WO2024070464A1 - Motor control device - Google Patents

Motor control device Download PDF

Info

Publication number
WO2024070464A1
WO2024070464A1 PCT/JP2023/031704 JP2023031704W WO2024070464A1 WO 2024070464 A1 WO2024070464 A1 WO 2024070464A1 JP 2023031704 W JP2023031704 W JP 2023031704W WO 2024070464 A1 WO2024070464 A1 WO 2024070464A1
Authority
WO
WIPO (PCT)
Prior art keywords
phase
motor
energization
switching
time
Prior art date
Application number
PCT/JP2023/031704
Other languages
French (fr)
Japanese (ja)
Inventor
大祐 山本
純 山田
健一 大石
Original Assignee
株式会社デンソー
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社デンソー filed Critical 株式会社デンソー
Publication of WO2024070464A1 publication Critical patent/WO2024070464A1/en

Links

Images

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
    • H02P29/028—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the motor continuing operation despite the fault condition, e.g. eliminating, compensating for or remedying the fault

Definitions

  • This disclosure relates to a motor control device.
  • Patent Document 1 a disconnection detection circuit is provided in each current carrying line of the winding for each phase to detect disconnection.
  • the motor can continue to be driven.
  • the energized phase that is switched to next after the broken phase is set as the first energized phase, and the motor is driven using normal phases.
  • the stator salient poles of the energized phase and the rotor recesses may face each other, and the energized phase and the rotor teeth may not face each other.
  • the purpose of this disclosure is to provide a motor control device that can properly drive a motor when one phase is broken.
  • the motor control device disclosed herein controls the drive of a motor having three-phase motor windings, and includes a drive control unit and a control unit.
  • the drive circuit has switching elements that switch on and off the power supply to each phase of the motor windings.
  • the control unit has a drive control unit that controls the on/off operation of the switching elements by feedback control based on the detection value of a rotational position sensor that detects the rotational position of the motor, and an abnormality determination unit that determines whether the motor windings have an open circuit.
  • the drive control unit When a wire breakage fault occurs in one of the three phases and normal two-phase drive is performed to drive the motor using the two normal phases, the drive control unit performs pre-start preparation processing to energize the energized phase after energizing it in a pattern different from the energization pattern to the energized phase that is the energized phase when normal two-phase drive begins. This allows the motor to be driven appropriately when one phase is broken.
  • FIG. 1 is a perspective view showing a shift-by-wire system according to a first embodiment
  • FIG. 2 is a schematic configuration diagram showing a shift-by-wire system according to a first embodiment.
  • FIG. 3 is a circuit diagram illustrating an ECU according to a first embodiment;
  • FIG. 4 is a schematic diagram showing a motor according to a first embodiment;
  • FIG. 5 is a map in which energized phase numbers are associated with energized phases according to the first embodiment;
  • FIG. 6 is an explanatory diagram illustrating a disconnection phase and a facing position according to a switching direction according to the first embodiment;
  • FIG. 1 is a perspective view showing a shift-by-wire system according to a first embodiment
  • FIG. 2 is a schematic configuration diagram showing a shift-by-wire system according to a first embodiment.
  • FIG. 3 is a circuit diagram illustrating an ECU according to a first embodiment
  • FIG. 4 is a schematic diagram showing a motor according to a first embodiment
  • FIG. 7 is a schematic diagram showing an opposing state at the start of energization when driving in the forward direction in the event of a U-phase disconnection in the first embodiment;
  • FIG. 8 is an explanatory diagram for explaining motor drive in normal two-phase in the first embodiment;
  • FIG. 9 is an explanatory diagram illustrating switching of energized phases in a pre-switching preparation process according to the first embodiment;
  • FIG. 10 is an explanatory diagram illustrating a behavior of a rotor in a pre-switching preparation process according to the first embodiment;
  • FIG. 11 is a flowchart illustrating a range switching process according to the first embodiment.
  • FIG. 12 is a time chart illustrating the range switching process according to the first embodiment.
  • FIG. 13 is a flowchart illustrating a range switching process according to the second embodiment.
  • FIG. 14 is a flowchart illustrating a range switching process according to the third embodiment.
  • FIG. 15 is a time chart illustrating the range switching process according to the third embodiment.
  • FIG. 16 is a flowchart illustrating a range switching process according to the fourth embodiment.
  • FIG. 17 is a time chart illustrating the range switching process according to the fourth embodiment.
  • FIG. 18 is a time chart illustrating the range switching process according to the fourth embodiment.
  • FIG. 19 is a flowchart illustrating a range switching process according to the fifth embodiment.
  • FIG. 20 is a time chart illustrating the range switching process according to the fifth embodiment.
  • FIG. 21 is a time chart illustrating the range switching process according to the fifth embodiment.
  • FIG. 20 is a time chart illustrating the range switching process according to the fifth embodiment.
  • FIG. 22 is a time chart illustrating the range switching process according to the fifth embodiment.
  • FIG. 23 is a flowchart illustrating a startup process according to the sixth embodiment.
  • FIG. 24 is a flowchart illustrating a range switching process according to the sixth embodiment.
  • FIG. 25 is a time chart illustrating the range switching process according to the sixth embodiment.
  • FIG. 26 is a time chart illustrating the range switching process according to the sixth embodiment.
  • FIG. 27 is a time chart illustrating the range switching process according to the sixth embodiment.
  • the shift-by-wire system 1 includes a motor 10, a detent mechanism 20, a parking lock mechanism 30, and an ECU 40 as a motor control device.
  • the motor 10 rotates when power is supplied from a battery 90 mounted on the vehicle (not shown), and functions as a drive source for the detent mechanism 20.
  • the motor 10 is, for example, a switched reluctance motor.
  • the motor 10 has a stator 101, a rotor 103, and a motor winding 11.
  • the motor winding 11 has a U-phase coil 111, a V-phase coil 112, and a W-phase coil 113, and is wound around the salient pole 102 of the stator 101.
  • the coils 111 to 113 are connected at a connection part 115.
  • the connection part 115 is connected to the battery 90 via a motor relay 91 and a fuse 92.
  • the rotor 103 has salient poles and is rotatably mounted radially inside the stator 101.
  • the rotor 103 is rotationally driven by switching the current phase of the coils 111 to 113.
  • the stator 101 has 12 salient poles and the rotor 103 has 8 salient poles.
  • the salient poles of the rotor 103 will be referred to as convex portions 104, and the spaces between the convex portions will be referred to as concave portions 105.
  • Encoder 13 is a magnetic rotary encoder that detects the rotational position of rotor 103.
  • Encoder 13 is composed of Hall elements 131 and 132 for magnetic detection, and a magnet 135 that rotates integrally with rotor 103.
  • Hall elements 131 and 132 output pulse signals every predetermined angle in synchronization with the rotation of rotor 103.
  • Hall elements 131 and 132 output a Lo signal when facing the N pole, and a Hi signal when facing the S pole.
  • the magnet 135 is formed in an annular shape and is arranged coaxially with the rotor 103.
  • the magnet 135 is magnetized with alternating north and south poles at equal pitches in the circumferential direction.
  • the magnetization pitch is 7.5°. This magnetization pitch is the same as the rotation angle of the rotor 103 per excitation of the motor 10.
  • Hall elements 131 and 132 are arranged on the same circumference with a phase difference of 90° electrical angle.
  • an electrical angle of 90° corresponds to a mechanical angle of 3.75°
  • hall elements 131 and 132 are arranged with an interval of 48.75°.
  • the signal of hall element 131 is phase A
  • the signal of hall element 132 is phase B.
  • encoder 13 is a two-phase encoder, it may be a three-phase encoder, or may output a Z-phase signal as a reference signal in addition to the detection signal.
  • the reducer 14 is provided between the motor shaft of the motor 10 and the output shaft 15, and reduces the rotation of the motor 10 before outputting it to the output shaft 15. This transmits the rotation of the motor 10 to the detent mechanism 20.
  • the output shaft sensor 16 is, for example, a potentiometer, and detects the rotational position of the output shaft 15 (see FIG. 2).
  • the detent mechanism 20 has a detent plate 21, a detent spring 25, and a detent roller 26, and transmits the rotational driving force output from the reduction gear 14 to the parking lock mechanism 30.
  • the detent plate 21 is fixed to the output shaft 15 and driven by the motor 10. On the side of the detent spring 25 of the detent plate 21, two valleys 211, 212 and a peak 215 separating the valleys 211, 212 are provided.
  • the detent spring 25 is a plate-shaped member that can be elastically deformed, and has a detent roller 26 at its tip.
  • the detent spring 25 biases the detent roller 26 toward the center of rotation of the detent plate 21.
  • the detent spring 25 elastically deforms, and the detent roller 26 moves between the valleys 211, 212.
  • the detent roller 26 fits into either of the valleys 211, 212, the oscillation of the detent plate 21 is restricted, and the state of the parking lock mechanism 30 and the shift range of the automatic transmission 5 are determined.
  • the parking lock mechanism 30 has a parking rod 31, a cone 32, a parking lever 33, a shaft 34, and a parking gear 35.
  • the parking rod 31 is formed in a roughly L-shape, and one end 311 is fixed to the detent plate 21.
  • a cone 32 is provided on the other end 312 of the parking rod 31.
  • the cone 32 is formed so that its diameter decreases as it approaches the other end 312.
  • the parking lever 33 abuts against the conical surface of the cone 32 and is arranged to be able to swing around the shaft 34.
  • a protrusion 331 that can mesh with the parking gear 35 is provided on the parking lever 33's parking gear 35 side.
  • the parking gear 35 is connected to a drive shaft (not shown) and is arranged so that it can mesh with a protrusion 331 of the parking lever 33.
  • the rotation of the drive shaft is restricted.
  • the shift range is a not P range other than P
  • the parking gear 35 is not locked by the parking lever 33, and the rotation of the drive shaft is not hindered by the parking lock mechanism 30.
  • the shift range is P range
  • the parking gear 35 is locked by the parking lever 33, and the rotation of the drive shaft is restricted.
  • the rotation direction of the motor 10 when switching from the P range to the notP range is the forward direction
  • the rotation direction of the motor 10 when switching from the notP range to the P range is the reverse direction
  • the ECU 40 includes a drive circuit 41, a current detection unit 45, a voltage detection circuit 46, and a control unit 50.
  • the drive circuit 41 has three switching elements 411, 412, and 413.
  • the switching elements 411 to 413 are provided corresponding to the coils 111 to 113, respectively, and switch the current flow to the corresponding phase.
  • the switching elements 411 to 413 are provided between the coils 111 to 113 and ground.
  • the switching elements 411 to 413 in this embodiment are MOSFETs, but may also be IGBTs, etc.
  • Current detection unit 45 is provided on the collective wiring that connects the sources of switching elements 411-413 to ground, and detects the sum of the currents flowing through coils 111-113.
  • the current detected by current detection unit 45 is referred to as motor current Im.
  • Current detection unit 45 may be provided at any location where it is possible to detect the currents in coils 111-113, and may also be provided for each phase.
  • the voltage detection circuit 46 is connected between the coils 111-113 and the switching elements 411-413, and detects the terminal voltage of each phase.
  • the relay driver 48 controls the on/off operation of the motor relay 91.
  • the control unit 50 is mainly composed of a microcomputer and includes a CPU, ROM, RAM, I/O, and bus lines connecting these components (none of which are shown in the figure).
  • Each process in the control unit 50 may be software processing in which the CPU executes a program pre-stored in a physical memory device (i.e., a readable non-transitory tangible recording medium) such as a ROM, or it may be hardware processing using a dedicated electronic circuit.
  • the control unit 50 controls the switching of the shift range by controlling the drive of the motor 10 based on a shift signal corresponding to the driver's requested shift range, a signal from the brake switch, the accelerator opening, the vehicle speed, etc.
  • the control unit 50 has, as its functional blocks, a signal acquisition unit 51, an abnormality determination unit 52, and a drive control unit 55.
  • the signal acquisition unit 51 acquires detection signals from the encoder 13, the output shaft sensor 16, the current detection unit 45, the voltage detection circuit 46, and the like.
  • the abnormality determination unit 52 determines an abnormality in the shift-by-wire system 1, such as a disconnection abnormality.
  • the drive control unit 55 controls the driving of the motor 10 by controlling the on/off operation of the switching elements 411 to 413.
  • the motor 10 is driven by switching the current-carrying phase of the motor winding 11 through feedback control based on the encoder count value.
  • the control unit 50 stores a map in which the energized phase numbers correspond to energized phases, and rotates the motor 10 by shifting the energized phase number by 1 and switching the energized phase each time a pulse edge of the encoder signal is detected.
  • the energized phase number is increased by 1 each time a pulse edge of the encoder signal is detected, and when rotating the motor 10 in the reverse direction, the energized phase number is decreased by 1.
  • the energized phase number can also be regarded as the remainder when the encoder count value is divided by 12, for example.
  • the motor 10 is driven by energizing the two normal phases through feedback control, thereby switching the range. For example, when the U phase is broken, no torque is generated in energized phases 2 and 3, where only the U phase is energized under normal circumstances, but the motor 10 can continue to be driven by passing through this region due to inertia.
  • the opposing positional relationship between the salient poles 102 of the stator 101 and the convex portions 104 of the rotor 103 at the start of switching is set according to the broken phase and the rotational direction of the motor 10. If the U-phase is broken and the switching direction is forward, the range switching starts from the V-phase facing state, and if it is reverse, the range switching starts from the W-phase facing state. If the V-phase is broken and the switching direction is forward, the W-phase facing state, and if it is reverse, the range switching starts from the U-phase facing state. If the W-phase is broken and the switching direction is forward, the U-phase facing state, and if it is reverse, the range switching starts from the V-phase facing state. Below, an example in which the switching direction is forward when the U-phase is broken will be mainly explained.
  • range switching begins from a state in which the V-phase is energized and V-phase is facing.
  • the upper row shows the switching of energized phases
  • the lower row shows the motor torque corresponding to the energized phases in the upper row.
  • the W-phase is energized, followed by the WU-phase, U-phase, and UV-phase.
  • the W-phase when the U-phase is broken, current cannot be passed to the U-phase coil 111, so in the area where the WU-phase should be energized, the W-phase continues to be energized and the motor torque decreases, and in the area where the U-phase should be energized, the motor torque becomes zero. If this area is passed through by inertia, current is passed to the V-phase in the UV-phase energized area, increasing the motor torque, and the motor 10 continues to rotate.
  • the energized phase coils are shown with solid lines and the non-energized phase coils with dashed lines, and the broken state is shown by omitting the illustration of the U-phase coil 111.
  • the concave portion 105 of the rotor 103 and the V-phase salient pole 102 may face each other when the V-phase is applied, and in this state, driving cannot be started from the V-phase facing state.
  • the rotor 103 may rotate in the reverse direction, or the rotation speed may be insufficient in the area to be passed by inertia, making it impossible to pass through the open phase.
  • a pre-switching preparation process is performed to align the positions of the stator 101 and rotor 103 so that they are reliably in the opposing state shown in FIG. 6.
  • the pre-switching preparation process as shown in FIG. 9, one-phase current, two-phase current, and one-phase current are performed in sequence to ensure that the current-carrying phase at the start of switching is opposed in a one-phase, one-tooth state.
  • W-phase, VW-phase, and V-phase are energized as pre-switching preparations
  • V-phase, VW-phase, and W-phase are energized as pre-switching preparations
  • W-phase, WU-phase, and U-phase are energized as pre-switching preparations.
  • energization status ST1 the first 1-phase energization in the pre-switching preparations is referred to as energization status ST1
  • energization status ST2 the next 2-phase energization as energization status ST2
  • energization status ST3 the state in which 1-phase 1-tooth state is maintained with 1-phase energization to the energized phase at the start of switching as energization status ST3.
  • Figure 10 shows the pre-switching preparations for achieving the V-phase opposing state when the U-phase is broken.
  • W-phase current is applied so that the convex portion 104 faces the W-phase.
  • VW-phase current When current is switched from this state to VW-phase current, the rotor 103 rotates and the convex portion 104 faces the V-phase and W-phase, resulting in a so-called "two-phase, two-tooth" state.
  • the range switching process of this embodiment will be described with reference to the flowchart in FIG. 11. This process is executed by the control unit 50 at a predetermined cycle.
  • the control unit 50 determines whether or not a one-phase break has been detected. If it is determined that a one-phase break has not been detected (S101: NO), the process from S102 onwards is skipped. Note that the detection of a one-phase break is performed in a process separate from this embodiment, and is determined, for example, based on the detection value of the voltage detection circuit 46, but the details of the detection method are not important. Also, when all phases are normal, range switching is performed in a process separate from this process. If it is determined that a one-phase break has been detected (S101: YES), proceed to S102.
  • control unit 50 determines whether or not there is a request to switch the shift range. If it is determined that there is no request to switch (S102: NO), the process from S103 onwards is skipped and the standby mode continues. If it is determined that there is a request to switch (S102: YES), the process proceeds to S103.
  • the drive control unit 55 applies current in the current status ST1. For example, when the U phase is disconnected and the switching direction is forward, current is applied to the W phase.
  • the drive control unit 55 determines whether the current hold time Xh1 in the current status ST1 has elapsed. If it is determined that the current hold time Xh1 has not elapsed (S104: NO), the process returns to S103 and current is continued in the current status ST1. If it is determined that the current hold time Xh1 has elapsed (S104: YES), the process proceeds to S105.
  • the drive control unit 55 applies current in the current status ST2. For example, when the U phase is disconnected, two-phase current is applied to the VW phase, which is the normal phase, regardless of the switching direction.
  • the drive control unit 55 determines whether the current hold time Xh2 in the current status ST2 has elapsed. If it is determined that the current hold time Xh2 has not elapsed (S106: NO), the process returns to S105 and current is continued in the current status ST2. If it is determined that the current hold time Xh2 has elapsed (S106: YES), the process proceeds to S107.
  • the drive control unit 55 applies current in the current status ST3. For example, when the U-phase is disconnected and the switching direction is forward, current is applied to the V-phase.
  • the drive control unit 55 determines whether the current hold time Xh3 in the current status ST3 has elapsed. If it is determined that the current hold time Xh3 has not elapsed (S108: NO), the process returns to S107 and current is continued in the current status ST3. If it is determined that the current hold time Xh3 has elapsed (S108: YES), the process proceeds to S109 and the pre-switching preparation complete flag is turned on. The pre-switching preparation complete flag is turned off at any time after the start of range switching.
  • the drive control unit 55 drives the motor 10 from a one-phase, one-tooth opposing state at a predetermined position according to the broken phase and rotation direction, and performs range switching by feedback control in normal two phases.
  • the control unit 50 determines whether the range switching is complete. If it is determined that the range switching is not complete (S111: NO), the process returns to S109 and continues feedback control in normal two phases. If it is determined that the range switching is complete (S111: YES), the process transitions to standby mode and ends this process.
  • the horizontal axis represents a common time axis, and from the top, the motor control mode, one-phase breakage detection status, pre-switching preparation completion flag, motor rotation angle, and current phase are shown.
  • the motor rotation angle is a value that can be converted from the encoder count value, with the actual value shown as a solid line and the target value shown as a dashed line, with P representing when the detent roller 26 is at the bottom of the valley 211 and notP representing when it is at the bottom of the valley 212.
  • P representing when the detent roller 26 is at the bottom of the valley 211
  • notP representing when it is at the bottom of the valley 212.
  • pre-switching preparation processing is performed.
  • the energized phase is switched at predetermined time intervals in the order of energized status ST1, ST2, ST3.
  • the energized phases of energized status ST1, ST2, ST3 are set according to the broken phase and switching direction.
  • the energization status ST2 is two-phase energization
  • the rotor 103 is likely to stabilize, and the energization hold time Xh2 can be a relatively short time.
  • the pre-switch preparation completion flag is turned on, and range switching is performed with feedback control using the two normal phases.
  • stop control is performed.
  • the stop control in this embodiment is fixed phase current supply to the two normal phases.
  • the motor 10 when the motor 10 is driven by energizing the normal two phases when one phase is broken, the motor 10 is energized in the order of one phase, two phase, and one phase as pre-switching preparation processing before starting to drive. This allows the motor 10 to start driving from a one-phase, one-tooth state in which the convex portion 104 of the rotor 103 faces the energized phase at the start of switching.
  • the ECU 40 controls the driving of a motor having three-phase motor windings 11, and includes a drive circuit 41 and a control unit 50.
  • the drive circuit 41 has switching elements 411-413 that switch on and off the power supply to each phase of the motor windings 11.
  • the control unit 50 has a drive control unit 55 that controls the on/off operation of the switching elements 411-413 by feedback control based on the detection value of the encoder 13 that detects the rotational position of the motor 10, and an abnormality determination unit 52 that determines whether the motor windings 11 have an open circuit.
  • a wire breakage fault occurs in one of the three phases and normal two-phase drive is performed to drive the motor 10 using the two normal phases
  • the drive control unit 55 performs pre-switching preparation processing to energize the energized phase after energizing it in a pattern different from the energization pattern to the energized phase that is the energized phase at the start of normal two-phase drive.
  • a wire breakage fault is a fault that prevents current from flowing through the coil, and includes a wire breakage in the harness and a switching element stuck off.
  • the rotor 103 By performing pre-switching preparation processing, the rotor 103 can be rotated to a position where the stator 101 and rotor 103 face each other and torque can be generated in normal two-phase drive. This allows the motor 10 to be driven appropriately when one phase is broken.
  • the drive control unit 55 switches the energized phase as a pre-energization preparation process in the order of energization status ST1, which is a first energization process in which energization is performed to phase 1 of the normal phases, energization status ST2, which is a second energization process in which energization is performed to phase 2 of the normal phases, and energization status ST3, which is a third energization process in which energization is performed to the energized holding phase of phase 1.
  • This allows the opposing positions of the stator 101 and rotor 103 to be appropriately aligned to a predetermined position.
  • the energized phase in the pre-switching preparation process is set according to the disconnection phase and the rotation direction of the motor 10, and the energized phase of the energized status ST1 is the phase that is energized before the disconnection phase in terms of the switching order of the energized phases. This allows the opposing positions of the stator 101 and the rotor 103 to be properly aligned.
  • Fig. 13 differs from Fig. 11 in that S120 is added between S106 and S107.
  • the control unit 50 sets the energization hold time Xh3 of the energization status ST3 according to the ambient temperature H.
  • the ambient temperature H is less than the first judgment threshold Hth1
  • the energization hold time is Xp.
  • the energization hold time is Xq.
  • the energization hold time is Xr.
  • the magnitude relationship of each value is Hth1 ⁇ Hth2, Xp ⁇ Xq ⁇ Xr.
  • the ambient temperature H is the environmental temperature of the motor 10, and may be the temperature of the motor 10 itself, or may be the temperature of other parts arranged near the motor 10, such as the oil temperature of the transmission.
  • the energization status ST13 is maintained in a one-phase, one-tooth state with one-phase energization.
  • the rotor 103 is likely to vibrate.
  • the ambient temperature H is low, friction is large and the rotor 103 is less likely to vibrate. Therefore, in this embodiment, the lower the ambient temperature H, the shorter the energization hold time Xh3 in the energization status ST3 can be, thereby improving responsiveness.
  • the energization hold time Xh3 is set to three stages using two judgment thresholds Hth1 and Hth2, but the judgment threshold may be 1 or more, and the number of stages does not matter.
  • the energization hold time Xh3 may be set by calculation using a map or function according to the ambient temperature H. Furthermore, similar to the energization status ST3, the energization hold time Xh1 of the energization status ST1, which is one-phase energization, may also be variable according to the ambient temperature H.
  • the energization time in the pre-switching preparation process is variable depending on the motor temperature.
  • the lower the motor temperature the shorter the energization time of energization status ST3 is set. This allows the energization time to be set appropriately depending on the motor temperature, which contributes to improving responsiveness especially at low temperatures. It also provides the same effects as the above embodiment.
  • the control unit 50 determines whether the amplitude A1 is equal to or less than the amplitude determination threshold Ath1.
  • the amplitude A1 is, for example, the difference between the maximum and minimum values of the n encoder count values prior to the current holding time Xh1 having elapsed. The details of the calculation of the amplitude A1 are not important.
  • the amplitude determination threshold Ath1 is set to a value at which the rotor 103 can be considered to be held in a one-phase, one-tooth state. The same applies to the amplitude A3 and amplitude determination threshold Ath3 described below.
  • the amplitude determination thresholds Ath1 and Ath3 may be the same or different.
  • the process proceeds to S207, and energization begins in energization status ST2. If it is determined that the amplitude A1 is greater than the amplitude judgment threshold Ath1 (S205: NO), the process proceeds to S206, and energization in energization status ST1 is extended by a predetermined time Xa. Thereafter, the process proceeds to S207, and energization begins in energization status ST2.
  • the processes of S207 to S210 are the same as those of S105 to S108.
  • the control unit 50 determines whether the amplitude A3 is equal to or less than the amplitude determination threshold Ath3. If it is determined that the amplitude A3 is equal to or less than the amplitude determination threshold Ath3 (S211: YES), the control unit 50 proceeds to S213 and performs range switching in normal two phases. If it is determined that the amplitude A3 is greater than the amplitude determination threshold Ath3 (S211: NO), the control unit 50 proceeds to S211 and extends current flow in current status ST3 by a predetermined time Xc. The extension times for current status ST1 and ST3 may be the same or different.
  • the processes in S213 to S215 are similar to the processes in S109 to S111 in FIG. 11.
  • the range switching process of this embodiment will be explained based on the time chart in FIG. 15.
  • the amplitude determination thresholds Ath1 and Ath3 are explained as being equal.
  • the vibration component with one phase current is emphasized.
  • the process from time x10 to x12 is the same as the process from time x0 to x2 in FIG. 12.
  • the rotor 103 vibrates due to one-phase current flow in the current flow status ST1, but because the amplitude A1 at time x13 after the current flow holding time Xh1 has elapsed is equal to or less than the amplitude determination threshold Ath1, the current flow status ST1 is not extended and is switched to current flow status ST2. In current flow status ST2, two-phase current flow occurs, so the vibration of the rotor 103 is relatively small.
  • the energization time is extended. This makes it possible to improve the accuracy of holding the opposing positions in one-phase energization, where the opposing state between the stator 101 and rotor 103 is more likely to be unstable compared to two-phase energization. It also provides the same effects as the above embodiment.
  • FIG. 16 differs from Fig. 14 in that S231 and S232 are replaced with S206, and S233 and S234 are replaced with S212.
  • S205 which is performed after the energization hold time Xh1 has elapsed in the energization status ST1, if it is determined that the amplitude A1 is greater than the amplitude determination threshold Ath1 (S205: NO), the energization status ST1 is extended in S231.
  • the control unit 50 determines whether the timeout time Xout1 has elapsed since the start of the extension of the power-on status ST1. If it is determined that the timeout time has not elapsed (S232: NO), the extension of the power-on status ST1 continues and the process returns to S205. If it is determined that the timeout time Xout1 has elapsed (S232: YES), the process proceeds to S207 and the power-on state is switched to the power-on status ST2.
  • control unit 50 determines whether the timeout time Xout3 has elapsed since the start of the extension of the power-on status ST3. If it is determined that the timeout time Xout3 has not elapsed (S234: NO), the extension of the power-on status ST3 continues and the process returns to S205. If it is determined that the timeout time Xout3 has elapsed (S234: YES), the process proceeds to S213.
  • Figure 17 shows a case where the vibration subsides before the timeout period Xout3.
  • the process from time x20 to time x25 is the same as the process from time x10 to time x15 in Figure 15.
  • the amplitude A3 is greater than the amplitude determination threshold Ath3, so the current flow in the current flow status ST3 is extended.
  • the processing from time x26 onwards is the same as in the example above.
  • FIG. 18 shows a case where the vibration does not converge within the timeout period Xout3.
  • the processing from time x30 to time x35 is the same as the processing from time x10 to time x15 in FIG. 15.
  • the amplitude A3 is greater than the amplitude determination threshold Ath3, so the current flow in the current flow status ST3 is extended.
  • time x36 when the timeout time Xout3 has elapsed since time x35, which is the start time of the power-on status ST3, the amplitude A3 continues to be greater than the amplitude determination threshold Ath3, but the pre-switch preparation flag is turned on as a timeout, and range switching is performed in normal two phases.
  • the processing from time x36 onwards is the same as in the example above.
  • the current status ST3 just before the pre-switching preparation is complete is one-phase current, so the rotor 103 is prone to vibration and the opposing position is difficult to determine. Therefore, if the timeout period Xout3 has elapsed, even if the vibration has not subsided, it is assumed that the rotor 103 has completed moving to the specified opposing position, and pre-switching preparation is completed. This allows the range switching to begin appropriately.
  • the drive control unit 55 transitions to the next current flow process when the timeout times Xout1 and Xout3 have elapsed since the start of the extension of current flow.
  • the drive control unit 55 transitions to current flow status ST2
  • the timeout time Xout3 has elapsed in current flow status ST3
  • the drive control unit 55 initiates range switching in normal two-phase drive. This allows the drive control unit 55 to appropriately switch to the next current flow process even if vibrations do not subside with one-phase current flow. It also provides the same effects as the above embodiment.
  • FIG. 19 A fifth embodiment is shown in Fig. 19 to Fig. 22.
  • a retry is performed.
  • the range switching process of this embodiment will be described with reference to the flowchart of Fig. 19.
  • S301 and S302 are the same as those of S101 and S102 in FIG. 11. If it is determined that a switch request has been made (S302: YES), the process proceeds to S303, where a retry flag, which will be described later, is turned off.
  • S304 to S306 is the same as the processing of S203 to S205 in FIG. 14. If it is determined that the amplitude A1 is equal to or less than the amplitude judgment threshold Ath1 (S306: YES), the process proceeds to S308. If it is determined that the amplitude A1 is greater than the amplitude judgment threshold Ath1 (S306: NO), the process proceeds to S307, and the retry flag is turned on.
  • S308 to S312 is the same as the processing of S207 to S211 in FIG. 14. If it is determined that the amplitude A3 is greater than the amplitude judgment threshold Ath3 (S312: NO), the process proceeds to S314, where the retry flag is turned on. If it is already on, the state is maintained. If it is determined that the amplitude A3 is equal to or less than the amplitude judgment threshold Ath3 (S312: YES), the process proceeds to S313.
  • the control unit 50 determines whether or not a voltage drop has occurred between the start of current flow in the current flow status ST1 and the end of current flow in the current flow status ST3, causing the motor voltage Vm to fall below the voltage determination threshold Vth. Instead of a voltage drop, the control unit 50 may determine whether or not a current drop has occurred, causing the motor current Im to fall below the current determination threshold Ith. If it is determined that no voltage drop has occurred (S313: NO), the process proceeds to S315. If it is determined that a voltage drop has occurred (S313: YES), the process proceeds to S314, where the retry flag is turned on. Note that, for the sake of explanation, the control unit 50 determines whether or not a voltage drop has occurred after the end of current flow status ST3, but the control unit 50 may also perform voltage monitoring separately from this process and turn on the retry flag when a voltage drop occurs.
  • control unit 50 determines whether the retry flag is on. If it is determined that the retry flag is off (S315: NO), the control unit 50 proceeds to S319. If it is determined that the retry flag is on (S315: YES), the control unit 50 proceeds to S316 and increments the retry counter Cr.
  • the control unit 50 determines whether the retry counter Cr is smaller than the count determination threshold Cth. If it is determined that the retry counter Cr is smaller than the count determination threshold Cth (S317: YES), the process returns to S303, the retry flag is turned off, and pre-switch preparation is retried. If it is determined that the retry counter Cr is equal to or greater than the count determination threshold Cth (S317: NO), the process proceeds to S318.
  • control unit 50 determines whether the input switching request is to switch from P range to not P range. If it is determined that the request is to switch from P range to not P range (S303: YES), the processing from S319 onwards is skipped. If it is determined that the request is to switch from not P range to P range (S318: NO), the process proceeds to S319, where the retry flag is turned off and the pre-switch preparation completion flag is turned on.
  • the processing of S320 and S321 is the same as the processing of S110 and S111 in FIG. 11.
  • the state in which the retry flag is set can be considered as a state in which the retry condition is met.
  • S318 may be omitted, and normal two-phase drive may be performed after a predetermined number of retries regardless of the range switching direction.
  • Figure 20 shows an example of a case where a voltage drop occurs during pre-switching preparation processing, with a common time axis as the horizontal axis, and from the top, motor control, one-phase breakage detection status, pre-switching preparation completion flag, retry flag, retry counter, motor voltage, and current-carrying phase.
  • Figure 22 shows an example of a case where a voltage drop occurs during pre-switching preparation processing, with a common time axis as the horizontal axis, and from the top, motor control, one-phase breakage detection status, pre-switching preparation completion flag, retry flag, retry counter, motor voltage, and current-carrying phase.
  • Figure 22 shows an example of a case where a voltage drop occurs during pre-switching preparation processing, with a common time axis as the horizontal axis, and from the top, motor control, one-phase breakage detection status, pre-switching preparation completion flag, retry flag, retry counter, motor voltage, and current-
  • the processing from time x40 to time x42 is the same as the processing from time x0 to time x2 in FIG. 12.
  • the retry flag is turned on.
  • the retry flag is on, so the pre-switch preparation process is retried.
  • the retry flag is turned off and the retry counter is incremented. From time x44 to time x45, power is again applied with the power-on statuses ST1 to ST3.
  • the retry counter is reset at any timing after the start of range switching. In FIG. 20, the retry counter is reset when the pre-switching preparation complete flag is turned off, but it may be reset at a different timing.
  • FIG. 21 shows an example of a case where the vibration at the energization status ST3 has not converged, with a common time axis as the horizontal axis, and from the top, motor control, one-phase breakage detection state, pre-switching preparation completion flag, retry flag, retry counter, rotation angle sensor, and energized phase.
  • the processing from time x50 to time x52 is the same as the processing from time x0 to time x2 in FIG. 12.
  • the amplitude A3 is greater than the amplitude judgment threshold Ath3, so the retry flag is turned on and the pre-switching preparation process is retried at time x54.
  • the retry flag is turned off and the retry counter is incremented. Note that for the sake of explanation, time x53 is shifted to the left side of the page in FIG. 21.
  • the amplitude A1 after the energization status ST1 ends is less than or equal to the amplitude judgment threshold Ath1, but if the amplitude A1 is greater than the amplitude judgment threshold Ath1, the retry flag is set when the energization status ST1 ends.
  • FIG. 22 shows an example of a case where a voltage drop occurs even after a retry.
  • the range is switched from not P to P.
  • the processing from time x60 to time x64 is the same as the processing from time x40 to time x44 in FIG. 20.
  • the retry flag is turned on.
  • the retry flag is on, so the retry flag is turned off and the retry counter is incremented.
  • the count determination threshold Cth is 2, a second retry is not performed, the pre-switch preparation completion flag is turned on, and range switching is performed in normal two phases.
  • the processing after time x66 is substantially the same as the processing after time x3 in FIG. 12.
  • the pre-switching preparation process is retried. Furthermore, if the vibration does not converge in the energization status ST1, when the energization status is switched to ST2 or ST3, there is a risk that the opposing state will not change to two phases, two teeth, or one phase, one tooth, for example, because the recesses will be opposed, and so the pre-switching preparation is retried.
  • the pre-switching preparation process is retried. This makes it possible to start range switching in a normal two-phase opposing state.
  • the pre-switching preparation process is performed again.
  • the control unit 50 determines that the retry condition is met if the amplitudes A1, A3 of the motor rotation angle when the current hold times Xh1, Xh3 have elapsed are greater than the amplitude judgment thresholds Ath1, Ath3 in at least one of the current-on status ST1 and current-on status ST3.
  • the control unit 50 also determines that the retry condition is met if the motor voltage Vm or motor current Im becomes smaller than the judgment threshold during pre-start switching preparation. This can improve the accuracy of the pre-switching preparation process.
  • the drive control unit 55 starts normal two-phase drive. This makes it possible to start driving the motor 10 even when there is a large amount of vibration.
  • the ECU 40 is applied to a shift-by-wire system, and when the number of retries is equal to or greater than the number of judged retries and the retry condition is met, it allows switching from a range other than the P range to the P range by normal two-phase drive, and prohibits switching from the P range to a range other than the P range. This allows the shift range to be switched appropriately, and also provides the same effects as the above embodiment.
  • Sixth Embodiment 23 to 27 show the sixth embodiment.
  • a pre-switching preparation process is performed.
  • the pre-switching preparation process is performed in advance before a range switching request is made.
  • the startup process of this embodiment will be described with reference to the flowchart in FIG. 23.
  • This process is executed when a vehicle start switch, such as an ignition switch, is turned on.
  • the control unit 50 determines whether or not the initial drive has been completed.
  • the initial drive process is a current application process for matching the relative positions of the encoder 13 and the rotor 103. If it is determined that the initial drive has not been completed (S401: NO), this determination process is repeated. If it is determined that the initial drive has been completed (S401: YES), the process proceeds to S402.
  • S402 is the same as the process of S101 in FIG. 11. If it is determined that a single-phase break has not been detected (S402: NO), the subsequent processes are skipped. If it is determined that a single-phase break has been detected (S402: YES), the process proceeds to S403.
  • S403 to S408 are pre-switching preparation processes similar to S103 to S108 in FIG. 11.
  • the control unit 50 turns on the pre-switching preparation completion flag in S409, transitions to standby mode in S410, and ends this process.
  • the encoder count value when the pre-switching preparation process is completed is stored as an initial value ENi in a storage unit such as a RAM (not shown).
  • S501 and S502 are the same as the processes of S101 and S102 in FIG. 11. If it is determined that there is a switching request (S502: YES), the process proceeds to S505, and if it is determined that there is no switching request (S502: NO), the process proceeds to S503.
  • the control unit 50 determines whether the amount of rotation ⁇ EN, which is the difference between the current encoder count value EN and the initial value ENi, is 0. If it is determined that the amount of rotation ⁇ EN is 0 (S503: YES), that is, if the rotor 103 has not moved since the pre-switching preparation process was completed, the subsequent processes are skipped. If it is determined that the amount of rotation ⁇ EN is not 0 (S503: NO), that is, if the rotor 103 has moved since the pre-switching preparation was completed, the process proceeds to S504 and the pre-switching preparation completion flag is turned off.
  • control unit 50 proceeds to S505, where it determines whether the pre-switching preparation complete flag is on or not. If it is determined that the pre-switching preparation complete flag is on (S505: YES), it proceeds to S516. If it is determined that the pre-switching preparation complete flag is off (S505: NO), it proceeds to S506.
  • the control unit 50 determines whether the rotation amount ⁇ EN is smaller than the rotation amount determination threshold ENth.
  • the rotation amount determination threshold ENth is a value corresponding to the rotation amount when one current-carrying phase is switched, and is, for example, two counts of the encoder count value. If it is determined that the rotation amount ⁇ EN is smaller than the rotation amount determination threshold ENth (S507: YES), the process proceeds to S507. If it is determined that the rotation amount ⁇ EN is equal to or greater than the rotation amount determination threshold ENth (S507: NO), the process proceeds to S509.
  • S508 and S509 are the same as those of S107 and S108 in FIG. 11, and power is supplied in the power status ST3 for the power supply holding time Xh3. If it is determined in the power supply status ST3 that the power supply holding time Xh3 has elapsed (S508: YES), the process proceeds to S515.
  • the processing of S509 to S514 is the same as the processing of S103 to S108 in FIG. 11. If the rotation amount ⁇ EN is equal to or greater than the rotation amount determination threshold ENth, the pre-switch preparation processing is performed by switching the current status to ST1, ST2, and ST3. If it is determined in the current status ST3 that the current hold time Xh3 has elapsed (S514: YES), the process proceeds to S515.
  • S515 to S517 is the same as the processing of S109 to S111 in FIG. 11, and range switching is performed in normal two phases. If it is determined that range switching is complete (S517: YES), the process proceeds to S518 and pre-switch preparation processing is performed.
  • pre-switch preparation processing is performed by switching the current status between ST1, ST2, and ST3, as in S509 to S515. After the current hold time Xh3 has elapsed in current status ST3, the pre-switch preparation completion flag is turned on and the standby mode is entered in S519.
  • the encoder count value EN at the time pre-switch preparation completion is completed is retained as the initial value ENi.
  • the rotor 103 is not moving during standby, and the pre-switch preparation complete flag remains on.
  • the pre-switch preparation complete flag is on, so range switching is performed from this state using feedback control using normal two phases.
  • stop control is performed.
  • pre-switch preparation processing is performed in preparation for the next range switching. Since the rotation direction will be reversed in the next range switching, if there is a break in the U phase, current is applied in the order of V phase ⁇ VW phase ⁇ W phase.
  • the pre-switch preparation complete flag is turned on and the mode transitions to standby mode.
  • the processing from time x80 to time x83 is the same as the processing from time x70 to time x73 in FIG. 25.
  • the pre-switching preparation completion flag is turned off.
  • the pre-switch preparation completion flag is off, so pre-switch preparation processing is performed again.
  • the rotation amount ⁇ EN from pre-switch preparation completion is smaller than the rotation amount determination threshold ENth, so as pre-switch preparation processing, V-phase current is applied if only the current flow status ST3 is present, i.e., forward rotation with U-phase disconnection.
  • the pre-switch preparation completion flag is turned on and range switching is performed with feedback control using the two normal phases.
  • the process after time x86 is the same as the process after time x74 in FIG. 25.
  • the processing from time x90 to time x93 is the same as the processing from x70 to x73 in FIG. 25.
  • the pre-switching preparation completion flag is turned off.
  • the pre-switch preparation completion flag is off, so the pre-switch preparation process is performed again.
  • the rotation amount ⁇ EN from the pre-switch preparation completion is equal to or greater than the rotation amount determination threshold ENth, so the energized phases are switched in the order of energization status ST1, ST2, ST3, as in the pre-switch preparation process from time x92 to time x93, etc.
  • the pre-switch preparation completion flag is turned on and range switching is performed with feedback control using the two normal phases.
  • the process after time x96 is the same as the process after time x74 in FIG. 25.
  • the time required for range switching can be reduced compared to when pre-switch preparation processing is performed after a shift request.
  • pre-switch preparation processing is performed in advance, there is a risk that the rotor 103 may move due to vibration or the like before a shift range switching request is input, which may change the opposing state between the stator 101 and the rotor 103. Therefore, if the rotor 103 moves after the pre-switch preparation processing is completed, the pre-switch preparation processing is performed again before the range switching.
  • the time required for the pre-switching preparation process can be shortened by performing the pre-switching preparation process only with the energizing status ST3, compared to when energizing is performed from the energizing status ST1. Also, if the amount of rotation ⁇ EN of the rotor 103 is equal to or greater than the rotation amount determination threshold ENTh, it is possible to start range switching from a specified opposing state by energizing the energizing statuses ST1 to ST3.
  • the response time is the time from the input of the shift range switching request to the start of stop control, the response time when the rotor 103 does not move from the completion of pre-switching preparation to the input of the shift range switching request is Xr1, the response time when the rotation amount ⁇ EN until the input of the shift range switching request is smaller than the rotation amount determination threshold ENth is Xr2, and the response time when the rotation amount ⁇ EN until the input of the shift range switching request is equal to or greater than the rotation amount determination threshold ENth is Xr3, where Xr1 ⁇ Xr2 ⁇ Xr3.
  • the drive control unit 55 when a wire breakage fault occurs in one of the three phases and normal two-phase drive is performed to drive the motor using the two normal phases, the drive control unit 55 performs pre-switching preparation processing to energize the energized phase after energizing it in a different energization pattern from the energization to the energized phase at the start of normal two-phase drive at least one of the time of system startup and after control to stop the motor 10. This allows for improved responsiveness compared to when pre-switching preparation processing is performed at the start of starting the motor 10.
  • the pre-switching preparation process is performed again, and then normal two-phase drive is performed.
  • the rotor 103 moves due to vibration or the like between the completion of the pre-switching preparation process and the start of the motor's drive, the pre-switching preparation process is performed again, making it possible to start normal two-phase drive from the appropriate opposing state.
  • the amount of rotation ⁇ EN of the motor 10 from the completion of the pre-switching preparation process to the start of driving the motor 10 is smaller than the rotation amount judgment threshold ENth, energization to phases other than the energized phase is omitted in the pre-switching preparation process before the start of motor driving. This makes it possible to shorten the pre-switching preparation process time before the start of motor driving. Also, the same effects as the above embodiment are achieved.
  • the encoder 13 corresponds to the "rotational position sensor”
  • the encoder count value corresponds to the "detection value of the rotational position sensor”
  • the ECU 40 corresponds to the "motor control device”.
  • the pre-switching preparation process corresponds to the "pre-start preparation process”
  • the energization status ST1 corresponds to the "first energization process”
  • the energization status ST2 corresponds to the "second energization process”
  • the energization status ST3 corresponds to the "third energization process”
  • the energization phase in the energization status ST3 corresponds to the "energization retention phase”.
  • each embodiment can be implemented in an appropriate combination, for example, by varying the power retention time according to the ambient temperature regardless of the timing of the pre-switching preparation process, by extending the power status before performing a retry, and by allowing P-in and prohibiting P-out if a timeout occurs.
  • the pre-energization preparation process switches the energized phase in the order of energization status ST1, ST2, and ST3. In other embodiments, one of the energization statuses ST1 and ST2 may be omitted.
  • the rotation detection unit is an encoder. In other embodiments, a sensor capable of detecting the rotation position other than an encoder, such as a resolver, may be used.
  • the motor is a switched reluctance motor. In other embodiments, the motor may be other than a switched reluctance motor, such as a DC brushless motor. The number of phases of the motor windings may be four or more.
  • the detent plate has two valleys.
  • the number of valleys is not limited to two, and for example, four valleys corresponding to the P, R, N, and D ranges may be formed.
  • the detent mechanism and parking lock mechanism may be different from those in the above embodiment.
  • the motor control device is applied to a shift-by-wire system.
  • the motor control device may be applied to an in-vehicle system other than a shift-by-wire system, or a motor drive system other than an in-vehicle system.
  • the present disclosure may be, for example, "a motor control device according to any one of items 1 to 5, in which the power supply time in the pre-start preparation process is variable depending on the temperature of the motor.”
  • control unit and the method described in the present disclosure may be realized by a dedicated computer provided by configuring a processor and a memory programmed to execute one or more functions embodied in a computer program.
  • control unit and the method described in the present disclosure may be realized by a dedicated computer provided by configuring a processor with one or more dedicated hardware logic circuits.
  • control unit and the method described in the present disclosure may be realized by one or more dedicated computers configured by combining a processor and a memory programmed to execute one or more functions with a processor configured with one or more hardware logic circuits.
  • the computer program may be stored in a computer-readable non-transient tangible recording medium as instructions executed by a computer. As described above, the present disclosure is not limited to the above embodiments, and can be implemented in various forms within the scope of its purpose.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

