WO2022019083A1 - Rotaing electric machine drive device - Google Patents
Rotaing electric machine drive device Download PDFInfo
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- WO2022019083A1 WO2022019083A1 PCT/JP2021/024977 JP2021024977W WO2022019083A1 WO 2022019083 A1 WO2022019083 A1 WO 2022019083A1 JP 2021024977 W JP2021024977 W JP 2021024977W WO 2022019083 A1 WO2022019083 A1 WO 2022019083A1
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- electric machine
- inverter
- rotary electric
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
- H02P25/18—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring with arrangements for switching the windings, e.g. with mechanical switches or relays
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
Definitions
- the present disclosure relates to a drive device of a rotary electric machine, which is applied to a rotary electric machine having a plurality of windings corresponding to a plurality of phases.
- Patent Document 1 In the drive device of a rotary electric machine, a technique for detecting a failure of a current sensor that detects a current flowing in a drive circuit is known.
- two current sensors for detecting the drive current are installed in each phase connection line connecting each phase of the drive circuit to the inverter, and the current flows to the same phase connection line acquired from the two current sensors. By comparing the detected values of the currents with each other, the failure of one of the current sensors is diagnosed.
- a second current sensor for diagnosing a failure of the first current sensor is set.
- the first current sensor for detecting the current flowing through each phase connection line a second current sensor for diagnosing a failure of the first current sensor is set.
- the rotary electric machine has three phases
- six current sensors are installed in the drive circuit.
- the number of current sensors installed in the drive circuit it is preferable to reduce the number of current sensors installed in the drive circuit. Therefore, in a drive circuit in which three phases are symmetrically connected by Y connection, the current waves of each phase cancel each other out in a specific frequency component which is a predetermined frequency component, and the vector sum of the instantaneous values becomes zero (so-called three).
- the present disclosure provides a drive device for a rotary electric machine, which is applied to a rotary electric machine having a plurality of windings corresponding to a plurality of phases.
- This drive device was connected to a DC power supply, and was connected to a first inverter having an upper arm switch and a lower arm switch connected to one end of the winding for each phase, and to the other end of the winding for each phase.
- a second inverter including an upper arm switch and a lower arm switch, a phase current sensor provided for each of a plurality of phase connection lines connecting the first inverter and the second inverter for each phase, and a phase current sensor.
- the first inverter and the second inverter are connected by controlling the opening and closing of the upper arm switch and the lower arm switch, including a low potential connection line to be connected, and a drive circuit capable of H-driving the rotary electric machine.
- a control unit capable of controlling the operation is provided. The control unit executes a failure diagnosis of the phase current sensor based on the total current, which is the sum of the phase currents calculated based on the phase current detected by the phase current sensor when the rotary electric machine is driven to H.
- the present disclosed person calculates the total current, which is the total of each phase current during H drive, and when multiple phases are symmetrically connected to each other by Y connection, for example, "three-phase sum zero", each phase current.
- Y connection for example, "three-phase sum zero"
- one phase current sensor is provided for each of a plurality of phase connection lines connecting the first inverter and the second inverter for each phase.
- the control unit executes a failure diagnosis of the phase current sensor based on the total current, which is the total sum of the phase currents calculated based on the phase current detected by the phase current sensor when the rotary electric machine is driven to H. Since the total current does not become zero even in a specific frequency component during H drive, a failure of the phase current sensor can be diagnosed by monitoring the total current. Therefore, only one phase current sensor flowing through the phase connection line is installed for each phase, and if any of the phase current sensors fails, it can be determined by diagnosis. In the drive circuit that executes H drive, the number of current sensors added for the failure diagnosis of the phase current sensor can be reduced, and the failure diagnosis of the current sensor and the reduction of the number of current sensors can be achieved at the same time.
- FIG. 1 is a drive device for a rotary electric machine according to the first embodiment.
- FIG. 2 is a diagram comparing the phase current detected by the phase current sensor with the sum of the tertiary components thereof.
- FIG. 3 is a diagram comparing the W phase current detected by the phase current sensor with the sum of the tertiary components of the U, V, and W phases.
- FIG. 4 is a diagram showing before and after the waveform of the phase current detected by the phase current sensor changes from normal to abnormal.
- FIG. 5 is a diagram obtained by performing frequency analysis on each of the normal waveforms of the phase current shown in FIG. FIG.
- FIG. 6 is a diagram showing the sum of the normal waveforms of the phase currents shown in FIG.
- FIG. 7 is a diagram obtained by frequency analysis of the sum of the normal waveforms of the phase currents shown in FIG.
- FIG. 8 is a diagram obtained by frequency analysis of each of the abnormal waveforms of the phase current shown in FIG.
- FIG. 9 is a diagram showing the total sum of the abnormal waveforms of the phase current shown in FIG.
- FIG. 10 is a diagram obtained by performing frequency analysis on the sum of the abnormal waveforms of the phase current shown in FIG. 9.
- FIG. 11 is a flowchart of the failure diagnosis process according to the first embodiment.
- FIG. 12 is a drive device for a rotary electric machine according to the second embodiment.
- FIG. 13 is a diagram showing an outline of the failure diagnosis process according to the second embodiment.
- FIG. 14 is a flowchart of the failure diagnosis process according to the second embodiment.
- FIG. 1 shows a drive device 10 that executes drive control of a rotary electric machine.
- the rotary electric machine is an open winding three-phase rotary electric machine having an open neutral point, and includes a U-phase winding U, a V-phase winding V, and a W-phase winding W.
- the drive device 10 includes a drive circuit 11, a control unit 12, and a DC power supply VDC.
- the drive circuit 11 includes a first inverter INV1, a second inverter INV2, a high potential connection line La, a low potential connection line Lb, a connection line switch SC, and phase current sensors DU, DV, and DW.
- the first inverter INV1 is a three-phase inverter, which is connected to a DC power supply VDC, and has an upper arm switch SU1a and a lower arm switch SU1b connected to one end of a U-phase winding U of a rotary electric machine, and a V-phase winding. It includes an upper arm switch SV1a and a lower arm switch SV1b connected to one end of V, and an upper arm switch SW1a and a lower arm switch SW1b connected to one end of the W-phase winding W.
- the second inverter INV2 is a three-phase inverter, and is connected to the upper arm switch SU2a and the lower arm switch SU2b connected to the other end of the U-phase winding U of the rotary electric machine, and to the other end of the V-phase winding V. It includes an upper arm switch SV2a and a lower arm switch SV2b, and an upper arm switch SW2a and a lower arm switch SW2b connected to the other end of the W-phase winding W.
- the high-potential connection line La is a wiring that connects the DC high-potential side of the first inverter INV1 and the DC high-potential side of the second inverter INV2.
- the low-potential connection line Lb connects the DC low-potential side of the first inverter INV1 and the DC low-potential side of the second inverter.
- the high potential side terminals of the upper arm switches SU1a, SV1a, SW1a of each phase are connected to the positive electrode terminals of the DC power supply VDC, and the low potential side terminals of the lower arm switches SU1b, SV1b, SW1b of each phase are It is connected to the negative electrode terminal of the DC power supply VDC.
- the upper arm switches SU1a, SV1a, SW1a and the lower arm switches SU1b, SV1b, SW1b are semiconductor switching elements, respectively.
- the high potential side terminals of the upper arm switches SU2a, SV2a, SW2a of each phase are connected to the high potential connection line La, and the low potential side terminals of the lower arm switches SU2b, SV2b, SW2b of each phase are low. It is connected to the potential connection line Lb.
- the upper arm switches SU2a, SV2a, SW2a and the lower arm switches SU2b, SV2b, SW2b are semiconductor switching elements, respectively.
- semiconductor switching element examples include MOSFETs (Metal-Oxide-Semicondustor Field-Effective Transistors), IGBTs (Insulated Gate Bipolar Transistors) having freewheeling diodes connected in antiparallel, and the like.
- MOSFETs Metal-Oxide-Semicondustor Field-Effective Transistors
- IGBTs Insulated Gate Bipolar Transistors
- the intermediate points between the upper arm switches SU1a, SV1a, SW1a and the lower arm switches SU1b, SV1b, SW1b of each phase are wound by the first phase connection lines LU1, LV1, LW1, respectively. It is connected to one end of U, V, W (one end not connected to the second inverter INV2).
- the intermediate points between the upper arm switches SU2a, SV2a, SW2a and the lower arm switches SU2b, SV2b, SW2b of each phase are wound by the second phase connection lines LU2, LV2, LW2, respectively.
- One current sensor is installed as each of the phase current sensors DU, DV, and DW on the first phase connection lines LU1, LV1, and LW1.
- connection line switch SC is provided on the high-potential connection line La, and conducts or cuts off the first inverter INV1 and the second inverter INV2 by conducting or cutting off the high-potential connection line La.
- the drive circuit 11 can be used as an H-bridge circuit, and the rotary electric machine can be driven by H.
- the drive circuit 11 When the connection line switch SC is in the open state (off state), the drive circuit 11 enables Y drive of the rotary electric machine. For example, by closing all the upper arm switches SU2a, SV2a, SW2a of the second inverter INV2 and opening all the lower arm switches SU2b, SV2b, SW2b, Y drive of the rotary electric machine becomes possible. .. That is, the U-phase winding U of the rotary electric machine, the V-phase winding V, and the W-phase winding W can be connected by a Y connection.
- the upper arm switches SU2a, SV2a, and SW2a correspond to the neutral point configuration switch constituting the neutral point of the Y connection (star-shaped connection).
- the control unit 12 includes a microcomputer including a CPU and various memories, and opens and closes each switch in the first inverter INV1 and the second inverter INV2 based on various detection information in the rotary electric machine and requests for power running drive and power generation. Energization control is performed by (on / off).
- the detection information of the rotary electric machine includes, for example, the rotation angle of the rotor (electric angle information) detected by an angle detector such as a resolver, the power supply voltage (inverter input voltage) detected by the voltage sensor, and the current sensor.
- the energizing current of each phase is included.
- the control unit 12 further controls the opening and closing of the connection line switch SC.
- the control unit 12 controls the connection line switch SC to be in the closed state when H is driven, and controls the connection line switch SC to be in the open state when Y is driven.
- the control unit 12 generates and outputs an operation signal for operating each switch of the first inverter INV1 and the second inverter INV2 and the connection line switch SC.
- the control unit 12 can control the connection line switch SC to the closed state and execute, for example, alternate PWM drive.
- the alternate PWM drive is an example of asymmetric switching control in which the first inverter INV1 and the second inverter INV2 are operated alternately.
- the control unit 12 controls the connection line switch SC in the open state, controls the upper arm switches SU2a, SV2a, SW2a of the second inverter INV2 in the closed state, and controls the second inverter INV2.
- the U-phase winding U, the V-phase winding V, and the W-phase winding W of the rotary electric machine are in a Y-connected state. ..
- Y connection is realized by connecting the winding terminals of the windings U, V, and W on the second inverter INV2 side via the upper arm switches SU2a, SV2a, and SW2a, respectively.
- the rotary electric machine can be Y-driven by forming a Y connection using the second inverter INV2 and executing PWM control or the like for the first inverter INV1.
- the upper arm switches SU2a, SV2a, and SW2a correspond to the neutral point configuration switch constituting the neutral point of the Y connection. Since the lower arm switches SU2b, SV2b, and SW2b do not form a neutral point, they correspond to a non-neutral point configuration switch.
- the U, V, and W phases of the rotary electric machine are symmetrically connected during Y drive, the current waveforms cancel each other out at a predetermined frequency component, and the instantaneous vector sum becomes zero. That is, when the rotary electric machine is driven in Y, the state in which the sum of the three phases is zero for the U, V, and W phases can be used.
- a predetermined frequency component in which the three-phase sum is in a zero state is referred to as a specific frequency component in the present specification.
- the following equation (1) is an equation showing the frequency function f (x) obtained by performing a Fourier series expansion on the current waveform of the phase current. It is known that the U, V, and W phases are in phase with each other in the third, ninth, and fifteenth-order components during the Y drive, so that the sum of the three phases is zero. That is, in a three-phase rotary electric machine, the sum of three phases becomes zero in the third, ninth, and fifteenth-order components, and the third, ninth, and fifteenth-order components can be used as specific frequency components.
- the U, V, and W phase currents cancel each other out at a specific frequency component during Y drive
- the U, V, and W phase currents also at the same specific frequency component during H drive.
- the phase currents do not cancel each other out. Therefore, when the total current, which is the total current of each phase, is calculated during the H drive of the rotary electric machine, the total current does not become zero.
- FIG. 2A shows the phase currents IU, IV, and IW of the U, V, and W phases detected by the phase current sensors DU, DV, and DW when the rotary electric machine is driven to H.
- FIG. 2B shows the total current IS of the tertiary components of the phase currents IU, IV, and IW shown in FIG. 2A.
- the U, V, and W phase phase currents IU, IV, and IW detected by the phase current sensors DU, DV, and DW do not have the same phase and therefore do not cancel each other out. ..
- FIG. shows the phase currents IU, IV, and IW of the U, V, and W phases detected by the phase current sensors DU, DV, and DW.
- FIGS. 2A and 2B are comparative displays of current waveforms at the same time on the same time axis.
- control unit 12 is the total current, which is the total current wave in a specific frequency component, based on the phase current of each phase detected by the phase current sensors DU, DV, and DW when the rotary electric machine is driven to H. IS is calculated and this total current IS is monitored.
- FIGS. 3 (a) and 3 (b) show a comparative display of the phase current IW and the total current IS of the tertiary components of the phase currents IU, IV, and IW on the same time axis.
- FIG. 3A also illustrates the output voltage of the phase current sensor DW.
- the current waveform of the phase current IW detected by the phase current sensor DW changes from a normal sine waveform. It changes to an abnormal waveform.
- the current waveform of the phase current IW changes abnormally, as shown in FIG.
- the total current IS of the tertiary component also changes from a normal sine and cosine waveform to an abnormal waveform.
- the phase currents IU and IV when the current waveform changes from a normal sine and cosine waveform to an abnormal waveform, the total current of the tertiary components changes from a sine and cosine waveform to an abnormal waveform.
- the control unit 12 diagnoses the failure of the phase current sensors DU, DV, and DW by monitoring the change of the total current IS from a normal sine and cosine waveform to an abnormal waveform as shown in FIG. 3 (b). be able to. As shown in FIG. 3B, the amplitude of the current becomes large in the abnormal waveform. Therefore, the control unit 12 has, for example, at least one of the phase current sensors DU, DV, and DW when the cumulative total of the times when the total current IS exceeds the predetermined current threshold value exceeds the predetermined time threshold value. Can be configured to determine that has failed.
