必ず高温に達しないライン２０１に遷移していた。以上が、ステップＳ２０３の処理の説明である。 As shown in FIG. 6, the upper limit torque value line is updated from line 200 to line 202. In Patent Document 1, the transition from the line 200 to the line 201 that does not always reach a high temperature was made. The above is the description of the process of step S203.
　次に、上限トルク値ライン更新部１２１は、更新された上限トルク値ラインに基づいて、動作モードをモード１に変更するか否かを判定する（ステップＳ２０４）。 Next, the upper limit torque value line update unit 121 determines whether or not to change the operation mode to mode 1 based on the updated upper limit torque value line (step S204).
　具体的には、上限トルク値ライン更新部１２１は、最大トルク特性ラインと上限トルク値ラインとの差（ラインの類似性）を評価する値として、図７の斜線部の面積を算出する。上限トルク値ライン更新部１２１は、面積が閾値より小さいか否かを判定する。当該面積が閾値より小さい場合、上限トルク値ライン更新部１２１は、動作モードをモード１に変更すると判定する。閾値は予め設定されているものとする。ただし、閾値は適宜更新することができる。 Specifically, the upper limit torque value line update unit 121 calculates the area of the shaded portion in FIG. 7 as a value for evaluating the difference (line similarity) between the maximum torque characteristic line and the upper limit torque value line. The upper limit torque value line update unit 121 determines whether or not the area is smaller than the threshold value. If the area is smaller than the threshold value, the upper limit torque value line update unit 121 determines that the operation mode is changed to mode 1. It is assumed that the threshold value is set in advance. However, the threshold can be updated as appropriate.
　動作モードをモード１に変更しないと判定された場合、上限トルク値ライン更新部１２１は処理を終了する。 When it is determined that the operation mode is not changed to mode 1, the upper limit torque value line update unit 121 ends the process.
　制御モードをモード１に変更すると判定された場合、上限トルク値ライン更新部１２１はモード判定部１２０にモード１への変更を指示し（ステップＳ２０５）、その後、処理を終了する。 When it is determined that the control mode is changed to mode 1, the upper limit torque value line update unit 121 instructs the mode determination unit 120 to change to mode 1 (step S205), and then ends the process.
　モード判定部１２０は、上限トルク値ライン更新部１２１から指示を受け付けた場合、動作モードをモード２からモード１に変更する。 When the mode determination unit 120 receives an instruction from the upper limit torque value line update unit 121, the mode determination unit 120 changes the operation mode from mode 2 to mode 1.
　動作限界温度を超えない上限トルク値ラインを設定することによって、発熱による素子の劣化や損傷を防止できる。また、トルク制限中でも、可能な限り大きい上限トルク値を出力できる。したがって、トルク制限中の車両の動作点を広くすることができる。 By setting the upper limit torque value line that does not exceed the operating limit temperature, deterioration and damage of the element due to heat generation can be prevented. Further, even when the torque is limited, the upper limit torque value as large as possible can be output. Therefore, the operating point of the vehicle under torque limitation can be widened.
　図８は、実施例１の熱パラメータ算出部１２２が実行する処理の一例を説明するフローチャートである。 FIG. 8 is a flowchart illustrating an example of processing executed by the thermal parameter calculation unit 122 of the first embodiment.
　熱パラメータ算出部１２２は、現在の素子の温度、時系列が一つ前の素子の温度、出力トルク値、及び車速を取得する（ステップＳ３０１）。 The thermal parameter calculation unit 122 acquires the temperature of the current element, the temperature of the element immediately before the time series, the output torque value, and the vehicle speed (step S301).
　時系列が一つ前の素子の温度は、運転履歴記録部１２５によって管理される運転情報から取得される値である。現在の素子の温度、出力トルク値、及び車速は、各センサから取得される。 The temperature of the element one before the time series is a value acquired from the operation information managed by the operation history recording unit 125. The current element temperature, output torque value, and vehicle speed are obtained from each sensor.
　熱パラメータ算出部１２２は、車速からモータ１０２の回転数を算出する（ステップＳ３０２）。モータ回転数を取得する方法は、直接モータから取得しても構わない。 The thermal parameter calculation unit 122 calculates the rotation speed of the motor 102 from the vehicle speed (step S302). The method of acquiring the motor rotation speed may be acquired directly from the motor.
　熱パラメータ算出部１２２は、回転数及び出力トルク値に基づいて損失マップを参照し、素子の損失を算出する（ステップＳ３０３）。 The thermal parameter calculation unit 122 refers to the loss map based on the rotation speed and the output torque value, and calculates the loss of the element (step S303).
　熱パラメータ算出部１２２は、素子の損失、現在の素子の温度、及び時系列が一つ前の素子の温度を下式（３）に代入することによって、素子の熱流出分出力を算出する（ステップＳ３０４）。式（３）において、ｔは任意の時間であり、積分区間が遅延時間及びセンサの計測間隔より長くなるように設定されている。 The thermal parameter calculation unit 122 calculates the heat outflow output of the element by substituting the element loss, the current element temperature, and the temperature of the element one time series before into the following equation (3). Step S304). In the equation (3), t is an arbitrary time, and the integration interval is set to be longer than the delay time and the measurement interval of the sensor.
Figure JPOXMLDOC01-appb-M000003
Figure JPOXMLDOC01-appb-M000003
　熱パラメータ算出部１２２は、応答値を出力し（ステップＳ３０５）、その後、処理を終了する。 The thermal parameter calculation unit 122 outputs a response value (step S305), and then ends the process.
　具体的には、熱パラメータ算出部１２２は、素子の損失及び熱流出分出力の算出指示を受け付けた場合、素子の損失及び熱流出分出力を応答値として出力し、素子の熱流出分出力の算出指示場合、素子の熱流出分出力を応答値として出力する。 Specifically, when the thermal parameter calculation unit 122 receives an instruction to calculate the loss and heat outflow of the element, the thermal parameter calculation unit 122 outputs the loss and heat outflow output of the element as a response value, and outputs the heat outflow of the element. In the case of a calculation instruction, the output of the heat outflow of the element is output as a response value.
　図９は、実施例１のモード判定部１２０が実行する制限解除判定処理の一例を説明するフローチャートである。 FIG. 9 is a flowchart illustrating an example of the restriction release determination process executed by the mode determination unit 120 of the first embodiment.
　モード判定部１２０は、熱パラメータ算出部１２２を呼び出し（ステップＳ４０１）、素子の熱流出分出力の算出を指示する。 The mode determination unit 120 calls the heat parameter calculation unit 122 (step S401) and instructs the calculation of the heat outflow component output of the element.
　モード判定部１２０は、熱パラメータ算出部１２２から出力された素子の熱流出分出力及び損失を受け付けた場合、上限トルク値ラインを更新するか否かを判定する（ステップＳ４０２）。 When the mode determination unit 120 receives the heat outflow output and the loss of the element output from the thermal parameter calculation unit 122, the mode determination unit 120 determines whether or not to update the upper limit torque value line (step S402).
