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    • 专利摘要:
    ENGINE CONTROL DEVICE AND ELECTRIC STEERING DEVICE. An object of the present invention is to provide a motor control apparatus which performs current detection of a motor with a one-tap current detector type, which has less running noise and which reduces torque ripple; and an electric power-assisted steering device, in addition to its assembly. A motor control apparatus is presented which drives and controls a motor by an inverter based on each phase load command PWM values and detects motor currents of each phase of the motor by a one-tap type current detector , which comprises an actual detection and correction section that calculates a current detection correction value based on a motor voltage, the values of each command load phase and a motor EMF feedback information, in which the currents of the motor of each phase are detected by the current detector, an arrangement information of the PWM power supply and an electrical characteristic formula of the motor with means to correct the motor currents in each phase (...).
    公开号:BR112014005121B1
    申请号:R112014005121-6
    申请日:2012-05-23
    公开日:2021-06-08
    发明作者:Yousuke Imamura；Kenji Mori；Masahiro Maeda
    申请人:Nsk Ltd；
    IPC主号:
    专利说明:

    Technical field of the invention
    [0001] The present invention relates to an engine control apparatus that is steer-controlled by load command values of PWM (Pulse Width Modulation) and an electrical power steering apparatus that provides a steering system for a vehicle with steering Power-assisted force by means of engine control apparatus and in particular an engine control apparatus that has less running noise and reduces torque ripples and an electric power-assisted steering apparatus mounting the same. Background of the invention
    [0002] An electric power-assisted steering apparatus that energizes a vehicle's steering apparatus by means of a rotational torque of a torque motor, as an auxiliary, applies an engine driving force, such as auxiliary torque to a steering column or a shaft of the shelf through a transmission mechanism like gears or a belt through a reduction mechanism. And then, in order to supply a current to the motor, so that the motor generates a desired torque, an inverter is used in a motor drive circuit.
    [0003] The general configuration of a conventional electric power-assisted steering apparatus will be described with reference to figure 1. As shown in figure 1, a column column (a steering column) 2 connected to a steering wheel (identifier) 1, is connected to steer wheels 8D and 8R through reduction gears of 3, universal joints, 4a and 4b, a rack and pinion mechanism 5 and tie rods 6a and 6b, further through hub units 7a and 7b. Furthermore, the shaft of column 2 is provided with a torque sensor 10 for detecting a steering torque of the steering wheel 1 and a motor 20 for assisting the steering force of steering wheel 1 is connected to the shaft of column 2 through of the reduction gears 3. Electrical power is supplied to a control unit (ECU) 100 to control the electric power steering apparatus from a battery 13 and an ignition key signal is input to the control unit 100 by means of a ignition switch 11. The control unit 100 calculates a command current value of an auxiliary drive (assisted steering) based on a steering torque T detected by torque sensor 10 and a speed Vs detected by speed sensor 12 and controls the current supplied to motor 20, based on a command voltage value and obtained by performing compensation and so on with respect to the command current value, in a current control section. In addition, it is also possible to receive speed Vs from a CAN (Controller Area Network) and so on.
    [0004] The control unit 100 mainly comprises a processor (or an MPU or an MCU) and general functions performed by the CPU programs are shown in figure 2.
    [0005] Functions and operation of the control unit 100 will be described with reference to figure 2. As shown in Figure 2, the direction torque T detected by torque sensor 10 and the speed Vs detected by speed sensor 12 input into a value of current command value calculation section 101, which calculates an Iref1 command current value. The value of current command value calculation section 101 decides the command current value Iref1 which is a desired value of the current supplied to motor 20 based on the input steering torque T and speed Vs and by means of a map auxiliary or similar. The actual Iref1 command value is added into a 102A section and then is introduced into a current limiting section 103 as the Iref2 command actual value. An Iref3 command actual value that limits the maximum current is input in a 102B subtraction section and an Iref4 offset (= Iref3 -Im ) between the Iref3 command actual value and a motor current value that is fed back Im is calculated. The Iref4 offset is introduced in a current control section 104, which performs PI control and so on. The voltage command value E, where a characteristic enhancement is performed in the current control section 104, is inputted into a PWM control section 105. In addition, the motor 20 is turned on via an inverter 106 which serves as one steering point unit per PWM. The value of the current Im of the motor 20 is detected by a current detector 106A inside the converter 106 and fed back to the subtraction section 102B. In general, inverter 106 uses TEDs as switching elements and consists of an FET bridge circuit.