- the control unit 12 may be configured to diagnose a failure of the phase current sensors DU, DV, DW by monitoring a predetermined order component of the total current IS. This failure diagnosis will be described more specifically with reference to FIGS. 4 to 10.
- the vertical axis represents current and the horizontal axis represents time.
- the vertical axis indicates the current
- the horizontal axis indicates the frequency
- the numbers 1, 2, and 3 attached near the peak of the waveform are the primary component and the secondary component, respectively.
- Ingredients, tertiary ingredients are shown.
- FIG. 4 shows the phase detected by the phase current sensors DU, DV, and DW when the open winding three-phase rotary electric machine having the U, V, and W phases shown in FIG. 1 is driven by H and the alternate PWM drive is executed.
- the currents IU, IV and IW are shown.
- the phase currents IU, IV, and IW change from a normal sine wave to an abnormal waveform at time ct.
- FIG. 5 shows the results of frequency analysis of the phase currents IU, IV, and IW by fast Fourier transform (FFT: Fast Fourier transform) in the normal state before the time ct.
- FFT Fast Fourier transform
- the solid line, the broken line, and the alternate long and short dash line indicate the frequency analysis results of the phase currents IU, IV, and IW, respectively.
- the primary component is the largest, followed by the tertiary component.
- FIG. 6 shows the total current IS obtained from the phase currents IU, IV, and IW shown in FIG. 4 in the normal state before the time ct.
- FIG. 7 shows the result of frequency analysis of the total current IS shown in FIG. 6 by the fast Fourier transform. As shown in FIG. 7, in the total current IS in the normal state, the tertiary component is the largest.
- FIG. 8 shows the results of frequency analysis of the phase currents IU, IV, and IW by fast Fourier transform in the abnormal state after the time ct.
- the solid line, the broken line, and the alternate long and short dash line indicate the frequency analysis results of the phase currents IU, IV, and IW, respectively.
- the peak of the secondary component that did not appear in the normal state appears, which is larger than the peak of the tertiary component.
- FIG. 9 shows the total current IS obtained from the phase currents IU, IV, and IW shown in FIG. 4 in the abnormal state after the time ct.
- FIG. 10 shows the result of frequency analysis of the total current IS shown in FIG. 9 by fast Fourier transform.
- a peak of the secondary component that did not appear in the normal state appears.
- the peak of the frequency component having an even order in the total current IS (for example, the peak of the secondary component).
- control unit 12 frequency-analyzes the total current, and when the peak of the frequency component having an even order becomes a predetermined value or more, at least one of the phase current sensors DU, DV, and DW is used. It can be configured to determine that it has failed.
- FIG. 11 shows an example of a flowchart of the failure diagnosis process executed by the control unit 12. The process shown in FIG. 11 is repeatedly executed at a predetermined cycle.
- step S101 the phase currents IU, IV, and IW, which are the detected values of the current, are acquired from the phase current sensors DU, DV, and DW.
- step S102 the total current IS, which is the sum of the phase currents IU, IV, and IW, is calculated based on the phase currents IU, IV, and IW acquired in step S101.
- step S103 the process proceeds to step S103.
- step S103 it is determined whether or not the cumulative time T1 in which the total current IS calculated in step S102 exceeds the predetermined current threshold value X1 exceeds the predetermined time threshold value Y1. For example, when IS> X1 and T1> Y1, a positive determination is made in step S103, the process proceeds to step S104, and it is diagnosed that at least one of the phase current sensors DU, DV, and DW has failed. On the other hand, when IS ⁇ X1 or T1 ⁇ Y1, a negative determination is made in step S103, the process proceeds to step S105, and the phase current sensors DU, DV, and DW are diagnosed as having no failure. After steps S104 and S105, the process ends.
- one phase current sensor is provided for each of the plurality of first phase connection lines LU1, LV1, LW1 that connect the first inverter INV1 and the second inverter INV2 for each phase.
- DU, DV, DW are provided.
- the control unit 12 acquires the phase currents IU, IV, and IW, which are the values detected by the phase current sensors DU, DV, and DW, when the rotary electric machine is driven to H, and the phase currents IU, IV. , Calculate the total current IS, which is the total of IW.
- the control unit 12 among the phase current sensors DU, DV, and DW when the cumulative time T1 in which the total current IS exceeds the current threshold value X1 exceeds the time threshold value Y1. It is determined that at least one of the above has failed. Therefore, only one phase current sensor DU, DV, DW is installed for each U, V, W phase, and if any of the phase current sensors DU, DV, DW fails, this is diagnosed. It can be judged. In the drive circuit that executes H drive, the number of current sensors added for the failure diagnosis of the phase current sensor can be reduced, and the failure diagnosis of the current sensor and the reduction of the number of current sensors can be achieved at the same time.
- control unit 12 is configured to be able to execute failure diagnosis of the phase current sensors DU, DV, and DW even when the connection line switch SC is controlled to be in the open state in the drive circuit 11 to drive the rotary electric machine in Y. You may.
- the three-phase sum is zero in the specific frequency components exemplified by the third, ninth, and fifteenth-order components.
- one of the phase current sensors DU, DV, and DW is selected as an alternative monitoring sensor.
- the phase currents of other phase current sensors other than the alternative monitoring sensor are acquired, the sum of the detected values of the two phase current sensors at the specific frequency component is calculated, and the sum of the three phases becomes zero.
- the failure diagnosis of the phase current sensors DU, DV, and DW is performed by comparing the calculated value of the alternative monitoring sensor with the detected value actually measured by the alternative monitoring sensor.
- the control unit 12 selects the phase current sensor DW as an alternative monitoring sensor when driving the rotary electric machine in Y. Then, the phase currents IU and IV, which are the detected values of the phase current sensors DU and DV, are acquired. Since the sum of the three phases is zero in the specific frequency component, the calculated value IWc of the phase current of the W phase can be calculated from the phase current IU and the phase current IV. More specifically, the calculated value IWc can be calculated from the following equation (2).
- the control unit 12 compares the calculated value IWc with the detected value IWd of the phase current detected by the phase current sensor DW as an alternative monitoring sensor. Then, when the calculated value IWc and the detected value IWd substantially match, it is diagnosed that there is no failure in the phase current sensors DU, DV, and DW, and when the calculated value IWc and the detected value IWd deviate from each other, the phase current sensor DU. , DV, DW are diagnosed as having a failure.
- the drive device 10 uses one current sensor as a monitoring sensor DT, which can collectively detect all the currents flowing through the three first phase connection lines LU1, LV1, LW1. Further prepared.
- the control unit 12 acquires the phase currents IU, IV, IW detected by the phase current sensors DU, DV, DW and the total current IT detected by the monitoring sensor DT, and the phase currents IU, IV, IW and the total current.
- the failure diagnosis of the drive circuit 11 is executed based on the IT. Since the other configurations of the drive device 10 shown in FIG. 12 are the same as those of the drive device 10 shown in FIG. 1, the description thereof will be omitted.
- the control unit 12 calculates the total current IS (three-phase sum calculation value) of the phase currents IU, IV, and IW, and uses the current waveform as the total current IT which is the detection value of the monitoring sensor DT. Compare with the current waveform of.
- the control unit 12 fails in an element (for example, a failure in the switching element constituting each of the inverters INV1 and INV2). ), Etc., and it is determined in the drive circuit 11 that the failure is not in the phase current sensors DU, DV, DW and the monitoring sensor DT, but in other parts.
- control unit 12 corresponds to the failure mode of the phase current sensor failure, and the phase current sensors DU, DV, DW. It is determined that at least one of them has failed.
- control unit 12 determines that the failure mode of the monitoring sensor failure corresponds to the failure mode and the monitoring sensor DT has failed.
- control unit 12 does not correspond to any of the failure modes shown in FIG. 13, that is, when both the total current IS and the total current IT have a normal sine and cosine waveform, the phase current sensors DU, DV, It is determined that all of the DW and the monitoring sensor DT are normal.
- FIG. 14 shows a flowchart of the failure diagnosis process executed by the control unit 12. The process shown in FIG. 11 is repeatedly executed at a predetermined cycle.
- step S201 the phase currents IU, IV, and IW, which are the detected values of the current, are acquired from the phase current sensors DU, DV, and DW, and the total current IT, which is the detected value of the current, is acquired from the monitoring sensor DT. do.
- step S202 the total current IS, which is the sum of the phase currents IU, IV, and IW, is calculated based on the phase currents IU, IV, and IW acquired in step S201. Then, the process proceeds to step S203.
- step S203 it is determined whether or not the cumulative time T1 in which the total current IS calculated in step S202 exceeds the predetermined current threshold value X1 exceeds the predetermined time threshold value Y1. For example, when IS> X1 and T1> Y1, a positive determination is made in step S203, and the process proceeds to step S204. On the other hand, when IS ⁇ X1 or T1 ⁇ Y1, a negative determination is made in step S203, and the process proceeds to step S207.
- step S204 it is determined whether or not the cumulative time T2 in which the total current IT calculated in step S201 exceeds the predetermined current threshold value X2 exceeds the predetermined time threshold value Y2. For example, when IT> X2 and T2> Y2, an affirmative determination is made in step S204, the process proceeds to step S205, it is diagnosed that there is an element failure (element failure mode), and the process is terminated. On the other hand, when IT ⁇ X2 or T2 ⁇ Y2, a negative determination is made in step S204, the process proceeds to step S206, and it is diagnosed that the phase current sensors DU, DV, and DW have a failure (phase current sensor failure mode). , End the process.
- step S207 as in step S204, it is determined whether or not the cumulative time T2 in which the total current IT exceeds the predetermined current threshold value X2 exceeds the predetermined time threshold value Y2.
- IT> X2 and T2> Y2 an affirmative determination is made in step S207, the process proceeds to step S208, the monitoring sensor DT is diagnosed as having a failure (in a monitoring sensor failure mode), and the process is terminated.
- IT ⁇ X2 or T2 ⁇ Y2 a negative determination is made in step S207, the process proceeds to step S209, a diagnosis of no failure is made, and the process ends.
- the monitoring sensor DT that can collectively detect all the currents flowing through the three first phase connection lines LU1, LV1, and LW1. Is further equipped.
- the control unit 12 acquires the total current IT, which is the detection value of the monitoring sensor DT, in addition to the phase currents IU, IV, and IW when the rotary electric machine is driven to H. Then, as shown in steps S203 to S209, the failure diagnosis is executed based on the total current IS, which is the total of the phase currents IU, IV, and IW, and the total current IT. Therefore, only by installing one phase current sensor DU, DV, DW for each U, V, W phase and one monitoring sensor DT, any one of the phase current sensors DU, DV, DW fails. If so, this can be determined by diagnosis. Furthermore, failure diagnosis of the monitoring sensor DT can also be performed. In the drive circuit that executes H drive, the number of current sensors added for the failure diagnosis of the phase current sensor can be reduced, and the failure diagnosis of the current sensor and the reduction of the number of current sensors can be achieved at the same time.
- any one of the phase current sensors DU, DV, and DW is further determined. It may be configured to identify if it has failed.
- the control unit 12 fails by comparing the current waveform of the total current IS with the current waveform of the total current IT, for example, with only one phase energized for each phase connection line of the U, V, and W phases. It is possible to identify the phase current sensor. When only one of the U, V, and W phases is energized, the total current IS and the total current IT substantially match for the phase in which the phase current sensor is normal.
- the U, V, and W phases are energized one by one in order, and the phase current sensors DU, DV are executed by performing a process to identify the phase in which the current waveform of the total current IS and the current waveform of the total current IT deviate from each other. , DW can be specified which one has failed.
- the drive device 10 is a drive device for a rotary electric machine mounted on a vehicle, it is possible to perform retractable running at the time of failure by identifying which of the phase current sensors DU, DV, and DW has failed. Become.
- the phase current sensors DU, DV, DW and the monitoring sensor DT are installed on the first phase connection lines LU1, LV1, LW1, but the second phase connection lines LU2, LV2. , May be connected to LW2.
- the connection line switch SC may be provided only on the low-potential connection line Lb, or may be provided on both the high-potential connection line La and the low-potential connection line Lb.
- the control unit 12 has a constant failure diagnosis mode in which the failure diagnosis is constantly executed and an emergency failure diagnosis mode in which the failure diagnosis is executed only under predetermined diagnostic conditions. May be configured to be switched based on the driving state of the rotary electric machine. For example, when the drive device 10 is a drive device for a rotary electric machine mounted on a vehicle, a failure diagnosis mode is always executed when the vehicle speed is high, and an emergency failure diagnosis mode is executed when the vehicle speed is low. You may switch to. More specifically, the failure diagnosis mode may be executed at all times when the vehicle speed is equal to or higher than the predetermined speed threshold value, and the emergency failure diagnosis mode may be executed when the vehicle speed is lower than the predetermined speed threshold value. ..
- the drive device 10 of a rotary electric machine is applied to a rotary electric machine having a plurality of windings corresponding to a plurality of phases.
- the drive device 10 includes a drive circuit 11 and a control unit 12.
- the drive circuit 11 includes a plurality of first phase connection lines LU1 and LV1 that connect the first inverter INV1 connected to the DC power supply VDC, the second inverter INV2, and the first inverter INV1 and the second inverter INV2 for each phase.
- LW1 each includes a phase current sensor DU, DV, DW, a high potential connection line La, and a low potential connection line Lb, and is configured to be able to execute H drive of a rotary electric machine.
- the control unit 12 is configured to be able to control the operation of the first inverter INV1 and the second inverter INV2 by controlling the opening and closing of the upper arm switch and the lower arm switch.
- the control unit 12 further calculates the total current IS, which is the total sum of the phase currents, based on the phase currents IU, IV, and IW detected by the phase current sensors DU, DV, and DW when the rotary electric machine is driven to H. Then, the failure diagnosis of the phase current sensors DU, DV, and DW is executed based on the total current IS. Since the total current IS does not become zero even in a specific frequency component during H drive, a failure of the phase current sensors DU, DV, and DW can be diagnosed by monitoring the total current IS.
- the drive device 10 only one phase current sensor DU, DV, DW flowing through the first phase connection line LU1, LV1, LW1 is installed for each phase, and any one of the phase current sensors DU, DV, DW is installed. If a failure occurs, this can be determined by diagnosis.