　具体的には、モード判定部１２０は、式（１）を満たすか否かを判定する。式（１）を満たさない場合、モード判定部１２０は上限トルク値ラインを更新すると判定する。 Specifically, the mode determination unit 120 determines whether or not the equation (1) is satisfied. If the equation (1) is not satisfied, the mode determination unit 120 determines that the upper limit torque value line is updated.
　上限トルク値ラインを更新しないと判定された場合、モード判定部１２０は処理を終了する。 When it is determined that the upper limit torque value line is not updated, the mode determination unit 120 ends the process.
　上限トルク値ラインを更新すると判定された場合、モード判定部１２０は、上限トルク値ライン更新部１２１を呼び出す（ステップＳ４０３）。 When it is determined to update the upper limit torque value line, the mode determination unit 120 calls the upper limit torque value line update unit 121 (step S403).
　モード判定部１２０は、制限解除条件を満たすか否かを判定する（ステップＳ４０４）。 The mode determination unit 120 determines whether or not the restriction release condition is satisfied (step S404).
　具体的には、モード判定部１２０は、現在の素子の温度が、動作モードがモード２に変更されたときの素子の温度より低いか否かを判定する。 Specifically, the mode determination unit 120 determines whether or not the temperature of the current element is lower than the temperature of the element when the operation mode is changed to mode 2.
　現在の素子の温度が、動作モードがモード２に変更されたときの素子の温度より低い場合、モード判定部１２０は、更新された上限トルク値ラインに基づいて、動作モードをモード１に変更するか否かを判定する（ステップＳ４０５）。 When the temperature of the current element is lower than the temperature of the element when the operation mode is changed to mode 2, the mode determination unit 120 changes the operation mode to mode 1 based on the updated upper limit torque value line. Whether or not it is determined (step S405).
　具体的には、上限トルク値ライン更新部１２１は、最大トルク特性ラインと上限トルク値ラインとの差（ラインの類似性）を評価する値として、図７の斜線部の面積を算出する。上限トルク値ライン更新部１２１は、面積が閾値より小さいか否かを判定する。当該面積が閾値より小さい場合、上限トルク値ライン更新部１２１は、動作モードをモード１に変更すると判定する。閾値は予め設定されているものとする。ただし、閾値は適宜更新することができる。 Specifically, the upper limit torque value line update unit 121 calculates the area of the shaded portion in FIG. 7 as a value for evaluating the difference (line similarity) between the maximum torque characteristic line and the upper limit torque value line. The upper limit torque value line update unit 121 determines whether or not the area is smaller than the threshold value. If the area is smaller than the threshold value, the upper limit torque value line update unit 121 determines that the operation mode is changed to mode 1. It is assumed that the threshold value is set in advance. However, the threshold can be updated as appropriate.
　動作モードをモード１に変更しないと判定された場合、上限トルク値ライン更新部１２１は処理を終了する。 When it is determined that the operation mode is not changed to mode 1, the upper limit torque value line update unit 121 ends the process.
　制御モードをモード１に変更すると判定された場合、上限トルク値ライン更新部１２１はモード判定部１２０にモード１への変更を指示し（ステップＳ４０６）、その後、処理を終了する。 When it is determined that the control mode is changed to mode 1, the upper limit torque value line update unit 121 instructs the mode determination unit 120 to change to mode 1 (step S406), and then ends the process.
　素子の温度が十分低くなった場合、トルク値の制限を解除することによって駆動性能を復帰させることができる。また、動作モードがモード２において、素子の温度が十分下がっていない場合、制御装置は、再度上限トルク値ラインを更新する。更新後の上限トルク値ラインに基づいてトルク値が制御されることによって、素子温度が動作限界温度に達しにくくすることが出来る。 When the temperature of the element becomes sufficiently low, the drive performance can be restored by releasing the limitation of the torque value. Further, when the operation mode is mode 2 and the temperature of the element is not sufficiently lowered, the control device updates the upper limit torque value line again. By controlling the torque value based on the updated upper limit torque value line, it is possible to prevent the element temperature from reaching the operating limit temperature.
　図１０は、実施例１のモード判定部１２０が実行する処理の一例を説明するフローチャートである。 FIG. 10 is a flowchart illustrating an example of processing executed by the mode determination unit 120 of the first embodiment.
　動作モードがモード２である場合、モード判定部１２０はアクセルペダル信号の監視を開始する。 When the operation mode is mode 2, the mode determination unit 120 starts monitoring the accelerator pedal signal.
　モード判定部１２０は、アクセルペダル信号の開度が増加したかを判定する（ステップＳ５０１）。すなわち、モータ１０２の出力の増加要求を受け付けたか否かが判定される。 The mode determination unit 120 determines whether the opening degree of the accelerator pedal signal has increased (step S501). That is, it is determined whether or not the request for increasing the output of the motor 102 has been accepted.
　例えば、アクセルペダル信号の開度の増加量又は増加率が閾値より大きい場合、モード判定部１２０は、アクセルペダル信号の開度が増加したと判定する。 For example, when the amount or rate of increase in the opening degree of the accelerator pedal signal is larger than the threshold value, the mode determination unit 120 determines that the opening degree of the accelerator pedal signal has increased.
　アクセルペダル信号の開度が増加していないと判定された場合、モード判定部１２０は処理を終了する。なお、モード判定部１２０は、アクセルペダルを踏みまししていないと判定された場合、制限解除判定処理を実行してもよい。 When it is determined that the opening degree of the accelerator pedal signal has not increased, the mode determination unit 120 ends the process. When it is determined that the accelerator pedal is not depressed, the mode determination unit 120 may execute the restriction release determination process.
　アクセルペダル信号の開度が増加したと判定された場合、モード判定部１２０は、上限トルク値ライン更新部１２１を呼び出し（ステップＳ５０２）、その後、処理を終了する。上限トルク値ライン更新部１２１は図５で説明した処理を実行する。 When it is determined that the opening degree of the accelerator pedal signal has increased, the mode determination unit 120 calls the upper limit torque value line update unit 121 (step S502), and then ends the process. The upper limit torque value line update unit 121 executes the process described with reference to FIG.
　運転手がアクセルペダルを踏みました場合、制御装置は、発熱による素子の劣化や損傷を防止できる範囲内で上限トルク値を更新する。これによって、運転者の要求に応じて、駆動機構の駆動性能の向上が可能となる。 When the driver depresses the accelerator pedal, the control device updates the upper limit torque value within the range that can prevent deterioration and damage of the element due to heat generation. This makes it possible to improve the drive performance of the drive mechanism in response to the driver's request.
　図１１は、実施例１の出力上限トルク値決定部１２３が実行する処理の一例を説明するフローチャートである。 FIG. 11 is a flowchart illustrating an example of processing executed by the output upper limit torque value determination unit 123 of the first embodiment.