    [0006] In addition, a compensation signal from CM a compensation section 110 is added in addition to a section 102A and system compensation is performed by adding the compensation signal CM so as to improve convergence, an inertial characteristic and so on. The compensation section 110 adds a self-aligning torque (SAT) 113 and an inertia 112 in an addition section 114, further increases the result of addition performed in the addition section 114 and to a convergence 111 in an addition section 115, and , then outputs the result of the addition performed in section 115, as the addition of the CM compensation signal.
    [0007] In the case where motor 20 is a brushless 3-phase motor (phase A, phase B and phase C), in which details of the PWM 05 control section and the inverter 106 become a configuration as shown in Fig. 3. The PWM 105 control section comprises a load calculation section 105A which calculates three-phase PWM D1 ~ D6 load command values according to a given expression based on the voltage command value E and a section 105B driving gate that drives each gate of FET1 ~ FET6 by the PWM command values D1 ~ D6 to turn on/off. The inverter 106 comprises a three-phase bridge having upper and lower arms composed of a phase FET1 high side and Phase A FET4 low side, upper and lower arms composed of phase B FET2 high side and phase B low side FET5 and upper and lower arms consisting of C - phase FET3 on the high side and C - phase FET6 on the low side and drives motor 20 when switched on/off based on PWM command values D1 ~ D6.
    [0008] In addition, a PWM command signal for phase A is set to Denmark, a PWM command value for phase B is set to Db, and a PWM command value for phase C is set to Dc .
    [0009] In such a configuration, although it is necessary to measure the excitation current of the inverter 106 or a motor current of the motor 20 as one of the dryness request items saving cutting costs and the weight control unit 100, there is singulation of the detector current draw 106A (one-tap type current detector). A one-tap type current detector - known as a singulation current detector, and for example the one-tap current type configuration 106A detector is shown in Figure 4. That is to say, a resistance of one. shunt R1 is connected between the lower arm of the FET bridge and the ground, a voltage drop which is caused by the shunt resistance R1 when a fluid current in the FET bridge is converted to a real value Ima by an operational amplifier 106A-1 and resistors R2 ~ R4 and an A/D converter 106A-2 with A/D converter section converts the current value Ima at a given time and then sends a current value Im representing a digital value.
    [00010] Figure 5 shows a wiring diagram of a power supply (the battery), the inverter 106, the current detector 106A and the motor 20. As an example, Figure 6 shows a real path (indicated by a line during a state that the high side phase FET1 is turned on (the low side phase A FET4 is turned off), the high side phase B FET2 is turned off (the low side phase B FET5 is turned on) and phase C FET3 of the high side is turned off (phase C FET6 side low is turned on). Also, as another example, Figure 7 shows an actual path (indicated by a dashed line) during a state that the high-side FET1 phase is turned on (the low-side phase A FET4 is turned off), the phase B high side FET2 is turned on (phase B FET5 low side is turned off) and phase C FET3 high side is turned off (phase C FET6 side low is turned on). It is evident from these routes of Figure 6 and Figure 7 that the total value of the high-side FET phases is turned on, appears in the actual detector 106A as a sensed current. That is, it is possible to detect a phase A current in Figure 6 and it is possible to detect a phase A current and a phase B current in Figure 7. This is the same as in the case that the real detector 106A is connected between the inverter upper arm 106 and the power supply.