A motor control device (40) controls the driving of a motor (10) having 3-phase motor windings (11) and comprises a drive circuit (41) and a control unit (50). The drive circuit (41) has switching elements (411 to 413) that switch the on/off of energization to each phase of the motor windings (11). The control unit (50) has: a drive control unit (55) that controls the on/off operation of the switching elements (411 to 413) by a feedback control based on the detection value of a rotational position sensor (13); and an abnormality determination unit (52) that determines a disconnection failure of the motor windings (11). When performing a normal 2-phase drive for driving the motor (10) using normal 2 phases when the disconnection failure occurs in one phase of the 3 phases, the drive control unit (55) performs pre-start preparation processing for performing energization with a pattern different from an energization pattern to an energization holding phase that is an energization phase at the starting of the normal 2-phase drive and then energizing the energization holding phase.

Description

モータ制御装置Motor Control Device 関連出願の相互参照CROSS-REFERENCE TO RELATED APPLICATIONS
　本出願は、２０２２年９月２８日に出願された特許出願番号２０２２－１５５０５８号に基づくものであり、ここにその記載内容を援用する。 This application is based on Patent Application No. 2022-155058, filed on September 28, 2022, the contents of which are incorporated herein by reference.
　本開示は、モータ制御装置に関する。 This disclosure relates to a motor control device.
　従来、モータの駆動を制御するモータ制御装置が知られている。例えば特許文献１では、各相の巻線の通電ラインにそれぞれ断線検出回路を設け、断線を検出している。 　There are known motor control devices that control the drive of a motor. For example, in Patent Document 1, a disconnection detection circuit is provided in each current carrying line of the winding for each phase to detect disconnection.
特開２００４－１２９４５０号公報JP 2004-129450 A
　１相に断線が生じていても、断線が生じている相である断線相をイナーシャで通過できれば、モータの駆動を継続することができる。特許文献１では、断線相の次に切り替えられる通電相を最初の通電相として設定することで、正常相を用いてモータを駆動している。しかしながら、正常な２相のうちの１相で通電を開始した場合、通電相のステータ突極とロータ凹部が対向し、通電相とロータの歯先が対向しない場合がある。本開示の目的は、１相断線時においてモータを適切に駆動可能なモータ制御装置を提供することにある。 Even if a break occurs in one phase, if the inertia can pass the broken phase where the break occurs, the motor can continue to be driven. In Patent Document 1, the energized phase that is switched to next after the broken phase is set as the first energized phase, and the motor is driven using normal phases. However, when energization begins in one of the two normal phases, the stator salient poles of the energized phase and the rotor recesses may face each other, and the energized phase and the rotor teeth may not face each other. The purpose of this disclosure is to provide a motor control device that can properly drive a motor when one phase is broken.
　本開示のモータ制御装置は、３相のモータ巻線を有するモータの駆動を制御するものであって、駆動制御部と、制御部と、を備える。駆動回路は、モータ巻線の各相への通電のオンオフを切り替えるスイッチング素子を有する。制御部は、モータの回転位置を検出する回転位置センサの検出値に基づくフィードバック制御によりスイッチング素子のオンオフ作動を制御する駆動制御部、および、モータ巻線の断線故障を判定する異常判定部を有する。 The motor control device disclosed herein controls the drive of a motor having three-phase motor windings, and includes a drive control unit and a control unit. The drive circuit has switching elements that switch on and off the power supply to each phase of the motor windings. The control unit has a drive control unit that controls the on/off operation of the switching elements by feedback control based on the detection value of a rotational position sensor that detects the rotational position of the motor, and an abnormality determination unit that determines whether the motor windings have an open circuit.
　駆動制御部は、３相のうちの１相に断線故障が生じており、正常な２相を用いてモータを駆動する正常２相駆動を行う場合、正常２相駆動開始時の通電相である通電保持相への通電パターンとは異なるパターンでの通電を行った後に通電保持相に通電する始動前準備処理を行う。これにより、１相断線時においてモータを適切に駆動することができる。 When a wire breakage fault occurs in one of the three phases and normal two-phase drive is performed to drive the motor using the two normal phases, the drive control unit performs pre-start preparation processing to energize the energized phase after energizing it in a pattern different from the energization pattern to the energized phase that is the energized phase when normal two-phase drive begins. This allows the motor to be driven appropriately when one phase is broken.
　本開示についての上記目的及びその他の目的、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実施形態によるシフトバイワイヤシステムを示す斜視図であり、 図２は、第１実施形態によるシフトバイワイヤシステムを示す概略構成図であり、 図３は、第１実施形態によるＥＣＵを説明する回路図であり、 図４は、第１実施形態によるモータを示す模式図であり、 図５は、第１実施形態による通電相番号を通電相とが関連づけられたマップであり、 図６は、第１実施形態による断線相と切替方向に応じた対向位置を説明する説明図であり、 図７は、第１実施形態において、Ｕ相断線時において正転方向に駆動する場合の通電開始時の対向状態を示す模式図であり、 図８は、第１実施形態において、正常２相でのモータ駆動を説明する説明図であり、 図９は、第１実施形態による切替前準備処理における通電相の切り替えを説明する説明図であり、 図１０は、第１実施形態による切替前準備処理におけるロータの挙動を説明する説明図であり、 図１１は、第１実施形態によるレンジ切替処理を説明するフローチャートであり、 図１２は、第１実施形態によるレンジ切替処理を説明するタイムチャートであり、 図１３は、第２実施形態によるレンジ切替処理を説明するフローチャートであり、 図１４は、第３実施形態によるレンジ切替処理を説明するフローチャートであり、 図１５は、第３実施形態によるレンジ切替処理を説明するタイムチャートであり、 図１６は、第４実施形態によるレンジ切替処理を説明するフローチャートであり、 図１７は、第４実施形態によるレンジ切替処理を説明するタイムチャートであり、 図１８は、第４実施形態によるレンジ切替処理を説明するタイムチャートであり、 図１９は、第５実施形態によるレンジ切替処理を説明するフローチャートであり、 図２０は、第５実施形態によるレンジ切替処理を説明するタイムチャートであり、 図２１は、第５実施形態によるレンジ切替処理を説明するタイムチャートであり、 図２２は、第５実施形態によるレンジ切替処理を説明するタイムチャートであり、 図２３は、第６実施形態による起動時処理を説明するフローチャートであり、 図２４は、第６実施形態によるレンジ切替処理を説明するフローチャートであり、 図２５は、第６実施形態によるレンジ切替処理を説明するタイムチャートであり、 図２６は、第６実施形態によるレンジ切替処理を説明するタイムチャートであり、 図２７は、第６実施形態によるレンジ切替処理を説明するタイムチャートである。 The above and other objects, features and advantages of the present disclosure will become more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a perspective view showing a shift-by-wire system according to a first embodiment; FIG. 2 is a schematic configuration diagram showing a shift-by-wire system according to a first embodiment. FIG. 3 is a circuit diagram illustrating an ECU according to a first embodiment; FIG. 4 is a schematic diagram showing a motor according to a first embodiment; FIG. 5 is a map in which energized phase numbers are associated with energized phases according to the first embodiment; FIG. 6 is an explanatory diagram illustrating a disconnection phase and a facing position according to a switching direction according to the first embodiment; FIG. 7 is a schematic diagram showing an opposing state at the start of energization when driving in the forward direction in the event of a U-phase disconnection in the first embodiment; FIG. 8 is an explanatory diagram for explaining motor drive in normal two-phase in the first embodiment; FIG. 9 is an explanatory diagram illustrating switching of energized phases in a pre-switching preparation process according to the first embodiment; FIG. 10 is an explanatory diagram illustrating a behavior of a rotor in a pre-switching preparation process according to the first embodiment; FIG. 11 is a flowchart illustrating a range switching process according to the first embodiment. FIG. 12 is a time chart illustrating the range switching process according to the first embodiment. FIG. 13 is a flowchart illustrating a range switching process according to the second embodiment. FIG. 14 is a flowchart illustrating a range switching process according to the third embodiment. FIG. 15 is a time chart illustrating the range switching process according to the third embodiment. FIG. 16 is a flowchart illustrating a range switching process according to the fourth embodiment. FIG. 17 is a time chart illustrating the range switching process according to the fourth embodiment. FIG. 18 is a time chart illustrating the range switching process according to the fourth embodiment. FIG. 19 is a flowchart illustrating a range switching process according to the fifth embodiment. FIG. 20 is a time chart illustrating the range switching process according to the fifth embodiment. FIG. 21 is a time chart illustrating the range switching process according to the fifth embodiment. FIG. 22 is a time chart illustrating the range switching process according to the fifth embodiment. FIG. 23 is a flowchart illustrating a startup process according to the sixth embodiment. FIG. 24 is a flowchart illustrating a range switching process according to the sixth embodiment. FIG. 25 is a time chart illustrating the range switching process according to the sixth embodiment. FIG. 26 is a time chart illustrating the range switching process according to the sixth embodiment. FIG. 27 is a time chart illustrating the range switching process according to the sixth embodiment.
　　　（第１実施形態）
　以下、本開示によるモータ制御装置を図面に基づいて説明する。以下、複数の実施形態において、実質的に同一の構成には同一の符号を付して説明を省略する。 First Embodiment
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A motor control device according to the present disclosure will now be described with reference to the drawings. In the following, in a number of embodiments, substantially the same configurations are designated by the same reference numerals, and descriptions thereof will be omitted.
　第１実施形態を図１～図１２に示す。図１および図２に示すように、シフトバイワイヤシステム１は、モータ１０、ディテント機構２０、パーキングロック機構３０、および、モータ制御装置としてのＥＣＵ４０等を備える。 The first embodiment is shown in Figs. 1 to 12. As shown in Figs. 1 and 2, the shift-by-wire system 1 includes a motor 10, a detent mechanism 20, a parking lock mechanism 30, and an ECU 40 as a motor control device.
　モータ１０は、図示しない車両に搭載されるバッテリ９０から電力が供給されることで回転し、ディテント機構２０の駆動源として機能する。モータ１０は、例えばスイッチトリラクタンスモータである。 The motor 10 rotates when power is supplied from a battery 90 mounted on the vehicle (not shown), and functions as a drive source for the detent mechanism 20. The motor 10 is, for example, a switched reluctance motor.
　図３および図４に示すように、モータ１０は、ステータ１０１、ロータ１０３、および、モータ巻線１１等を有する。モータ巻線１１は、Ｕ相コイル１１１、Ｖ相コイル１１２およびＷ相コイル１１３を有し、ステータ１０１の突極１０２に巻回される。コイル１１１～１１３は、結線部１１５で結線される。結線部１１５は、モータリレー９１およびヒューズ９２を経由してバッテリ９０と接続される。 As shown in Figures 3 and 4, the motor 10 has a stator 101, a rotor 103, and a motor winding 11. The motor winding 11 has a U-phase coil 111, a V-phase coil 112, and a W-phase coil 113, and is wound around the salient pole 102 of the stator 101. The coils 111 to 113 are connected at a connection part 115. The connection part 115 is connected to the battery 90 via a motor relay 91 and a fuse 92.
　ロータ１０３は、突極を有し、ステータ１０１の径方向内側に回転可能に設けられている。ロータ１０３は、コイル１１１～１１３の通電相を切り替えることで回転駆動される。本実施形態では、ステータ１０１の突極数が１２、ロータ１０３の突極数が８である。以下適宜、ロータ１０３の突極を凸部１０４、凸部間を凹部１０５とする。 The rotor 103 has salient poles and is rotatably mounted radially inside the stator 101. The rotor 103 is rotationally driven by switching the current phase of the coils 111 to 113. In this embodiment, the stator 101 has 12 salient poles and the rotor 103 has 8 salient poles. Hereinafter, the salient poles of the rotor 103 will be referred to as convex portions 104, and the spaces between the convex portions will be referred to as concave portions 105.
　エンコーダ１３は、磁気式のロータリーエンコーダであって、ロータ１０３の回転位置を検出する。エンコーダ１３は、磁気検出用のホール素子１３１、１３２、および、ロータ１０３と一体に回転するマグネット１３５等から構成される。ホール素子１３１、１３２は、ロータ１０３の回転に同期して、所定角度ごとにパルス信号を出力する。本実施形態では、ホール素子１３１、１３２がＮ極に対向しているときＬｏ、Ｓ極に対向しているときＨｉの信号を出力する。 Encoder 13 is a magnetic rotary encoder that detects the rotational position of rotor 103. Encoder 13 is composed of Hall elements 131 and 132 for magnetic detection, and a magnet 135 that rotates integrally with rotor 103. Hall elements 131 and 132 output pulse signals every predetermined angle in synchronization with the rotation of rotor 103. In this embodiment, Hall elements 131 and 132 output a Lo signal when facing the N pole, and a Hi signal when facing the S pole.
　マグネット１３５は、円環状に形成されており、ロータ１０３と同軸に配置されている。マグネット１３５は、Ｎ極とＳ極とが円周方向に交互に等ピッチで着磁されている。本実施形態の着磁ピッチは７．５°である。この着磁ピッチは、モータ１０の励磁１回あたりのロータ１０３の回転角度と同じである。すなわち、Ｕ相→ＵＶ相→Ｖ相→ＶＷ相→Ｗ相→ＷＵ相と通電相を切り替えていく１－２相励磁方式で６回の通電相の切り替えを行って一巡すると、ロータ１０３が機械角で７．５×６＝４５°回転する。 The magnet 135 is formed in an annular shape and is arranged coaxially with the rotor 103. The magnet 135 is magnetized with alternating north and south poles at equal pitches in the circumferential direction. In this embodiment, the magnetization pitch is 7.5°. This magnetization pitch is the same as the rotation angle of the rotor 103 per excitation of the motor 10. In other words, when the 1-2 phase excitation method switches the energized phase from U phase → UV phase → V phase → VW phase → W phase → WU phase, and switches the energized phase six times to complete one cycle, the rotor 103 rotates 7.5 x 6 = 45° in mechanical angle.
　ホール素子１３１、１３２は、同一円周上であって、位相差が電気角９０°となるように配置されている。本実施形態では、電気角９０°は機械角の３．７５°に対応しており、ホール素子１３１、１３２は４８．７５°の間隔を空けて配置されている。本実施形態では、ホール素子１３１の信号をＡ相、ホール素子１３２の信号をＢ相とする。なお、エンコーダ１３は２相エンコーダであるが、３相エンコーダであってもよいし、検出信号に加え基準信号としてＺ相信号を出力するものであってもよい。 Hall elements 131 and 132 are arranged on the same circumference with a phase difference of 90° electrical angle. In this embodiment, an electrical angle of 90° corresponds to a mechanical angle of 3.75°, and hall elements 131 and 132 are arranged with an interval of 48.75°. In this embodiment, the signal of hall element 131 is phase A, and the signal of hall element 132 is phase B. Although encoder 13 is a two-phase encoder, it may be a three-phase encoder, or may output a Z-phase signal as a reference signal in addition to the detection signal.
　図１に戻り、減速機１４は、モータ１０のモータ軸と出力軸１５との間に設けられ、モータ１０の回転を減速して出力軸１５に出力する。これにより、モータ１０の回転がディテント機構２０に伝達される。出力軸センサ１６は、例えばポテンショメータであって、出力軸１５の回転位置を検出する（図２参照）。 Returning to FIG. 1, the reducer 14 is provided between the motor shaft of the motor 10 and the output shaft 15, and reduces the rotation of the motor 10 before outputting it to the output shaft 15. This transmits the rotation of the motor 10 to the detent mechanism 20. The output shaft sensor 16 is, for example, a potentiometer, and detects the rotational position of the output shaft 15 (see FIG. 2).
　ディテント機構２０は、ディテントプレート２１、ディテントスプリング２５、および、ディテントローラ２６を有し、減速機１４から出力された回転駆動力をパーキングロック機構３０へ伝達する。 The detent mechanism 20 has a detent plate 21, a detent spring 25, and a detent roller 26, and transmits the rotational driving force output from the reduction gear 14 to the parking lock mechanism 30.
　ディテントプレート２１は、出力軸１５に固定され、モータ１０により駆動される。ディテントプレート２１のディテントスプリング２５側には、２つの谷部２１１、２１２、および、谷部２１１、２１２を隔てる山部２１５が設けられる。 The detent plate 21 is fixed to the output shaft 15 and driven by the motor 10. On the side of the detent spring 25 of the detent plate 21, two valleys 211, 212 and a peak 215 separating the valleys 211, 212 are provided.
　ディテントスプリング２５は、弾性変形可能な板状部材であり、先端にディテントローラ２６が設けられる。ディテントスプリング２５は、ディテントローラ２６をディテントプレート２１の回動中心側に付勢する。 The detent spring 25 is a plate-shaped member that can be elastically deformed, and has a detent roller 26 at its tip. The detent spring 25 biases the detent roller 26 toward the center of rotation of the detent plate 21.
　ディテントプレート２１に所定以上の回転力が加わると、ディテントスプリング２５が弾性変形し、ディテントローラ２６が谷部２１１、２１２間を移動する。ディテントローラ２６が谷部２１１、２１２のいずれかに嵌まり込むことで、ディテントプレート２１の揺動が規制され、パーキングロック機構３０の状態、および、自動変速機５のシフトレンジが決定される。 When a rotational force of a predetermined magnitude or more is applied to the detent plate 21, the detent spring 25 elastically deforms, and the detent roller 26 moves between the valleys 211, 212. When the detent roller 26 fits into either of the valleys 211, 212, the oscillation of the detent plate 21 is restricted, and the state of the parking lock mechanism 30 and the shift range of the automatic transmission 5 are determined.
　パーキングロック機構３０は、パーキングロッド３１、円錐体３２、パーキングレバー３３、軸部３４、および、パーキングギア３５を有する。パーキングロッド３１は、略Ｌ字形状に形成され、一端３１１側がディテントプレート２１に固定される。パーキングロッド３１の他端３１２側には、円錐体３２が設けられる。円錐体３２は、他端３１２側にいくほど縮径するように形成される。ディテントローラ２６がＰレンジに対応する谷部２１１に嵌まり込む方向にディテントプレート２１が回転すると、円錐体３２が矢印Ｐの方向に移動する。 The parking lock mechanism 30 has a parking rod 31, a cone 32, a parking lever 33, a shaft 34, and a parking gear 35. The parking rod 31 is formed in a roughly L-shape, and one end 311 is fixed to the detent plate 21. A cone 32 is provided on the other end 312 of the parking rod 31. The cone 32 is formed so that its diameter decreases as it approaches the other end 312. When the detent plate 21 rotates in a direction in which the detent roller 26 fits into the valley 211 corresponding to the P range, the cone 32 moves in the direction of arrow P.
　パーキングレバー３３は、円錐体３２の円錐面と当接し、軸部３４を中心に揺動可能に設けられる。パーキングレバー３３のパーキングギア３５側には、パーキングギア３５と噛み合い可能な凸部３３１が設けられる。ディテントプレート２１の回転により、円錐体３２が矢印Ｐ方向に移動すると、パーキングレバー３３が押し上げられ、凸部３３１とパーキングギア３５とが噛み合う。一方、円錐体３２が矢印ｎｏｔＰ方向に移動すると、凸部３３１とパーキングギア３５との噛み合いが解除される。 The parking lever 33 abuts against the conical surface of the cone 32 and is arranged to be able to swing around the shaft 34. A protrusion 331 that can mesh with the parking gear 35 is provided on the parking lever 33's parking gear 35 side. When the cone 32 moves in the direction of arrow P due to the rotation of the detent plate 21, the parking lever 33 is pushed up and the protrusion 331 meshes with the parking gear 35. On the other hand, when the cone 32 moves in the direction of arrow not P, the meshing between the protrusion 331 and the parking gear 35 is released.
　パーキングギア３５は、図示しないドライブシャフトと接続しており、パーキングレバー３３の凸部３３１と噛み合い可能に設けられる。パーキングギア３５と凸部３３１とが噛み合うと、ドライブシャフトの回転が規制される。シフトレンジがＰ以外のレンジであるｎｏｔＰレンジのとき、パーキングギア３５はパーキングレバー３３によりロックされず、ドライブシャフトの回転は、パーキングロック機構３０により妨げられない。また、シフトレンジがＰレンジのとき、パーキングギア３５はパーキングレバー３３によってロックされ、ドライブシャフトの回転が規制される。 The parking gear 35 is connected to a drive shaft (not shown) and is arranged so that it can mesh with a protrusion 331 of the parking lever 33. When the parking gear 35 meshes with the protrusion 331, the rotation of the drive shaft is restricted. When the shift range is a not P range other than P, the parking gear 35 is not locked by the parking lever 33, and the rotation of the drive shaft is not hindered by the parking lock mechanism 30. Also, when the shift range is P range, the parking gear 35 is locked by the parking lever 33, and the rotation of the drive shaft is restricted.
　本実施形態では、ＰレンジからｎｏｔＰレンジへ切り替えるときのモータ１０の回転方向を正転方向、ｎｏｔＰレンジからＰレンジへ切り替えるときのモータ１０の回転方向を逆転方向とする。 In this embodiment, the rotation direction of the motor 10 when switching from the P range to the notP range is the forward direction, and the rotation direction of the motor 10 when switching from the notP range to the P range is the reverse direction.
　図２および図３に示すように、ＥＣＵ４０は、駆動回路４１、電流検出部４５、電圧検出回路４６、および、制御部５０等を備える。駆動回路４１は、３つのスイッチング素子４１１、４１２、４１３を有する。スイッチング素子４１１～４１３は、それぞれコイル１１１～１１３と対応して設けられ、対応する相の通電を切り替える。本実施形態では、スイッチング素子４１１～４１３は、コイル１１１～１１３とグランドとの間に設けられている。本実施形態のスイッチング素子４１１～４１３は、ＭＯＳＦＥＴであるが、ＩＧＢＴ等であってもよい。 As shown in Figs. 2 and 3, the ECU 40 includes a drive circuit 41, a current detection unit 45, a voltage detection circuit 46, and a control unit 50. The drive circuit 41 has three switching elements 411, 412, and 413. The switching elements 411 to 413 are provided corresponding to the coils 111 to 113, respectively, and switch the current flow to the corresponding phase. In this embodiment, the switching elements 411 to 413 are provided between the coils 111 to 113 and ground. The switching elements 411 to 413 in this embodiment are MOSFETs, but may also be IGBTs, etc.
　電流検出部４５は、スイッチング素子４１１～４１３のソースとグランドとを接続する集合配線に設けられ、コイル１１１～１１３に流れる電流の和を検出する。以下、電流検出部４５にて検出される電流を、モータ電流Ｉｍとする。電流検出部４５は、コイル１１１～１１３の電流を検出可能ないずれの箇所に設けてもよく、また相毎に設けるようにしてもよい。 Current detection unit 45 is provided on the collective wiring that connects the sources of switching elements 411-413 to ground, and detects the sum of the currents flowing through coils 111-113. Hereinafter, the current detected by current detection unit 45 is referred to as motor current Im. Current detection unit 45 may be provided at any location where it is possible to detect the currents in coils 111-113, and may also be provided for each phase.