　出力上限トルク値決定部１２３は、周期的に、又は、アクセルペダル開度信号の増加が検出された場合に以下で説明する処理を実行する。 The output upper limit torque value determination unit 123 executes the process described below periodically or when an increase in the accelerator pedal opening signal is detected.
　出力上限トルク値決定部１２３は、車速センサ、モータ回転数センサから回転数を取得する(ステップS６０１)。 The output upper limit torque value determination unit 123 acquires the rotation speed from the vehicle speed sensor and the motor rotation speed sensor (step S601).
　出力上限トルク値決定部１２３は、動作モードがモード１であるか否かを判定する（ステップＳ６０２）。 The output upper limit torque value determination unit 123 determines whether or not the operation mode is mode 1 (step S602).
　動作モードがモード１であると判定された場合、出力上限トルク値決定部１２３は、取得した回転数をもとに、回転数及び最大トルク特性ラインに基づいて、最大トルク値を算出する（ステップＳ６０３）。さらに、出力上限トルク値決定部１２３は、トルク司令部１１２に、最大トルク値を出力上限トルク値として出力し（ステップＳ６０５）、その後、処理を終了する。 When it is determined that the operation mode is mode 1, the output upper limit torque value determination unit 123 calculates the maximum torque value based on the acquired rotation speed and the maximum torque characteristic line (step). S603). Further, the output upper limit torque value determination unit 123 outputs the maximum torque value as the output upper limit torque value to the torque command unit 112 (step S605), and then ends the process.
　動作モードがモード２であると判定された場合、出力上限トルク値決定部１２３は、取得した回転数をもとに設定された上限トルク値ラインから、上限トルク値を算出し（ステップＳ６０４）、ステップ６０５へ進む。 When it is determined that the operation mode is mode 2, the output upper limit torque value determination unit 123 calculates the upper limit torque value from the upper limit torque value line set based on the acquired rotation speed (step S604). Proceed to step 605.
　ステップＳ６０５では、出力上限トルク値決定部１２３は、トルク司令部１１２に、上限トルク値を出力上限トルク値として出力し（ステップＳ６０５）、その後、処理を終了する。 In step S605, the output upper limit torque value determination unit 123 outputs the upper limit torque value as the output upper limit torque value to the torque command unit 112 (step S605), and then ends the process.
　図１２は、実施例１のパラメータ更新部１２４が実行する処理の一例を説明するフローチャートである。 FIG. 12 is a flowchart illustrating an example of the process executed by the parameter update unit 124 of the first embodiment.
　パラメータ更新部１２４は、周期的に、又は、任意のイベントの発生時に以下で説明する処理を実行する。イベントは、例えば、動作モードの変更、及び出力上限トルク値の出力等が考えられる。 The parameter update unit 124 executes the process described below periodically or when an arbitrary event occurs. The event may be, for example, a change in the operation mode, an output of an output upper limit torque value, or the like.
　パラメータ更新部１２４は、素子の動作限界温度を更新する（ステップＳ７０１）。具体的には、以下のような処理が実行される。 The parameter update unit 124 updates the operating limit temperature of the element (step S701). Specifically, the following processing is executed.
　（Ｂ１）パラメータ更新部１２４は、運転情報から動作モードがモード２であるときの素子の最大温度を取得する。なお、モード２である期間が複数存在する場合、各期間について素子の最大温度が取得される。 (B1) The parameter update unit 124 acquires the maximum temperature of the element when the operation mode is mode 2 from the operation information. When there are a plurality of periods in mode 2, the maximum temperature of the element is acquired for each period.
　（Ｂ２）パラメータ更新部１２４は、取得された最大温度と動作限界温度との間のズレの平均値を算出する。以下の説明では、取得された最大温度と動作限界温度との間のズレを温度ズレと記載する。 (B2) The parameter update unit 124 calculates the average value of the deviation between the acquired maximum temperature and the operating limit temperature. In the following description, the deviation between the acquired maximum temperature and the operating limit temperature will be referred to as a temperature deviation.
　（Ｂ３）パラメータ更新部１２４は、素子の動作限界温度を、式（４）を用いて算出された値に更新する。式（４）において、ＴＮＯＫ＿ｏｌｄは更新前の素子の動作限界温度を表し、ＴＮＯＫ＿ｎｅｗは更新後の素子の動作限界温度を表し、Ｔｇａｐは温度ズレの平均値を表す。 (B3) The parameter updating unit 124 updates the operating limit temperature of the element to the value calculated by using the equation (4). In the formula (4), TNOK_old represents the operating limit temperature of the element before the update, TNOK_new represents the operating limit temperature of the element after the update, and T gap represents the average value of the temperature deviation.
Figure JPOXMLDOC01-appb-M000004
Figure JPOXMLDOC01-appb-M000004
　なお、温度ズレの平均値が履歴として管理される場合、パラメータ更新部１２４は、最新のモード２である期間の最大温度と、温度ズレの平均値とを式（５）に代入すれば、新たな温度ズレの平均値を算出できる。式（５）において、Ｔｇａｐ＿ｏｌｄは更新前の温度ズレの平均値を表し、Ｔｇａｐ＿ｎｅｗは更新後の温度ズレの平均値を表し、Ｔｔｔｉｍｅは最新のモード２である期間の最大温度を表し、ｎは更新回数を表す。 When the average value of the temperature deviation is managed as a history, the parameter update unit 124 can newly substitute the maximum temperature during the period of the latest mode 2 and the average value of the temperature deviation into the equation (5). The average value of temperature deviation can be calculated. In the formula (5), T gap_old represents the average value of the temperature deviation before the update, T gap_new represents the average value of the temperature shift after the update, and T timeme represents the maximum temperature during the period of the latest mode 2. n represents the number of updates.
Figure JPOXMLDOC01-appb-M000005
Figure JPOXMLDOC01-appb-M000005
　以上がステップＳ７０１の処理の説明である。 The above is the explanation of the process of step S701.
　次に、パラメータ更新部１２４は、遅延時間を更新し（ステップＳ７０２）、その後、その後、処理を終了する。具体的には、以下のような処理が実行される。 Next, the parameter update unit 124 updates the delay time (step S702), and then ends the process. Specifically, the following processing is executed.
　（Ｃ１）パラメータ更新部１２４は、運転情報から動作モードがモード２であるときの素子の温度の履歴を取得する。なお、モード２である期間が複数存在する場合、各期間について履歴が取得される。 (C1) The parameter update unit 124 acquires the history of the temperature of the element when the operation mode is mode 2 from the operation information. If there are a plurality of periods in mode 2, the history is acquired for each period.