    [00011] In this way, the current detector 106Adetects the motor current, when any of the phases is connected and two phases are connected and through the use of a characteristic that the sum of the currents of the three phases is equal to zero, it is It is possible to detect currents from each phase of phase A, phase B and phase C. By using the feature described above, current detection based on a tap-type current detector can detect currents from each phase. In this case, in order to perform current detection while the removal of noise components takes place, such as rigging noises flowing into the current detector right after the FET is turned on, for a certain period of time it becomes necessary. That is, in order to detect the currents of each phase by the shunt type current detector -, making a state that maintains a PWM ON state of phases destined for a certain period of time and performing current detection, each phase Motor currents are detected. Therefore, although it is necessary to maintain a single phase in the on state and two phases in the on state for the time necessary for current detection, in the case where the load command values each phase become equal to each other, a problem that it is impossible to guarantee that a duration time, arises.
    [00012] As background arts to solve such a problem, there is an apparatus described in pending Japanese Patent Application No.2009 - 118621 (Patent Document 1) and an apparatus described in pending Japanese Patent Application No.2007 - 112416 ( Patent Document 2).
    [00013] The apparatus described in the patent document1, when it is determined that current detection is impossible, shifts the PWM phase by moving the phase of the PWM signal only a certain amount and ensures a time by becoming "PWM -ON" for the current detection time required to perform current detection. That is, the apparatus disclosed in Patent Document 1, comprises a switching number determining means determining the number of upper arm elements that are switching connected is an odd number or an even number, in the case that an opportunity to Current detection of determining means determines that current detection is impossible and a mobile phase that moves through the PWM signal of a given phase only a given amount of a given direction of displacement, in the case that the switching number of determining means determines that it is a number and moves up to the given phase PWM signal only the given amount in the opposite direction, in the case that the switching number of determining means determines that it is an odd number, or if move in phase of a PWM signal has a maximum value among all loads with PWM signals that phase only the given amount of a given direction of motion and shift the phase of a PWM signal has a minimum value of tax between the PWM signals of each phase only the given value for the opposite direction.
    [00014] Furthermore, the apparatus described in patent document 2 shifts the PWM phase so that the PWM signals of each phase have carriers with different phases, respectively, and perform the PWM output and ensure a time becoming "PWM-ON" for current detection time needed to perform current detection. That is, in the apparatus described in patent document 2, on a current path between a motor drive circuit and the ground, a single current sensor for detecting a current value flowing in the direction of the current is provided, by transferring the phase of a sawtooth wave of generating PWM signals of each phase and shifting fall-off timings to a low level of PWM signals of each phase, based on the individual current sensor signal in a period until it has elapsed a certain period of time starting from the moment of the output drop the low PWM signal level of phase V, the value of the suphase B current flowing from the motor can be obtained.
    [00015] Both the apparatus disclosed in Patent Document 1 and the apparatus described in patent document 2, detect currents from each phase of the motor, a shunt type current detector, shifting - the PWM phase, in order to maintain a one phase ON state and one of two phase ON state for real detection time needed to perform current detection. List of prior art documents Patent Documents
    [00016] Patent Document 1: Japanese Patent Application Pending No.2009 - 118621
    [00017] Patent Document 2: Japanese Patent Application Pending No.2007 - 112416 Summary of the InventionProblems to be solved by the invention
    [00018] However, since both the apparatus described in patent document 1 and the apparatus described in patent document 2 purposely maintain the phase of one on state and the two phase of ON state, there is a problem that a value The motor current at a sensing time current becomes a value that is different from an average value of the motor current within a PWM period due to a transient current responsibility.
    [00019] Fig. 8 shows the PWM waveforms (PWM phase A, PWM phase B and PWM phase C) during the conventional PWM unit in case tap type current detection is performed and three changes in motor currents (phase A current, real phase B and phase C current) that correspond to these PWM waveforms and show that a time point t1 being a center of a PWM period is a current detection time on all phases. In addition, a phase current dashed line represents phase A current average, a phase B current dashed line represents phase B current average, and a phase C current dashed line represents phase C current average . In this type of shunt current detection, although variations in current within a PWM period are small and the differences between the averages of each phase and phase current detected in each current values are small, there is a problem that the current detectors for the three required phases.