　電圧検出回路４６は、コイル１１１～１１３とスイッチング素子４１１～４１３との間に接続され、各相の端子電圧を検出する。リレードライバ４８は、モータリレー９１のオンオフ作動を制御する。 The voltage detection circuit 46 is connected between the coils 111-113 and the switching elements 411-413, and detects the terminal voltage of each phase. The relay driver 48 controls the on/off operation of the motor relay 91.
　制御部５０は、マイコン等を主体として構成され、内部にはいずれも図示しないＣＰＵ、ＲＯＭ、ＲＡＭ、Ｉ／Ｏ、及び、これらの構成を接続するバスライン等を備えている。制御部５０における各処理は、ＲＯＭ等の実体的なメモリ装置（すなわち、読み出し可能非一時的有形記録媒体）に予め記憶されたプログラムをＣＰＵで実行することによるソフトウェア処理であってもよいし、専用の電子回路によるハードウェア処理であってもよい。 The control unit 50 is mainly composed of a microcomputer and includes a CPU, ROM, RAM, I/O, and bus lines connecting these components (none of which are shown in the figure). Each process in the control unit 50 may be software processing in which the CPU executes a program pre-stored in a physical memory device (i.e., a readable non-transitory tangible recording medium) such as a ROM, or it may be hardware processing using a dedicated electronic circuit.
　制御部５０は、ドライバ要求シフトレンジに応じたシフト信号、ブレーキスイッチからの信号、アクセル開度および車速等に基づいてモータ１０の駆動を制御することで、シフトレンジの切り替え等を制御する。 The control unit 50 controls the switching of the shift range by controlling the drive of the motor 10 based on a shift signal corresponding to the driver's requested shift range, a signal from the brake switch, the accelerator opening, the vehicle speed, etc.
　制御部５０は、機能ブロックとして、信号取得部５１、異常判定部５２、および、駆動制御部５５等を有する。信号取得部５１は、エンコーダ１３、出力軸センサ１６、電流検出部４５および電圧検出回路４６等からの検出信号を取得する。異常判定部５２は、断線異常等のシフトバイワイヤシステム１の異常を判定する。 The control unit 50 has, as its functional blocks, a signal acquisition unit 51, an abnormality determination unit 52, and a drive control unit 55. The signal acquisition unit 51 acquires detection signals from the encoder 13, the output shaft sensor 16, the current detection unit 45, the voltage detection circuit 46, and the like. The abnormality determination unit 52 determines an abnormality in the shift-by-wire system 1, such as a disconnection abnormality.
　駆動制御部５５は、スイッチング素子４１１～４１３のオンオフ作動を制御することで、モータ１０の駆動を制御する。本実施形態では、エンコーダカウント値に基づくフィードバック制御により、モータ巻線１１の通電相を切り替えることでモータ１０を駆動する。 The drive control unit 55 controls the driving of the motor 10 by controlling the on/off operation of the switching elements 411 to 413. In this embodiment, the motor 10 is driven by switching the current-carrying phase of the motor winding 11 through feedback control based on the encoder count value.
　図５に示すように、制御部５０は、通電相番号と通電相とが対応づけられたマップが記憶されており、エンコーダ信号のパルスエッジが検出されるごとに通電相番号を１ずらし、通電相を切り替えることでモータ１０を回転させる。モータ１０を正方向に回転させる場合、通電相番号をエンコーダ信号のパルスエッジが検出されるごとに通電相番号を１増加させ、モータ１０を逆方向に回転させる場合、通電相を１減少させる。通電相番号は、例えばエンコーダカウント値を１２で除したときの余りと捉えることもできる。 As shown in FIG. 5, the control unit 50 stores a map in which the energized phase numbers correspond to energized phases, and rotates the motor 10 by shifting the energized phase number by 1 and switching the energized phase each time a pulse edge of the encoder signal is detected. When rotating the motor 10 in the forward direction, the energized phase number is increased by 1 each time a pulse edge of the encoder signal is detected, and when rotating the motor 10 in the reverse direction, the energized phase number is decreased by 1. The energized phase number can also be regarded as the remainder when the encoder count value is divided by 12, for example.
　本実施形態では、１相に断線異常が生じた場合、フィードバック制御による正常な２相への通電によりモータ１０を駆動することで、レンジ切り替えを行う。例えばＵ相断線時、正常時にＵ相のみに通電される通電相番号２、３において、トルクが発生しないが、イナーシャでこの領域を通過させることでモータ１０の駆動を継続可能である。 In this embodiment, if a break occurs in one phase, the motor 10 is driven by energizing the two normal phases through feedback control, thereby switching the range. For example, when the U phase is broken, no torque is generated in energized phases 2 and 3, where only the U phase is energized under normal circumstances, but the motor 10 can continue to be driven by passing through this region due to inertia.
　ここで、１相断線にてレンジ切り替えを行う場合、通電相とロータ１０３の凸部１０４とが対向する、所謂「１相１歯」の状態から切替駆動を開始することが望ましい。以下、Ｕ相の突極１０２とロータ１０３の凸部１０４とが１相１歯で対向している状態を「Ｕ相対向」、Ｖ相の突極１０２と凸部１０４とが１相１歯で対向している状態を「Ｖ相対向」、Ｗ相の突極１０２と凸部１０４とが１相１歯で対向している状態を「Ｗ相対向」とする。 When switching ranges due to a single-phase break, it is desirable to start the switching drive from a so-called "one-phase, one-tooth" state, where the energized phase faces the convex portion 104 of the rotor 103. Hereinafter, the state where the U-phase salient pole 102 and the convex portion 104 of the rotor 103 face each other with one tooth per phase will be referred to as "U-phase facing", the state where the V-phase salient pole 102 and the convex portion 104 face each other with one tooth per phase will be referred to as "V-phase facing", and the state where the W-phase salient pole 102 and the convex portion 104 face each other with one tooth per phase will be referred to as "W-phase facing".
　図６に示すように、断線相とモータ１０の回転方向に応じ、切替開始時のステータ１０１の突極１０２とロータ１０３の凸部１０４との対向位置関係が設定されている。Ｕ相断線にて切替方向が正転方向の場合、Ｖ相対向、逆転方向の場合、Ｗ相対向の状態からレンジ切り替えを開始する。Ｖ相断線にて切替方向が正転方向の場合、Ｗ相対向、逆転方向の場合、Ｕ相対向の状態からレンジ切り替えを開始する。Ｗ相断線にて切替方向が正転方向の場合、Ｕ相対向、逆転方向の場合、Ｖ相対向の状態からレンジ切り替えを開始する。以下、Ｕ相断線にて、切替方向が正転方向の例を中心に説明する。 As shown in FIG. 6, the opposing positional relationship between the salient poles 102 of the stator 101 and the convex portions 104 of the rotor 103 at the start of switching is set according to the broken phase and the rotational direction of the motor 10. If the U-phase is broken and the switching direction is forward, the range switching starts from the V-phase facing state, and if it is reverse, the range switching starts from the W-phase facing state. If the V-phase is broken and the switching direction is forward, the W-phase facing state, and if it is reverse, the range switching starts from the U-phase facing state. If the W-phase is broken and the switching direction is forward, the U-phase facing state, and if it is reverse, the range switching starts from the V-phase facing state. Below, an example in which the switching direction is forward when the U-phase is broken will be mainly explained.
　図７に示すように、Ｕ相断線にて、正転方向に切り替える場合、Ｖ相通電にてＶ相対向の状態からレンジ切り替えを開始する。図８では、上段に通電相の切り替えを示し、下段には上段の通電相と対応するモータトルクを示した。図８に示すように、Ｖ相通電にてＶ相対向の状態から、ＶＷ相通電→Ｗ相通電と正常相への通電を切り替えることで、トルクを発生させてロータ１０３を回転させる。 As shown in Figure 7, when switching to the forward direction due to a U-phase break, range switching begins from a state in which the V-phase is energized and V-phase is facing. In Figure 8, the upper row shows the switching of energized phases, and the lower row shows the motor torque corresponding to the energized phases in the upper row. As shown in Figure 8, by switching from a state in which the V-phase is energized and V-phase is facing V, to a state in which the VW-phase is energized and W-phase is energized, a torque is generated to rotate the rotor 103.
　Ｕ相断線が生じていない場合、Ｗ相通電に続き、ＷＵ相通電、Ｕ相通電、ＵＶ相通電となる。一方、Ｕ相断線時にはＵ相コイル１１１への通電ができないため、本来ＷＵ相通電となる領域ではＷ相通電が継続されてモータトルクが減少し、本来Ｕ相通電となる領域はモータトルクが０となる。この領域をイナーシャで通過すれば、ＵＶ相通電領域にてＶ相に通電されてモータトルクが増加するので、モータ１０の回転が継続される。図７および図８では、通電相のコイルを実線、無通電相のコイルを破線とし、Ｕ相コイル１１１の図示を省略することで断線状態を示している。 If no U-phase breakage occurs, the W-phase is energized, followed by the WU-phase, U-phase, and UV-phase. On the other hand, when the U-phase is broken, current cannot be passed to the U-phase coil 111, so in the area where the WU-phase should be energized, the W-phase continues to be energized and the motor torque decreases, and in the area where the U-phase should be energized, the motor torque becomes zero. If this area is passed through by inertia, current is passed to the V-phase in the UV-phase energized area, increasing the motor torque, and the motor 10 continues to rotate. In Figures 7 and 8, the energized phase coils are shown with solid lines and the non-energized phase coils with dashed lines, and the broken state is shown by omitting the illustration of the U-phase coil 111.
　ここで、レンジ切替前にＶ相通電のみを行う場合、Ｖ相通電時にロータ１０３の凹部１０５とＶ相の突極１０２とが対向する場合があり、この状態では、Ｖ相対向の状態からの駆動を開始することができない。Ｖ相の突極１０２とロータ１０３の凹部１０５とが対向している状態からＶ相通電→ＶＷ相通電、と通電相を切り替える場合、ロータ１０３が逆方向に回転する、または、イナーシャで通過させたい領域にて回転数が足りず、断線相を通過できない虞がある。 Here, if only V-phase current is applied before range switching, the concave portion 105 of the rotor 103 and the V-phase salient pole 102 may face each other when the V-phase is applied, and in this state, driving cannot be started from the V-phase facing state. When switching the current phase from V-phase current to VW-phase current from a state in which the V-phase salient pole 102 and the concave portion 105 of the rotor 103 face each other, the rotor 103 may rotate in the reverse direction, or the rotation speed may be insufficient in the area to be passed by inertia, making it impossible to pass through the open phase.
　そこで本実施形態では、確実に図６に示した対向状態となるように、ステータ１０１とロータ１０３の位置を合わせる切替前準備処理を行う。切替前準備処理では、図９に示すように、１相通電、２相通電、１相通電を順に行うことで、切替開始時の通電相に１相１歯の状態で対向させる。 In this embodiment, therefore, a pre-switching preparation process is performed to align the positions of the stator 101 and rotor 103 so that they are reliably in the opposing state shown in FIG. 6. In the pre-switching preparation process, as shown in FIG. 9, one-phase current, two-phase current, and one-phase current are performed in sequence to ensure that the current-carrying phase at the start of switching is opposed in a one-phase, one-tooth state.
　具体的には、Ｕ相断線にて切替方向が正転方向の場合、切替前準備としてＷ相通電、ＶＷ相通電、Ｖ相通電を行い、逆転方向の場合、切替前準備としてＶ相通電、ＶＷ相通電、Ｗ相通電を行う。Ｖ相断線にて切替方向が正転方向の場合、切替前準備としてＵ相通電、ＷＵ相通電、Ｗ相通電を行い、逆転方向の場合、切替前準備としてＷ相通電、ＷＵ相通電、Ｕ相通電を行う。Ｗ相断線にて切替方向が正転方向の場合、切替前準備としてＶ相通電、ＵＶ相通電、Ｕ相通電を行い、逆転方向の場合、切替前準備としてＵ相通電、ＵＶ相通電、Ｖ相通電を行う。以下、切替前準備における、最初の１相通電を通電ステータスＳＴ１、次の２相通電を通電ステータスＳＴ２、切替開始時の通電相への１相通電にて１相１歯状態の保持する状態を通電ステータスＳＴ３とする。 Specifically, if the switching direction is forward due to U-phase disconnection, W-phase, VW-phase, and V-phase are energized as pre-switching preparations, and if the switching direction is reverse, V-phase, VW-phase, and W-phase are energized as pre-switching preparations. If the switching direction is forward due to V-phase disconnection, U-phase, WU-phase, and W-phase are energized as pre-switching preparations, and if the switching direction is reverse, W-phase, WU-phase, and U-phase are energized as pre-switching preparations. If the switching direction is forward due to W-phase disconnection, V-phase, UV-phase, and U-phase are energized as pre-switching preparations, and if the switching direction is reverse, U-phase, UV-phase, and V-phase are energized as pre-switching preparations. Below, the first 1-phase energization in the pre-switching preparations is referred to as energization status ST1, the next 2-phase energization as energization status ST2, and the state in which 1-phase 1-tooth state is maintained with 1-phase energization to the energized phase at the start of switching as energization status ST3.
　Ｕ相断線時にＶ相対向状態とするための切替前準備を図１０に示す。まず、Ｗ相通電を行うことで、Ｗ相に凸部１０４が対向する。この状態から、ＶＷ相通電に切り替えると、ロータ１０３が回転し、Ｖ相およびＷ相に凸部１０４が対向する、所謂「２相２歯」の状態となる。２相２歯の状態からＶ相通電に切り替えることで、確実にＶ相対向の１相１歯の状態とすることができる。なお、Ｗ相通電時に、Ｗ相に凹部１０５が対向する、所謂「１相２歯」の状態となったとしても、ＶＷ相通電の後にＶ相通電を行うことで、Ｖ相通電時には、Ｖ相対向の１相１歯の状態とすることができる。 Figure 10 shows the pre-switching preparations for achieving the V-phase opposing state when the U-phase is broken. First, W-phase current is applied so that the convex portion 104 faces the W-phase. When current is switched from this state to VW-phase current, the rotor 103 rotates and the convex portion 104 faces the V-phase and W-phase, resulting in a so-called "two-phase, two-tooth" state. By switching from the two-phase, two-tooth state to V-phase current, it is possible to reliably achieve a one-phase, one-tooth state with the V-phase opposing. Note that even if the so-called "one-phase, two-tooth" state occurs when W-phase current is applied, in which the concave portion 105 faces the W-phase, it is possible to achieve a one-phase, one-tooth state with the V-phase opposing when V-phase current is applied by applying V-phase current after VW-phase current.
　本実施形態のレンジ切替処理を図１１のフローチャートに基づいて説明する。この処理は制御部５０にて所定の周期で実行される。Ｓ１０１では、制御部５０は、１相断線が検出されたか否か判断する。１相断線が検出されてないと判断された場合（Ｓ１０１：ＮＯ）、Ｓ１０２以降の処理をスキップする。なお、１相断線の検出は、本実施形態と別処理にて行われ、例えば電圧検出回路４６の検出値等に基づいて判定されるが、検出方法の詳細は問わない。また、全相正常時は本処理とは別処理でレンジ切り替えが実施される。１相断線が検出されていると判断された場合（Ｓ１０１：ＹＥＳ）、Ｓ１０２へ移行する。 The range switching process of this embodiment will be described with reference to the flowchart in FIG. 11. This process is executed by the control unit 50 at a predetermined cycle. In S101, the control unit 50 determines whether or not a one-phase break has been detected. If it is determined that a one-phase break has not been detected (S101: NO), the process from S102 onwards is skipped. Note that the detection of a one-phase break is performed in a process separate from this embodiment, and is determined, for example, based on the detection value of the voltage detection circuit 46, but the details of the detection method are not important. Also, when all phases are normal, range switching is performed in a process separate from this process. If it is determined that a one-phase break has been detected (S101: YES), proceed to S102.
　Ｓ１０２では、制御部５０は、シフトレンジの切替要求があるか否か判断する。切替要求がないと判断された場合（Ｓ１０２：ＮＯ）、Ｓ１０３以降の処理をスキップし、スタンバイモードを継続する。切替要求があると判断された場合（Ｓ１０２：ＹＥＳ）、Ｓ１０３へ移行する。 In S102, the control unit 50 determines whether or not there is a request to switch the shift range. If it is determined that there is no request to switch (S102: NO), the process from S103 onwards is skipped and the standby mode continues. If it is determined that there is a request to switch (S102: YES), the process proceeds to S103.
　Ｓ１０３では、駆動制御部５５は、通電ステータスＳＴ１での通電を行う。例えばＵ相断線時であって、切替方向が正転方向の場合、Ｗ相に通電する。Ｓ１０４では、駆動制御部５５は、通電ステータスＳＴ１での通電保持時間Ｘｈ１が経過したか否か判断する。通電保持時間Ｘｈ１が経過していないと判断された場合（Ｓ１０４：ＮＯ）、Ｓ１０３へ戻り、通電ステータスＳＴ１での通電を継続する。通電保持時間Ｘｈ１が経過したと判断された場合（Ｓ１０４：ＹＥＳ）、Ｓ１０５へ移行する。 In S103, the drive control unit 55 applies current in the current status ST1. For example, when the U phase is disconnected and the switching direction is forward, current is applied to the W phase. In S104, the drive control unit 55 determines whether the current hold time Xh1 in the current status ST1 has elapsed. If it is determined that the current hold time Xh1 has not elapsed (S104: NO), the process returns to S103 and current is continued in the current status ST1. If it is determined that the current hold time Xh1 has elapsed (S104: YES), the process proceeds to S105.
　Ｓ１０４では、駆動制御部５５は、通電ステータスＳＴ２での通電を行う。例えばＵ相断線時は、切替方向によらず正常相のＶＷ相への２相通電とする。Ｓ１０６では、駆動制御部５５は、通電ステータスＳＴ２での通電保持時間Ｘｈ２が経過したか否か判断する。通電保持時間Ｘｈ２が経過していないと判断された場合（Ｓ１０６：ＮＯ）、Ｓ１０５へ戻り、通電ステータスＳＴ２での通電を継続する。通電保持時間Ｘｈ２が経過したと判断された場合（Ｓ１０６：ＹＥＳ）、Ｓ１０７へ移行する。 In S104, the drive control unit 55 applies current in the current status ST2. For example, when the U phase is disconnected, two-phase current is applied to the VW phase, which is the normal phase, regardless of the switching direction. In S106, the drive control unit 55 determines whether the current hold time Xh2 in the current status ST2 has elapsed. If it is determined that the current hold time Xh2 has not elapsed (S106: NO), the process returns to S105 and current is continued in the current status ST2. If it is determined that the current hold time Xh2 has elapsed (S106: YES), the process proceeds to S107.
　Ｓ１０７では、駆動制御部５５は、通電ステータスＳＴ３での通電を行う。例えばＵ相断線時であって、切替方向が正転方向の場合、Ｖ相に通電する。Ｓ１０８では、駆動制御部５５は、通電ステータスＳＴ３での通電保持時間Ｘｈ３が経過したか否か判断する。通電保持時間Ｘｈ３が経過していないと判断された場合（Ｓ１０８：ＮＯ）、Ｓ１０７へ戻り、通電ステータスＳＴ３での通電を継続する。通電保持時間Ｘｈ３が経過したと判断された場合（Ｓ１０８：ＹＥＳ）、Ｓ１０９へ移行し、切替前準備完了フラグをオンにする。なお、切替前準備完了フラグは、レンジ切替開始後の任意のタイミングでオフされる。 In S107, the drive control unit 55 applies current in the current status ST3. For example, when the U-phase is disconnected and the switching direction is forward, current is applied to the V-phase. In S108, the drive control unit 55 determines whether the current hold time Xh3 in the current status ST3 has elapsed. If it is determined that the current hold time Xh3 has not elapsed (S108: NO), the process returns to S107 and current is continued in the current status ST3. If it is determined that the current hold time Xh3 has elapsed (S108: YES), the process proceeds to S109 and the pre-switching preparation complete flag is turned on. The pre-switching preparation complete flag is turned off at any time after the start of range switching.
　Ｓ１１０では、駆動制御部５５は、断線相と回転方向に応じた所定の位置にて１相１歯での対向状態から、モータ１０を駆動し、正常２相でのフィードバック制御によりレンジ切り替えを実施する。Ｓ１１１では、制御部５０は、レンジ切り替えが完了したか否か判断する。レンジ切り替えが完了してないと判断された場合（Ｓ１１１：ＮＯ）、Ｓ１０９へ戻り、正常２相でのフィードバック制御を継続する。レンジ切り替えが完了したと判断された場合（Ｓ１１１：ＹＥＳ）、スタンバイモードに移行し、本処理を終了する。 In S110, the drive control unit 55 drives the motor 10 from a one-phase, one-tooth opposing state at a predetermined position according to the broken phase and rotation direction, and performs range switching by feedback control in normal two phases. In S111, the control unit 50 determines whether the range switching is complete. If it is determined that the range switching is not complete (S111: NO), the process returns to S109 and continues feedback control in normal two phases. If it is determined that the range switching is complete (S111: YES), the process transitions to standby mode and ends this process.
　本実施形態のレンジ切替処理を図１２のタイムチャートに基づいて説明する。図１２では、共通時間軸を横軸とし、上段から、モータ制御モード、１相断線検出状態、切替前準備完了フラグ、モータ回転角、通電相を示している。モータ回転角は、エンコーダカウント値から換算可能な値であって、実際の値を実線、目標値を一点鎖線とし、ディテントローラ２６が谷部２１１の最底部にあるときをＰ、谷部２１２の最底部にあるときをｎｏｔＰとして示した。後述の図１５等も同様である。 The range switching process of this embodiment will be explained based on the time chart in Figure 12. In Figure 12, the horizontal axis represents a common time axis, and from the top, the motor control mode, one-phase breakage detection status, pre-switching preparation completion flag, motor rotation angle, and current phase are shown. The motor rotation angle is a value that can be converted from the encoder count value, with the actual value shown as a solid line and the target value shown as a dashed line, with P representing when the detent roller 26 is at the bottom of the valley 211 and notP representing when it is at the bottom of the valley 212. The same applies to Figure 15 etc. described below.
　図１２では、通電ステータス切替によるロータ１０３の振動成分については記載を省略した。シフト切り替え時の通電相について、通電相番号を括弧書きで記載した。なお、通電相番号は、簡略化のため、切り替え時の番号とした。また、説明のため、シフト切替中における通電相の切り替えは、タイムスケールを拡大しており、モータ回転角の推移とは対応しない。 In Figure 12, the vibration components of the rotor 103 due to switching of the current status are omitted. The current phase numbers for the current phases during shift switching are shown in parentheses. For simplicity, the current phase numbers are the numbers at the time of switching. Also, for the sake of explanation, the switching of current phases during shift switching is shown on an expanded time scale and does not correspond to the progression of the motor rotation angle.
　時刻ｘ０にて１相断線が生じ、時刻ｘ１にて異常が確定された後、時刻ｘ２にてシフトレンジ切替要求が入力されると、切替前準備処理を行う。切替前準備処理では、通電ステータスＳＴ１、ＳＴ２、ＳＴ３の順で所定時間毎に通電相を切り替える。通電ステータスＳＴ１、ＳＴ２、ＳＴ３の通電相は、断線相および切替方向に応じて設定される。 If one phase break occurs at time x0, the abnormality is confirmed at time x1, and then a shift range switching request is input at time x2, pre-switching preparation processing is performed. In the pre-switching preparation processing, the energized phase is switched at predetermined time intervals in the order of energized status ST1, ST2, ST3. The energized phases of energized status ST1, ST2, ST3 are set according to the broken phase and switching direction.
　なお、通電ステータスＳＴ２は２相通電であるので、ロータ１０３が安定しやすく、通電保持時間Ｘｈ２は相対的に短い時間でよい。また、通電ステータスＳＴ３では、１相１歯の状態にて確実に保持されることが望ましいため、相対的に長い時間に設定される。したがって、本実施形態は、Ｘｈ２≦Ｘｈ１≦Ｘｈ３に設定される。 Note that since the energization status ST2 is two-phase energization, the rotor 103 is likely to stabilize, and the energization hold time Xh2 can be a relatively short time. Furthermore, since it is desirable for the energization status ST3 to be reliably held in a one-phase, one-tooth state, it is set to a relatively long time. Therefore, in this embodiment, Xh2≦Xh1≦Xh3 is set.