　（Ｃ２）パラメータ更新部１２４は、動作モードが変更された時刻と、動作モードが変更された後に動作限界温度に到達した時刻とから、動作限界温度に到達するまでの時間を算出する。以下の説明では、算出された時間を到達時間と記載する。 (C2) The parameter update unit 124 calculates the time until the operation limit temperature is reached from the time when the operation mode is changed and the time when the operation limit temperature is reached after the operation mode is changed. In the following description, the calculated time will be referred to as the arrival time.
　（Ｃ３）パラメータ更新部１２４は、到達時間及び遅延時間のズレの平均値を算出する。以下の説明では、到達時間及び遅延時間のズレを時間ズレと記載する。 (C3) The parameter update unit 124 calculates the average value of the deviation between the arrival time and the delay time. In the following description, the difference between the arrival time and the delay time is referred to as a time difference.
　（Ｃ４）パラメータ更新部１２４は、遅延時間を、式（６）を用いて算出された値に更新する。式（６）において、tＤ＿ｎｅｗは更新後の遅延時間を表し、ｔｓｏｆｔはソフト遅延時間を表し、ｔｄｔｔｉｍｅは時間ズレの平均値を表す。 (C4) The parameter update unit 124 updates the delay time to the value calculated by using the equation (6). In the formula (6), t D_new represents the delay time after the update, t soft represents the soft delay time, and t dttime represents the average value of the time lag.
Figure JPOXMLDOC01-appb-M000006
Figure JPOXMLDOC01-appb-M000006
　なお、時間ズレの平均値が履歴として管理される場合、パラメータ更新部１２４は、最新のモード２である期間の時間ズレと、時間ズレの平均値とを式（７）に代入すれば、新たな時間ズレの平均値を算出できる。式（７）において、ｔｄｔtime＿ｏｌｄは更新前の時間ズレの平均値を表し、ｔｄｔｔｉｍｅ＿ｎｅｗは更新後の時間ズレの平均値を表し、τｄｔｔｉｍｅは最新のモード２である期間の時間ズレを表し、ｎは更新回数を表す。 When the average value of the time shift is managed as a history, the parameter update unit 124 can newly substitute the time shift of the latest mode 2 period and the average value of the time shift into the equation (7). The average value of time lag can be calculated. In the equation (7), t dttime_old represents the average value of the time lag before the update, t dttime_new represents the average value of the time lag after the update, and τ dttime represents the time lag during the period of the latest mode 2. n represents the number of updates.
Figure JPOXMLDOC01-appb-M000007
Figure JPOXMLDOC01-appb-M000007
　以上がステップＳ７０２の処理の説明である。 The above is the explanation of the process of step S702.
　処理パラメータを更新することによって、センサの計測精度等のばらつきを抑えることができ、素子の温度の推定精度を向上させることができる。 By updating the processing parameters, it is possible to suppress variations in the measurement accuracy of the sensor and improve the estimation accuracy of the element temperature.
　図１３は、実施例１のトルク司令部１１２が実行する処理の一例を説明するフローチャートである。 FIG. 13 is a flowchart illustrating an example of processing executed by the torque command unit 112 of the first embodiment.
　トルク司令部１１２は、要求トルク値が上限トルク値より小さいか否かを判定する（ステップＳ８０１）。 The torque command unit 112 determines whether or not the required torque value is smaller than the upper limit torque value (step S801).
　要求トルク値が上限トルク値より小さいと判定された場合、トルク司令部１１２は、モータ制御部１０１に、出力トルク値として要求トルク値に出力し（ステップＳ８０２）、その後、処理を終了する。 When it is determined that the required torque value is smaller than the upper limit torque value, the torque control unit 112 outputs the output torque value to the required torque value to the motor control unit 101 (step S802), and then ends the process.
　要求トルク値が上限トルク値以上であると判定された場合、トルク司令部１１２は、モータ制御部１０１に、出力トルク値として上限トルク値を出力し（ステップＳ８０３）、その後、処理を終了する。 When it is determined that the required torque value is equal to or greater than the upper limit torque value, the torque control unit 112 outputs the upper limit torque value as the output torque value to the motor control unit 101 (step S803), and then ends the process.
　上限トルク値に基づいてモータ１０２のトルク値が制御されることによって、素子の劣化や損傷を防止することができる。 By controlling the torque value of the motor 102 based on the upper limit torque value, deterioration or damage of the element can be prevented.
　図１４及び図１５は、実施例１の制御装置によるトルク制御の一例を示す図である。 14 and 15 are diagrams showing an example of torque control by the control device of the first embodiment.
　図１４の一番目のグラフは素子の温度の変化を示し、二番目のグラフはトルク値の上限値を示し、三番目のグラフはアクセルペダル信号の開度を示す。 The first graph of FIG. 14 shows the change in the temperature of the element, the second graph shows the upper limit of the torque value, and the third graph shows the opening degree of the accelerator pedal signal.
　動作モードがモード１である場合、トルク値の制限は行われないため、出力トルク値の最大値は最大トルク特性ライン上のトルク値となる。 When the operation mode is mode 1, the torque value is not limited, so the maximum value of the output torque value is the torque value on the maximum torque characteristic line.
　ポイント１２０１において、遅延時間経過後のポイント１２０２の素子の推定温度が動作限界温度より大きくなるため、動作モードがモード２に変更される。したがって、出力トルク値は上限トルク値ライン上のトルク値となる。 At point 1201, the operation mode is changed to mode 2 because the estimated temperature of the element at point 1202 after the lapse of the delay time becomes larger than the operation limit temperature. Therefore, the output torque value is the torque value on the upper limit torque value line.
　動作モードがモード２に変更された後に、アクセルペダル信号の開度が増加した場合、上限トルク値ラインが更新される。したがって、出力トルク値は上限トルク値ライン上のトルク値であるが、更新後の上限トルク値は更新前の上限トルク値より大きな値となる。 If the opening of the accelerator pedal signal increases after the operation mode is changed to mode 2, the upper limit torque value line is updated. Therefore, the output torque value is the torque value on the upper limit torque value line, but the upper limit torque value after the update is larger than the upper limit torque value before the update.
　図１５に示すように、モード２において、運動動作点１５０１は、上限トルク値ライン２０２ないに動作範囲を制限する。従来はライン２０１以下の範囲になるように運動動作点が変動していたため、可能な限り大きいトルク値や出力の駆動力を発生させることができる。実施例１に記載の制御装置の制御によれば、トルク制限中でも、可能な限り大きい上限トルク値を出力できる。したがって、発熱による素子の劣化や損傷を防止しつつ、トルク制限中の車両の動作点を広くすることができる。 As shown in FIG. 15, in mode 2, the motion operating point 1501 limits the operating range without the upper limit torque value line 202. Conventionally, since the motion operating point has fluctuated so as to be within the range of line 201 or less, it is possible to generate the driving force of the torque value and the output as large as possible. According to the control of the control device according to the first embodiment, the upper limit torque value as large as possible can be output even during the torque limitation. Therefore, it is possible to widen the operating point of the vehicle during torque limitation while preventing deterioration and damage of the element due to heat generation.