    [00020] Figure 9 shows the PWM waveforms (PWM phase A, PWM phase B and PWM phase C), in the case of performing current detection through a type of a tap and changes in currents (phase A current, phase B current, and phase C current) corresponding to these PWM waveforms and shows a center of a PWM period of a time point t1. In addition, a phase current dashed line represents phase A current average, a phase B current dashed line represents phase B current average, and a phase C current dashed line represents phase C current average . In single-tap type current sensing, given that the current detection time varies at times t2 and t3, as shown in the phase A current of this example, there is a problem that a variation in current within a PWM period makes up big. In addition, the time point t2 that the B-phase PWM is introduced a current detection time for the A phase and the time t3 that the C-phase PWM is introduced a current detection time for the phase. C, while the current detection time is instantaneous, since the motor current is averaged within a PWM period, the current detection moment, it is impossible to measure the average current, an error between the actual value and detected the average current occurs. As a result, it is necessary to perform correction processing and Figure 9 shows that the A-phase current is corrected by a correction value of CR1 and shows that the C-phase current is corrected by a correction value of CR2.
    [00021] In general, since a motor control device that assumes the average motor current within a PWM period is used, as described above, when an error between the average current and the motor current value occurs (initially, since it is difficult to measure an average value, errors occur), it degrades the engine running sound performance, furthermore, in the case of applying the present engine control device to an electric power steering apparatus , there is a problem becoming one of the main causes of the occurrence of handle curl. That is, when the error occurs, since the desired auxiliary amount cannot be obtained due to construction and torque ripples occur and, in particular, they remarkably appear in a low speed direction (in the vicinity of a neutral position of the steering wheel).
    [00022] The present invention was developed taking into account the circumstances described above and an object of the present invention is to provide a motor control apparatus that detects motor currents at each phase of a motor by a current detector of the shunt type , contributes to low leveling, weight reduction and cost savings, has less operating sound and reduces torque ripple and an electric power steering apparatus with the aforementioned motor control apparatus mounting. Means to solve these problems
    [00023] The present invention relates to a motor control apparatus that directs - controls a motor by an inverter based on each phase right PWM command values and detects motor currents each phase of said motor, a current detector of the type of derivation, the above-described object of the present invention is achieved by which it comprises: a current detection section, which rectifies and calculates a current detection correction value based on a voltage of said power supply motor, said right command values of each phase, a rear part, said EMF motor, said motor currents of each phase detected by said current detector, an arrangement of said PWM information and an electrical characteristic formula of said motor , to thereby correct said motor currents of each phase detected by said current detector of an average current motor by said correction value. the current sensing and to drive - control said motor.
    [00024] In addition, the above-described objective of the present invention is more efficient when said correlation is performed by adding said detection correction value current to said motor currents with each phase detected by said current detector, or
    [00025] in which said corrected actual detection is by section with said current detection correction value by calculating PWM-ON / OFF patterns each phase between actual detection times and hourly data of each PWM period and its duration times, calculating an actual change amount based on a real phase reference with value of said electrical characteristic formula and calculates said average motor current within a PWM period of said actual change amount, or
    [00026] wherein said timings are timings where each PWM switch is within a PWM period, or
    [00027] wherein said data and times are starting point times, a midpoint and an end point within a PWM period, or
    [00028] wherein said actual correction detection section is composed of: a PWM ON / OFF default time duration of the calculation section that calculates PWM ON / OFF patterns of each phase between actual detection times and hourly data of each period of PWM and its duration time of said each phase load command values and said information arrangement of said PWM, an actual change amount calculation section for the applied voltage component that inputs of said PWM ON / OFF standards, referred to the duration time, a detected value of said supply voltage and said return EMF information and calculates the actual change amount due to an applied voltage for all times, an actual change amount of the calculation section that calculates a change amount real based on a detected phase current value from said actual change amount due to said applied voltage and said values that each phase has motor currents and a current detection correction value in the calculation section which gets referred to the actual correction value by calculating an actual average within a PWM period of said actual change amount.