　時刻ｘ３にて、切替前準備処理が完了すると、切替前準備完了フラグがオンされ、正常な２相を用いたフィードバック制御でのレンジ切り替えが実施される。時刻ｘ４にて、目標到達判定範囲に到達すると、停止制御を行う。本実施形態の停止制御は、正常２相への固定相通電である。時刻ｘ５にて、停止制御開始から所定時間が経過すると、全てのスイッチング素子をオフにし、スタンバイモードに移行する。 When the pre-switch preparation process is completed at time x3, the pre-switch preparation completion flag is turned on, and range switching is performed with feedback control using the two normal phases. When the target attainment determination range is reached at time x4, stop control is performed. The stop control in this embodiment is fixed phase current supply to the two normal phases. When a predetermined time has elapsed from the start of stop control at time x5, all switching elements are turned off, and the system transitions to standby mode.
　本実施形態では、１相断線時において、正常２相への通電によりモータ１０を駆動する場合、駆動開始前の切替前準備処理として、１相通電、２相通電、１相通電を順に行う。これにより、切替開始時の通電相にロータ１０３の凸部１０４が対向した１相１歯の状態からモータ１０の駆動を開始することができる。 In this embodiment, when the motor 10 is driven by energizing the normal two phases when one phase is broken, the motor 10 is energized in the order of one phase, two phase, and one phase as pre-switching preparation processing before starting to drive. This allows the motor 10 to start driving from a one-phase, one-tooth state in which the convex portion 104 of the rotor 103 faces the energized phase at the start of switching.
　以上説明したように、ＥＣＵ４０は、３相のモータ巻線１１を有するモータの駆動を制御するものであって、駆動回路４１と、制御部５０と、を備える。駆動回路４１は、モータ巻線１１の各相への通電のオンオフを切り替えるスイッチング素子４１１～４１３を有する。制御部５０は、モータ１０の回転位置を検出するエンコーダ１３の検出値に基づくフィードバック制御によりスイッチング素子４１１～４１３のオンオフ作動を制御する駆動制御部５５、および、モータ巻線１１の断線故障を判定する異常判定部５２を有する。 As described above, the ECU 40 controls the driving of a motor having three-phase motor windings 11, and includes a drive circuit 41 and a control unit 50. The drive circuit 41 has switching elements 411-413 that switch on and off the power supply to each phase of the motor windings 11. The control unit 50 has a drive control unit 55 that controls the on/off operation of the switching elements 411-413 by feedback control based on the detection value of the encoder 13 that detects the rotational position of the motor 10, and an abnormality determination unit 52 that determines whether the motor windings 11 have an open circuit.
　駆動制御部５５は、３相のうちの１相に断線故障が生じており、正常な２相を用いてモータ１０を駆動する正常２相駆動を行う場合、正常２相駆動開始時の通電相である通電保持相への通電パターンとは異なるパターンでの通電を行った後に通電保持相に通電する切替前準備処理を行う。ここで、断線故障は、コイルに通電できない故障であって、ハーネスの断線や、スイッチング素子のオフ固着等が含まれる。 When a wire breakage fault occurs in one of the three phases and normal two-phase drive is performed to drive the motor 10 using the two normal phases, the drive control unit 55 performs pre-switching preparation processing to energize the energized phase after energizing it in a pattern different from the energization pattern to the energized phase that is the energized phase at the start of normal two-phase drive. Here, a wire breakage fault is a fault that prevents current from flowing through the coil, and includes a wire breakage in the harness and a switching element stuck off.
　切替前準備処理を行うことで、正常２相駆動にてトルクが発生できるステータ１０１とロータ１０３との対向位置までロータ１０３を回転させることができる。これにより、１相断線時において、モータ１０を適切に駆動することができる。 By performing pre-switching preparation processing, the rotor 103 can be rotated to a position where the stator 101 and rotor 103 face each other and torque can be generated in normal two-phase drive. This allows the motor 10 to be driven appropriately when one phase is broken.
　駆動制御部５５は、通電前準備処理として、正常相の１相に通電する第１通電処理である通電ステータスＳＴ１、正常相の２相に通電する第２通電処理である通電ステータスＳＴ２、１相の通電保持相に通電する第３通電処理である通電ステータスＳＴ３の順で通電相を切り替える。これにより、ステータ１０１とロータ１０３との対向位置を所定の位置に適切に合わせることができる。 The drive control unit 55 switches the energized phase as a pre-energization preparation process in the order of energization status ST1, which is a first energization process in which energization is performed to phase 1 of the normal phases, energization status ST2, which is a second energization process in which energization is performed to phase 2 of the normal phases, and energization status ST3, which is a third energization process in which energization is performed to the energized holding phase of phase 1. This allows the opposing positions of the stator 101 and rotor 103 to be appropriately aligned to a predetermined position.
　切替前準備処理における通電相は、断線相およびモータ１０の回転方向に応じて設定され、通電ステータスＳＴ１の通電相は、通電相の切替順序からみて、断線相の前に通電される相である。これにより、ステータ１０１とロータ１０３との対向位置を適切に合わせることができる。 The energized phase in the pre-switching preparation process is set according to the disconnection phase and the rotation direction of the motor 10, and the energized phase of the energized status ST1 is the phase that is energized before the disconnection phase in terms of the switching order of the energized phases. This allows the opposing positions of the stator 101 and the rotor 103 to be properly aligned.
　　　（第２実施形態）
　第２実施形態を図１３に示す。以下の実施形態では、主に切替前準備処理が上記実施形態と異なるため、この点を中心に説明する。本実施形態のレンジ切替処理を図１３のフローチャートに基づいて説明する。図１３は、Ｓ１０６とＳ１０７の間にＳ１２０が追加されている点が図１１と異なる。 Second Embodiment
The second embodiment is shown in Fig. 13. In the following embodiment, the pre-switching preparation process is mainly different from the above embodiment, and this point will be mainly described. The range switching process of this embodiment will be described based on the flowchart of Fig. 13. Fig. 13 differs from Fig. 11 in that S120 is added between S106 and S107.
　通電ステータスＳＴ２の後に移行するＳ１２０では、制御部５０は、雰囲気温度Ｈに応じて通電ステータスＳＴ３の通電保持時間Ｘｈ３を設定する。詳細には、雰囲気温度Ｈが第１判定閾値Ｈｔｈ１未満場合、通電保持時間Ｘｐ、雰囲気温度Ｈが第１判定閾値Ｈｔｈ１以上、第２判定閾値Ｈｔｈ２未満場合、通電保持時間Ｘｑ、雰囲気温度Ｈが第２判定閾値Ｈｔｈ２以上の場合、通電保持時間Ｘｒとする。各値の大小関係は、Ｈｔｈ１＜Ｈｔｈ２、Ｘｐ＜Ｘｑ＜Ｘｒである。雰囲気温度Ｈは、モータ１０の環境温度であって、モータ１０そのものの温度であってもよいし、例えばトランスミッションの油温等、モータ１０の近傍に配置される他の部品の温度としてもよい。 In S120, which is transitioned to after the energization status ST2, the control unit 50 sets the energization hold time Xh3 of the energization status ST3 according to the ambient temperature H. In detail, when the ambient temperature H is less than the first judgment threshold Hth1, the energization hold time is Xp. When the ambient temperature H is equal to or greater than the first judgment threshold Hth1 and less than the second judgment threshold Hth2, the energization hold time is Xq. When the ambient temperature H is equal to or greater than the second judgment threshold Hth2, the energization hold time is Xr. The magnitude relationship of each value is Hth1<Hth2, Xp<Xq<Xr. The ambient temperature H is the environmental temperature of the motor 10, and may be the temperature of the motor 10 itself, or may be the temperature of other parts arranged near the motor 10, such as the oil temperature of the transmission.
　通電ステータスＳＴ１３は、１相通電にて１相１歯の状態にて保持する。ここで、１相通電の場合、ロータ１０３が振動しやすい。また、雰囲気温度Ｈが低い場合、フリクションが大きく、ロータ１０３が揺れにくい。そこで、本実施形態では、雰囲気温度Ｈが低いほど、通電ステータスＳＴ３での通電保持時間Ｘｈ３を短くすることで応答性を向上可能である。なお、この例では、２つの判定閾値Ｈｔｈ１、Ｈｔｈ２を用いて通電保持時間Ｘｈ３を３段階に設定しているが、判定閾値は１以上であればよく、段階数は問わない。また、閾値判定に替えて、雰囲気温度Ｈに応じたマップや関数での演算により通電保持時間Ｘｈ３を設定してもよい。さらにまた、通電ステータスＳＴ３と同様、１相通電である通電ステータスＳＴ１の通電保持時間Ｘｈ１についても雰囲気温度Ｈに応じて可変としてもよい。 The energization status ST13 is maintained in a one-phase, one-tooth state with one-phase energization. Here, in the case of one-phase energization, the rotor 103 is likely to vibrate. Also, when the ambient temperature H is low, friction is large and the rotor 103 is less likely to vibrate. Therefore, in this embodiment, the lower the ambient temperature H, the shorter the energization hold time Xh3 in the energization status ST3 can be, thereby improving responsiveness. In this example, the energization hold time Xh3 is set to three stages using two judgment thresholds Hth1 and Hth2, but the judgment threshold may be 1 or more, and the number of stages does not matter. Also, instead of threshold judgment, the energization hold time Xh3 may be set by calculation using a map or function according to the ambient temperature H. Furthermore, similar to the energization status ST3, the energization hold time Xh1 of the energization status ST1, which is one-phase energization, may also be variable according to the ambient temperature H.
　本実施形態では、切替前準備処理における通電時間は、モータ温度に応じて可変である。詳細には、モータ温度が低いほど、通電ステータスＳＴ３の通電時間が短くなるように設定される。これにより、モータ温度に応じて通電時間が適切に設定されるので、特に低温時の応答性向上に寄与する。また上記実施形態と同様の効果を奏する。 In this embodiment, the energization time in the pre-switching preparation process is variable depending on the motor temperature. In particular, the lower the motor temperature, the shorter the energization time of energization status ST3 is set. This allows the energization time to be set appropriately depending on the motor temperature, which contributes to improving responsiveness especially at low temperatures. It also provides the same effects as the above embodiment.
　　　（第３実施形態）
　第３実施形態を図１４および図１５に示す。本実施形態のレンジ切替処理を図１４のフローチャートに基づいて説明する。Ｓ２０１～Ｓ２０４の処理は、図１１中のＳ１０１～Ｓ１０４の処理と同様である。 Third Embodiment
The third embodiment is shown in Figures 14 and 15. The range switching process of this embodiment will be described with reference to the flowchart of Figure 14. The processes of S201 to S204 are similar to the processes of S101 to S104 in Figure 11.
　通電ステータスＳＴ１での通電保持時間Ｘｈ１経過後に移行するＳ２０５では、制御部５０は、振幅Ａ１が振幅判定閾値Ａｔｈ１以下か否か判断する。振幅Ａ１は、例えば通電保持時間Ｘｈ１経過後からｎ個前のエンコーダカウント値の最大値と最小値の差分である。振幅Ａ１の演算詳細は問わない。振幅判定閾値Ａｔｈ１は、ロータ１０３が１相１歯の状態で保持されているとみなせる程度の値に設定される。後述の振幅Ａ３および振幅判定閾値Ａｔｈ３も同様である。振幅判定閾値Ａｔｈ１、Ａｔｈ３は、同じであってもよいし、異なっていてもよい。 In S205, which is reached after the current holding time Xh1 in current status ST1 has elapsed, the control unit 50 determines whether the amplitude A1 is equal to or less than the amplitude determination threshold Ath1. The amplitude A1 is, for example, the difference between the maximum and minimum values of the n encoder count values prior to the current holding time Xh1 having elapsed. The details of the calculation of the amplitude A1 are not important. The amplitude determination threshold Ath1 is set to a value at which the rotor 103 can be considered to be held in a one-phase, one-tooth state. The same applies to the amplitude A3 and amplitude determination threshold Ath3 described below. The amplitude determination thresholds Ath1 and Ath3 may be the same or different.
　振幅Ａ１が振幅判定閾値Ａｔｈ１以下であると判断された場合（Ｓ２０５：ＹＥＳ）、Ｓ２０７へ移行し、通電ステータスＳＴ２での通電を開始する。振幅Ａ１が振幅判定閾値Ａｔｈ１より大きいと判断された場合（Ｓ２０５：ＮＯ）、Ｓ２０６へ移行し、通電ステータスＳＴ１での通電を所定時間Ｘａ延長する。その後、Ｓ２０７へ移行し、通電ステータスＳＴ２での通電を開始する。Ｓ２０７～Ｓ２１０の処理は、Ｓ１０５～Ｓ１０８の処理と同様である。 If it is determined that the amplitude A1 is equal to or less than the amplitude judgment threshold Ath1 (S205: YES), the process proceeds to S207, and energization begins in energization status ST2. If it is determined that the amplitude A1 is greater than the amplitude judgment threshold Ath1 (S205: NO), the process proceeds to S206, and energization in energization status ST1 is extended by a predetermined time Xa. Thereafter, the process proceeds to S207, and energization begins in energization status ST2. The processes of S207 to S210 are the same as those of S105 to S108.
　通電ステータスＳＴ３での通電保持時間Ｘｈ３経過後に移行するＳ２１１では、制御部５０は、振幅Ａ３が振幅判定閾値Ａｔｈ３以下か否か判断する。振幅Ａ３が振幅判定閾値Ａｔｈ３以下であると判断された場合（Ｓ２１１：ＹＥＳ）、Ｓ２１３へ移行し、正常２相でのレンジ切り替えを実施する。振幅Ａ３が振幅判定閾値Ａｔｈ３より大きいと判断された場合（Ｓ２１１：ＮＯ）、Ｓ２１１へ移行し、通電ステータスＳＴ３での通電を所定時間Ｘｃ延長する。通電ステータスＳＴ１、ＳＴ３の延長時間は、同じであってもよいし、異なっていてもよい。Ｓ２１３～Ｓ２１５の処理は、図１１中のＳ１０９～Ｓ１１１の処理と同様である。 In S211, which is reached after the current holding time Xh3 in current status ST3 has elapsed, the control unit 50 determines whether the amplitude A3 is equal to or less than the amplitude determination threshold Ath3. If it is determined that the amplitude A3 is equal to or less than the amplitude determination threshold Ath3 (S211: YES), the control unit 50 proceeds to S213 and performs range switching in normal two phases. If it is determined that the amplitude A3 is greater than the amplitude determination threshold Ath3 (S211: NO), the control unit 50 proceeds to S211 and extends current flow in current status ST3 by a predetermined time Xc. The extension times for current status ST1 and ST3 may be the same or different. The processes in S213 to S215 are similar to the processes in S109 to S111 in FIG. 11.
　本実施形態のレンジ切替処理を図１５のタイムチャートに基づいて説明する。ここでは、振幅判定閾値Ａｔｈ１、Ａｔｈ３が等しいものとして説明する。また、説明のため、１相通電での振動成分を強調して記載している。時刻ｘ１０～ｘ１２の処理は、図１２の時刻ｘ０～ｘ２の処理と同様である。 The range switching process of this embodiment will be explained based on the time chart in FIG. 15. Here, the amplitude determination thresholds Ath1 and Ath3 are explained as being equal. For the sake of explanation, the vibration component with one phase current is emphasized. The process from time x10 to x12 is the same as the process from time x0 to x2 in FIG. 12.
　時刻ｘ１２にて、通電ステータスＳＴ１での１相通電によりロータ１０３が振動するが、通電保持時間Ｘｈ１が経過した時刻ｘ１３での振幅Ａ１が振幅判定閾値Ａｔｈ１以下であるので、通電ステータスＳＴ１を延長せず、通電ステータスＳＴ２へ切り替える。通電ステータスＳＴ２では、２相通電のため、ロータ１０３の振動は比較的小さい。 At time x12, the rotor 103 vibrates due to one-phase current flow in the current flow status ST1, but because the amplitude A1 at time x13 after the current flow holding time Xh1 has elapsed is equal to or less than the amplitude determination threshold Ath1, the current flow status ST1 is not extended and is switched to current flow status ST2. In current flow status ST2, two-phase current flow occurs, so the vibration of the rotor 103 is relatively small.
　通電ステータスＳＴ２の開始から通電保持時間Ｘｈ２が経過した時刻ｘ１４にて、通電ステータスＳＴ２から通電ステータスＳＴ３に切り替え、１相通電にすると、ロータ１０３が振動する。通電保持時間Ｘｈ３が経過した時刻ｘ１５での振幅Ａ３が振幅判定閾値Ａｔｈ３より大きいので、通電ステータスＳＴ３での通電を所定時間Ｘｃ延長する。この例では、通電ステータスＳＴ３を延長している間に振幅が振幅判定閾値Ａｔｈ３以下に収束している。通電ステータスＳＴ３を所定時間Ｘｃ延長した後、正常２相でのレンジ切り替えを行う。時刻ｘ１６以降の処理は、図１２中の時刻ｘ３以降の処理と同様である。 At time x14, when the current holding time Xh2 has elapsed since the start of the current status ST2, the current status ST2 is switched to current status ST3, and one phase current is applied, causing the rotor 103 to vibrate. Because the amplitude A3 at time x15, when the current holding time Xh3 has elapsed, is greater than the amplitude determination threshold Ath3, current application in current status ST3 is extended for a predetermined time Xc. In this example, the amplitude converges to less than or equal to the amplitude determination threshold Ath3 while current status ST3 is being extended. After current status ST3 is extended for the predetermined time Xc, range switching is performed with normal two phases. The processing from time x16 onwards is the same as the processing from time x3 onwards in FIG. 12.
　本実施形態では、通電ステータスＳＴ１および通電ステータスＳＴ３の少なくとも一方において、通電保持時間が経過したときのモータ回転角の振幅Ａ１、Ａ３が振幅判定閾値Ａｔｈ１、Ａｔｈ３より大きい場合、通電時間を延長する。これにより２相通電と比較してステータ１０１とロータ１０３との対向状態が不安定になりやすい１相通電において、対向位置保持精度を高めることができる。また上記実施形態と同様の効果を奏する。 In this embodiment, if the amplitudes A1, A3 of the motor rotation angle when the energization holding time has elapsed are greater than the amplitude determination thresholds Ath1, Ath3 in at least one of the energization status ST1 and energization status ST3, the energization time is extended. This makes it possible to improve the accuracy of holding the opposing positions in one-phase energization, where the opposing state between the stator 101 and rotor 103 is more likely to be unstable compared to two-phase energization. It also provides the same effects as the above embodiment.
　　　（第４実施形態）
　第４実施形態を図１６～図１８に示す。図１６は、Ｓ２０６に替えてＳ２３１、Ｓ２３２、Ｓ２１２に替えてＳ２３３、Ｓ２３４となっている点が図１４と異なっている。通電ステータスＳＴ１にて、通電保持時間Ｘｈ１経過後に移行するＳ２０５において、振幅Ａ１が振幅判定閾値Ａｔｈ１より大きいと判断された場合（Ｓ２０５：ＮＯ）に移行するＳ２３１では、通電ステータスＳＴ１を延長する。 Fourth Embodiment
A fourth embodiment is shown in Fig. 16 to Fig. 18. Fig. 16 differs from Fig. 14 in that S231 and S232 are replaced with S206, and S233 and S234 are replaced with S212. In S205, which is performed after the energization hold time Xh1 has elapsed in the energization status ST1, if it is determined that the amplitude A1 is greater than the amplitude determination threshold Ath1 (S205: NO), the energization status ST1 is extended in S231.
　Ｓ２３２では、制御部５０は、通電ステータスＳＴ１の延長開始からタイムアウト時間Ｘｏｕｔ１が経過したか否か判断する。タイムアウト時間が経過していないと判断された場合（Ｓ２３２：ＮＯ）、通電ステータスＳＴ１の延長を継続し、Ｓ２０５へ戻る。タイムアウト時間Ｘｏｕｔ１が経過したと判断された場合（Ｓ２３２：ＹＥＳ）、Ｓ２０７へ移行し、通電状態を通電ステータスＳＴ２に切り替える。 In S232, the control unit 50 determines whether the timeout time Xout1 has elapsed since the start of the extension of the power-on status ST1. If it is determined that the timeout time has not elapsed (S232: NO), the extension of the power-on status ST1 continues and the process returns to S205. If it is determined that the timeout time Xout1 has elapsed (S232: YES), the process proceeds to S207 and the power-on state is switched to the power-on status ST2.
　通電ステータスＳＴ３にて、通電保持時間Ｘｈ３経過後に移行するＳ２１１において、振幅Ａ３が振幅判定閾値Ａｔｈ３より大きいと判断された場合（Ｓ２１１：ＮＯ）に移行するＳ２３３では、通電ステータスＳＴ３を延長する。 In S211, which is reached after the elapse of the energization hold time Xh3 in the energization status ST3, if it is determined that the amplitude A3 is greater than the amplitude determination threshold Ath3 (S211: NO), the energization status ST3 is extended in S233.
　Ｓ２３４では、制御部５０は、通電ステータスＳＴ３の延長開始からタイムアウト時間Ｘｏｕｔ３が経過したか否か判断する。タイムアウト時間Ｘｏｕｔ３が経過していないと判断された場合（Ｓ２３４：ＮＯ）、通電ステータスＳＴ３の延長を継続し、Ｓ２０５へ戻る。タイムアウト時間Ｘｏｕｔ３が経過したと判断された場合（Ｓ２３４：ＹＥＳ）、Ｓ２１３へ移行する。 In S234, the control unit 50 determines whether the timeout time Xout3 has elapsed since the start of the extension of the power-on status ST3. If it is determined that the timeout time Xout3 has not elapsed (S234: NO), the extension of the power-on status ST3 continues and the process returns to S205. If it is determined that the timeout time Xout3 has elapsed (S234: YES), the process proceeds to S213.
　本実施形態のレンジ切替処理を図１７および図１８のタイムチャートに基づいて説明する。図１７は、タイムアウト時間Ｘｏｕｔ３の前に振動が収束した場合を示している。時刻ｘ２０～時刻ｘ２５の処理は、図１５中の時刻ｘ１０～時刻ｘ１５の処理と同様である。時刻ｘ２５にて振幅Ａ３が振幅判定閾値Ａｔｈ３より大きいので、通電ステータスＳＴ３での通電を延長する。 The range switching process of this embodiment will be described based on the time charts of Figures 17 and 18. Figure 17 shows a case where the vibration subsides before the timeout period Xout3. The process from time x20 to time x25 is the same as the process from time x10 to time x15 in Figure 15. At time x25, the amplitude A3 is greater than the amplitude determination threshold Ath3, so the current flow in the current flow status ST3 is extended.
　通電ステータスＳＴ３の延長開始時刻である時刻ｘ２５からタイムアウト時間Ｘｏｕｔ３が経過する前の時刻ｘ２６にて、振幅Ａ３が振幅判定閾値Ａｔｈ３より小さくなっているので、切替前準備完了フラグをオンにし、正常２相でのレンジ切り替えを行う。時刻ｘ２６以降の処理は、上述の例と同様である。 At time x26 before the timeout period Xout3 has elapsed from time x25, which is the extension start time of the power supply status ST3, the amplitude A3 is smaller than the amplitude determination threshold Ath3, so the pre-switching preparation completion flag is turned on and range switching is performed in normal two phases. The processing from time x26 onwards is the same as in the example above.
　図１８は、タイムアウト時間Ｘｏｕｔ３内に振動が収束しなかった場合を示している。時刻ｘ３０～時刻ｘ３５の処理は、図１５中の時刻ｘ１０～時刻ｘ１５の処理と同様である。時刻ｘ３５にて振幅Ａ３が振幅判定閾値Ａｔｈ３より大きいので、通電ステータスＳＴ３での通電を延長する。 FIG. 18 shows a case where the vibration does not converge within the timeout period Xout3. The processing from time x30 to time x35 is the same as the processing from time x10 to time x15 in FIG. 15. At time x35, the amplitude A3 is greater than the amplitude determination threshold Ath3, so the current flow in the current flow status ST3 is extended.
　通電ステータスＳＴ３の開始時刻である時刻ｘ３５からタイムアウト時間Ｘｏｕｔ３が経過した時刻ｘ３６にて、振幅Ａ３が振幅判定閾値Ａｔｈ３より大きい状態が継続しているが、タイムアウトとして切替前準備フラグをオンにし、正常２相でのレンジ切り替えを行う。時刻ｘ３６以降の処理は上述の例と同様である。 At time x36, when the timeout time Xout3 has elapsed since time x35, which is the start time of the power-on status ST3, the amplitude A3 continues to be greater than the amplitude determination threshold Ath3, but the pre-switch preparation flag is turned on as a timeout, and range switching is performed in normal two phases. The processing from time x36 onwards is the same as in the example above.