- the drive circuit 11 that executes H drive the number of current sensors added for failure diagnosis of the phase current sensors DU, DV, and DW can be reduced, and both the failure diagnosis of the current sensor and the reduction of the number of current sensors can be achieved. ..
- control unit 12 has at least one of the phase current sensors DU, DV, and DW when the cumulative current (T1) of the total current IS exceeds the predetermined current threshold value X1 exceeds the predetermined time threshold value Y1. It may be configured to determine that one of them has failed.
- control unit 12 performs frequency analysis of the total current IS, and when the peak of the frequency component having an even order becomes equal to or higher than a predetermined value, at least one of the phase current sensors DU, DV, and DW fails. It may be configured to determine.
- the drive circuit 11 may further include one current sensor as a monitoring sensor DT that can collectively detect all the currents flowing through the plurality of phase connection lines.
- the control unit 12 is configured to execute a failure diagnosis of the phase current sensor based on the current waveforms of the phase currents IU, IV, and IW and the current waveforms of the total current IT detected by the monitoring sensor DT. May be. Specifically, the control unit 12 may determine that the total current IS and the total current IT are normal when both have a normal sine and cosine waveform.
- both the total current IS and the total current IT do not have normal sine and cosine waveforms, it is determined that the parts of the drive circuit 11 other than the phase current sensors DU, DV, DW and the monitoring sensor DT have failed. You may. Further, when the total current IS is not a normal sine and cosine waveform and the total current IT is a normal sine and cosine waveform, it may be determined that at least one of the phase current sensors DU, DV, and DW has failed. .. Further, when the total current IS is a normal sine and cosine waveform and the total current IT is not a normal sine and cosine waveform, it may be determined that the monitoring sensor DT has failed.
- the control unit 12 When the drive circuit 11 includes the monitoring sensor DT, the control unit 12 further energizes only one phase for each phase connection line when it is determined that at least one of the phase current sensors DU, DV, and DW has failed. In the state, it may be configured to identify the failed phase current sensor by comparing the current waveform of the total current IS with the current waveform of the total current IT.
- the drive device 10 is a drive device for a rotary electric machine mounted on a vehicle, it is possible to perform retractable running at the time of failure by identifying which of the phase current sensors DU, DV, and DW has failed. Become.
- the control unit 12 has a constant failure diagnosis mode that constantly executes a failure diagnosis of the phase current sensors DU, DV, and DW, and an emergency failure diagnosis that executes a failure diagnosis of the phase current sensors DU, DV, and DW only under predetermined diagnostic conditions.
- the mode may be configured to be switchable based on the driving state of the rotary electric machine.
- the drive circuit 11 further includes a connection line switch SC that conducts or cuts off the first inverter INV1 and the second inverter INV2, and is configured to be able to switch between H drive and Y drive of the rotary electric machine.
- the control unit 12 selects one of the phase current sensors DU, DV, and DW as the alternative monitoring sensor when the rotary electric machine is driven in Y, and the phase current of the other phase current sensors other than the alternative monitoring sensor. It may be configured to perform failure diagnosis of the phase current sensors DU, DV, DW based on the sum and the current detected by the alternative monitoring sensor.
- the failure diagnosis can be executed by using the three phase current sensors DU, DV, and DW in both the H drive and the Y drive of the rotary electric machine.
- the number of current sensors added for failure diagnosis of the phase current sensors DU, DV, DW can be reduced, and the number of current sensor failure diagnosis and the number of current sensors can be reduced. Can be compatible with.
- the controls and methods thereof described in the present disclosure are realized by a dedicated computer provided by configuring a processor and memory programmed to perform one or more functions embodied by a computer program. May be done.
- the controls and methods thereof described in the present disclosure may be implemented by a dedicated computer provided by configuring the processor with one or more dedicated hardware logic circuits.
- the control unit and method thereof described in the present disclosure may be a combination of a processor and memory programmed to perform one or more functions and a processor configured by one or more hardware logic circuits. It may be realized by one or more dedicated computers configured.
- the computer program may be stored in a computer-readable non-transitional tangible recording medium as an instruction executed by the computer.
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Abstract
A rotating electric machine drive device (10) is applied to a rotating electric machine having a plurality of windings corresponding to a plurality of phases and comprises: a first inverter (INV1) connected to a DC power supply and provided with upper arm switches and lower arm switches connected to one ends of the windings on a per phase basis; a second inverter (INV2) provided with upper arm switches and lower arm switches connected to the other ends of the windings on a per phase basis; phase current sensors (DU, DV, DW) provided one by one to each of a plurality of phase connection lines (LU1, LV1, LW1) for connecting the first inverter and the second inverter to each other; a drive circuit (11) including a high potential connection line (La) and a low potential connection line (Lb) and capable of H-driving of the rotating electric machine; and a control unit (12) capable of controlling the operations of the first inverter and the second inverter. The control unit performs failure analysis of the phase current sensors on the basis of a total current that is the sum of the respective phase currents calculated on the basis of the phase currents detected by the phase current sensors during the H-driving of the rotating electric machine.
Description
本出願は、2020年7月22日に出願された日本出願番号2020-125701号に基づくもので、ここにその記載内容を援用する。
This application is based on Japanese Application No. 2020-125071, which was filed on July 22, 2020, and the contents of the description are incorporated herein by reference.
本開示は、複数相に対応する複数の巻線を有する回転電機に適用される、回転電機の駆動装置に関する。
The present disclosure relates to a drive device of a rotary electric machine, which is applied to a rotary electric machine having a plurality of windings corresponding to a plurality of phases.
回転電機の駆動装置において、駆動回路に流れる電流を検出する電流センサの故障を検出する技術が知られている。特許文献1には、駆動回路の各相をインバータと接続する相接続線に、駆動電流を検出する電流センサをそれぞれ2つずつ設置し、2つの電流センサから取得する同一の相接続線に流れる電流の検出値を互いに比較することにより、一方の電流センサの故障を診断する。
In the drive device of a rotary electric machine, a technique for detecting a failure of a current sensor that detects a current flowing in a drive circuit is known. In Patent Document 1, two current sensors for detecting the drive current are installed in each phase connection line connecting each phase of the drive circuit to the inverter, and the current flows to the same phase connection line acquired from the two current sensors. By comparing the detected values of the currents with each other, the failure of one of the current sensors is diagnosed.
特許文献1では、各相接続線に流れる電流を検出するための第1の電流センサに加えて、第1電流センサの故障を診断するための第2の電流センサが設定される。例えば、回転電機が3相である場合には、駆動回路には6個の電流センサが設置される。駆動装置の小型化や低コスト化のためには、駆動回路に設置する電流センサの個数を低減することが好ましい。このため、3相を対称にY結線接続した駆動回路においては、所定の周波数成分である特定周波数成分において各相の電流波が互いに打ち消し合い、瞬時値のベクトル和が零となること(いわゆる三相和零)を利用して、3相のうちの1相について、電流センサの設置を省略する技術が知られている。
In Patent Document 1, in addition to the first current sensor for detecting the current flowing through each phase connection line, a second current sensor for diagnosing a failure of the first current sensor is set. For example, when the rotary electric machine has three phases, six current sensors are installed in the drive circuit. In order to reduce the size and cost of the drive device, it is preferable to reduce the number of current sensors installed in the drive circuit. Therefore, in a drive circuit in which three phases are symmetrically connected by Y connection, the current waves of each phase cancel each other out in a specific frequency component which is a predetermined frequency component, and the vector sum of the instantaneous values becomes zero (so-called three). There is known a technique of omitting the installation of a current sensor for one of the three phases by utilizing the phase zero).
しかしながら、回転電機についてH駆動を実行する駆動回路においては、各相の電流波が互いに打ち消し合い、瞬時値のベクトル和が零となるような状態が得られないため、これを利用して電流センサの設置を省略することができない。
However, in the drive circuit that executes H drive for the rotary electric machine, the current waves of each phase cancel each other out, and it is not possible to obtain a state in which the vector sum of the instantaneous values becomes zero. Installation cannot be omitted.
上記に鑑み、本開示は、H駆動を実行する駆動回路において、電流センサの故障診断と、電流センサの個数低減とを両立可能な技術を提供することを目的とする。
In view of the above, it is an object of the present disclosure to provide a technique capable of achieving both a failure diagnosis of a current sensor and a reduction in the number of current sensors in a drive circuit that executes H drive.
本開示は、複数相に対応する複数の巻線を有する回転電機に適用される、回転電機の駆動装置を提供する。この駆動装置は、直流電源に接続され、前記巻線の一端に相ごとに接続された上アームスイッチ及び下アームスイッチを備える第1インバータと、前記巻線の他端に相ごとに接続された上アームスイッチ及び下アームスイッチを備える第2インバータと、前記第1インバータと前記第2インバータとを前記相ごとに接続する複数の相接続線のそれぞれに1つずつ設けられた相電流センサと、前記第1インバータの直流高電位側と前記第2インバータの直流高電位側とを接続する高電位接続線と、前記第1インバータの直流低電位側と前記第2インバータの直流低電位側とを接続する低電位接続線と、を含み、前記回転電機のH駆動が可能な駆動回路と、前記上アームスイッチ及び前記下アームスイッチの開閉を制御することにより前記第1インバータと前記第2インバータの作動を制御可能な制御部と、を備える。前記制御部は、前記回転電機のH駆動時に前記相電流センサが検出する相電流に基づいて算出した各相電流の総和である総和電流に基づいて、前記相電流センサの故障診断を実行する。
The present disclosure provides a drive device for a rotary electric machine, which is applied to a rotary electric machine having a plurality of windings corresponding to a plurality of phases. This drive device was connected to a DC power supply, and was connected to a first inverter having an upper arm switch and a lower arm switch connected to one end of the winding for each phase, and to the other end of the winding for each phase. A second inverter including an upper arm switch and a lower arm switch, a phase current sensor provided for each of a plurality of phase connection lines connecting the first inverter and the second inverter for each phase, and a phase current sensor. A high-potential connection line connecting the DC high-potential side of the first inverter and the DC high-potential side of the second inverter, and the DC low-potential side of the first inverter and the DC low-potential side of the second inverter. The first inverter and the second inverter are connected by controlling the opening and closing of the upper arm switch and the lower arm switch, including a low potential connection line to be connected, and a drive circuit capable of H-driving the rotary electric machine. A control unit capable of controlling the operation is provided. The control unit executes a failure diagnosis of the phase current sensor based on the total current, which is the sum of the phase currents calculated based on the phase current detected by the phase current sensor when the rotary electric machine is driven to H.
本開示者は、H駆動時に各相電流の総和である総和電流を演算した場合には、例えば「三相和零」のように、複数相を対称にY結線接続した際には各相電流が互いに打ち消される特定周波数成分においても、総和電流は零にはならないことに着目した。そして、各相電流の電流波形に異常が生じた場合には、総和電流の電流波形にも異常が生じるという知見を得て、これに基づいて、総和電流を監視することにより相電流センサの故障診断を実行することに想到した。
The present disclosed person calculates the total current, which is the total of each phase current during H drive, and when multiple phases are symmetrically connected to each other by Y connection, for example, "three-phase sum zero", each phase current. We focused on the fact that the total current does not become zero even at specific frequency components where are canceled out by each other. Then, when an abnormality occurs in the current waveform of each phase current, it is found that an abnormality also occurs in the current waveform of the total current, and based on this, the phase current sensor fails by monitoring the total current. I came up with the idea of performing a diagnosis.
本開示に係る駆動装置では、第1インバータと第2インバータとを相ごとに接続する複数の相接続線のそれぞれに、1つずつ相電流センサが設けられている。制御部は、回転電機のH駆動時に相電流センサが検出する相電流に基づいて算出した各相電流の総和である総和電流に基づいて、相電流センサの故障診断を実行する。H駆動時には、特定周波数成分においても総和電流が零にならないため、総和電流を監視することにより、相電流センサの故障を診断できる。このため、相接続線を流れる相電流センサを相ごとに1つずつ設置するだけで、相電流センサのいずれかが故障した場合には、これを診断により判定できる。H駆動を実行する駆動回路において、相電流センサの故障診断のために追加する電流センサの個数を低減でき、電流センサの故障診断と、電流センサの個数低減とを両立できる。
In the drive device according to the present disclosure, one phase current sensor is provided for each of a plurality of phase connection lines connecting the first inverter and the second inverter for each phase. The control unit executes a failure diagnosis of the phase current sensor based on the total current, which is the total sum of the phase currents calculated based on the phase current detected by the phase current sensor when the rotary electric machine is driven to H. Since the total current does not become zero even in a specific frequency component during H drive, a failure of the phase current sensor can be diagnosed by monitoring the total current. Therefore, only one phase current sensor flowing through the phase connection line is installed for each phase, and if any of the phase current sensors fails, it can be determined by diagnosis. In the drive circuit that executes H drive, the number of current sensors added for the failure diagnosis of the phase current sensor can be reduced, and the failure diagnosis of the current sensor and the reduction of the number of current sensors can be achieved at the same time.
本開示についての上記目的およびその他の目的、特徴や利点は、添付の図面を参照しながら下記の詳細な記述により、より明確になる。その図面は、
図1は、第1実施形態に係る回転電機の駆動装置であり、
図2は、相電流センサが検出する相電流と、その3次成分の総和とを比較する図であり、
図3は、相電流センサが検出するW相電流と、U,V,W相の3次成分の総和とを比較する図であり、
図4は、相電流センサが検出する相電流の波形が正常から異常に変化する前後を示す図であり、
図5は、図4に示す相電流の正常な波形についてそれぞれ周波数解析を行った図であり、
図6は、図4に示す相電流の正常な波形の総和を示す図であり、
図7は、図6に示す相電流の正常な波形の総和について周波数解析を行った図であり、
図8は、図4に示す相電流の異常な波形についてそれぞれ周波数解析を行った図であり、
図9は、図4に示す相電流の異常な波形の総和を示す図であり、
図10は、図9に示す相電流の異常な波形の総和について周波数解析を行った図であり、
図11は、第1実施形態に係る故障診断処理のフローチャートであり、
図12は、第2実施形態に係る回転電機の駆動装置であり、
図13は、第2実施形態に係る故障診断処理の概要を示す図であり、
図14は、第2実施形態に係る故障診断処理のフローチャートである。
The above objectives and other objectives, features and advantages of the present disclosure will be further clarified by the following detailed description with reference to the accompanying drawings. The drawing is
FIG. 1 is a drive device for a rotary electric machine according to the first embodiment. FIG. 2 is a diagram comparing the phase current detected by the phase current sensor with the sum of the tertiary components thereof. FIG. 3 is a diagram comparing the W phase current detected by the phase current sensor with the sum of the tertiary components of the U, V, and W phases. FIG. 4 is a diagram showing before and after the waveform of the phase current detected by the phase current sensor changes from normal to abnormal. FIG. 5 is a diagram obtained by performing frequency analysis on each of the normal waveforms of the phase current shown in FIG. FIG. 6 is a diagram showing the sum of the normal waveforms of the phase currents shown in FIG. FIG. 7 is a diagram obtained by frequency analysis of the sum of the normal waveforms of the phase currents shown in FIG. FIG. 8 is a diagram obtained by frequency analysis of each of the abnormal waveforms of the phase current shown in FIG. FIG. 9 is a diagram showing the total sum of the abnormal waveforms of the phase current shown in FIG. FIG. 10 is a diagram obtained by performing frequency analysis on the sum of the abnormal waveforms of the phase current shown in FIG. 9. FIG. 11 is a flowchart of the failure diagnosis process according to the first embodiment. FIG. 12 is a drive device for a rotary electric machine according to the second embodiment. FIG. 13 is a diagram showing an outline of the failure diagnosis process according to the second embodiment. FIG. 14 is a flowchart of the failure diagnosis process according to the second embodiment.