    [00029] By mounting the motor control device described above, it is possible to obtain an electric power-assisted steering apparatus with high performance and high functionality. Effects of the Invention
    [00030] According to an apparatus of the present invention, the control of the motor, during the use of a current detector of an inexpensive type - shunt, calculating the voltage patterns that act on each phase of the PWM ON / OFF patterns within a PWM period and its duration time and by adding even a voltage drop due to the motor resistance and so on, it is possible to calculate a model change of the motor current with respect to the detected current. Since it is possible to calculate a current change value for the detected current within a PWM period, it is possible to correct the current values of the motor detected each phase to match the average motor current value by adding the quantity. calculated the current change as the correction value. In addition, since it is possible to eliminate or reduce an error between the detected current and the average current that becomes a problem in current detection of a shunt type by current correction, it is possible to produce a motor control device that it has a simpler operation in the car, with less sound and which suppresses torque ripple.
    [00031] In addition, in the case of application of the device of the present invention, the control of the engine is by an assisted electric steering device, since it is possible to suppress the occurrence of noise and undulations of the steering wheel and it is possible to use the detection of chain of the type of a shunt, maintaining the steering performance and in which it is possible to realize the reduction of costs and weight reduction. Brief Description of Drawings
    [00032] In the attached drawings:
    [00033] FIG.1 is a diagram that illustrates an example of a configuration of a general electric power steering apparatus;
    [00034] Fig. 2 is a block diagram, showing an example of a control unit;
    [00035] Fig. 3 is a wiring diagram showing an example configuration of a PWM control section and an inverter;
    [00036] Fig. 4 is a wiring diagram showing an example of configuration of a real type detector of a tap;
    [00037] Fig. 5 is an electrical schematic showing an example of an inverter equipped with a tap-type current detector;
    [00038] Fig. 6 is a diagram showing an example current path the operation of the converter equipped with the tap type current detector;
    [00039] Fig. 7 is a current path diagram showing another example of operation of the inverter equipped with the tap-type current detector;
    [00040] FIG.8 is a time graph (a period of PWM), showing characteristic examples of PWM waveforms and motor current based on three-tap current detection;
    [00041] FIG.9 is a time graph (a period of PWM), showing characteristic examples of PWM waveforms and motor current based on one-tap current detection;
    [00042] Fig. 10 is a diagram illustrating an example of configuration of the present invention;
    [00043] FIG.11 is a time graph (a PWM period) showing the relationships between time data, PWM waveforms and a motor current waveform (the first mode);
    [00044] Fig. 12 is a pattern diagram showing the relationships between PWM ON / OFF patterns and an applied voltage Vi of the inverter;
    [00045] Fig. 13 is a block diagram illustrating an example of configuration of a correction current detection section;
    [00046] Fig. 14 is a diagram showing an example of a PWM pattern ON / OFF duration time calculation section, in the case of the output Fig. 13 configuration example;
    [00047] Fig. 15 is a graph of time (a PWM period), showing the relationships between hourly data, PWM waveforms and a motor current waveform (a second variant), and
    [00048] Fig.16 is a diagram showing an example of the PWM ON / OFF pattern duration time in the calculation section, in the case of the output configuration example of Fig. 15. Mode of carrying out the invention
    [00049] The present invention comprises a correction current detection section that corrects the current values detected each phase of the motor, which are detected by a current detector of the type of a shunt, so as to correspond to an average value of the current of a PWM motor, based on command load each phase values in a PWM control section, a detected power supply voltage value of a power supply voltage detection section, a back-EMF information of a motor , a PWM arrangement information in the PWM control section and a motor electrical characteristic formula. The current detection correct section calculates an actual correction value by calculating each phase ON / OFF patterns between current detection times and hourly data of each PWM period and its duration time, based on each phase values of the PWM load command and PWM arrangement information, the calculation of the actual change amount, based on values / a-D converted each motor phase to current based on the detected supply voltage value, the EMF feedback information and the motor electrical characteristic formula and calculating an average current over a PWM period based on the amount of current modification. The correction is done by adding the correction current value calculated to the motor current values of each phase.