　切替前準備完了直前の通電ステータスＳＴ３は１相通電であるので、ロータ１０３が振動しやすく、対向位置が定まりにくい。そこで、タイムアウト時間Ｘｏｕｔ３が経過した場合、振動が収束しなくとも、ロータ１０３が所定の対向位置への移動が完了しているとみなし、切替前準備完了とする。これにより、適切にレンジ切り替えを開始することができる。 The current status ST3 just before the pre-switching preparation is complete is one-phase current, so the rotor 103 is prone to vibration and the opposing position is difficult to determine. Therefore, if the timeout period Xout3 has elapsed, even if the vibration has not subsided, it is assumed that the rotor 103 has completed moving to the specified opposing position, and pre-switching preparation is completed. This allows the range switching to begin appropriately.
　本実施形態では、駆動制御部５５は、通電の延長開始からタイムアウト時間Ｘｏｕｔ１、Ｘｏｕｔ３が経過した場合、次の通電処理に移行する。詳細には、通電ステータスＳＴ１にてタイムアウト時間Ｘｏｕｔ１が経過した場合、通電ステータスＳＴ２へ移行し、通電ステータスＳＴ３にてタイムアウト時間Ｘｏｕｔ３が経過した場合、正常２相駆動でのレンジ切り替えを開始する。これにより、１相通電での振動が収まらない場合でも、適切に次の通電処理に切り替えることができる。また上記実施形態と同様の効果を奏する。 In this embodiment, the drive control unit 55 transitions to the next current flow process when the timeout times Xout1 and Xout3 have elapsed since the start of the extension of current flow. In detail, when the timeout time Xout1 has elapsed in current flow status ST1, the drive control unit 55 transitions to current flow status ST2, and when the timeout time Xout3 has elapsed in current flow status ST3, the drive control unit 55 initiates range switching in normal two-phase drive. This allows the drive control unit 55 to appropriately switch to the next current flow process even if vibrations do not subside with one-phase current flow. It also provides the same effects as the above embodiment.
　　　（第５実施形態）
　第５実施形態を図１９～図２２に示す。本実施形態では、切替開始前準備中に、切替開始準備が適切になされなかった場合、リトライを行う。本実施形態のレンジ切替処理を図１９のフローチャートに基づいて説明する。 Fifth Embodiment
A fifth embodiment is shown in Fig. 19 to Fig. 22. In this embodiment, if the preparation for starting switching is not properly performed during the preparation before starting switching, a retry is performed. The range switching process of this embodiment will be described with reference to the flowchart of Fig. 19.
　Ｓ３０１、Ｓ３０２の処理は、図１１中のＳ１０１、Ｓ１０２の処理と同様である。切替要求があると判断された場合（Ｓ３０２：ＹＥＳ）、Ｓ３０３へ移行し、後述のリトライフラグをオフにする。 The processes of S301 and S302 are the same as those of S101 and S102 in FIG. 11. If it is determined that a switch request has been made (S302: YES), the process proceeds to S303, where a retry flag, which will be described later, is turned off.
　Ｓ３０４～Ｓ３０６の処理は、図１４中のＳ２０３～Ｓ２０５の処理と同様である。振幅Ａ１が振幅判定閾値Ａｔｈ１以下であると判断された場合（Ｓ３０６：ＹＥＳ）、Ｓ３０８へ移行する。振幅Ａ１が振幅判定閾値Ａｔｈ１より大きいと判断された場合（Ｓ３０６：ＮＯ）、Ｓ３０７へ移行し、リトライフラグをオンにする。 The processing of S304 to S306 is the same as the processing of S203 to S205 in FIG. 14. If it is determined that the amplitude A1 is equal to or less than the amplitude judgment threshold Ath1 (S306: YES), the process proceeds to S308. If it is determined that the amplitude A1 is greater than the amplitude judgment threshold Ath1 (S306: NO), the process proceeds to S307, and the retry flag is turned on.
　Ｓ３０８～Ｓ３１２の処理は、図１４中のＳ２０７～Ｓ２１１の処理と同様である。振幅Ａ３が振幅判定閾値Ａｔｈ３より大きいと判断された場合（Ｓ３１２：ＮＯ）、Ｓ３１４へ移行し、リトライフラグをオンにする。すでにオンである場合は、その状態を維持する。振幅Ａ３が振幅判定閾値Ａｔｈ３以下であると判断された場合（Ｓ３１２：ＹＥＳ）、Ｓ３１３へ移行する。 The processing of S308 to S312 is the same as the processing of S207 to S211 in FIG. 14. If it is determined that the amplitude A3 is greater than the amplitude judgment threshold Ath3 (S312: NO), the process proceeds to S314, where the retry flag is turned on. If it is already on, the state is maintained. If it is determined that the amplitude A3 is equal to or less than the amplitude judgment threshold Ath3 (S312: YES), the process proceeds to S313.
　Ｓ３１３では、制御部５０は、今回の通電ステータスＳＴ１での通電開始から、通電ステータスＳＴ３での通電が終了するまでの間に、モータ電圧Ｖｍが電圧判定閾値Ｖｔｈ未満となる電圧低下が生じたか否か判断する。電圧低下に替えて、モータ電流Ｉｍが電流判定閾値Ｉｔｈ未満となる電流低下の有無を判定してもよい。電圧低下が生じていないと判断された場合（Ｓ３１３：ＮＯ）、Ｓ３１５へ移行する。電圧低下が生じたと判断された場合（Ｓ３１３：ＹＥＳ）、Ｓ３１４へ移行し、リトライフラグをオンにする。なお、ここでは説明のため、通電ステータスＳＴ３終了後に電圧低下の有無を判定しているが、本処理とは別途に電圧監視を行い、電圧低下が生じたタイミングでリトライフラグをオンにするようにしてもよい。 In S313, the control unit 50 determines whether or not a voltage drop has occurred between the start of current flow in the current flow status ST1 and the end of current flow in the current flow status ST3, causing the motor voltage Vm to fall below the voltage determination threshold Vth. Instead of a voltage drop, the control unit 50 may determine whether or not a current drop has occurred, causing the motor current Im to fall below the current determination threshold Ith. If it is determined that no voltage drop has occurred (S313: NO), the process proceeds to S315. If it is determined that a voltage drop has occurred (S313: YES), the process proceeds to S314, where the retry flag is turned on. Note that, for the sake of explanation, the control unit 50 determines whether or not a voltage drop has occurred after the end of current flow status ST3, but the control unit 50 may also perform voltage monitoring separately from this process and turn on the retry flag when a voltage drop occurs.
　Ｓ３１５では、制御部５０は、リトライフラグがオンか否か判断する。リトライフラグがオフであると判断された場合（Ｓ３１５：ＮＯ）、Ｓ３１９へ移行する。リトライフラグがオンであると判断された場合（Ｓ３１５：ＹＥＳ）、Ｓ３１６へ移行し、リトライカウンタＣｒをインクリメントする。 In S315, the control unit 50 determines whether the retry flag is on. If it is determined that the retry flag is off (S315: NO), the control unit 50 proceeds to S319. If it is determined that the retry flag is on (S315: YES), the control unit 50 proceeds to S316 and increments the retry counter Cr.
　Ｓ３１７では、制御部５０は、リトライカウンタＣｒがカウント判定閾値Ｃｔｈより小さいか否か判断する。リトライカウンタＣｒがカウント判定閾値Ｃｔｈより小さいと判断された場合（Ｓ３１７：ＹＥＳ）、Ｓ３０３へ戻り、リトライフラグをオフし、切替前準備をリトライする。リトライカウンタＣｒがカウント判定閾値Ｃｔｈ以上であると判断された場合（Ｓ３１７：ＮＯ）、Ｓ３１８へ移行する。 In S317, the control unit 50 determines whether the retry counter Cr is smaller than the count determination threshold Cth. If it is determined that the retry counter Cr is smaller than the count determination threshold Cth (S317: YES), the process returns to S303, the retry flag is turned off, and pre-switch preparation is retried. If it is determined that the retry counter Cr is equal to or greater than the count determination threshold Cth (S317: NO), the process proceeds to S318.
　Ｓ３１８では、制御部５０は、入力された切替要求が、ＰレンジからｎｏｔＰレンジへの切り替えか否か判断する。ＰレンジからｎｏｔＰレンジへの切り替えであると判断された場合（Ｓ３０３：ＹＥＳ）、Ｓ３１９以降の処理をスキップする。ｎｏｔＰレンジからＰレンジへの切り替えであると判断された場合（Ｓ３１８：ＮＯ）、Ｓ３１９へ移行し、リトライフラグをオフにし、切替前準備完了フラグをオンにする。Ｓ３２０、Ｓ３２１の処理は、図１１中のＳ１１０、Ｓ１１１の処理と同様である。 In S318, the control unit 50 determines whether the input switching request is to switch from P range to not P range. If it is determined that the request is to switch from P range to not P range (S303: YES), the processing from S319 onwards is skipped. If it is determined that the request is to switch from not P range to P range (S318: NO), the process proceeds to S319, where the retry flag is turned off and the pre-switch preparation completion flag is turned on. The processing of S320 and S321 is the same as the processing of S110 and S111 in FIG. 11.
　すなわち本実施形態では、所定回数の切替前準備処理のリトライを行っても、リトライフラグがセットされている場合、Ｐ入れ側については正常２相駆動でのレンジ切り替えを行い、Ｐ抜き側はレンジ切り替えを行わない。ここで、リトライフラグがセットされている状態は、リトライ条件が成立している状態、と捉えることができる。なお、Ｓ３１８を省略し、レンジ切り替え方向によらず、所定のリトライ回数後に、正常２相駆動を行うようにしてもよい。 In other words, in this embodiment, if the retry flag is set even after a predetermined number of retries of the pre-switching preparation process, range switching is performed with normal two-phase drive on the P-in side, and range switching is not performed on the P-out side. Here, the state in which the retry flag is set can be considered as a state in which the retry condition is met. Note that S318 may be omitted, and normal two-phase drive may be performed after a predetermined number of retries regardless of the range switching direction.
　本実施形態のレンジ切替処理を図２０～図２２のタイムチャートに基づいて説明する。図２０は、切替前準備処理中に電圧低下が生じた場合の例であって、共通時間軸を横軸とし、上段からモータ制御、１相断線検出状態、切替前準備完了フラグ、リトライフラグ、リトライカウンタ、モータ電圧、通電相を示している。図２２も同様である。 The range switching process of this embodiment will be explained based on the time charts of Figures 20 to 22. Figure 20 shows an example of a case where a voltage drop occurs during pre-switching preparation processing, with a common time axis as the horizontal axis, and from the top, motor control, one-phase breakage detection status, pre-switching preparation completion flag, retry flag, retry counter, motor voltage, and current-carrying phase. The same is true for Figure 22.
　時刻ｘ４０～時刻ｘ４２の処理は、図１２中の時刻ｘ０～時刻ｘ２の処理と同様である。時刻ｘ４３にて、モータ電圧Ｖｍが電圧判定閾値Ｖｔｈを下回ると、リトライフラグがオンされる。 The processing from time x40 to time x42 is the same as the processing from time x0 to time x2 in FIG. 12. When the motor voltage Vm falls below the voltage determination threshold Vth at time x43, the retry flag is turned on.
　通電ステータスＳＴ３が終了した時刻４４にて、リトライフラグがオンであるので、切替前準備処理のリトライを行う。時刻ｘ４４では、リトライフラグをオフにし、リトライカウンタをインクリメントする。時刻ｘ４４から時刻ｘ４５にて、再度、通電ステータスＳＴ１～ＳＴ３での通電を行う。 At time 44 when the power-on status ST3 ends, the retry flag is on, so the pre-switch preparation process is retried. At time x44, the retry flag is turned off and the retry counter is incremented. From time x44 to time x45, power is again applied with the power-on statuses ST1 to ST3.
　時刻ｘ４５にて、リトライでの通電ステータスＳＴ３が終了したとき、今回のリトライ中の電圧低下が検出されず、リトライフラグがオフであるので、切替前準備完了フラグがオンされ、正常２相でのレンジ切り替えを行う。時刻ｘ４５以降の処理は、図１２中の時刻ｘ３以降の処理と略同様である。なお、リトライカウンタは、レンジ切替開始後の任意のタイミングでリセットされる。図２０では、切替前準備完了フラグをオフするタイミングにてリトライカウンタをリセットしているが、異なるタイミングであってもよい。 When the current status ST3 in the retry ends at time x45, no voltage drop during this retry is detected and the retry flag is off, so the pre-switching preparation complete flag is turned on and normal two-phase range switching is performed. The processing after time x45 is substantially the same as the processing after time x3 in FIG. 12. The retry counter is reset at any timing after the start of range switching. In FIG. 20, the retry counter is reset when the pre-switching preparation complete flag is turned off, but it may be reset at a different timing.
　図２１は、通電ステータスＳＴ３での振動が収束しなかった場合の例であって、共通時間軸を横軸とし、上段から、モータ制御、１相断線検出状態、切替前準備完了フラグ、リトライフラグ、リトライカウンタ、回転角度センサ、通電相を示している。時刻ｘ５０～時刻ｘ５２の処理は、図１２中の時刻ｘ０～時刻ｘ２の処理と同様である。 FIG. 21 shows an example of a case where the vibration at the energization status ST3 has not converged, with a common time axis as the horizontal axis, and from the top, motor control, one-phase breakage detection state, pre-switching preparation completion flag, retry flag, retry counter, rotation angle sensor, and energized phase. The processing from time x50 to time x52 is the same as the processing from time x0 to time x2 in FIG. 12.
　時刻ｘ５３にて、通電ステータスＳＴ３が終了したとき、振幅Ａ３が振幅判定閾値Ａｔｈ３より大きいので、リトライフラグをオンにし、時刻ｘ５４にて、切替前準備処理のリトライを行う。時刻ｘ５４では、リトライフラグをオフにし、リトライカウンタをインクリメントする。なお、図２１では、説明のため、時刻ｘ５３を紙面左側にずらして記載した。この例では、通電ステータスＳＴ１終了後の振幅Ａ１が振幅判定閾値Ａｔｈ１以下であるが、振幅Ａ１が振幅判定閾値Ａｔｈ１より大きい場合は、通電ステータスＳＴ１終了時にリトライフラグをセットする。 When the energization status ST3 ends at time x53, the amplitude A3 is greater than the amplitude judgment threshold Ath3, so the retry flag is turned on and the pre-switching preparation process is retried at time x54. At time x54, the retry flag is turned off and the retry counter is incremented. Note that for the sake of explanation, time x53 is shifted to the left side of the page in FIG. 21. In this example, the amplitude A1 after the energization status ST1 ends is less than or equal to the amplitude judgment threshold Ath1, but if the amplitude A1 is greater than the amplitude judgment threshold Ath1, the retry flag is set when the energization status ST1 ends.
　時刻ｘ５５では、リトライでの通電ステータスＳＴ３が終了したとき、振幅Ａ１、Ａ３が振幅判定閾値Ａｔｈ１、Ａｔｈ３以下であって、リトライフラグがオンされないので、正常２相でのレンジ切替を行う。時刻ｘ５５以降の処理は、図１２中の時刻ｘ３以降の処理と同様である。 At time x55, when the current-flow status ST3 in the retry ends, the amplitudes A1 and A3 are equal to or less than the amplitude judgment thresholds Ath1 and Ath3, and the retry flag is not turned on, so range switching is performed for normal two phases. The processing after time x55 is the same as the processing after time x3 in FIG. 12.
　図２２は、リトライを行っても電圧低下が生じた場合の例である。図２２では、ｎｏｔＰレンジからＰレンジへの切り替えであるものとする。時刻ｘ６０～時刻ｘ６４の処理は、図２０中の時刻ｘ４０～時刻ｘ４４の処理と同様である。時刻ｘ６５にて、リトライ中にもモータ電圧Ｖｍが電圧判定閾値Ｖｔｈを下回ると、リトライフラグがオンされる。 FIG. 22 shows an example of a case where a voltage drop occurs even after a retry. In FIG. 22, it is assumed that the range is switched from not P to P. The processing from time x60 to time x64 is the same as the processing from time x40 to time x44 in FIG. 20. At time x65, if the motor voltage Vm falls below the voltage determination threshold Vth even during a retry, the retry flag is turned on.
　時刻ｘ６６にて、リトライでの通電ステータスＳＴ３が終了したとき、リトライフラグがオンであるので、リトライフラグをオフにし、リトライカウンタをインクリメントする。ここで、カウント判定閾値Ｃｔｈが２である場合、２回目のリトライは行わず、切替前準備完了フラグをオンにし、正常２相でのレンジ切り替えを行う。時刻ｘ６６以降の処理は、図１２中の時刻ｘ３以降の処理と略同様である。 At time x66, when the current-flow status ST3 in the retry ends, the retry flag is on, so the retry flag is turned off and the retry counter is incremented. Here, if the count determination threshold Cth is 2, a second retry is not performed, the pre-switch preparation completion flag is turned on, and range switching is performed in normal two phases. The processing after time x66 is substantially the same as the processing after time x3 in FIG. 12.
　本実施形態では、切替前準備処理中の電圧低下により、切替前準備処理が失敗している虞がある場合、切替前準備処理のリトライを行う。また、通電ステータスＳＴ１にて、振動が収束しなかった場合、通電ステータスＳＴ２、ＳＴ３と切り替えたとき、例えば凹部対向になる等、２相２歯、１相１歯と対向状態が切り替わらない虞があるため、切替前準備のリトライを行う。さらにまた、切替前準備処理として通電ステータスＳＴ３の開始から通電保持時間Ｘｈ３が経過しても振幅Ａ３が振幅判定閾値Ａｔｈ３より大きく、ロータ１０３が所定の対向状態となっていない場合、切替前準備処理のリトライを行う。これにより、適切な対向状態から正常２相でのレンジ切り替えを開始することができる。 In this embodiment, if there is a risk that the pre-switching preparation process has failed due to a voltage drop during the pre-switching preparation process, the pre-switching preparation process is retried. Furthermore, if the vibration does not converge in the energization status ST1, when the energization status is switched to ST2 or ST3, there is a risk that the opposing state will not change to two phases, two teeth, or one phase, one tooth, for example, because the recesses will be opposed, and so the pre-switching preparation is retried. Furthermore, if the amplitude A3 is greater than the amplitude judgment threshold Ath3 even after the energization hold time Xh3 has elapsed since the start of the energization status ST3 as the pre-switching preparation process, and the rotor 103 is not in the specified opposing state, the pre-switching preparation process is retried. This makes it possible to start range switching in a normal two-phase opposing state.
　本実施形態では、切替前準備処理においてリトライ条件が成立した場合、切替前準備処理を再度行う。制御部５０は、通電ステータスＳＴ１および通電ステータスＳＴ３の少なくとも一方において、通電保持時間Ｘｈ１、Ｘｈ３が経過したときのモータ回転角の振幅Ａ１、Ａ３が振幅判定閾値Ａｔｈ１、Ａｔｈ３より大きい場合、リトライ条件が成立したと判定する。また、制御部５０は、始動前切替準備中にモータ電圧Ｖｍまたはモータ電流Ｉｍが判定閾値より小さくなった場合、リトライ条件が成立したと判定する。これにより、切替前準備処理の精度を向上することができる。 In this embodiment, if the retry condition is met in the pre-switching preparation process, the pre-switching preparation process is performed again. The control unit 50 determines that the retry condition is met if the amplitudes A1, A3 of the motor rotation angle when the current hold times Xh1, Xh3 have elapsed are greater than the amplitude judgment thresholds Ath1, Ath3 in at least one of the current-on status ST1 and current-on status ST3. The control unit 50 also determines that the retry condition is met if the motor voltage Vm or motor current Im becomes smaller than the judgment threshold during pre-start switching preparation. This can improve the accuracy of the pre-switching preparation process.
　駆動制御部５５は、リトライ回数が判定回数以上となった場合、正常２相駆動を開始する。これにより、振動が大きい場合等においても、モータ１０の駆動を開始することができる。 When the number of retries is equal to or greater than the determined number, the drive control unit 55 starts normal two-phase drive. This makes it possible to start driving the motor 10 even when there is a large amount of vibration.
　ＥＣＵ４０は、シフトバイワイヤシステムに適用され、リトライ回数が判定回数以上、かつ、リトライ条件が成立している場合、正常２相駆動によるＰレンジ以外のレンジからＰレンジへの切り替えを許容し、ＰレンジからＰレンジ以外のレンジへの切り替えを禁止する。これにより、シフトレンジを適切に切り替えることができる。また上記実施形態と同様の効果を奏する。 The ECU 40 is applied to a shift-by-wire system, and when the number of retries is equal to or greater than the number of judged retries and the retry condition is met, it allows switching from a range other than the P range to the P range by normal two-phase drive, and prohibits switching from the P range to a range other than the P range. This allows the shift range to be switched appropriately, and also provides the same effects as the above embodiment.
　　　（第６実施形態）
　第６実施形態を図２３～図２７に示す。上記実施形態では、シフトレンジの切替要求があったときに、切替前準備処理を行う。本実施形態では、レンジ切替要求の前に、予め切替前準備処理を行う。 Sixth Embodiment
23 to 27 show the sixth embodiment. In the above-described embodiments, when a request to switch the shift range is made, a pre-switching preparation process is performed. In this embodiment, however, the pre-switching preparation process is performed in advance before a range switching request is made.
　本実施形態の起動時処理を図２３のフローチャートに基づいて説明する。この処理は、イグニッションスイッチ等の車両の始動スイッチがオンされたときに実行される。Ｓ４０１では、制御部５０は、初期駆動が完了したか否か判断する。初期駆動処理は、エンコーダ１３とロータ１０３との相対位置を対応させるための通電処理である。初期駆動が完了していないと判断された場合（Ｓ４０１：ＮＯ）、この判断処理を繰り返す。初期駆動が完了したと判断された場合（Ｓ４０１：ＹＥＳ）、Ｓ４０２へ移行する。 The startup process of this embodiment will be described with reference to the flowchart in FIG. 23. This process is executed when a vehicle start switch, such as an ignition switch, is turned on. In S401, the control unit 50 determines whether or not the initial drive has been completed. The initial drive process is a current application process for matching the relative positions of the encoder 13 and the rotor 103. If it is determined that the initial drive has not been completed (S401: NO), this determination process is repeated. If it is determined that the initial drive has been completed (S401: YES), the process proceeds to S402.
　Ｓ４０２の処理は、図１１のＳ１０１の処理と同様であり、１相断線が検出されていないと判断された場合（Ｓ４０２：ＮＯ）、以降の処理をスキップし、１相断線が検出されていると判断された場合（Ｓ４０２：ＹＥＳ）、Ｓ４０３へ移行する。 The process of S402 is the same as the process of S101 in FIG. 11. If it is determined that a single-phase break has not been detected (S402: NO), the subsequent processes are skipped. If it is determined that a single-phase break has been detected (S402: YES), the process proceeds to S403.
　Ｓ４０３～Ｓ４０８は、図１１中のＳ１０３～Ｓ１０８と同様の切替前準備処理である。切替前準備処理が完了すると、制御部５０は、Ｓ４０９にて切替前準備完了フラグをオンにし、Ｓ４１０にてスタンバイモードに移行し、本処理を終了する。また、本実施形態では、切替前準備処理が完了したときのエンコーダカウント値を初期値ＥＮｉとして、図示しないＲＡＭ等の記憶部に保持しておく。 S403 to S408 are pre-switching preparation processes similar to S103 to S108 in FIG. 11. When the pre-switching preparation process is completed, the control unit 50 turns on the pre-switching preparation completion flag in S409, transitions to standby mode in S410, and ends this process. In this embodiment, the encoder count value when the pre-switching preparation process is completed is stored as an initial value ENi in a storage unit such as a RAM (not shown).
　本実施形態のレンジ切替処理を図２４のフローチャートに基づいて説明する。Ｓ５０１、Ｓ５０２の処理は、図１１中のＳ１０１、Ｓ１０２の処理と同様である。切替要求があると判断された場合（Ｓ５０２：ＹＥＳ）、Ｓ５０５へ移行し、切替要求がないと判断された場合（Ｓ５０２：ＮＯ）、Ｓ５０３へ移行する。 The range switching process of this embodiment will be described with reference to the flowchart in FIG. 24. The processes of S501 and S502 are the same as the processes of S101 and S102 in FIG. 11. If it is determined that there is a switching request (S502: YES), the process proceeds to S505, and if it is determined that there is no switching request (S502: NO), the process proceeds to S503.