(第1実施形態)
図1に、回転電機の駆動制御を実行する駆動装置10を示す。回転電機は、中性点が開放されたオープン巻線の3相回転電機であり、U相巻線Uと、V相巻線Vと、W相巻線Wとを備えている。駆動装置10は、駆動回路11と、制御部12と、直流電源VDCとを備えている。駆動回路11は、第1インバータINV1と、第2インバータINV2と、高電位接続線Laと、低電位接続線Lbと、接続線スイッチSCと、相電流センサDU,DV,DWを備えている。 (First Embodiment)
FIG. 1 shows adrive device 10 that executes drive control of a rotary electric machine. The rotary electric machine is an open winding three-phase rotary electric machine having an open neutral point, and includes a U-phase winding U, a V-phase winding V, and a W-phase winding W. The drive device 10 includes a drive circuit 11, a control unit 12, and a DC power supply VDC. The drive circuit 11 includes a first inverter INV1, a second inverter INV2, a high potential connection line La, a low potential connection line Lb, a connection line switch SC, and phase current sensors DU, DV, and DW.
図1に、回転電機の駆動制御を実行する駆動装置10を示す。回転電機は、中性点が開放されたオープン巻線の3相回転電機であり、U相巻線Uと、V相巻線Vと、W相巻線Wとを備えている。駆動装置10は、駆動回路11と、制御部12と、直流電源VDCとを備えている。駆動回路11は、第1インバータINV1と、第2インバータINV2と、高電位接続線Laと、低電位接続線Lbと、接続線スイッチSCと、相電流センサDU,DV,DWを備えている。 (First Embodiment)
FIG. 1 shows a
第1インバータINV1は、3相インバータであり、直流電源VDCに接続されており、回転電機のU相巻線Uの一端に接続された上アームスイッチSU1a及び下アームスイッチSU1bと、V相巻線Vの一端に接続された上アームスイッチSV1a及び下アームスイッチSV1bと、W相巻線Wの一端に接続された上アームスイッチSW1a及び下アームスイッチSW1bとを備える。
The first inverter INV1 is a three-phase inverter, which is connected to a DC power supply VDC, and has an upper arm switch SU1a and a lower arm switch SU1b connected to one end of a U-phase winding U of a rotary electric machine, and a V-phase winding. It includes an upper arm switch SV1a and a lower arm switch SV1b connected to one end of V, and an upper arm switch SW1a and a lower arm switch SW1b connected to one end of the W-phase winding W.
第2インバータINV2は、3相インバータであり、回転電機のU相巻線Uの他端に接続された上アームスイッチSU2a及び下アームスイッチSU2bと、V相巻線Vの他端に接続された上アームスイッチSV2a及び下アームスイッチSV2bと、W相巻線Wの他端に接続された上アームスイッチSW2a及び下アームスイッチSW2bとを備える。
The second inverter INV2 is a three-phase inverter, and is connected to the upper arm switch SU2a and the lower arm switch SU2b connected to the other end of the U-phase winding U of the rotary electric machine, and to the other end of the V-phase winding V. It includes an upper arm switch SV2a and a lower arm switch SV2b, and an upper arm switch SW2a and a lower arm switch SW2b connected to the other end of the W-phase winding W.
高電位接続線Laは、第1インバータINV1の直流高電位側と第2インバータINV2の直流高電位側とを接続する配線である。低電位接続線Lbは、第1インバータINV1の直流低電位側と前記第2インバータの直流低電位側とを接続する。
The high-potential connection line La is a wiring that connects the DC high-potential side of the first inverter INV1 and the DC high-potential side of the second inverter INV2. The low-potential connection line Lb connects the DC low-potential side of the first inverter INV1 and the DC low-potential side of the second inverter.
第1インバータINV1において、各相の上アームスイッチSU1a,SV1a,SW1aの高電位側端子は直流電源VDCの正極端子に接続され、各相の下アームスイッチSU1b,SV1b,SW1bの低電位側端子は直流電源VDCの負極端子に接続されている。上アームスイッチSU1a,SV1a,SW1a及び下アームスイッチSU1b,SV1b,SW1bは、それぞれ半導体スイッチング素子である。
In the first inverter INV1, the high potential side terminals of the upper arm switches SU1a, SV1a, SW1a of each phase are connected to the positive electrode terminals of the DC power supply VDC, and the low potential side terminals of the lower arm switches SU1b, SV1b, SW1b of each phase are It is connected to the negative electrode terminal of the DC power supply VDC. The upper arm switches SU1a, SV1a, SW1a and the lower arm switches SU1b, SV1b, SW1b are semiconductor switching elements, respectively.
第2インバータINV2において、各相の上アームスイッチSU2a,SV2a,SW2aの高電位側端子は高電位接続線Laに接続され、各相の下アームスイッチSU2b,SV2b,SW2bの低電位側端子は低電位接続線Lbに接続されている。上アームスイッチSU2a,SV2a,SW2a及び下アームスイッチSU2b,SV2b,SW2bは、それぞれ半導体スイッチング素子である。なお、半導体スイッチング素子としては、MOSFET(Metal-Oxide-Semiconductor Field-Effect Transistor)、逆並列に接続された還流ダイオードを有するIGBT(Insulated Gate Bipolar Transistor)等を例示できる。
In the second inverter INV2, the high potential side terminals of the upper arm switches SU2a, SV2a, SW2a of each phase are connected to the high potential connection line La, and the low potential side terminals of the lower arm switches SU2b, SV2b, SW2b of each phase are low. It is connected to the potential connection line Lb. The upper arm switches SU2a, SV2a, SW2a and the lower arm switches SU2b, SV2b, SW2b are semiconductor switching elements, respectively. Examples of the semiconductor switching element include MOSFETs (Metal-Oxide-Semicondustor Field-Effective Transistors), IGBTs (Insulated Gate Bipolar Transistors) having freewheeling diodes connected in antiparallel, and the like.
第1インバータINV1において、各相の上アームスイッチSU1a,SV1a,SW1aと下アームスイッチSU1b,SV1b,SW1bとの間の中間点は、それぞれ、第1相接続線LU1,LV1,LW1によって、巻線U、V、Wの一端(第2インバータINV2と接続されていない一端)と接続されている。第2インバータINV2において、各相の上アームスイッチSU2a,SV2a,SW2aと下アームスイッチSU2b,SV2b,SW2bとの間の中間点は、それぞれ、第2相接続線LU2,LV2,LW2によって、巻線U、V、Wの一端(第1インバータINV1と接続されていない一端)と接続されている。第1相接続線LU1,LV1,LW1には、相電流センサDU,DV,DWとして、それぞれ1つずつの電流センサが設置されている。
In the first inverter INV1, the intermediate points between the upper arm switches SU1a, SV1a, SW1a and the lower arm switches SU1b, SV1b, SW1b of each phase are wound by the first phase connection lines LU1, LV1, LW1, respectively. It is connected to one end of U, V, W (one end not connected to the second inverter INV2). In the second inverter INV2, the intermediate points between the upper arm switches SU2a, SV2a, SW2a and the lower arm switches SU2b, SV2b, SW2b of each phase are wound by the second phase connection lines LU2, LV2, LW2, respectively. It is connected to one end of U, V, and W (one end not connected to the first inverter INV1). One current sensor is installed as each of the phase current sensors DU, DV, and DW on the first phase connection lines LU1, LV1, and LW1.
接続線スイッチSCは、高電位接続線Laに設けられており、高電位接続線Laを導通または遮断することにより、第1インバータINV1と第2インバータINV2とを導通または遮断する。接続線スイッチSCが閉状態(オン状態)の場合には、駆動回路11は、Hブリッジ回路として利用することができ、回転電機のH駆動が可能となる。
The connection line switch SC is provided on the high-potential connection line La, and conducts or cuts off the first inverter INV1 and the second inverter INV2 by conducting or cutting off the high-potential connection line La. When the connection line switch SC is in the closed state (on state), the drive circuit 11 can be used as an H-bridge circuit, and the rotary electric machine can be driven by H.
接続線スイッチSCが開状態(オフ状態)の場合には、駆動回路11によって回転電機のY駆動が可能となる。例えば、第2インバータINV2の全ての上アームスイッチSU2a,SV2a,SW2aを閉状態とするとともに全ての下アームスイッチSU2b,SV2b,SW2bを開状態とすることにより、回転電機のY駆動が可能となる。すなわち、回転電機のU相巻線Uと、V相巻線Vと、W相巻線WとをY結線で接続することができる。この場合、上アームスイッチSU2a,SV2a,SW2aは、Y結線(星形結線)の中性点を構成する中性点構成スイッチに相当する。
When the connection line switch SC is in the open state (off state), the drive circuit 11 enables Y drive of the rotary electric machine. For example, by closing all the upper arm switches SU2a, SV2a, SW2a of the second inverter INV2 and opening all the lower arm switches SU2b, SV2b, SW2b, Y drive of the rotary electric machine becomes possible. .. That is, the U-phase winding U of the rotary electric machine, the V-phase winding V, and the W-phase winding W can be connected by a Y connection. In this case, the upper arm switches SU2a, SV2a, and SW2a correspond to the neutral point configuration switch constituting the neutral point of the Y connection (star-shaped connection).
制御部12は、CPUや各種メモリからなるマイコンを備えており、回転電機における各種の検出情報や、力行駆動及び発電の要求に基づいて、第1インバータINV1および第2インバータINV2における各スイッチの開閉(オンオフ)により通電制御を実施する。回転電機の検出情報には、例えば、レゾルバ等の角度検出器により検出される回転子の回転角度(電気角情報)や、電圧センサにより検出される電源電圧(インバータ入力電圧)、電流センサにより検出される各相の通電電流が含まれる。
The control unit 12 includes a microcomputer including a CPU and various memories, and opens and closes each switch in the first inverter INV1 and the second inverter INV2 based on various detection information in the rotary electric machine and requests for power running drive and power generation. Energization control is performed by (on / off). The detection information of the rotary electric machine includes, for example, the rotation angle of the rotor (electric angle information) detected by an angle detector such as a resolver, the power supply voltage (inverter input voltage) detected by the voltage sensor, and the current sensor. The energizing current of each phase is included.
制御部12は、さらに、接続線スイッチSCの開閉を制御する。制御部12は、H駆動時には、接続線スイッチSCを閉状態に制御し、Y駆動時には、接続線スイッチSCを開状態に制御する。制御部12は、第1インバータINV1および第2インバータINV2の各スイッチおよび接続線スイッチSCを操作する操作信号を生成して出力する。
The control unit 12 further controls the opening and closing of the connection line switch SC. The control unit 12 controls the connection line switch SC to be in the closed state when H is driven, and controls the connection line switch SC to be in the open state when Y is driven. The control unit 12 generates and outputs an operation signal for operating each switch of the first inverter INV1 and the second inverter INV2 and the connection line switch SC.
制御部12は、回転電機をH駆動する際には、接続線スイッチSCを閉状態に制御して、例えば、交互PWM駆動を実行することができる。交互PWM駆動は、第1インバータINV1と第2インバータINV2とを交互に作動させる非対称スイッチング制御の一例である。
When the rotary electric machine is driven by H, the control unit 12 can control the connection line switch SC to the closed state and execute, for example, alternate PWM drive. The alternate PWM drive is an example of asymmetric switching control in which the first inverter INV1 and the second inverter INV2 are operated alternately.
制御部12は、回転電機をY駆動する際には、接続線スイッチSCを開状態に制御し、第2インバータINV2の上アームスイッチSU2a,SV2a,SW2aを閉状態に制御し、第2インバータINV2の下アームスイッチSU2b,SV2b,SW2bを開状態に制御することにより、回転電機のU相巻線Uと、V相巻線Vと、W相巻線Wとは、Y結線された状態となる。より具体的には、巻線U,V,Wの第2インバータINV2側の巻線端子が、それぞれ上アームスイッチSU2a,SV2a,SW2aを介して接続されることにより、Y結線が実現される。第2インバータINV2を利用してY結線を構成するとともに、第1インバータINV1についてPWM制御等を実行することにより、回転電機をY駆動させることができる。上アームスイッチSU2a,SV2a,SW2aは、Y結線の中性点を構成する中性点構成スイッチに相当する。下アームスイッチSU2b,SV2b,SW2bは、中性点を構成しないため、非中性点構成スイッチに相当する。
When driving the rotary electric machine in Y, the control unit 12 controls the connection line switch SC in the open state, controls the upper arm switches SU2a, SV2a, SW2a of the second inverter INV2 in the closed state, and controls the second inverter INV2. By controlling the lower arm switches SU2b, SV2b, and SW2b to the open state, the U-phase winding U, the V-phase winding V, and the W-phase winding W of the rotary electric machine are in a Y-connected state. .. More specifically, Y connection is realized by connecting the winding terminals of the windings U, V, and W on the second inverter INV2 side via the upper arm switches SU2a, SV2a, and SW2a, respectively. The rotary electric machine can be Y-driven by forming a Y connection using the second inverter INV2 and executing PWM control or the like for the first inverter INV1. The upper arm switches SU2a, SV2a, and SW2a correspond to the neutral point configuration switch constituting the neutral point of the Y connection. Since the lower arm switches SU2b, SV2b, and SW2b do not form a neutral point, they correspond to a non-neutral point configuration switch.