　実施例２では、制御装置は、動作モードがモード１の場合に上限トルク値ラインを更新する。以下、実施例１との差異を中心に実施例２について説明する。 In the second embodiment, the control device updates the upper limit torque value line when the operation mode is mode 1. Hereinafter, Example 2 will be described with a focus on the differences from Example 1.
　実施例２の制御装置の構成は実施例１と同一である。実施例２では、処理の一部が異なる。 The configuration of the control device of the second embodiment is the same as that of the first embodiment. In the second embodiment, a part of the processing is different.
　図１６は、実施例２のモード判定部１２０が実行する処理の一例を説明するフローチャートである。 FIG. 16 is a flowchart illustrating an example of processing executed by the mode determination unit 120 of the second embodiment.
　実施例２では、ステップＳ１０３において、動作モードをモード２に変更しないと判定された場合、モード判定部１２０は上限トルク値ライン更新部１２１を呼び出す（ステップＳ１０５）。その他の処理は実施例１と同一である。 In the second embodiment, when it is determined in step S103 that the operation mode is not changed to the mode 2, the mode determination unit 120 calls the upper limit torque value line update unit 121 (step S105). Other processing is the same as in Example 1.
　図１７は、実施例２の上限トルク値ライン更新部１２１が実行する処理の一例を説明するフローチャートである。 FIG. 17 is a flowchart illustrating an example of processing executed by the upper limit torque value line updating unit 121 of the second embodiment.
　上限トルク値ライン更新部１２１は、動作モードがモード１である場合にモード判定部１２０から呼び出された場合、以下で説明する処理を実行する。 When the upper limit torque value line update unit 121 is called from the mode determination unit 120 when the operation mode is mode 1, the process described below is executed.
　上限トルク値ライン更新部１２１は、熱パラメータ算出部１２２を呼び出し（ステップＳ９０１）、素子の熱流出分出力の算出を指示する。 The upper limit torque value line update unit 121 calls the heat parameter calculation unit 122 (step S901) and instructs the calculation of the heat outflow component output of the element.
　次に、上限トルク値ライン更新部１２１は、素子の損失マップを参照して、現在の上限トルク値ラインと最大トルク特性ラインとの間の運転動作点における素子の損失を算出する（ステップＳ９０２）。このとき、素子の損失に対応するトルク値及び回転数の組合せも算出される。 Next, the upper limit torque value line update unit 121 calculates the loss of the element at the operating operating point between the current upper limit torque value line and the maximum torque characteristic line with reference to the element loss map (step S902). .. At this time, the combination of the torque value and the rotation speed corresponding to the loss of the element is also calculated.
　次に、上限トルク値ライン更新部１２１は、素子の損失のループ処理を開始する（ステップＳ９０３）。 Next, the upper limit torque value line update unit 121 starts the loop processing of the element loss (step S903).
　具体的には、上限トルク値ライン更新部１２１は、算出された素子の損失の中から処理対象の処理の損失を選択する。 Specifically, the upper limit torque value line update unit 121 selects the processing loss of the processing target from the calculated element loss.
　次に、上限トルク値ライン更新部１２１は、素子の推定温度が動作限界温度以上となるか否かを判定する（ステップＳ９０４）。 Next, the upper limit torque value line update unit 121 determines whether or not the estimated temperature of the element is equal to or higher than the operating limit temperature (step S904).
　具体的には、上限トルク値ライン更新部１２１は、式（８）を満たすか否かを判定する。式（８）を満たす場合、上限トルク値ライン更新部１２１は、素子の推定温度が動作限界温度以上となると判定する。 Specifically, the upper limit torque value line update unit 121 determines whether or not the equation (8) is satisfied. When the equation (8) is satisfied, the upper limit torque value line update unit 121 determines that the estimated temperature of the element is equal to or higher than the operating limit temperature.
Figure JPOXMLDOC01-appb-M000008
Figure JPOXMLDOC01-appb-M000008
　Ｐｌｏｓｓには選択された素子の損失が代入され、Ｐｍｏｖｅには熱パラメータ算出部１２２によって算出された素子の熱流出分出力が代入される。 The loss of the selected element is substituted for P loss, and the heat outflow output of the element calculated by the thermal parameter calculation unit 122 is substituted for P move .
　素子の推定温度が動作限界温度より小さいと判定された場合、上限トルク値ライン更新部１２１はステップＳ９０６に進む。 When it is determined that the estimated temperature of the element is smaller than the operating limit temperature, the upper limit torque value line updating unit 121 proceeds to step S906.
　素子の推定温度が動作限界温度以上であると判定された場合、上限トルク値ライン更新部１２１は、選択された素子の損失をリストに登録し（ステップＳ９０５）、その後、ステップＳ９０６に進む。 When it is determined that the estimated temperature of the element is equal to or higher than the operating limit temperature, the upper limit torque value line update unit 121 registers the loss of the selected element in the list (step S905), and then proceeds to step S906.
　ステップＳ９０６では、上限トルク値ライン更新部１２１は、全ての素子の損失について処理が完了したか否かを判定する（ステップＳ９０６）。 In step S906, the upper limit torque value line update unit 121 determines whether or not the processing for the loss of all the elements is completed (step S906).
　全ての素子の損失について処理が完了していないと判定された場合、上限トルク値ライン更新部１２１はステップＳ９０３に戻り、同様の処理を実行する。 When it is determined that the processing has not been completed for the loss of all the elements, the upper limit torque value line updating unit 121 returns to step S903 and executes the same processing.
　全ての素子の損失について処理が完了したと判定された場合、上限トルク値ライン更新部１２１はリストに基づいて上限トルク値ラインを算出する（ステップＳ９０７）。 When it is determined that the processing has been completed for the loss of all the elements, the upper limit torque value line update unit 121 calculates the upper limit torque value line based on the list (step S907).
　具体的には、上限トルク値ライン更新部１２１は、回転数が同一の素子の損失のグループを生成し、当該グループの中の素子の最も大きい損失を選択する。さらに、上限トルク値ライン更新部１２１は、回転数に対する損失から、上限トルク値を算出し、回転数に対して上限トルク値を線形補間し上限トルク値ラインを算出する。 Specifically, the upper limit torque value line update unit 121 generates a loss group of elements having the same rotation speed, and selects the largest loss of the elements in the group. Further, the upper limit torque value line update unit 121 calculates the upper limit torque value from the loss with respect to the rotation speed, linearly interpolates the upper limit torque value with respect to the rotation speed, and calculates the upper limit torque value line.
　実施例２では、上限トルク値ライン更新部１２１は、動作モードがモード２である場合にモード判定部１２０から呼び出された場合、図５に示す処理を実行する。ただし、ステップＳ２０３の処理が一部異なる。 In the second embodiment, the upper limit torque value line update unit 121 executes the process shown in FIG. 5 when called from the mode determination unit 120 when the operation mode is mode 2. However, the processing in step S203 is partially different.