    [00050] By calculating the voltage patterns that act on each of the phases from PWM ON / OFF patterns within a PWM period and its duration time and also adding a voltage drop due to the motor resistance and so on onwards, it is possible to calculate a model change of the motor current with respect to the detected current. Since it is possible to calculate the amount of current modification as a function of the detected current within a PWM period from the motor current variation pattern, it is possible to correct the motor current values for each detected phase to match to the average of the motor current value by adding the calculated actual change value as the correction value. Since it is possible to eliminate or remarkably reduce an error between the detected current and the average current that becomes a problem in current detection of the type of a shunt by current correction, it is possible to realize a motor control device with noise less than the motor that suppresses the torque ripple.
    [00051] In addition, in the case of the application of the device of the present invention, the motor control of an electric power steering device, since it is possible to suppress the occurrence of noise and ripples of the handle, it is possible to use the current detection of the kind of a derivation, maintaining performances direction and it is possible to realize a miniaturization, cost cutting and weight reduction.
    [00052] In the following, embodiments of the present invention will be described in detail with reference to the attached drawings.
    [00053] Figure 10 shows an example of configuration of the present invention corresponding to figure 2. As shown in Figure 10, the present invention is provided with a correction current detection section 200 that calculates and outputs a correction detection correction value of current Idct_h and simultaneously is provided with a sensing supply voltage section 210, which senses a supply voltage V (Vr) and an addition section 211 which adds to Idct_h the current detection correction value calculated by the sensing section and real correction 200 for a detected real value Im and inputs that added real value in a subtraction section102B. The correction current detection section 200 calculates and outputs the current detection correction value Idct_h which corrects the detected current value Im to match the average motor current value, via the supply voltage Vr of a source power (battery) detected by the supply voltage detection section 210, the real detected value Im detected by the real detector 106A, an each phase arrangement PWM PWML information and an EMF feedback information. And then, the current detection correction value Idct_h is added to the actual detected value Im in the addition section 211 and is fed back to the subtraction section 102B. The calculation of the current detection Idct_h correction value is performed by calculating the actual modification amount with respect to the actual detected values of the motor current flowing in the plural at given timings being arbitrarily set within a PWM and obtaining an average time value within a PWM period of the actual change amount, which is derived for each set of times.
    [00054] Figure 11 shows the principle of the present invention as a graph of time (a PWM period) and illustrates the appearances of change of a phase A current (solid line) with respect to a PWM - A phase, a phase of PWM - B and a PWM - C phase and a real mean A phase (dashed line). Then, Figure 11 shows cases that establish plural times determined S0 ~ S6 as a starting point (time S0) of a PWM period, an ending point (time S6) of a PWM period, and the times (times S1 ~ S5 ) switching ON / OFF for each phase. In the case of setting the time S1 at the time of entering the phase B PWM, such as a phase A current detection time, which concerns the phase A current (timing current) in the S1 sync, respectively, the obtainment of a difference between ER1 the phase A current, at time S0 and the timing current, a difference ER2 between the phase A current of sync S2 and the timing current, a difference ER3 between the phase current at timing S3 and the timing current, a difference between ER4 the phase current at timing S4 and the real time, the difference between ER5 the phase A current, at time S5 and the sync current, and a difference ER6 between the phase A current, at time S6 and the sync current. In this case, the calculation of a first theoretical formula described below before the sync of the current detection phase S1 and the calculation of a second theoretical formula described below, after the phase S1 current detection time. Also, in Figure 11, "T" represents a required time current detection.
    [00055] Hereinafter, the method of calculating the Idct_h correction value of current detection at each given time (S0 ~ S6) will be described. Basically, in order to be obtained from the electrical characteristic formula of the motor and the control unit (ECU) and define an A / D time of the base current detection, depending on the moment given to exist before the detection of A current / D in time or after detection of an A / D timing current, the calculation method is different.
    [00056] Here, the electrical characteristic formula of the control unit motor (ECU) is represented by the following expression 1.

    [00057] where, where "V" is a voltage applied to the motor (the voltage of the power supply), "EMF" is the back - motor EMF, "L" is a motor inductance and "R" is a resistance of the engine.