回転電機のU,V,W相は、Y駆動時には対称に結線された状態となり、所定の周波数成分において電流波形が互いに打ち消されて、瞬時ベクトル和が零の状態となる。すなわち、回転電機のY駆動時には、U,V,W相について三相和が零の状態を利用することができる。この三相和が零の状態となる所定の周波数成分を、本明細書では、特定周波数成分と称する。
The U, V, and W phases of the rotary electric machine are symmetrically connected during Y drive, the current waveforms cancel each other out at a predetermined frequency component, and the instantaneous vector sum becomes zero. That is, when the rotary electric machine is driven in Y, the state in which the sum of the three phases is zero for the U, V, and W phases can be used. A predetermined frequency component in which the three-phase sum is in a zero state is referred to as a specific frequency component in the present specification.
下記式(1)は、相電流の電流波形についてフーリエ級数展開を行って得られる周波数関数f(x)を示す式である。Y駆動時には、3,9,15次成分においてU,V,W相が互いに同位相となるため、三相和が零の状態となることが知られている。すなわち、3相の回転電機においては、3,9,15次成分において三相和が零となり、3,9,15次成分を特定周波数成分として用いることができる。
The following equation (1) is an equation showing the frequency function f (x) obtained by performing a Fourier series expansion on the current waveform of the phase current. It is known that the U, V, and W phases are in phase with each other in the third, ninth, and fifteenth-order components during the Y drive, so that the sum of the three phases is zero. That is, in a three-phase rotary electric machine, the sum of three phases becomes zero in the third, ninth, and fifteenth-order components, and the third, ninth, and fifteenth-order components can be used as specific frequency components.
上記のとおり、Y駆動時には、特定周波数成分においてU,V,W相の各相電流が互いに打ち消される場合であっても、H駆動時には、同じ特定周波数成分においてもU,V,W相の各相電流が互いに打ち消されない。このため、回転電機のH駆動時には、各相電流の総和である総和電流を演算した場合には、総和電流は零にはならない。
As described above, even if the U, V, and W phase currents cancel each other out at a specific frequency component during Y drive, the U, V, and W phase currents also at the same specific frequency component during H drive. The phase currents do not cancel each other out. Therefore, when the total current, which is the total current of each phase, is calculated during the H drive of the rotary electric machine, the total current does not become zero.
図2(a)は、回転電機のH駆動時に、相電流センサDU,DV,DWが検出するU,V,W相の相電流IU,IV,IWをそれぞれ示している。図2(b)は、図2(a)に示す相電流IU,IV,IWの3次成分の総和電流ISを示している。図2に示すように、回転電機のH駆動時に、相電流センサDU,DV,DWが検出するU,V,W相の相電流IU,IV,IWは同位相にならないため打ち消し合うことがない。その結果、図2(b)に示すように、3次成分の総和電流ISは零にはならず、正常時には正弦波形となる。なお、制御部12は、相電流センサDU,DV,DWから、図2(a)に示すような相電流IU,IV,IWを取得し、3次成分の総和を演算することにより、図2(b)に示すような総和電流ISを得ることができる。また、図2(a),(b)は、同じ時間軸により同時期の電流波形を比較表示したものである。
FIG. 2A shows the phase currents IU, IV, and IW of the U, V, and W phases detected by the phase current sensors DU, DV, and DW when the rotary electric machine is driven to H. FIG. 2B shows the total current IS of the tertiary components of the phase currents IU, IV, and IW shown in FIG. 2A. As shown in FIG. 2, when the rotary electric machine is driven to H, the U, V, and W phase phase currents IU, IV, and IW detected by the phase current sensors DU, DV, and DW do not have the same phase and therefore do not cancel each other out. .. As a result, as shown in FIG. 2B, the total current IS of the third-order component does not become zero, but becomes a sine and cosine waveform under normal conditions. The control unit 12 acquires the phase currents IU, IV, and IW as shown in FIG. 2A from the phase current sensors DU, DV, and DW, and calculates the sum of the tertiary components in FIG. 2. The total current IS as shown in (b) can be obtained. Further, FIGS. 2A and 2B are comparative displays of current waveforms at the same time on the same time axis.
上記の知見に基づき、制御部12は、回転電機のH駆動時には、相電流センサDU,DV,DWが検出する各相の相電流に基づいて、特定周波数成分において電流波の総和である総和電流ISを算出し、この総和電流ISを監視する。
Based on the above findings, the control unit 12 is the total current, which is the total current wave in a specific frequency component, based on the phase current of each phase detected by the phase current sensors DU, DV, and DW when the rotary electric machine is driven to H. IS is calculated and this total current IS is monitored.
図3(a)(b)は、相電流IWと、相電流IU,IV,IWの3次成分の総和電流ISとを同じ時間軸により比較表示したものである。なお、図3(a)は、相電流センサDWの出力電圧についても図示している。図3(a)に示すように、相電流センサDWが故障して出力電圧が0からVerrにステップ状に変化すると、相電流センサDWが検出する相電流IWの電流波形が正常な正弦波形から異常な波形へと変化する。相電流IWの電流波形が異常に変化した時点で、図3(b)に示すように、3次成分の総和電流ISもまた、正常な正弦波形から異常な波形へと変化する。相電流IU,IVについても、同様に、その電流波形が正常な正弦波形から異常な波形へと変化した時点で、3次成分の総和電流が正弦波形から異常な波形へと変化する。
FIGS. 3 (a) and 3 (b) show a comparative display of the phase current IW and the total current IS of the tertiary components of the phase currents IU, IV, and IW on the same time axis. Note that FIG. 3A also illustrates the output voltage of the phase current sensor DW. As shown in FIG. 3A, when the phase current sensor DW fails and the output voltage changes stepwise from 0 to Verr, the current waveform of the phase current IW detected by the phase current sensor DW changes from a normal sine waveform. It changes to an abnormal waveform. When the current waveform of the phase current IW changes abnormally, as shown in FIG. 3B, the total current IS of the tertiary component also changes from a normal sine and cosine waveform to an abnormal waveform. Similarly, for the phase currents IU and IV, when the current waveform changes from a normal sine and cosine waveform to an abnormal waveform, the total current of the tertiary components changes from a sine and cosine waveform to an abnormal waveform.
制御部12は、図3(b)に示すような総和電流ISが正常な正弦波形から異常な波形へと変化することを監視することにより、相電流センサDU,DV,DWの故障を診断することができる。図3(b)に示すように、異常な波形においては、電流の振幅が大きくなる。このため、制御部12は、例えば、総和電流ISが、所定の電流閾値を超えた時間の累計が所定の時間閾値を超えた場合に、相電流センサDU,DV,DWのうちの少なくともいずれかが故障したと判定するように構成することができる。
The control unit 12 diagnoses the failure of the phase current sensors DU, DV, and DW by monitoring the change of the total current IS from a normal sine and cosine waveform to an abnormal waveform as shown in FIG. 3 (b). be able to. As shown in FIG. 3B, the amplitude of the current becomes large in the abnormal waveform. Therefore, the control unit 12 has, for example, at least one of the phase current sensors DU, DV, and DW when the cumulative total of the times when the total current IS exceeds the predetermined current threshold value exceeds the predetermined time threshold value. Can be configured to determine that has failed.
制御部12は、総和電流ISの所定の次数成分を監視することにより、相電流センサDU,DV,DWの故障を診断するように構成されていてもよい。この故障診断について、図4~10を用いて、より具体的に説明する。なお、図4,6,9において、縦軸は電流を示し、横軸は時間を示している。また、図5,7,8,10において、縦軸は電流を示し、横軸は周波数を示し、波形のピーク近傍に付された1,2,3の数字は、それぞれ1次成分、2次成分、3次成分を示している。
The control unit 12 may be configured to diagnose a failure of the phase current sensors DU, DV, DW by monitoring a predetermined order component of the total current IS. This failure diagnosis will be described more specifically with reference to FIGS. 4 to 10. In FIGS. 4, 6 and 9, the vertical axis represents current and the horizontal axis represents time. Further, in FIGS. 5, 7, 8 and 10, the vertical axis indicates the current, the horizontal axis indicates the frequency, and the numbers 1, 2, and 3 attached near the peak of the waveform are the primary component and the secondary component, respectively. Ingredients, tertiary ingredients are shown.
図4は、図1に示すU,V,W相を有するオープン巻線の3相回転電機をH駆動し、交互PWM駆動を実行した際に、相電流センサDU,DV,DWが検出した相電流IU,IV,IWを示している。図4に示すように、時間tcにおいて、相電流IU,IV,IWが正常な正弦波から異常波形に変化している。
FIG. 4 shows the phase detected by the phase current sensors DU, DV, and DW when the open winding three-phase rotary electric machine having the U, V, and W phases shown in FIG. 1 is driven by H and the alternate PWM drive is executed. The currents IU, IV and IW are shown. As shown in FIG. 4, the phase currents IU, IV, and IW change from a normal sine wave to an abnormal waveform at time ct.
図5は、時間tc以前の正常状態において、相電流IU,IV,IWについてそれぞれ高速フーリエ変換(FFT:Fast Fourier transform)により周波数解析を行った結果を示している。なお、図5においても、図4と同様に、実線、破線、一点鎖線は、それぞれ、相電流IU,IV,IWの周波数解析結果を示している。図5に示すように、正常状態においては、1次成分が最も大きく、その次に3次成分が大きい。
FIG. 5 shows the results of frequency analysis of the phase currents IU, IV, and IW by fast Fourier transform (FFT: Fast Fourier transform) in the normal state before the time ct. In FIG. 5, as in FIG. 4, the solid line, the broken line, and the alternate long and short dash line indicate the frequency analysis results of the phase currents IU, IV, and IW, respectively. As shown in FIG. 5, in the normal state, the primary component is the largest, followed by the tertiary component.
図6は、時間tc以前の正常状態において、図4に示す相電流IU,IV,IWから得られた総和電流ISを示している。図7は、図6に示す総和電流ISについて高速フーリエ変換により周波数解析を行った結果を示している。図7に示すように、正常状態の総和電流ISにおいては、3次成分が最も大きい。
FIG. 6 shows the total current IS obtained from the phase currents IU, IV, and IW shown in FIG. 4 in the normal state before the time ct. FIG. 7 shows the result of frequency analysis of the total current IS shown in FIG. 6 by the fast Fourier transform. As shown in FIG. 7, in the total current IS in the normal state, the tertiary component is the largest.
図8は、時間tc以後の異常状態において、相電流IU,IV,IWについてそれぞれ高速フーリエ変換により周波数解析を行った結果を示している。なお、図8においても、図4と同様に、実線、破線、一点鎖線は、それぞれ、相電流IU,IV,IWの周波数解析結果を示している。図8に示すように、異常状態においては、正常状態においては現れなかった2次成分のピークが出現しており、3次成分のピークよりも大きくなっている。
FIG. 8 shows the results of frequency analysis of the phase currents IU, IV, and IW by fast Fourier transform in the abnormal state after the time ct. In FIG. 8, as in FIG. 4, the solid line, the broken line, and the alternate long and short dash line indicate the frequency analysis results of the phase currents IU, IV, and IW, respectively. As shown in FIG. 8, in the abnormal state, the peak of the secondary component that did not appear in the normal state appears, which is larger than the peak of the tertiary component.
図9は、時間tc以後の異常状態において、図4に示す相電流IU,IV,IWから得られた総和電流ISを示している。図10は、図9に示す総和電流ISについて高速フーリエ変換により周波数解析を行った結果を示している。図10に示すように、異常状態においては、正常状態においては現れなかった2次成分のピークが出現している。このように、総和電流ISを周波数解析すると、相電流センサDU,DV,DWに故障が生じた場合には、総和電流ISにおいて次数が偶数である周波数成分のピーク(例えば、2次成分のピーク)が出現する傾向がある。このため、制御部12は、例えば、総和電流を周波数解析し、次数が偶数である周波数成分のピークが所定以上となった場合に、相電流センサDU,DV,DWのうちの少なくともいずれかが故障したと判定するように構成することができる。
FIG. 9 shows the total current IS obtained from the phase currents IU, IV, and IW shown in FIG. 4 in the abnormal state after the time ct. FIG. 10 shows the result of frequency analysis of the total current IS shown in FIG. 9 by fast Fourier transform. As shown in FIG. 10, in the abnormal state, a peak of the secondary component that did not appear in the normal state appears. In this way, when the total current IS is frequency-analyzed, when a failure occurs in the phase current sensors DU, DV, DW, the peak of the frequency component having an even order in the total current IS (for example, the peak of the secondary component). ) Tends to appear. Therefore, for example, the control unit 12 frequency-analyzes the total current, and when the peak of the frequency component having an even order becomes a predetermined value or more, at least one of the phase current sensors DU, DV, and DW is used. It can be configured to determine that it has failed.
図11に、制御部12が実行する故障診断処理のフローチャートの一例を示す。図11に示す処理は、所定の周期で繰り返し実行される。
FIG. 11 shows an example of a flowchart of the failure diagnosis process executed by the control unit 12. The process shown in FIG. 11 is repeatedly executed at a predetermined cycle.
まず、ステップS101では、相電流センサDU,DV,DWから、電流の検出値である相電流IU,IV,IWを取得する。その後、ステップS102に進み、ステップS101において取得した相電流IU,IV,IWに基づいて、相電流IU,IV,IWの総和である総和電流ISを算出する。その後、ステップS103に進む。
First, in step S101, the phase currents IU, IV, and IW, which are the detected values of the current, are acquired from the phase current sensors DU, DV, and DW. After that, the process proceeds to step S102, and the total current IS, which is the sum of the phase currents IU, IV, and IW, is calculated based on the phase currents IU, IV, and IW acquired in step S101. After that, the process proceeds to step S103.
ステップS103では、ステップS102で算出した総和電流ISが、所定の電流閾値X1を超えた状態である累計時間T1が所定の時間閾値Y1を超えたか否かを判定する。例えば、IS>X1かつT1>Y1である場合には、ステップS103において肯定判定され、ステップS104に進み、相電流センサDU,DV,DWのうちの少なくともいずれかが故障したと診断する。一方、IS≦X1またはT1≦Y1である場合には、ステップS103において否定判定され、ステップS105に進み、相電流センサDU,DV,DWについて故障なしと診断する。ステップS104,S105の後、処理を終了する。
In step S103, it is determined whether or not the cumulative time T1 in which the total current IS calculated in step S102 exceeds the predetermined current threshold value X1 exceeds the predetermined time threshold value Y1. For example, when IS> X1 and T1> Y1, a positive determination is made in step S103, the process proceeds to step S104, and it is diagnosed that at least one of the phase current sensors DU, DV, and DW has failed. On the other hand, when IS ≦ X1 or T1 ≦ Y1, a negative determination is made in step S103, the process proceeds to step S105, and the phase current sensors DU, DV, and DW are diagnosed as having no failure. After steps S104 and S105, the process ends.