　上限トルク値ライン更新部１２１は、（Ａ１）から（Ａ３）の処理を実行し、上限トルク値ラインを算出する。上限トルク値ライン更新部１２１は、二つの上限トルク値ラインを統合する。具体的には、上限トルク値ライン更新部１２１は、更新前の上限トルク値ラインと、算出された上限トルク値ラインとを比較し、同一の回転数において小さいトルク値を選択する。 The upper limit torque value line update unit 121 executes the processes (A1) to (A3) and calculates the upper limit torque value line. The upper limit torque value line update unit 121 integrates the two upper limit torque value lines. Specifically, the upper limit torque value line update unit 121 compares the upper limit torque value line before the update with the calculated upper limit torque value line, and selects a smaller torque value at the same rotation speed.
　実施例２によれば、制御装置は、現在の上限トルク値ラインより大きいトルク値について素子の推定温度を見積もることによって、予め、上限トルク値ラインを更新することができる。これによって、素子の急激な温度上昇にも素子を保護することができる　 According to the second embodiment, the control device can update the upper limit torque value line in advance by estimating the estimated temperature of the element for a torque value larger than the current upper limit torque value line. This makes it possible to protect the element even when the temperature of the element rises sharply.
　なお、本発明は上記した実施例に限定されるものではなく、様々な変形例が含まれる。また、例えば、上記した実施例は本発明を分かりやすく説明するために構成を詳細に説明したものであり、必ずしも説明した全ての構成を備えるものに限定されるものではない。また、各実施例の構成の一部について、他の構成に追加、削除、置換することが可能である。 The present invention is not limited to the above-mentioned examples, and includes various modifications. Further, for example, the above-described embodiment describes the configuration in detail in order to explain the present invention in an easy-to-understand manner, and is not necessarily limited to the one including all the described configurations. Further, it is possible to add, delete, or replace a part of the configuration of each embodiment with other configurations.
　また、上記の各構成、機能、処理部、処理手段等は、それらの一部又は全部を、例えば集積回路で設計する等によりハードウェアで実現してもよい。また、本発明は、実施例の機能を実現するソフトウェアのプログラムコードによっても実現できる。この場合、プログラムコードを記録した記憶媒体をコンピュータに提供し、そのコンピュータが備えるプロセッサが記憶媒体に格納されたプログラムコードを読み出す。この場合、記憶媒体から読み出されたプログラムコード自体が前述した実施例の機能を実現することになり、そのプログラムコード自体、及びそれを記憶した記憶媒体は本発明を構成することになる。このようなプログラムコードを供給するための記憶媒体としては、例えば、フレキシブルディスク、ＣＤ－ＲＯＭ、ＤＶＤ－ＲＯＭ、ハードディスク、ＳＳＤ（Ｓｏｌｉｄ　Ｓｔａｔｅ　Ｄｒｉｖｅ）、光ディスク、光磁気ディスク、ＣＤ－Ｒ、磁気テープ、不揮発性のメモリカード、ＲＯＭなどが用いられる。 Further, each of the above configurations, functions, processing units, processing means, etc. may be realized by hardware by designing a part or all of them by, for example, an integrated circuit. The present invention can also be realized by a program code of software that realizes the functions of the examples. In this case, a storage medium in which the program code is recorded is provided to the computer, and the processor included in the computer reads the program code stored in the storage medium. In this case, the program code itself read from the storage medium realizes the functions of the above-described embodiment, and the program code itself and the storage medium storing the program code itself constitute the present invention. Examples of the storage medium for supplying such a program code include a flexible disk, a CD-ROM, a DVD-ROM, a hard disk, an SSD (Solid State Drive), an optical disk, a magneto-optical disk, a CD-R, and a magnetic tape. Non-volatile memory cards, ROMs, etc. are used.
　また、本実施例に記載の機能を実現するプログラムコードは、例えば、アセンブラ、Ｃ／Ｃ＋＋、ｐｅｒｌ、Ｓｈｅｌｌ、ＰＨＰ、Ｐｙｔｈｏｎ、Ｊａｖａ（登録商標）等の広範囲のプログラム又はスクリプト言語で実装できる。 Further, the program code that realizes the functions described in this embodiment can be implemented in a wide range of programs or script languages such as assembler, C / C ++, perl, Shell, PHP, Python, and Java (registered trademark).
　さらに、実施例の機能を実現するソフトウェアのプログラムコードを、ネットワークを介して配信することによって、それをコンピュータのハードディスクやメモリ等の記憶手段又はＣＤ－ＲＷ、ＣＤ－Ｒ等の記憶媒体に格納し、コンピュータが備えるプロセッサが当該記憶手段や当該記憶媒体に格納されたプログラムコードを読み出して実行するようにしてもよい。 Further, by distributing the program code of the software that realizes the functions of the examples via the network, the program code is stored in a storage means such as a hard disk or a memory of a computer or a storage medium such as a CD-RW or a CD-R. , The processor provided in the computer may read and execute the program code stored in the storage means or the storage medium.
　上述の実施例において、制御線や情報線は、説明上必要と考えられるものを示しており、製品上必ずしも全ての制御線や情報線を示しているとは限らない。全ての構成が相互に接続されていてもよい。 In the above-described embodiment, the control lines and information lines indicate those considered necessary for explanation, and do not necessarily indicate all the control lines and information lines in the product. All configurations may be interconnected.
１００　車両制御部１０１　モータ制御部１０２　モータ１０３　温度センサ１０４　温度センサ１０５　速度センサ１１０　要求トルク値算出部１１１　保護制御部１１２　トルク司令部１２０　モード判定部１２１　上限トルク値ライン更新部１２２　熱パラメータ算出部１２３　出力上限トルク値決定部１２４　パラメータ更新部１２５　運転履歴記録部１３０　インバータ 100 Vehicle control unit 101 Motor control unit 102 Motor 103 Temperature sensor 104 Temperature sensor 105 Speed sensor 110 Required torque value calculation unit 111 Protection control unit 112 Torque control unit 120 Mode determination unit 121 Upper limit torque value line update unit 122 Thermal parameter calculation unit 123 Output upper limit torque value determination unit 124 Parameter update unit 125 Operation history recording unit 130 Inverter

Claims (14)

  1. 　モータを動力源とする駆動機構を制御する制御装置であって、
    　前記駆動機構の状態に基づいて、前記モータのトルク値の上限を制御するための上限トルク値を示す上限トルク値ラインを更新する上限トルク値ライン更新部と、
    　現在から遅延時間が経過した後の前記駆動機構を構成する素子の推定温度に基づいて、前記トルク値を制限する必要があるか否かを判定し、前記トルク値を制限する必要がある場合、前記上限トルク値ラインに基づいて、前記トルク値を制御する駆動制御部と、を備えることを特徴とする制御装置。     A control device that controls a drive mechanism that uses a motor as a power source.