　Ｓ５０３では、制御部５０は、現在のエンコーダカウント値ＥＮと初期値ＥＮｉの差である回転量ΔＥＮが０か否か判断する。回転量ΔＥＮが０であると判断された場合（Ｓ５０３：ＹＥＳ）、すなわち切替前準備処理が完了してからロータ１０３が動いていない場合、以降の処理をスキップする。回転量ΔＥＮが０ではないと判断された場合（Ｓ５０３：ＮＯ）、すなわち切替準備完了からロータ１０３が動いている場合、Ｓ５０４へ移行し、切替前準備完了フラグをオフにする。 In S503, the control unit 50 determines whether the amount of rotation ΔEN, which is the difference between the current encoder count value EN and the initial value ENi, is 0. If it is determined that the amount of rotation ΔEN is 0 (S503: YES), that is, if the rotor 103 has not moved since the pre-switching preparation process was completed, the subsequent processes are skipped. If it is determined that the amount of rotation ΔEN is not 0 (S503: NO), that is, if the rotor 103 has moved since the pre-switching preparation was completed, the process proceeds to S504 and the pre-switching preparation completion flag is turned off.
　レンジ切替要求があると判断された場合（Ｓ５０２：ＹＥＳ）に移行するＳ５０５では、制御部５０は、切替前準備完了フラグがオンか否か判断する。切替前準備完了フラグがオンであると判断された場合（Ｓ５０５：ＹＥＳ）、Ｓ５１６へ移行する。切替前準備完了フラグがオフであると判断された場合（Ｓ５０５：ＮＯ）、Ｓ５０６へ移行する。 If it is determined that there is a range switching request (S502: YES), the control unit 50 proceeds to S505, where it determines whether the pre-switching preparation complete flag is on or not. If it is determined that the pre-switching preparation complete flag is on (S505: YES), it proceeds to S516. If it is determined that the pre-switching preparation complete flag is off (S505: NO), it proceeds to S506.
　Ｓ５０６では、制御部５０は、回転量ΔＥＮが回転量判定閾値ＥＮｔｈより小さいか否か判断する。回転量判定閾値ＥＮｔｈは、通電相が１つ切り替わったときの回転量に対応する値であって、例えばエンコーダカウント値の２カウント分とする。回転量ΔＥＮが回転量判定閾値ＥＮｔｈより小さいと判断された場合（Ｓ５０７：ＹＥＳ）、Ｓ５０７へ移行する。回転量ΔＥＮが回転量判定閾値ＥＮｔｈ以上であると判断された場合（Ｓ５０７：ＮＯ）、Ｓ５０９へ移行する。 In S506, the control unit 50 determines whether the rotation amount ΔEN is smaller than the rotation amount determination threshold ENth. The rotation amount determination threshold ENth is a value corresponding to the rotation amount when one current-carrying phase is switched, and is, for example, two counts of the encoder count value. If it is determined that the rotation amount ΔEN is smaller than the rotation amount determination threshold ENth (S507: YES), the process proceeds to S507. If it is determined that the rotation amount ΔEN is equal to or greater than the rotation amount determination threshold ENth (S507: NO), the process proceeds to S509.
　Ｓ５０８、Ｓ５０９の処理は、図１１中のＳ１０７、Ｓ１０８の処理と同様であって、通電保持時間Ｘｈ３に亘り通電ステータスＳＴ３での通電を行う。通電ステータスＳＴ３にて、通電保持時間Ｘｈ３が経過したと判断された場合（Ｓ５０８：ＹＥＳ）、Ｓ５１５へ移行する。 The processes of S508 and S509 are the same as those of S107 and S108 in FIG. 11, and power is supplied in the power status ST3 for the power supply holding time Xh3. If it is determined in the power supply status ST3 that the power supply holding time Xh3 has elapsed (S508: YES), the process proceeds to S515.
　Ｓ５０９～Ｓ５１４の処理は、図１１中のＳ１０３～Ｓ１０８の処理と同様であって、回転量ΔＥＮが回転量判定閾値ＥＮｔｈ以上の場合、通電ステータスＳＴ１、ＳＴ２、ＳＴ３と切り替えることで、切替前準備処理を行う。通電ステータスＳＴ３にて、通電保持時間Ｘｈ３が経過したと判断された場合（Ｓ５１４：ＹＥＳ）、Ｓ５１５へ移行する。 The processing of S509 to S514 is the same as the processing of S103 to S108 in FIG. 11. If the rotation amount ΔEN is equal to or greater than the rotation amount determination threshold ENth, the pre-switch preparation processing is performed by switching the current status to ST1, ST2, and ST3. If it is determined in the current status ST3 that the current hold time Xh3 has elapsed (S514: YES), the process proceeds to S515.
　Ｓ５１５～Ｓ５１７の処理は、図１１中のＳ１０９～Ｓ１１１の処理と同様であって、正常２相でのレンジ切り替えを行う。レンジ切替が完了したと判断された場合（Ｓ５１７：ＹＥＳ）、Ｓ５１８へ移行し、切替前準備処理を行う。Ｓ５１８では、Ｓ５０９～Ｓ５１５と同様、通電ステータスＳＴ１、ＳＴ２、ＳＴ３と切り替えることで、切替前準備処理を行う。通電ステータスＳＴ３にて通電保持時間Ｘｈ３が経過した後、切替前準備完了フラグをオンにし、Ｓ５１９にてスタンバイモードとする。また、切替前準備完了時のエンコーダカウント値ＥＮを初期値ＥＮｉとして保持する。 The processing of S515 to S517 is the same as the processing of S109 to S111 in FIG. 11, and range switching is performed in normal two phases. If it is determined that range switching is complete (S517: YES), the process proceeds to S518 and pre-switch preparation processing is performed. In S518, pre-switch preparation processing is performed by switching the current status between ST1, ST2, and ST3, as in S509 to S515. After the current hold time Xh3 has elapsed in current status ST3, the pre-switch preparation completion flag is turned on and the standby mode is entered in S519. In addition, the encoder count value EN at the time pre-switch preparation completion is completed is retained as the initial value ENi.
　本実施形態のレンジ切替処理を図２５～図２７のタイムチャートに基づいて説明する。図２５に示すように、時刻ｘ７０にてＩＧオンされ、初期診断等により１相断線が検出されると、初期駆動が終了した時刻ｘ７２から切替前準備処理として、通電ステータスＳＴ１、ＳＴ２、ＳＴ３の順に通電相を切り替える。切替前準備処理が完了した時刻ｘ７３にて、切替前準備完了フラグをオンにし、スタンバイモードとする。 The range switching process of this embodiment will be described based on the time charts of Figures 25 to 27. As shown in Figure 25, when the IG is turned on at time x70 and one-phase disconnection is detected by an initial diagnosis or the like, the current-carrying phase is switched in the order of current-carrying status ST1, ST2, and ST3 as pre-switching preparation process from time x72 when the initial drive ends. At time x73 when the pre-switching preparation process is completed, the pre-switching preparation completion flag is turned on and the standby mode is entered.
　図２５の例では、スタンバイ中にロータ１０３が動いておらず、切替前準備完了フラグがオンの状態が継続される。時刻ｘ７４にてシフトレンジ切替要求が入力されたとき、切替前準備完了フラグがオンされているので、この状態から正常２相を用いたフィードバック制御でのレンジ切り替えが実施される。 In the example of FIG. 25, the rotor 103 is not moving during standby, and the pre-switch preparation complete flag remains on. When a shift range switching request is input at time x74, the pre-switch preparation complete flag is on, so range switching is performed from this state using feedback control using normal two phases.
　時刻ｘ７５にて、目標到達判定範囲に到達すると、停止制御を行う。時刻ｘ７６にて停止制御が終了すると、次のレンジ切り替えに備えて切替前準備処理を行う。次回のレンジ切り替えは、回転方向が逆転方向となるので、Ｕ相断線の場合、Ｖ相→ＶＷ相→Ｗ相の順で通電する。切替前準備処理が終了した時刻ｘ７７にて、切替前準備完了フラグをオンに、スタンバイモードへ移行する。 At time x75, when the target attainment judgment range is reached, stop control is performed. When the stop control ends at time x76, pre-switch preparation processing is performed in preparation for the next range switching. Since the rotation direction will be reversed in the next range switching, if there is a break in the U phase, current is applied in the order of V phase → VW phase → W phase. At time x77 when the pre-switch preparation processing ends, the pre-switch preparation complete flag is turned on and the mode transitions to standby mode.
　図２６では、時刻ｘ８０～時刻Ｘ８３の処理は、図２５中の時刻ｘ７０～時刻ｘ７３の処理と同様である。時刻ｘ８４にて、例えば振動等により、切替前準備完了時の停止位置からロータ１０３が動くと、切替前準備完了フラグがオフされる。 In FIG. 26, the processing from time x80 to time x83 is the same as the processing from time x70 to time x73 in FIG. 25. At time x84, when the rotor 103 moves from the stop position when pre-switching preparation is complete due to, for example, vibration, the pre-switching preparation completion flag is turned off.
　時刻ｘ８５にて、シフトレンジ切替要求が入力されたとき、切替前準備完了フラグがオフであるので、再度切替前準備処理を行う。図２６の例では、切替前準備完了からの回転量ΔＥＮが回転量判定閾値ＥＮｔｈより小さいので、切替前準備処理として、通電ステータスＳＴ３のみ、すなわちＵ相断線での正転であればＶ相通電を行う。 When a shift range switching request is input at time x85, the pre-switch preparation completion flag is off, so pre-switch preparation processing is performed again. In the example of FIG. 26, the rotation amount ΔEN from pre-switch preparation completion is smaller than the rotation amount determination threshold ENth, so as pre-switch preparation processing, V-phase current is applied if only the current flow status ST3 is present, i.e., forward rotation with U-phase disconnection.
　時刻ｘ８６にて、切替前準備処理が完了すると、切替前準備完了フラグがオンされ、正常２相を用いたフィードバック制御でのレンジ切り替えが実施される。時刻ｘ８６以降の処理は、図２５中の時刻ｘ７４以降の処理と同様である。 When the pre-switch preparation process is completed at time x86, the pre-switch preparation completion flag is turned on and range switching is performed with feedback control using the two normal phases. The process after time x86 is the same as the process after time x74 in FIG. 25.
　図２７では、時刻ｘ９０～時刻ｘ９３の処理は、図２５中のｘ７０～ｘ７３の処理と同様である。時刻ｘ９４にて、振動等により切替前準備完了時の停止位置からロータ１０３が動くと、切替前準備完了フラグがオフされる。 In FIG. 27, the processing from time x90 to time x93 is the same as the processing from x70 to x73 in FIG. 25. At time x94, when the rotor 103 moves from the stop position when pre-switching preparation is completed due to vibration or the like, the pre-switching preparation completion flag is turned off.
　時刻ｘ９５にて、シフトレンジ切替要求が入力されたとき、切替前準備完了フラグがオフであるので、再度切替前準備処理を行う。図２７の例では、切替前準備完了からの回転量ΔＥＮが回転量判定閾値ＥＮｔｈ以上であるので、時刻ｘ９２～時刻ｘ９３等の切替前準備処理と同様、通電ステータスＳＴ１、ＳＴ２、ＳＴ３の順に通電相を切り替える。 When a shift range switching request is input at time x95, the pre-switch preparation completion flag is off, so the pre-switch preparation process is performed again. In the example of FIG. 27, the rotation amount ΔEN from the pre-switch preparation completion is equal to or greater than the rotation amount determination threshold ENth, so the energized phases are switched in the order of energization status ST1, ST2, ST3, as in the pre-switch preparation process from time x92 to time x93, etc.
　時刻ｘ９６にて、切替前準備処理が完了すると、切替前準備完了フラグがオンされ、正常２相を用いたフィードバック制御でのレンジ切り替えが実施される。時刻ｘ９６以降の処理は、図２５中の時刻ｘ７４以降の処理と同様である。 When the pre-switch preparation process is completed at time x96, the pre-switch preparation completion flag is turned on and range switching is performed with feedback control using the two normal phases. The process after time x96 is the same as the process after time x74 in FIG. 25.
　本実施形態では、初期駆動完了後、および、レンジ切替完了時に切替前準備処理を行っておくことで、シフト要求後に切替前準備処理を行う場合と比較し、レンジ切り替えに要する時間を短縮することができる。 In this embodiment, by performing pre-switch preparation processing after the initial drive is complete and when the range switching is completed, the time required for range switching can be reduced compared to when pre-switch preparation processing is performed after a shift request.
　また、事前に切替前準備処理を行う場合、シフトレンジ切替要求が入力されるまでの間に、振動等によりロータ１０３が動き、ステータ１０１とロータ１０３との対向状態が変わってしまう虞がある。そのため、切替前準備処理完了後にロータ１０３が動いた場合には、レンジ切替前に、再度切替前準備処理を行う。 Also, if pre-switch preparation processing is performed in advance, there is a risk that the rotor 103 may move due to vibration or the like before a shift range switching request is input, which may change the opposing state between the stator 101 and the rotor 103. Therefore, if the rotor 103 moves after the pre-switch preparation processing is completed, the pre-switch preparation processing is performed again before the range switching.
　切替前準備完了後からのロータ１０３の回転量が小さく、通電ステータスＳＴ３で切替前準備完了時の対向状態に戻せる場合は、切替前準備処理を通電ステータスＳＴ３のみとすることで、通電ステータスＳＴ１からの通電を行う場合と比較し、切替前準備処理に要する時間を短縮することができる。また、ロータ１０３の回転量ΔＥＮが回転量判定閾値ＥＮｔｈ以上の場合は、通電ステータスＳＴ１～ＳＴ３の通電を行うことで、所定の対向状態からレンジ切り替えを開始することができる。 If the amount of rotation of the rotor 103 after completion of pre-switching preparation is small and the opposing state at the time of completion of pre-switching preparation can be returned to with the energizing status ST3, the time required for the pre-switching preparation process can be shortened by performing the pre-switching preparation process only with the energizing status ST3, compared to when energizing is performed from the energizing status ST1. Also, if the amount of rotation ΔEN of the rotor 103 is equal to or greater than the rotation amount determination threshold ENTh, it is possible to start range switching from a specified opposing state by energizing the energizing statuses ST1 to ST3.
　ここで、シフトレンジ切替要求入力から停止制御開始までの時間を応答時間とし、切替前準備完了からシフトレンジ切替要求の入力までにロータ１０３が動かなかった場合の応答時間をＸｒ１、シフトレンジ切替要求入力までの回転量ΔＥＮが回転量判定閾値ＥＮｔｈより小さい場合の応答時間をＸｒ２、シフトレンジ切替要求入力までの回転量ΔＥＮが回転量判定閾値ＥＮｔｈ以上の場合の応答時間Ｘｒ３とすると、Ｘｒ１＜Ｘｒ２＜Ｘｒ３である。 Here, the response time is the time from the input of the shift range switching request to the start of stop control, the response time when the rotor 103 does not move from the completion of pre-switching preparation to the input of the shift range switching request is Xr1, the response time when the rotation amount ΔEN until the input of the shift range switching request is smaller than the rotation amount determination threshold ENth is Xr2, and the response time when the rotation amount ΔEN until the input of the shift range switching request is equal to or greater than the rotation amount determination threshold ENth is Xr3, where Xr1<Xr2<Xr3.
　本実施形態では、駆動制御部５５は、３相のうちの１相に断線故障が生じており、正常な２相を用いてモータを駆動する正常２相駆動を行う場合、システム起動時、および、モータ１０の停止制御後の少なくとも一方において、正常２相駆動開始時の通電保持相への通電とは異なる通電パターンでの通電を行った後に、通電保持相に通電する切替前準備処理を行う。これにより、モータ１０の始動開始時に切替前準備処理を行う場合よりも、応答性を向上することができる。 In this embodiment, when a wire breakage fault occurs in one of the three phases and normal two-phase drive is performed to drive the motor using the two normal phases, the drive control unit 55 performs pre-switching preparation processing to energize the energized phase after energizing it in a different energization pattern from the energization to the energized phase at the start of normal two-phase drive at least one of the time of system startup and after control to stop the motor 10. This allows for improved responsiveness compared to when pre-switching preparation processing is performed at the start of starting the motor 10.
　切替前準備処理が完了した後、モータ１０の駆動を開始するまでの間にモータ１０が回転した場合、再度、切替前準備処理を行った後、正常２相駆動を行う。これにより、切替前準備処理完了からモータの駆動開始までに、振動等によりロータ１０３が動いた場合、再度切替前準備処理を行うことで、適切な対向状態から正常２相駆動を開始することができる。 If the motor 10 rotates after the pre-switching preparation process is completed and before the motor 10 starts to drive, the pre-switching preparation process is performed again, and then normal two-phase drive is performed. As a result, if the rotor 103 moves due to vibration or the like between the completion of the pre-switching preparation process and the start of the motor's drive, the pre-switching preparation process is performed again, making it possible to start normal two-phase drive from the appropriate opposing state.
　また、切替前準備処理が完了してからモータ１０の駆動を開始するまでのモータ１０の回転量ΔＥＮが回転量判定閾値ＥＮｔｈより小さい場合、モータ駆動開始前の切替前準備処理において、通電保持相以外への通電を省略する。これにより、モータ駆動開始前の切替前準備処理時間を短縮することができる。また上記実施形態と同様の効果を奏する。 In addition, if the amount of rotation ΔEN of the motor 10 from the completion of the pre-switching preparation process to the start of driving the motor 10 is smaller than the rotation amount judgment threshold ENth, energization to phases other than the energized phase is omitted in the pre-switching preparation process before the start of motor driving. This makes it possible to shorten the pre-switching preparation process time before the start of motor driving. Also, the same effects as the above embodiment are achieved.
　実施形態では、エンコーダ１３が「回転位置センサ」、エンコーダカウント値が「回転位置センサの検出値」、ＥＣＵ４０が「モータ制御装置」に対応する。また、切替前準備処理が「始動前準備処理」、通電ステータスＳＴ１が「第１通電処理」、通電ステータスＳＴ２が「第２通電処理」、通電ステータスＳＴ３が「第３通電処理」に対応し、通電ステータスＳＴ３での通電相が「通電保持相」に対応する。 In this embodiment, the encoder 13 corresponds to the "rotational position sensor", the encoder count value corresponds to the "detection value of the rotational position sensor", and the ECU 40 corresponds to the "motor control device". In addition, the pre-switching preparation process corresponds to the "pre-start preparation process", the energization status ST1 corresponds to the "first energization process", the energization status ST2 corresponds to the "second energization process", the energization status ST3 corresponds to the "third energization process", and the energization phase in the energization status ST3 corresponds to the "energization retention phase".
　　　（他の実施形態）
　第１実施形態～第６実施形態は、例えば、切替前準備処理の実施タイミングによらず、雰囲気温度に応じて通電保持時間を可変する、リトライを行う前に通電ステータスの延長を行う、タイムアウトした場合、Ｐ入れを許容し、Ｐ抜きを禁止する、といった具合に、各実施形態の処理は適宜組み合わせて実施可能である。 Other Embodiments
In the first to sixth embodiments, the processing of each embodiment can be implemented in an appropriate combination, for example, by varying the power retention time according to the ambient temperature regardless of the timing of the pre-switching preparation process, by extending the power status before performing a retry, and by allowing P-in and prohibiting P-out if a timeout occurs.
　上記実施形態では、通電前準備処理として、通電ステータスＳＴ１、ＳＴ２、ＳＴ３の順で通電相を切り替える。他の実施形態では、通電ステータスＳＴ１、ＳＴ２の一方を省略してもよい。 In the above embodiment, the pre-energization preparation process switches the energized phase in the order of energization status ST1, ST2, and ST3. In other embodiments, one of the energization statuses ST1 and ST2 may be omitted.
　上記実施形態では、回転検出部はエンコーダである。他の実施形態では、例えばレゾルバ等のエンコーダ以外の回転位置を検出可能なセンサ等を用いてもよい。上記実施形態では、モータは、スイッチトリラクタンスモータである。他の実施形態では、モータは、スイッチトリラクタンスモータ以外のもの、例えばＤＣブラシレスモータ等であってもよい。また、モータ巻線の相数は、４相以上であってもよい。 In the above embodiment, the rotation detection unit is an encoder. In other embodiments, a sensor capable of detecting the rotation position other than an encoder, such as a resolver, may be used. In the above embodiment, the motor is a switched reluctance motor. In other embodiments, the motor may be other than a switched reluctance motor, such as a DC brushless motor. The number of phases of the motor windings may be four or more.
　上記実施形態では、ディテントプレートには２つの谷部が設けられる。他の実施形態では、谷部の数は２つに限らず、例えば、Ｐ、Ｒ、Ｎ、Ｄの各レンジに対応する４つの谷部が形成されていてもよい。また、ディテント機構やパーキングロック機構等は、上記実施形態と異なっていてもよい。 In the above embodiment, the detent plate has two valleys. In other embodiments, the number of valleys is not limited to two, and for example, four valleys corresponding to the P, R, N, and D ranges may be formed. In addition, the detent mechanism and parking lock mechanism may be different from those in the above embodiment.
　上記実施形態では、モータ制御装置はシフトバイワイヤシステムに適用される。他の実施形態では、モータ制御装置をシフトバイワイヤシステム以外の車載システム、または、車載以外のモータ駆動システムに適用してもよい。 In the above embodiment, the motor control device is applied to a shift-by-wire system. In other embodiments, the motor control device may be applied to an in-vehicle system other than a shift-by-wire system, or a motor drive system other than an in-vehicle system.
　本開示は、例えば「前記始動前準備処理における通電時間は、前記モータの温度に応じて可変である項目１～５のいずれか一項に記載のモータ制御装置。」としてもよい。 The present disclosure may be, for example, "a motor control device according to any one of items 1 to 5, in which the power supply time in the pre-start preparation process is variable depending on the temperature of the motor."
　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ェ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ェ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。以上、本開示は、上記実施形態になんら限定されるものではなく、その趣旨を逸脱しない範囲において種々の形態で実施可能である。 The control unit and the method described in the present disclosure may be realized by a dedicated computer provided by configuring a processor and a memory programmed to execute one or more functions embodied in a computer program. Alternatively, the control unit and the method described in the present disclosure may be realized by a dedicated computer provided by configuring a processor with one or more dedicated hardware logic circuits. Alternatively, the control unit and the method described in the present disclosure may be realized by one or more dedicated computers configured by combining a processor and a memory programmed to execute one or more functions with a processor configured with one or more hardware logic circuits. In addition, the computer program may be stored in a computer-readable non-transient tangible recording medium as instructions executed by a computer. As described above, the present disclosure is not limited to the above embodiments, and can be implemented in various forms within the scope of its purpose.
　本開示は実施形態に準拠して記述された。しかしながら、本開示は当該実施形態および構造に限定されるものではない。本開示は、様々な変形例および均等の範囲内の変形をも包含する。また、様々な組み合わせおよび形態、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および形態も、本開示の範疇および思想範囲に入るものである。 This disclosure has been described with reference to an embodiment. However, this disclosure is not limited to the embodiment and structure. This disclosure also encompasses various modifications and modifications within the scope of equivalents. In addition, various combinations and forms, as well as other combinations and forms including only one element, more than one, or less than one, are within the scope and spirit of this disclosure.