上記のとおり、第1実施形態によれば、第1インバータINV1と第2インバータINV2とを相ごとに接続する複数の第1相接続線LU1,LV1,LW1のそれぞれに、1つずつ相電流センサDU,DV,DWが設けられている。制御部12は、ステップS101,S102に示すように、回転電機のH駆動時に、相電流センサDU,DV,DWによる検出値である相電流IU,IV,IWを取得し、相電流IU,IV,IWの総和である総和電流ISを算出する。そして、制御部12は、ステップS103~S105に示すように、総和電流ISが、電流閾値X1を超えた累計時間T1が時間閾値Y1を超えた場合に、相電流センサDU,DV,DWのうちの少なくともいずれかが故障したと判定する。このため、U,V,W相ごとに1つずつ相電流センサDU,DV,DWを設置するだけで、相電流センサDU,DV,DWのいずれかが故障した場合には、これを診断により判定できる。H駆動を実行する駆動回路において、相電流センサの故障診断のために追加する電流センサの個数を低減でき、電流センサの故障診断と、電流センサの個数低減とを両立できる。
As described above, according to the first embodiment, one phase current sensor is provided for each of the plurality of first phase connection lines LU1, LV1, LW1 that connect the first inverter INV1 and the second inverter INV2 for each phase. DU, DV, DW are provided. As shown in steps S101 and S102, the control unit 12 acquires the phase currents IU, IV, and IW, which are the values detected by the phase current sensors DU, DV, and DW, when the rotary electric machine is driven to H, and the phase currents IU, IV. , Calculate the total current IS, which is the total of IW. Then, as shown in steps S103 to S105, the control unit 12 among the phase current sensors DU, DV, and DW when the cumulative time T1 in which the total current IS exceeds the current threshold value X1 exceeds the time threshold value Y1. It is determined that at least one of the above has failed. Therefore, only one phase current sensor DU, DV, DW is installed for each U, V, W phase, and if any of the phase current sensors DU, DV, DW fails, this is diagnosed. It can be judged. In the drive circuit that executes H drive, the number of current sensors added for the failure diagnosis of the phase current sensor can be reduced, and the failure diagnosis of the current sensor and the reduction of the number of current sensors can be achieved at the same time.
(変形例)
制御部12は、さらに、駆動回路11において接続線スイッチSCを開状態に制御して回転電機をY駆動する際にも、相電流センサDU,DV,DWの故障診断を実行可能に構成されていてもよい。 (Modification example)
Further, thecontrol unit 12 is configured to be able to execute failure diagnosis of the phase current sensors DU, DV, and DW even when the connection line switch SC is controlled to be in the open state in the drive circuit 11 to drive the rotary electric machine in Y. You may.
制御部12は、さらに、駆動回路11において接続線スイッチSCを開状態に制御して回転電機をY駆動する際にも、相電流センサDU,DV,DWの故障診断を実行可能に構成されていてもよい。 (Modification example)
Further, the
例えば、回転電機のY駆動時には、3,9,15次成分に例示される特定周波数成分において、三相和が零の状態となる。この知見に基づいて、相電流センサDU,DV,DWのうちの1つを代替監視センサとして選定する。そして、代替監視センサ以外の他の相電流センサの相電流を取得して、特定周波数成分において2つの相電流センサの検出値の和を算出し、三相和が零となることに基づいて、代替監視センサとして選定した相電流を算出する。そして、代替監視センサの算出値と、代替監視センサが実測する検出値とを比較することにより、相電流センサDU,DV,DWの故障診断を行う。
For example, when the rotary electric machine is driven in Y, the three-phase sum is zero in the specific frequency components exemplified by the third, ninth, and fifteenth-order components. Based on this knowledge, one of the phase current sensors DU, DV, and DW is selected as an alternative monitoring sensor. Then, the phase currents of other phase current sensors other than the alternative monitoring sensor are acquired, the sum of the detected values of the two phase current sensors at the specific frequency component is calculated, and the sum of the three phases becomes zero. Calculate the phase current selected as the alternative monitoring sensor. Then, the failure diagnosis of the phase current sensors DU, DV, and DW is performed by comparing the calculated value of the alternative monitoring sensor with the detected value actually measured by the alternative monitoring sensor.
具体的には、制御部12は、回転電機のY駆動時に、相電流センサDWを代替監視センサとして選定する。そして、相電流センサDU,DVの検出値である相電流IU,IVを取得する。特定周波数成分においては、三相和が零となるため、相電流IUと相電流IVから、W相の相電流の算出値IWcを算出できる。より具体的には、下記式(2)より、算出値IWcを算出できる。
Specifically, the control unit 12 selects the phase current sensor DW as an alternative monitoring sensor when driving the rotary electric machine in Y. Then, the phase currents IU and IV, which are the detected values of the phase current sensors DU and DV, are acquired. Since the sum of the three phases is zero in the specific frequency component, the calculated value IWc of the phase current of the W phase can be calculated from the phase current IU and the phase current IV. More specifically, the calculated value IWc can be calculated from the following equation (2).
IWc+IU+IV=0 ・・(2)
IWc + IU + IV = 0 ... (2)
制御部12は、算出値IWcと、代替監視センサとしての相電流センサDWが検出する相電流の検出値IWdとを比較する。そして、算出値IWcと検出値IWdとが略一致する場合に、相電流センサDU,DV,DWについて故障なしと診断し、算出値IWcと検出値IWdとが乖離する場合に、相電流センサDU,DV,DWについて故障ありと診断する。
The control unit 12 compares the calculated value IWc with the detected value IWd of the phase current detected by the phase current sensor DW as an alternative monitoring sensor. Then, when the calculated value IWc and the detected value IWd substantially match, it is diagnosed that there is no failure in the phase current sensors DU, DV, and DW, and when the calculated value IWc and the detected value IWd deviate from each other, the phase current sensor DU. , DV, DW are diagnosed as having a failure.
(第2実施形態)
第2実施形態に係る駆動装置10は、図12に示すように、3つの第1相接続線LU1,LV1,LW1に流れる全電流を一括して検出可能な1つの電流センサを監視センサDTとしてさらに備えている。制御部12は、相電流センサDU,DV,DWが検出する相電流IU,IV,IWと、監視センサDTが検出する全電流ITをと取得し、相電流IU,IV,IWと、全電流ITとに基づいて、駆動回路11の故障診断を実行する。その他の図12に示す駆動装置10の各構成は、図1に示す駆動装置10と同様であるため、説明を省略する。 (Second Embodiment)
As shown in FIG. 12, thedrive device 10 according to the second embodiment uses one current sensor as a monitoring sensor DT, which can collectively detect all the currents flowing through the three first phase connection lines LU1, LV1, LW1. Further prepared. The control unit 12 acquires the phase currents IU, IV, IW detected by the phase current sensors DU, DV, DW and the total current IT detected by the monitoring sensor DT, and the phase currents IU, IV, IW and the total current. The failure diagnosis of the drive circuit 11 is executed based on the IT. Since the other configurations of the drive device 10 shown in FIG. 12 are the same as those of the drive device 10 shown in FIG. 1, the description thereof will be omitted.
第2実施形態に係る駆動装置10は、図12に示すように、3つの第1相接続線LU1,LV1,LW1に流れる全電流を一括して検出可能な1つの電流センサを監視センサDTとしてさらに備えている。制御部12は、相電流センサDU,DV,DWが検出する相電流IU,IV,IWと、監視センサDTが検出する全電流ITをと取得し、相電流IU,IV,IWと、全電流ITとに基づいて、駆動回路11の故障診断を実行する。その他の図12に示す駆動装置10の各構成は、図1に示す駆動装置10と同様であるため、説明を省略する。 (Second Embodiment)
As shown in FIG. 12, the
図13に示すように、制御部12は、相電流IU,IV,IWの総和電流IS(三相和演算値)を算出し、その電流波形を、監視センサDTの検出値である全電流ITの電流波形と比較する。制御部12は、総和電流ISと全電流ITとの双方が、異常波形である(正常な正弦波形ではない)場合には、素子故障(例えば、各インバータINV1,INV2を構成するスイッチング素子の故障)などの故障モードに該当し、駆動回路11において、相電流センサDU,DV,DWおよび監視センサDTではなく、他の部位の故障であると判断する。
As shown in FIG. 13, the control unit 12 calculates the total current IS (three-phase sum calculation value) of the phase currents IU, IV, and IW, and uses the current waveform as the total current IT which is the detection value of the monitoring sensor DT. Compare with the current waveform of. When both the total current IS and the total current IT have an abnormal waveform (not a normal sine waveform), the control unit 12 fails in an element (for example, a failure in the switching element constituting each of the inverters INV1 and INV2). ), Etc., and it is determined in the drive circuit 11 that the failure is not in the phase current sensors DU, DV, DW and the monitoring sensor DT, but in other parts.
また、制御部12は、総和電流ISが異常波形であり、かつ、全電流ITが正常波形である場合には、相電流センサ故障の故障モードに該当し、相電流センサDU,DV,DWの少なくともいずれかが故障したと判断する。
Further, when the total current IS has an abnormal waveform and the total current IT has a normal waveform, the control unit 12 corresponds to the failure mode of the phase current sensor failure, and the phase current sensors DU, DV, DW. It is determined that at least one of them has failed.
また、制御部12は、総和電流ISが正常波形であり、かつ、全電流ITが異常波形である場合には、監視センサ故障の故障モードに該当し、監視センサDTが故障したと判断する。
Further, when the total current IS has a normal waveform and the total current IT has an abnormal waveform, the control unit 12 determines that the failure mode of the monitoring sensor failure corresponds to the failure mode and the monitoring sensor DT has failed.
また、制御部12は、図13のいずれの故障モードにも該当しない場合、すなわち、総和電流ISと全電流ITとの双方が正常な正弦波形である場合には、相電流センサDU,DV,DWおよび監視センサDTの全てが正常であると判断する。
Further, when the control unit 12 does not correspond to any of the failure modes shown in FIG. 13, that is, when both the total current IS and the total current IT have a normal sine and cosine waveform, the phase current sensors DU, DV, It is determined that all of the DW and the monitoring sensor DT are normal.
図14に、制御部12が実行する故障診断処理のフローチャートを示す。図11に示す処理は、所定の周期で繰り返し実行される。
FIG. 14 shows a flowchart of the failure diagnosis process executed by the control unit 12. The process shown in FIG. 11 is repeatedly executed at a predetermined cycle.
まず、ステップS201では、相電流センサDU,DV,DWから、電流の検出値である相電流IU,IV,IWを取得するとともに、監視センサDTから、電流の検出値である全電流ITを取得する。その後、ステップS202に進み、ステップS201において取得した相電流IU,IV,IWに基づいて、相電流IU,IV,IWの総和である総和電流ISを算出する。その後、ステップS203に進む。
First, in step S201, the phase currents IU, IV, and IW, which are the detected values of the current, are acquired from the phase current sensors DU, DV, and DW, and the total current IT, which is the detected value of the current, is acquired from the monitoring sensor DT. do. After that, the process proceeds to step S202, and the total current IS, which is the sum of the phase currents IU, IV, and IW, is calculated based on the phase currents IU, IV, and IW acquired in step S201. Then, the process proceeds to step S203.
ステップS203では、ステップS202で算出した総和電流ISが、所定の電流閾値X1を超えた状態である累計時間T1が所定の時間閾値Y1を超えたか否かを判定する。例えば、IS>X1かつT1>Y1である場合には、ステップS203において肯定判定され、ステップS204に進む。一方、IS≦X1またはT1≦Y1である場合には、ステップS203において否定判定され、ステップS207に進む。
In step S203, it is determined whether or not the cumulative time T1 in which the total current IS calculated in step S202 exceeds the predetermined current threshold value X1 exceeds the predetermined time threshold value Y1. For example, when IS> X1 and T1> Y1, a positive determination is made in step S203, and the process proceeds to step S204. On the other hand, when IS ≦ X1 or T1 ≦ Y1, a negative determination is made in step S203, and the process proceeds to step S207.
ステップS204では、ステップS201で算出した全電流ITが、所定の電流閾値X2を超えた状態である累計時間T2が所定の時間閾値Y2を超えたか否かを判定する。例えば、IT>X2かつT2>Y2である場合には、ステップS204において肯定判定され、ステップS205に進み、素子故障あり(素子故障モードである)と診断し、処理を終了する。一方、IT≦X2またはT2≦Y2である場合には、ステップS204において否定判定され、ステップS206に進み、相電流センサDU,DV,DWについて故障あり(相電流センサ故障モードである)と診断し、処理を終了する。
In step S204, it is determined whether or not the cumulative time T2 in which the total current IT calculated in step S201 exceeds the predetermined current threshold value X2 exceeds the predetermined time threshold value Y2. For example, when IT> X2 and T2> Y2, an affirmative determination is made in step S204, the process proceeds to step S205, it is diagnosed that there is an element failure (element failure mode), and the process is terminated. On the other hand, when IT ≦ X2 or T2 ≦ Y2, a negative determination is made in step S204, the process proceeds to step S206, and it is diagnosed that the phase current sensors DU, DV, and DW have a failure (phase current sensor failure mode). , End the process.
ステップS207では、ステップS204と同様に、全電流ITが、所定の電流閾値X2を超えた状態である累計時間T2が所定の時間閾値Y2を超えたか否かを判定する。IT>X2かつT2>Y2である場合には、ステップS207において肯定判定され、ステップS208に進み、監視センサDTについて故障あり(監視センサ故障モードである)と診断し、処理を終了する。一方、IT≦X2またはT2≦Y2である場合には、ステップS207において否定判定され、ステップS209に進み、故障なしと診断し、処理を終了する。
In step S207, as in step S204, it is determined whether or not the cumulative time T2 in which the total current IT exceeds the predetermined current threshold value X2 exceeds the predetermined time threshold value Y2. When IT> X2 and T2> Y2, an affirmative determination is made in step S207, the process proceeds to step S208, the monitoring sensor DT is diagnosed as having a failure (in a monitoring sensor failure mode), and the process is terminated. On the other hand, when IT ≦ X2 or T2 ≦ Y2, a negative determination is made in step S207, the process proceeds to step S209, a diagnosis of no failure is made, and the process ends.