    An upper limit torque value line update unit that updates the upper limit torque value line indicating the upper limit torque value for controlling the upper limit of the torque value of the motor based on the state of the drive mechanism.
    When it is necessary to determine whether or not the torque value needs to be limited based on the estimated temperature of the element constituting the drive mechanism after the delay time has elapsed from the present, and when it is necessary to limit the torque value. A control device including a drive control unit that controls the torque value based on the upper limit torque value line.
  2. 　請求項１に記載の制御装置であって、
    　前記駆動機構には前記素子の温度を計測する温度センサが設けられ、
    　前記制御装置は、前記素子の損失及び前記素子の熱流出分出力を算出する熱パラメータ算出部を備え、
    　前記駆動制御部は、前記素子の温度、前記素子の損失、及び前記素子の熱流出分出力に基づいて算出される前記素子の推定温度が前記素子の動作限界温度以上である場合、前記トルク値を制限する必要があると判定し、
    　前記上限トルク値ライン更新部は、
    　前記素子の熱流出分出力に基づいて、前記素子の推定損失を算出し、
    　前記素子の推定損失に基づいて、任意の回転数における前記トルク値の上限を算出することによって、前記上限トルク値ラインを更新することを特徴とする制御装置。     The control device according to claim 1.
    The drive mechanism is provided with a temperature sensor that measures the temperature of the element.
    The control device includes a thermal parameter calculation unit that calculates the loss of the element and the heat outflow output of the element.
    When the estimated temperature of the element calculated based on the temperature of the element, the loss of the element, and the heat outflow output of the element is equal to or higher than the operating limit temperature of the element, the drive control unit has the torque value. Judging that it is necessary to limit
    The upper limit torque value line update unit
    Based on the heat outflow output of the device, the estimated loss of the device is calculated.
    A control device characterized in that the upper limit torque value line is updated by calculating the upper limit of the torque value at an arbitrary rotation speed based on the estimated loss of the element.
  3. 　請求項２に記載の制御装置であって、
    　前記駆動制御部は、
    　前記上限トルク値ラインに基づく前記トルク値の制御を行わない第１モード、及び、前記上限トルク値ラインに基づく前記トルク値の制御を行う第２モードのいずれかの動作モードで稼働し、
    　前記トルク値を制限する必要があると判定された場合、前記動作モードを前記第２モードに変更し、
    　前記上限トルク値ライン更新部は、前記動作モードが前記第２モードに変更された場合、又は、前記駆動制御部が前記第２モードで稼働中に前記モータの出力の増加要求を受け付けた場合、前記上限トルク値ラインを更新することを特徴とする制御装置。     The control device according to claim 2.
    The drive control unit
    It operates in either the first mode in which the torque value is not controlled based on the upper limit torque value line and the second mode in which the torque value is controlled based on the upper limit torque value line.
    When it is determined that the torque value needs to be limited, the operation mode is changed to the second mode.
    The upper limit torque value line update unit receives a request for increasing the output of the motor when the operation mode is changed to the second mode, or when the drive control unit is operating in the second mode. A control device characterized by updating the upper limit torque value line.
  4. 　請求項３に記載の制御装置であって、
    　前記駆動制御部は、更新後の前記上限トルク値ラインと前記モータのＮＴ特性を示すラインとの差を評価する値が閾値より小さい場合、又は、前記駆動制御部が前記第２モードで稼働中に現在の前記素子の温度が前記第２モードに変更されたときの前記素子の温度より低い場合、前記動作モードを前記第１モードへ変更することを特徴とする制御装置。     The control device according to claim 3.
    When the value for evaluating the difference between the updated upper limit torque value line and the line indicating the NT characteristic of the motor is smaller than the threshold value, or the drive control unit is operating in the second mode. A control device, characterized in that, when the current temperature of the element is lower than the temperature of the element when the second mode is changed, the operation mode is changed to the first mode.
  5. 　請求項３に記載の制御装置であって、
    　前記駆動制御部は、前記第２モードで稼働している場合、前記トルク値が前記上限トルク値ライン上のトルク値より小さくなるように制御することを特徴とする制御装置。     The control device according to claim 3.
    The drive control unit is a control device that controls the torque value to be smaller than the torque value on the upper limit torque value line when operating in the second mode.
  6. 　請求項３に記載の制御装置であって、
    　前記駆動機構の状態を示す情報を記憶する記憶部と、
    　前記情報に基づいて、前記素子の動作限界温度及び前記遅延時間を更新するパラメータ更新部と、を備えることを特徴とする制御装置。     The control device according to claim 3.
    A storage unit that stores information indicating the state of the drive mechanism, and
    A control device including a parameter updating unit that updates the operating limit temperature of the element and the delay time based on the information.
  7. 　請求項２に記載の制御装置であって、
    　前記上限トルク値ライン更新部は、
    　前記上限トルク値ライン上のトルク値より小さいトルク値に対応する前記素子の損失を算出し、
    　前記素子の損失に基づいて算出される前記素子の推定温度が前記動作限界温度より大きくなる前記素子の損失を特定し、
    　前記特定された素子の損失に対応する前記トルク値に基づいて、前記上限トルク値ラインを更新することを特徴とする制御装置。     The control device according to claim 2.
    The upper limit torque value line update unit
    The loss of the element corresponding to the torque value smaller than the torque value on the upper limit torque value line is calculated.
    The loss of the element whose estimated temperature of the element calculated based on the loss of the element becomes larger than the operating limit temperature is specified.
    A control device characterized in that the upper limit torque value line is updated based on the torque value corresponding to the loss of the specified element.
  8. 　制御装置が実行する、モータを動力源とする駆動機構の制御方法であって、
    　前記制御装置が、前記駆動機構の状態に基づいて、前記モータのトルク値の上限を制御するための上限トルク値を示す上限トルク値ラインを更新する第１のステップと、
    　前記制御装置が、現在から遅延時間が経過した後の前記駆動機構を構成する素子の推定温度に基づいて、前記トルク値を制限する必要があるか否かを判定する第２のステップと、
    　前記制御装置が、前記トルク値を制限する必要があると判定された場合、前記上限トルク値ラインに基づいて、前記トルク値を制御する第３のステップと、を含むことを特徴とする駆動機構の制御方法。     It is a control method of a drive mechanism powered by a motor, which is executed by a control device.
    A first step in which the control device updates an upper limit torque value line indicating an upper limit torque value for controlling the upper limit of the torque value of the motor based on the state of the drive mechanism.
    A second step in which the control device determines whether or not it is necessary to limit the torque value based on the estimated temperature of the elements constituting the drive mechanism after the delay time has elapsed from the present.
    A drive mechanism comprising the third step of controlling the torque value based on the upper limit torque value line when the control device determines that it is necessary to limit the torque value. Control method.