    [00058] By solving Expression 1 in terms of a differential current value, the following expression 2 can be obtained.

    [00059] The first term on the right side of Expression2 represents the actual value change due to applied voltage per phase and the second term on the right side of Expression 2 represents the actual value change due to a voltage drop caused by the current.
    [00060] Firstly, the first theoretical formula that calculates the amount of current modification in the case where the given time exists before the detection current of an A/D timing will be described.
    [00061] When setting each detection An A/D timing current (hereinafter referred to simply as "A/D time") and a detected current value I(T) detected in A/DT time as reference values, the actual modification amount ΔIf with respect to a current reference value at a time Tf [ s ] before the a / D timing can be obtained by approximating the differential formula of the two difference expressions, as in Expression 3.

    [00062] The first term on the right side of Expression3, ie "1 / L • [V (T) - EMF (T) ] • Tf", is the actual change amount due to the applied voltage from moment AD / to Tf. V(t) can be obtained by summing the time of input voltage change patterns from the PWM side of the A/D timing to Tf. Details will be described later. Also, the second term on the right-hand side of Expression 3, namely, "R / L • I ( T) • Tf", is the actual amount of change due to the voltage drop caused by the flowing current. While wanting to calculate the amount of current modification using an instantaneous current, since it is impossible to detect the instantaneous current of the changing current within the PWM period, about calculation from the detected current reference value in the A/time D.
    [00063] By setting the detected current value in A/D time to "iDCT" and adjusting the amount of current modification due to applied voltage from A/D timing to TF as "Fv(Tf)", it is it is possible to convert expression 3 above into the following expression 4. From expression 4 it is possible to obtain the actual modification amount Fv (Tf) of expression 5.

    [00064] Next, the second theoretical formula that calculates the amount of current modification in the case where the given time exists after the A/D delay will be described.
    [00065] The amount of current modification ΔIb with respect to the value of the reference current, after a time Tb [ s ] from the moment of A / D, can be obtained approximately by approximating the differential of the formula of expression 2 by difference , like expression 6.

    [00066] In the same way as described in the first theoretical formula, to fix the current value detected in the A / D time as "iDCT" and adjusting the amount of current modification due to the applied voltage from the timing AD / TB as to "Fv(Tb)", you can convert the expression above 6 into the following expression 7. From Expression 7 you can get the actual modification amount Fv(Tb) of Expression 8.

    [00067] As described above, it is possible to obtain the actual modification amount Fv (Tf) before the timing AD / by the first theoretical formula and it is possible to obtain the actual modification amount Fv (Tb) after the moment of A / D through the second theoretical formula.
    [00068] Next, the method of calculating the amount of current modification (Fv(Tf), Fv(Tb)) due to the applied voltage Vi of the inverter at each point will be described.
    [00069] The amount of current modification Fv(TF) due to the applied voltage Vi of the drive is obtained by subtracting the EMF feedback component "1 / L • EMF (t) • Tf" from the applied voltage component " 1 / L • (V (t) • Tf)" from the inverter. Likewise, the actual modification amount Fv (Tb) due to the applied voltage Vi of the inverter is obtained by subtracting the EMF feedback component "1 / L • EMF (t) • Tb" from the applied voltage component "1 / L • (V (t) • Tb)" from the inverter. Since the input voltage V (t) from the PWM side of the A / D timing to Tf is represented by plural PWM ON / OFF patterns, where the input voltage V (t) is the sum of the applied voltage time based on each PWM ON / OFF pattern and a duration time. That is, with regard to calculating the amount of Fv (TF) or Fv (Tb) current modification due to the applied voltage, there are m types of PWM ON / OFF patterns within a time interval Tf [ Tb ], when setting the voltage value (the applied voltage inverter) with respect to the phases of each pattern as "Vi" and setting the duration time as "Ti[s]", it is possible to calculate the actual modification amount Fv ( Tf) of A / D in time before time Tf [ s ] by expression 9 and it is possible to calculate the real modification amount Fv (Tb) of timing a / D, after time Tb [ s ] by the following expression 10.