Claims (6)

  1. 　３相のモータ巻線（１１）を有するモータ（１０）の駆動を制御するモータ制御装置であって、
    　前記モータ巻線の各相への通電のオンオフを切り替えるスイッチング素子（４１１～４１３）を有する駆動回路（４１）と、
    　前記モータの回転位置を検出する回転位置センサ（１３）の検出値に基づくフィードバック制御により前記スイッチング素子のオンオフ作動を制御する駆動制御部（５５）、および、前記モータ巻線の断線故障を判定する異常判定部（５２）を有する制御部（５０）と、
    　を備え、
    　前記駆動制御部は、３相のうちの１相に断線故障が生じており、正常な２相を用いて前記モータを駆動する正常２相駆動を行う場合、前記正常２相駆動開始時の通電相である通電保持相への通電パターンとは異なるパターンでの通電を行った後に前記通電保持相に通電する始動前準備処理を行うモータ制御装置。     A motor control device for controlling the driving of a motor (10) having a three-phase motor winding (11), comprising:
    A drive circuit (41) having switching elements (411 to 413) for switching on and off the current supply to each phase of the motor winding;
    a control unit (50) having a drive control unit (55) that controls the on/off operation of the switching element by feedback control based on a detection value of a rotational position sensor (13) that detects the rotational position of the motor, and an abnormality determination unit (52) that determines a breakage fault in the motor winding;
    Equipped with
    The motor control device is a motor control device that, when a wire breakage fault occurs in one of three phases and normal two-phase drive is performed to drive the motor using the two normal phases, performs pre-start preparation processing in which current is supplied to the current-holding phase, which is the current-supply phase at the start of the normal two-phase drive, in a pattern different from the current supply pattern to the current-holding phase.
  2. 　前記駆動制御部は、前記始動前準備処理として、正常相の１相に通電する第１通電処理、正常相の２相に通電する第２通電処理、１相の前記通電保持相に通電する第３通電処理の順で通電相を切り替える請求項１に記載のモータ制御装置。 The motor control device according to claim 1, wherein the drive control unit switches the energization phase in the pre-start preparation process in the order of a first energization process for energizing phase 1 of the normal phases, a second energization process for energizing phase 2 of the normal phases, and a third energization process for energizing the energization-maintaining phase 1.
  3. 　前記始動前準備処理における通電相は、断線相および前記モータの回転方向に応じて設定され、
    　前記第１通電処理の通電相は、通電相の切替順序からみて、断線相の前に通電される相である請求項２に記載のモータ制御装置。     The energizing phase in the pre-start preparation process is set according to the disconnection phase and the rotation direction of the motor,
    3. The motor control device according to claim 2, wherein the energized phase of the first energization process is a phase that is energized before the disconnection phase in terms of an energization phase switching sequence.
  4. 　前記駆動制御部は、前記第１通電処理および前記第３通電処理の少なくとも一方において、通電保持時間が経過したときのモータ回転角の振幅が振幅判定閾値より大きい場合、通電時間を延長する請求項２または３に記載のモータ制御装置。 The motor control device according to claim 2 or 3, wherein the drive control unit extends the energization time in at least one of the first energization process and the third energization process if the amplitude of the motor rotation angle when the energization hold time has elapsed is greater than an amplitude determination threshold.
  5. 　前記駆動制御部は、通電の延長開始からタイムアウト時間が経過した場合、次の通電処理に移行する請求項４に記載のモータ制御装置。 The motor control device according to claim 4, wherein the drive control unit transitions to the next current application process when a timeout time has elapsed since the start of the current application extension.
  6. 　前記始動前準備処理における通電時間は、前記モータの温度に応じて可変である請求項１または２に記載のモータ制御装置。 The motor control device according to claim 1 or 2, wherein the power supply time during the pre-start preparation process is variable depending on the temperature of the motor.
PCT/JP2023/031704 2022-09-28 2023-08-31 Motor control device WO2024070464A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2022-155058 2022-09-28
JP2022155058A JP2024048903A (en) 2022-09-28 2022-09-28 Motor Control Device