  9. 　請求項８に記載の駆動機構の制御方法であって、
    　前記制御装置が、前記駆動機構に設けられた温度センサから前記素子の温度を取得するステップと、
    　前記制御装置が、前記素子の損失及び前記素子の熱流出分出力を算出するステップと、を含み、
    　前記第２のステップは、前記制御装置が、前記素子の温度、前記素子の損失、及び前記素子の熱流出分出力に基づいて算出される前記素子の推定温度が前記素子の動作限界温度以上である場合、前記トルク値を制限する必要があると判定するステップを含み、
    　前記第１のステップは、
    　前記制御装置が、前記素子の熱流出分出力に基づいて、前記素子の推定損失を算出するステップと、
    　前記制御装置が、前記素子の推定損失に基づいて、任意の回転数における前記トルク値の上限を算出することによって、前記上限トルク値ラインを更新するステップと、を含むことを特徴とする駆動機構の制御方法。     The control method for a drive mechanism according to claim 8.
    A step in which the control device acquires the temperature of the element from a temperature sensor provided in the drive mechanism.
    The control device includes a step of calculating the loss of the element and the heat outflow output of the element.
    In the second step, when the estimated temperature of the element calculated by the control device based on the temperature of the element, the loss of the element, and the heat outflow output of the element is equal to or higher than the operating limit temperature of the element. In some cases, it includes a step of determining that the torque value needs to be limited.
    The first step is
    A step in which the control device calculates an estimated loss of the element based on the heat outflow output of the element.
    The drive mechanism comprises the step of updating the upper limit torque value line by calculating the upper limit of the torque value at an arbitrary rotation speed based on the estimated loss of the element. Control method.
  10. 　請求項９に記載の駆動機構の制御方法であって、
    　前記制御装置は、前記上限トルク値ラインに基づく前記トルク値の制御を行わない第１モード、及び、前記上限トルク値ラインに基づく前記トルク値の制御を行う第２モードのいずれかの動作モードで稼働し、
    　前記第２のステップは、前記制御装置が、前記トルク値を制限する必要があると判定された場合、前記動作モードを前記第２モードに変更するステップを含み、
    　前記第１のステップは、前記制御装置が、前記動作モードが前記第２モードに変更された場合、又は、前記第２モードで稼働中に前記モータの出力の増加要求を受け付けた場合、前記上限トルク値ラインを更新するステップを含むことを特徴とする駆動機構の制御方法。     The control method for a drive mechanism according to claim 9.
    The control device is operated in either a first mode in which the torque value is not controlled based on the upper limit torque value line and a second mode in which the torque value is controlled based on the upper limit torque value line. Working,
    The second step includes a step of changing the operation mode to the second mode when the control device determines that it is necessary to limit the torque value.
    The first step is the upper limit when the control device receives a request for increasing the output of the motor while operating in the second mode or when the operation mode is changed to the second mode. A control method of a drive mechanism, which comprises a step of updating a torque value line.
  11. 　請求項１０に記載の駆動機構の制御方法であって、
    　前記制御装置が、更新後の前記上限トルク値ラインと前記モータのＮＴ特性を示すラインとの差を評価する値が閾値より小さい場合、又は、前記第２モードで稼働中に現在の前記素子の温度が前記第２モードに変更されたときの前記素子の温度より低い場合、前記動作モードを前記第１モードに変更するステップを含むことを特徴とする駆動機構の制御方法。     The control method for a drive mechanism according to claim 10.
    When the value for evaluating the difference between the updated upper limit torque value line and the line indicating the NT characteristic of the motor is smaller than the threshold value, or when the control device is operating in the second mode, the current element is A method for controlling a drive mechanism, which comprises a step of changing the operation mode to the first mode when the temperature is lower than the temperature of the element when the temperature is changed to the second mode.
  12. 　請求項１０に記載の駆動機構の制御方法であって、
    　前記第３のステップは、前記制御装置が、前記トルク値が前記上限トルク値ライン上のトルク値より小さくなるように制御するステップを含むことを特徴とする駆動機構の制御方法。     The control method for a drive mechanism according to claim 10.
    The third step is a control method of a drive mechanism, comprising a step of controlling the control device so that the torque value becomes smaller than the torque value on the upper limit torque value line.
  13. 　請求項１０に記載の駆動機構の制御方法であって、
    　前記制御装置が、前記駆動機構の状態を示す情報を記憶するステップと、
    　前記制御装置が、前記情報に基づいて、前記素子の動作限界温度及び前記遅延時間を更新するステップと、を含むことを特徴とする駆動機構の制御方法。     The control method for a drive mechanism according to claim 10.
    A step in which the control device stores information indicating the state of the drive mechanism, and
    A control method for a drive mechanism, wherein the control device includes a step of updating the operating limit temperature of the element and the delay time based on the information.
  14. 　請求項９に記載の駆動機構の制御方法であって、
    　前記制御装置が、前記上限トルク値ラインのトルク値より小さいトルク値の前記素子の損失を算出するステップと、
    　前記制御装置が、前記素子の損失に基づいて算出される前記素子の推定温度が前記動作限界温度より大きくなる前記素子の損失を特定するステップと、
    　前記制御装置が、前記特定された素子の損失に対応する前記トルク値に基づいて、前記上限トルク値ラインを更新するステップと、を含むことを特徴とする駆動機構の制御方法。     The control method for a drive mechanism according to claim 9.
    A step in which the control device calculates a loss of the element having a torque value smaller than the torque value of the upper limit torque value line.
    A step in which the control device identifies the loss of the element at which the estimated temperature of the element calculated based on the loss of the element becomes larger than the operating limit temperature.
    A control method for a drive mechanism, wherein the control device includes a step of updating the upper limit torque value line based on the torque value corresponding to the loss of the specified element.
PCT/JP2020/021292 2019-06-05 2020-05-29 Control device and drive mechanism control method WO2020246371A1 (en)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001177909A (en) * 1999-12-16 2001-06-29 Nissan Motor Co Ltd Hybrid vehicle
JP2008109816A (en) * 2006-10-27 2008-05-08 Nissan Motor Co Ltd Temperature protecting device for motor, and temperature protection method of motor
JP2008211861A (en) * 2007-02-23 2008-09-11 Toyota Motor Corp Controller for motor
JP2015098208A (en) * 2013-11-18 2015-05-28 トヨタ自動車株式会社 Hybrid vehicle

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001177909A (en) * 1999-12-16 2001-06-29 Nissan Motor Co Ltd Hybrid vehicle
JP2008109816A (en) * 2006-10-27 2008-05-08 Nissan Motor Co Ltd Temperature protecting device for motor, and temperature protection method of motor
JP2008211861A (en) * 2007-02-23 2008-09-11 Toyota Motor Corp Controller for motor
JP2015098208A (en) * 2013-11-18 2015-05-28 トヨタ自動車株式会社 Hybrid vehicle

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