上記のとおり、第2実施形態によれば、相電流センサDU,DV,DWに加えて、3つの第1相接続線LU1,LV1,LW1に流れる全電流を一括して検出可能な監視センサDTをさらに備えている。
As described above, according to the second embodiment, in addition to the phase current sensors DU, DV, and DW, the monitoring sensor DT that can collectively detect all the currents flowing through the three first phase connection lines LU1, LV1, and LW1. Is further equipped.
制御部12は、ステップS201に示すように、回転電機のH駆動時に、相電流IU,IV,IWに加えて、監視センサDTの検出値である全電流ITを取得する。そして、ステップS203~S209に示すように、相電流IU,IV,IWの総和である総和電流ISと、全電流ITとに基づいて、故障診断を実行する。このため、U,V,W相ごとに1つずつの相電流センサDU,DV,DWと、1つの監視センサDTとを設置するだけで、相電流センサDU,DV,DWのいずれかが故障した場合には、これを診断により判定できる。さらには、監視センサDTの故障診断も併せて実行できる。H駆動を実行する駆動回路において、相電流センサの故障診断のために追加する電流センサの個数を低減でき、電流センサの故障診断と、電流センサの個数低減とを両立できる。
As shown in step S201, the control unit 12 acquires the total current IT, which is the detection value of the monitoring sensor DT, in addition to the phase currents IU, IV, and IW when the rotary electric machine is driven to H. Then, as shown in steps S203 to S209, the failure diagnosis is executed based on the total current IS, which is the total of the phase currents IU, IV, and IW, and the total current IT. Therefore, only by installing one phase current sensor DU, DV, DW for each U, V, W phase and one monitoring sensor DT, any one of the phase current sensors DU, DV, DW fails. If so, this can be determined by diagnosis. Furthermore, failure diagnosis of the monitoring sensor DT can also be performed. In the drive circuit that executes H drive, the number of current sensors added for the failure diagnosis of the phase current sensor can be reduced, and the failure diagnosis of the current sensor and the reduction of the number of current sensors can be achieved at the same time.
(変形例)
図12に示す駆動装置10においては、制御部12は、相電流センサDU,DV,DWの少なくともいずれかが故障したと判断した場合に、さらに、相電流センサDU,DV,DWのうちいずれが故障したかを特定するように構成されていてもよい。制御部12は、例えば、U,V,W相の各相接続線について1相のみを通電した状態で、総和電流ISの電流波形と、全電流ITの電流波形とを比較することにより、故障した相電流センサを特定することができる。U,V,W相のうち1相のみを通電すると、相電流センサが正常である相については、総和電流ISと全電流ITとが略一致する。U,V,W相について、1相ずつ順番に通電し、総和電流ISの電流波形と全電流ITの電流波形とが乖離した相を特定する処理を実行することにより、相電流センサDU,DV,DWのうちいずれが故障したかを特定することができる。駆動装置10が、車両に搭載される回転電機の駆動装置である場合においては、相電流センサDU,DV,DWのうちいずれが故障したかを特定することにより、故障時の退避走行が可能となる。 (Modification example)
In thedrive device 10 shown in FIG. 12, when the control unit 12 determines that at least one of the phase current sensors DU, DV, and DW has failed, any one of the phase current sensors DU, DV, and DW is further determined. It may be configured to identify if it has failed. The control unit 12 fails by comparing the current waveform of the total current IS with the current waveform of the total current IT, for example, with only one phase energized for each phase connection line of the U, V, and W phases. It is possible to identify the phase current sensor. When only one of the U, V, and W phases is energized, the total current IS and the total current IT substantially match for the phase in which the phase current sensor is normal. The U, V, and W phases are energized one by one in order, and the phase current sensors DU, DV are executed by performing a process to identify the phase in which the current waveform of the total current IS and the current waveform of the total current IT deviate from each other. , DW can be specified which one has failed. When the drive device 10 is a drive device for a rotary electric machine mounted on a vehicle, it is possible to perform retractable running at the time of failure by identifying which of the phase current sensors DU, DV, and DW has failed. Become.
図12に示す駆動装置10においては、制御部12は、相電流センサDU,DV,DWの少なくともいずれかが故障したと判断した場合に、さらに、相電流センサDU,DV,DWのうちいずれが故障したかを特定するように構成されていてもよい。制御部12は、例えば、U,V,W相の各相接続線について1相のみを通電した状態で、総和電流ISの電流波形と、全電流ITの電流波形とを比較することにより、故障した相電流センサを特定することができる。U,V,W相のうち1相のみを通電すると、相電流センサが正常である相については、総和電流ISと全電流ITとが略一致する。U,V,W相について、1相ずつ順番に通電し、総和電流ISの電流波形と全電流ITの電流波形とが乖離した相を特定する処理を実行することにより、相電流センサDU,DV,DWのうちいずれが故障したかを特定することができる。駆動装置10が、車両に搭載される回転電機の駆動装置である場合においては、相電流センサDU,DV,DWのうちいずれが故障したかを特定することにより、故障時の退避走行が可能となる。 (Modification example)
In the
なお、上記の各実施形態では、相電流センサDU,DV,DWと、監視センサDTとは、第1相接続線LU1,LV1,LW1に設置されていたが、第2相接続線LU2,LV2,LW2に接続されていてもよい。また、接続線スイッチSCは、低電位接続線Lbにのみ備えられていてもよく、高電位接続線Laと低電位接続線Lbの双方に備えられていてもよい。
In each of the above embodiments, the phase current sensors DU, DV, DW and the monitoring sensor DT are installed on the first phase connection lines LU1, LV1, LW1, but the second phase connection lines LU2, LV2. , May be connected to LW2. Further, the connection line switch SC may be provided only on the low-potential connection line Lb, or may be provided on both the high-potential connection line La and the low-potential connection line Lb.
また、制御部12は、相電流センサDU,DV,DW等の故障診断について、故障診断を常時実行する常時故障診断モードと、故障診断を所定の診断条件時にのみ実行する非常時故障診断モードとを、回転電機の駆動状態に基づいて切り替えるように構成されていてもよい。例えば、駆動装置10が、車両に搭載される回転電機の駆動装置である場合においては、車速が高速である場合に常時故障診断モードを実行し、低速である場合に非常時故障診断モードを実行するように切り替えてもよい。より具体的には、車速が所定の速度閾値以上である場合に常時故障診断モードを実行し、車速が所定の速度閾値未満である場合に非常時故障診断モードを実行するように切り替えてもよい。
Further, regarding the failure diagnosis of the phase current sensors DU, DV, DW, etc., the control unit 12 has a constant failure diagnosis mode in which the failure diagnosis is constantly executed and an emergency failure diagnosis mode in which the failure diagnosis is executed only under predetermined diagnostic conditions. May be configured to be switched based on the driving state of the rotary electric machine. For example, when the drive device 10 is a drive device for a rotary electric machine mounted on a vehicle, a failure diagnosis mode is always executed when the vehicle speed is high, and an emergency failure diagnosis mode is executed when the vehicle speed is low. You may switch to. More specifically, the failure diagnosis mode may be executed at all times when the vehicle speed is equal to or higher than the predetermined speed threshold value, and the emergency failure diagnosis mode may be executed when the vehicle speed is lower than the predetermined speed threshold value. ..
上記の各実施形態によれば、下記の効果を得ることができる。
According to each of the above embodiments, the following effects can be obtained.
回転電機の駆動装置10は、複数相に対応する複数の巻線を有する回転電機に適用される。駆動装置10は、駆動回路11と、制御部12とを備えている。駆動回路11は、直流電源VDCに接続された第1インバータINV1と、第2インバータINV2と、第1インバータINV1と第2インバータINV2とを相ごとに接続する複数の第1相接続線LU1,LV1,LW1のそれぞれに1つずつ設けられた相電流センサDU,DV,DWと、高電位接続線Laと、低電位接続線Lbと、を含み、回転電機のH駆動を実行可能に構成されている。制御部12は、その上アームスイッチ及び下アームスイッチの開閉を制御することにより第1インバータINV1と第2インバータINV2の作動を制御可能に構成されている。
The drive device 10 of a rotary electric machine is applied to a rotary electric machine having a plurality of windings corresponding to a plurality of phases. The drive device 10 includes a drive circuit 11 and a control unit 12. The drive circuit 11 includes a plurality of first phase connection lines LU1 and LV1 that connect the first inverter INV1 connected to the DC power supply VDC, the second inverter INV2, and the first inverter INV1 and the second inverter INV2 for each phase. , LW1 each includes a phase current sensor DU, DV, DW, a high potential connection line La, and a low potential connection line Lb, and is configured to be able to execute H drive of a rotary electric machine. There is. The control unit 12 is configured to be able to control the operation of the first inverter INV1 and the second inverter INV2 by controlling the opening and closing of the upper arm switch and the lower arm switch.
制御部12は、さらに、回転電機のH駆動時に、相電流センサDU,DV,DWが検出する相電流IU,IV,IWに基づいて各相電流の総和である総和電流ISを算出する。そして、総和電流ISに基づいて、相電流センサDU,DV,DWの故障診断を実行する。H駆動時には、特定周波数成分においても総和電流ISが零にならないため、総和電流ISを監視することにより、相電流センサDU,DV,DWの故障を診断できる。駆動装置10によれば、第1相接続線LU1,LV1,LW1を流れる相電流センサDU,DV,DWを相ごとに1つずつ設置するだけで、相電流センサDU,DV,DWのいずれかが故障した場合には、これを診断により判定できる。H駆動を実行する駆動回路11において、相電流センサDU,DV,DWの故障診断のために追加する電流センサの個数を低減でき、電流センサの故障診断と、電流センサの個数低減とを両立できる。
The control unit 12 further calculates the total current IS, which is the total sum of the phase currents, based on the phase currents IU, IV, and IW detected by the phase current sensors DU, DV, and DW when the rotary electric machine is driven to H. Then, the failure diagnosis of the phase current sensors DU, DV, and DW is executed based on the total current IS. Since the total current IS does not become zero even in a specific frequency component during H drive, a failure of the phase current sensors DU, DV, and DW can be diagnosed by monitoring the total current IS. According to the drive device 10, only one phase current sensor DU, DV, DW flowing through the first phase connection line LU1, LV1, LW1 is installed for each phase, and any one of the phase current sensors DU, DV, DW is installed. If a failure occurs, this can be determined by diagnosis. In the drive circuit 11 that executes H drive, the number of current sensors added for failure diagnosis of the phase current sensors DU, DV, and DW can be reduced, and both the failure diagnosis of the current sensor and the reduction of the number of current sensors can be achieved. ..
例えば、制御部12は、総和電流ISが、所定の電流閾値X1を超えた時間の累計(T1)が所定の時間閾値Y1を超えた場合に、相電流センサDU,DV,DWのうちの少なくともいずれかが故障したと判定するように構成されていてもよい。
For example, the control unit 12 has at least one of the phase current sensors DU, DV, and DW when the cumulative current (T1) of the total current IS exceeds the predetermined current threshold value X1 exceeds the predetermined time threshold value Y1. It may be configured to determine that one of them has failed.
また、制御部12は、総和電流ISを周波数解析し、次数が偶数である周波数成分のピークが所定以上となった場合に、相電流センサDU,DV,DWのうちの少なくともいずれかが故障したと判定するように構成されていてもよい。
Further, the control unit 12 performs frequency analysis of the total current IS, and when the peak of the frequency component having an even order becomes equal to or higher than a predetermined value, at least one of the phase current sensors DU, DV, and DW fails. It may be configured to determine.
駆動回路11は、複数の相接続線に流れる全電流を一括して検出可能な1つの電流センサを監視センサDTとしてさらに備えていてもよい。この場合、制御部12は、相電流IU,IV,IWの電流波形と、監視センサDTが検出する全電流ITの電流波形とに基づいて、相電流センサの故障診断を実行するように構成されていてもよい。具体的には、制御部12は、総和電流ISと全電流ITとの双方が正常な正弦波形である場合には、正常と判断してもよい。また、総和電流ISと全電流ITとの双方が正常な正弦波形ではない場合には、相電流センサDU,DV,DWおよび監視センサDT以外の他の駆動回路11の部位が故障したと判断してもよい。また、総和電流ISが正常な正弦波形ではなく、かつ、全電流ITが正常な正弦波形である場合には、相電流センサDU,DV,DWの少なくともいずれかが故障したと判断してもよい。また、総和電流ISが正常な正弦波形であり、かつ、全電流ITが正常な正弦波形ではない場合には、監視センサDTが故障したと判断してもよい。
The drive circuit 11 may further include one current sensor as a monitoring sensor DT that can collectively detect all the currents flowing through the plurality of phase connection lines. In this case, the control unit 12 is configured to execute a failure diagnosis of the phase current sensor based on the current waveforms of the phase currents IU, IV, and IW and the current waveforms of the total current IT detected by the monitoring sensor DT. May be. Specifically, the control unit 12 may determine that the total current IS and the total current IT are normal when both have a normal sine and cosine waveform. If both the total current IS and the total current IT do not have normal sine and cosine waveforms, it is determined that the parts of the drive circuit 11 other than the phase current sensors DU, DV, DW and the monitoring sensor DT have failed. You may. Further, when the total current IS is not a normal sine and cosine waveform and the total current IT is a normal sine and cosine waveform, it may be determined that at least one of the phase current sensors DU, DV, and DW has failed. .. Further, when the total current IS is a normal sine and cosine waveform and the total current IT is not a normal sine and cosine waveform, it may be determined that the monitoring sensor DT has failed.
駆動回路11が監視センサDTを備える場合、制御部12は、相電流センサDU,DV,DWの少なくともいずれかが故障したと判断した場合に、さらに、各相接続線について1相のみを通電した状態で、総和電流ISの電流波形と、全電流ITの電流波形とを比較することにより、故障した相電流センサを特定するように構成されていてもよい。駆動装置10が、車両に搭載される回転電機の駆動装置である場合においては、相電流センサDU,DV,DWのうちいずれが故障したかを特定することにより、故障時の退避走行が可能となる。
When the drive circuit 11 includes the monitoring sensor DT, the control unit 12 further energizes only one phase for each phase connection line when it is determined that at least one of the phase current sensors DU, DV, and DW has failed. In the state, it may be configured to identify the failed phase current sensor by comparing the current waveform of the total current IS with the current waveform of the total current IT. When the drive device 10 is a drive device for a rotary electric machine mounted on a vehicle, it is possible to perform retractable running at the time of failure by identifying which of the phase current sensors DU, DV, and DW has failed. Become.