Publications (1)

Publication Number Publication Date
WO2024070464A1 true WO2024070464A1 (en) 2024-04-04

Family

ID=90477224

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2023/031704 WO2024070464A1 (en) 2022-09-28 2023-08-31 Motor control device

Country Status (2)

Country Link
JP (1) JP2024048903A (en)
WO (1) WO2024070464A1 (en)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016158413A (en) * 2015-02-25 2016-09-01 株式会社デンソー Motor control device
JP2022024256A (en) * 2020-07-13 2022-02-09 株式会社ジェイテクト Steering control device

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016158413A (en) * 2015-02-25 2016-09-01 株式会社デンソー Motor control device
JP2022024256A (en) * 2020-07-13 2022-02-09 株式会社ジェイテクト Steering control device

Also Published As

Publication number Publication date
JP2024048903A (en) 2024-04-09

Similar Documents

Publication Publication Date Title
JP4623150B2 (en) Motor control device
US10844952B2 (en) Shift range control apparatus
JP5831766B2 (en) Control device and shift-by-wire system using the same
JP6536465B2 (en) Shift range control device
JP2003509999A (en) Method and apparatus for reliably generating index pulses for an electric power steering system
US8421396B2 (en) Motor controlling device
JP2005020880A (en) Drive unit for stepper motor
WO2019088244A1 (en) Shift range control device
CN111512074B (en) Shift gear control device
WO2024070464A1 (en) Motor control device
JP6547663B2 (en) Control device
JP5605254B2 (en) Motor control device
JP2024048927A (en) Motor Control Device
JP2024048947A (en) Motor Control Device
US20220360207A1 (en) Motor control device
CN112823472B (en) Gear shifting control device
WO2020045146A1 (en) Shift range control device
JP2003158894A (en) Initialization driver
WO2024080244A1 (en) Motor control device
JP3803052B2 (en) Initialization drive
JP3849629B2 (en) Motor control device
JP7287330B2 (en) motor controller
JP2005241526A (en) Indicating instrument
JP2012249497A (en) Motor controller and motor controlling method
CN114365415A (en) Motor control device

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 23871704

Country of ref document: EP

Kind code of ref document: A1