制御部12は、相電流センサDU,DV,DWの故障診断を常時実行する常時故障診断モードと、相電流センサDU,DV,DWの故障診断を所定の診断条件時にのみ実行する非常時故障診断モードとを、回転電機の駆動状態に基づいて切り替え可能に構成されていてもよい。
The control unit 12 has a constant failure diagnosis mode that constantly executes a failure diagnosis of the phase current sensors DU, DV, and DW, and an emergency failure diagnosis that executes a failure diagnosis of the phase current sensors DU, DV, and DW only under predetermined diagnostic conditions. The mode may be configured to be switchable based on the driving state of the rotary electric machine.
また、駆動回路11は、第1インバータINV1と第2インバータINV2とを導通または遮断する接続線スイッチSCをさらに備え、回転電機のH駆動とY駆動とを切り替え可能に構成されている。この場合、制御部12は、回転電機のY駆動時には、相電流センサDU,DV,DWのうちの1つを代替監視センサとして選定し、代替監視センサ以外の他の相電流センサの相電流の総和と、代替監視センサが検出する電流とに基づいて、相電流センサDU,DV,DWの故障診断を実行するように構成されていてもよい。駆動装置10によれば、回転電機のH駆動時とY駆動時のいずれの場合においても、3つの相電流センサDU,DV,DWを用いて、その故障診断を実行することができる。H駆動時とY駆動時のいずれの場合においても、相電流センサDU,DV,DWの故障診断のために追加する電流センサの個数を低減でき、電流センサの故障診断と、電流センサの個数低減とを両立できる。
Further, the drive circuit 11 further includes a connection line switch SC that conducts or cuts off the first inverter INV1 and the second inverter INV2, and is configured to be able to switch between H drive and Y drive of the rotary electric machine. In this case, the control unit 12 selects one of the phase current sensors DU, DV, and DW as the alternative monitoring sensor when the rotary electric machine is driven in Y, and the phase current of the other phase current sensors other than the alternative monitoring sensor. It may be configured to perform failure diagnosis of the phase current sensors DU, DV, DW based on the sum and the current detected by the alternative monitoring sensor. According to the drive device 10, the failure diagnosis can be executed by using the three phase current sensors DU, DV, and DW in both the H drive and the Y drive of the rotary electric machine. In both H drive and Y drive, the number of current sensors added for failure diagnosis of the phase current sensors DU, DV, DW can be reduced, and the number of current sensor failure diagnosis and the number of current sensors can be reduced. Can be compatible with.
本開示に記載の制御部及びその手法は、コンピュータプログラムにより具体化された一つ乃至は複数の機能を実行するようにプログラムされたプロセッサ及びメモリを構成することによって提供された専用コンピュータにより、実現されてもよい。あるいは、本開示に記載の制御部及びその手法は、一つ以上の専用ハードウエア論理回路によってプロセッサを構成することによって提供された専用コンピュータにより、実現されてもよい。もしくは、本開示に記載の制御部及びその手法は、一つ乃至は複数の機能を実行するようにプログラムされたプロセッサ及びメモリと一つ以上のハードウエア論理回路によって構成されたプロセッサとの組み合わせにより構成された一つ以上の専用コンピュータにより、実現されてもよい。また、コンピュータプログラムは、コンピュータにより実行されるインストラクションとして、コンピュータ読み取り可能な非遷移有形記録媒体に記憶されていてもよい。
The controls and methods thereof described in the present disclosure are realized by a dedicated computer provided by configuring a processor and memory programmed to perform one or more functions embodied by a computer program. May be done. Alternatively, the controls and methods thereof described in the present disclosure may be implemented by a dedicated computer provided by configuring the processor with one or more dedicated hardware logic circuits. Alternatively, the control unit and method thereof described in the present disclosure may be a combination of a processor and memory programmed to perform one or more functions and a processor configured by one or more hardware logic circuits. It may be realized by one or more dedicated computers configured. Further, the computer program may be stored in a computer-readable non-transitional tangible recording medium as an instruction executed by the computer.
本開示は、実施例に準拠して記述されたが、本開示は当該実施例や構造に限定されるものではないと理解される。本開示は、様々な変形例や均等範囲内の変形をも包含する。加えて、様々な組み合わせや形態、さらには、それらに一要素のみ、それ以上、あるいはそれ以下、を含む他の組み合わせや形態をも、本開示の範疇や思想範囲に入るものである。
Although the present disclosure has been described in accordance with the examples, it is understood that the present disclosure is not limited to the examples and structures. The present disclosure also includes various variations and variations within a uniform range. In addition, various combinations and forms, as well as other combinations and forms that include only one element, more, or less, are within the scope and scope of the present disclosure.
Claims (9)
- 複数相に対応する複数の巻線を有する回転電機に適用される、回転電機の駆動装置(10)であって、
直流電源に接続され、前記巻線の一端に相ごとに接続された上アームスイッチ及び下アームスイッチを備える第1インバータ(INV1)と、
前記巻線の他端に相ごとに接続された上アームスイッチ及び下アームスイッチを備える第2インバータ(INV2)と、
前記第1インバータと前記第2インバータとを前記相ごとに接続する複数の相接続線(LU1,LV1,LW1)のそれぞれに1つずつ設けられた相電流センサ(DU,DV,DW)と、
前記第1インバータの直流高電位側と前記第2インバータの直流高電位側とを接続する高電位接続線(La)と、
前記第1インバータの直流低電位側と前記第2インバータの直流低電位側とを接続する低電位接続線(Lb)と、
を含み、前記回転電機のH駆動が可能な駆動回路(11)と、
前記上アームスイッチ及び前記下アームスイッチの開閉を制御することにより前記第1インバータと前記第2インバータの作動を制御可能な制御部(12)と、を備え、
前記制御部は、前記回転電機のH駆動時に前記相電流センサが検出する相電流に基づいて算出した各相電流の総和である総和電流に基づいて、前記相電流センサの故障診断を実行する回転電機の駆動装置。 A rotary electric machine drive device (10) applied to a rotary electric machine having a plurality of windings corresponding to a plurality of phases.
A first inverter (INV1) having an upper arm switch and a lower arm switch connected to a DC power supply and connected to one end of the winding for each phase.
A second inverter (INV2) having an upper arm switch and a lower arm switch connected to the other end of the winding for each phase,
A phase current sensor (DU, DV, DW) provided for each of a plurality of phase connection lines (LU1, LV1, LW1) connecting the first inverter and the second inverter for each phase.
A high-potential connection line (La) connecting the DC high-potential side of the first inverter and the DC high-potential side of the second inverter,
A low-potential connection line (Lb) connecting the DC low-potential side of the first inverter and the DC low-potential side of the second inverter, and
The drive circuit (11) capable of H-driving the rotary electric machine, including
A control unit (12) capable of controlling the operation of the first inverter and the second inverter by controlling the opening and closing of the upper arm switch and the lower arm switch is provided.
The control unit executes a failure diagnosis of the phase current sensor based on the total current, which is the total sum of the phase currents calculated based on the phase current detected by the phase current sensor when the rotary electric machine is driven to H. Electric drive device. - 前記制御部は、前記総和電流が、所定の電流閾値を超えた時間の累計が所定の時間閾値を超えた場合に、前記相電流センサのうちの少なくともいずれかが故障したと判定する請求項1に回転電機の駆動装置。 The control unit determines that at least one of the phase current sensors has failed when the cumulative total of the times when the total current exceeds the predetermined current threshold value exceeds the predetermined time threshold value. The drive unit of the rotary electric machine.
- 前記制御部は、前記総和電流を周波数解析し、次数が偶数である周波数成分のピークが所定以上となった場合に、前記相電流センサのうちの少なくともいずれかが故障したと判定する請求項1または2に回転電機の駆動装置。 The control unit performs frequency analysis of the total current, and when the peak of a frequency component having an even order becomes a predetermined value or more, it is determined that at least one of the phase current sensors has failed. Or 2 is the drive device of the rotary electric machine.
- 前記回転電機は、中性点が開放されたオープン巻線の3相回転電機であり、前記第1インバータおよび前記第2インバータは、3相インバータである請求項1~3のいずれかに記載の回転電機の駆動装置。 The rotary electric machine is an open winding three-phase rotary electric machine having an open neutral point, and the first inverter and the second inverter are three-phase inverters according to any one of claims 1 to 3. Drive device for rotary electric machines.
- 前記駆動回路は、前記複数の相接続線に流れる全電流を一括して検出可能な1つの電流センサを監視センサとしてさらに備え、
前記制御部は、前記相電流の電流波形と、前記監視センサが検出する全電流の電流波形とに基づいて、前記相電流センサの故障診断を実行する請求項1~4のいずれかに記載の回転電機の駆動装置。 The drive circuit further includes one current sensor as a monitoring sensor that can collectively detect all the currents flowing through the plurality of phase connection lines.
The control unit according to any one of claims 1 to 4, wherein the control unit executes a failure diagnosis of the phase current sensor based on the current waveform of the phase current and the current waveform of the total current detected by the monitoring sensor. Drive device for rotary electric current. - 前記制御部は、
前記総和電流と前記全電流との双方が正常な正弦波形である場合には、正常と判断し、
前記総和電流と前記全電流との双方が正常な正弦波形ではない場合には、前記相電流センサおよび前記監視センサ以外の他の前記駆動回路の部位が故障したと判断し、
前記総和電流が正常な正弦波形ではなく、かつ、前記全電流が正常な正弦波形である場合には、前記相電流センサの少なくともいずれかが故障したと判断し、
前記総和電流が正常な正弦波形であり、かつ、前記全電流が正常な正弦波形ではない場合には、前記監視センサが故障したと判断する請求項5に記載の回転電機の駆動装置。 The control unit
If both the total current and the total current have a normal sine and cosine waveform, it is judged to be normal.
If both the total current and the total current are not normal sine and cosine waveforms, it is determined that the parts of the drive circuit other than the phase current sensor and the monitoring sensor have failed.
If the total current is not a normal sine and cosine waveform and the total current is a normal sine and cosine waveform, it is determined that at least one of the phase current sensors has failed.
The drive device for a rotary electric machine according to claim 5, wherein when the total current has a normal sine and cosine waveform and the total current does not have a normal sine and cosine waveform, it is determined that the monitoring sensor has failed. - 前記制御部は、前記相電流センサの少なくともいずれかが故障したと判断した場合に、さらに、各相接続線について1相のみを通電した状態で、前記総和電流の電流波形と、全電流の電流波形とを比較することにより、故障した前記相電流センサを特定する請求項6に記載の回転電機の駆動装置。 When the control unit determines that at least one of the phase current sensors has failed, the control unit further energizes only one phase for each phase connection line, and the current waveform of the total current and the current of the total current. The drive device for a rotary electric machine according to claim 6, wherein the failed phase current sensor is identified by comparing with a waveform.
- 前記制御部は、前記相電流センサの故障診断を常時実行する常時故障診断モードと、前記相電流センサの故障診断を所定の診断条件時にのみ実行する非常時故障診断モードとを、前記回転電機の駆動状態に基づいて切り替える請求項5~7のいずれかに記載の回転電機の駆動装置。 The control unit sets the constant failure diagnosis mode for constantly executing the failure diagnosis of the phase current sensor and the emergency failure diagnosis mode for executing the failure diagnosis of the phase current sensor only under predetermined diagnostic conditions. The drive device for a rotary electric machine according to any one of claims 5 to 7, which is switched based on a drive state.
- 前記駆動回路は、前記高電位接続線および前記低電位接続線の少なくとも一方に備えられた、前記第1インバータと前記第2インバータとを導通または遮断する接続線スイッチ(SC)をさらに備え、前記回転電機のH駆動とY駆動とを切り替え可能であり、
前記制御部は、
前記回転電機のY駆動時には、前記複数の相電流センサのうちの1つを代替監視センサとして選定し、
前記代替監視センサ以外の他の前記相電流センサの相電流の総和と、前記代替監視センサが検出する電流とに基づいて、前記駆動回路の故障診断を実行する請求項1~8のいずれかに記載の回転電機の駆動装置。 The drive circuit further includes a connection line switch (SC) provided on at least one of the high-potential connection line and the low-potential connection line to conduct or cut off the first inverter and the second inverter. It is possible to switch between H drive and Y drive of the rotary electric machine,
The control unit
At the time of Y drive of the rotary electric machine, one of the plurality of phase current sensors is selected as an alternative monitoring sensor.
One of claims 1 to 8 for executing a failure diagnosis of the drive circuit based on the sum of the phase currents of the phase current sensors other than the alternative monitoring sensor and the current detected by the alternative monitoring sensor. The drive unit of the rotary electric machine described.
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JP2015202019A (en) * | 2014-04-10 | 2015-11-12 | 日立オートモティブシステムズ株式会社 | Controller of electric motor |
JP2016201922A (en) * | 2015-04-10 | 2016-12-01 | 東洋電機製造株式会社 | AC motor drive system and AC motor wiring abnormality detection device |
JP2017175747A (en) * | 2016-03-23 | 2017-09-28 | 株式会社Soken | Power conversion device |
JP2019013098A (en) * | 2017-06-30 | 2019-01-24 | 株式会社デンソー | State determination device current sensor, and on-vehicle rotary electric machine system |
WO2019058668A1 (en) * | 2017-09-21 | 2019-03-28 | 日本電産株式会社 | Motor control method, power conversion device, motor module, and electric power steering device |
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JP2015202019A (en) * | 2014-04-10 | 2015-11-12 | 日立オートモティブシステムズ株式会社 | Controller of electric motor |
JP2016201922A (en) * | 2015-04-10 | 2016-12-01 | 東洋電機製造株式会社 | AC motor drive system and AC motor wiring abnormality detection device |
JP2017175747A (en) * | 2016-03-23 | 2017-09-28 | 株式会社Soken | Power conversion device |
JP2019013098A (en) * | 2017-06-30 | 2019-01-24 | 株式会社デンソー | State determination device current sensor, and on-vehicle rotary electric machine system |
WO2019058668A1 (en) * | 2017-09-21 | 2019-03-28 | 日本電産株式会社 | Motor control method, power conversion device, motor module, and electric power steering device |
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