    [00070] The applied voltage inverter Vi in Expression 9 above and Expression 10 above is different according to PWM ON / OFF standards when setting the supply voltage detected by the supply voltage of sensing section 210 as "Vr" as shown in Figure 12, about the PWM ON / OFF patterns, it is possible to get 8 kinds of patterns (pattern No1 ~ No8). In Figure 12, "•" represents "ON" of PWM and "-" means "OFF" of PWM.
    [00071] Based on the above-described theories and calculation formulas, the actual detection of correction section 200 of the present invention calculates the correction value Idct_h by actual detection using the above-described calculation formulas, the PWM patterns of Figure 12, the command load each phase values Da~Dc and so on. As shown in Figure 13, an example configuration of the actual correction detection section 200 has a default PWM ON / OFF duration time of the calculation section 201, an actual change amount from the calculation section 202 to the applied voltage component , an actual change amount of the calculation section 203 and a current detection correction value of the calculation section 204. Hereinafter, the operations of the configuration example of the corrected current detection section 200 will be described.
    [00072] The default PWM ON / OFF duration time calculation section 201 calculates the duration times T1 ~ Tm of each standard PWM ON / OFF phase within a time frame from the A / D moment to the determined time, based in a PWM each phase arrangement PWML information and each phase command values load Da~Dc. In a timing example of Figure 11, each phase PWM PWML arrangement information becomes that the phase PWM is arranged in a PWM starting point, the B phase PWM is provided after a T time has elapsed from the beginning C phase PWM point is arranged after the expiry of a 2T time from the PWM start point and the duration times T1 ~ T8 of the PWM ON / OFF pattern at each given time S1 ~ S6 are output as shown in Figure 14 That is, the PWM ON / OFF pattern duration time of calculation section 201 generates the duration times T1 ~ Tm of the PWM ON / OFF patterns based on the information of each phase PWM PWML arrangement and the values of each phase of command load Da ~ Dc. Also, in Figure 14, "Da" is the phase load command value, "Db" is the phase B load command value, "Dc" is the phase C load command value, and "TPWM" represents a PWM time period.
    [00073] Regarding the PWML of each phase, information with PWM arrangement, when defining the type of PWM arrangement, as shown in Figure 11 for an example, since in the first there is real detection, having to guarantee a phase of ON state for the T time and in the second current detection, having to guarantee a biphasic ON state for the T time, these two conditions are necessary.
    [00074] Condition (1) : with regard to the disposition of the PWM starting point, having to turn on at least during 2t time.
    [00075] Condition (2): with regard to the arrangement after the expiry of the time t starts from the initial point of PWM, having to turn on for at least the time t.
    [00076] According to these conditions, as an example of arrangement configuration, an environment with PWM arrangement is performed so that one phase (here, Phase A) becomes the maximum load value among the three-phase service values, is arranged at the PWM start point and a phase (here, Phase B), the second largest being arranged after the time t expires from the PWM start point. With respect to content (information), for example, in the case of representing the disposition of the PWM starting point as "# 1", representing the disposition after the lapse of time t from the PWM start point as "# 2" and which represents the disposition after the 2t time lapse from the PWM start point as "#3", in the example of Fig. 11, the information is represented, so that
    [00077] Phase A : "# 1",
    [00078] Phase B : "# 2", and
    [00079] Phase C: "# 3".
    [00080] The actual change amount of calculation section 202 for the applied voltage component enters the duration times T1 ~ Tm of the standard PWM ON / OFF duration time of the calculation section 201 and simultaneously input the voltage value of Detected power supply Vr and the return EMF and then calculates the actual amount of change Fv (TF) or Fv (Tb) for the voltage component applied at each given times using Expression 9, Expression 10 and the patterns applied voltage of Figure 12. In the example of Figure 11, given that time S0 is located before A/D sync, the amount of current modification at time S0 is calculated by expression 9 and since the intervals S1 ~ S6 is located after the time of A/D, the actual amount change in times S1 ~ S6 are respectively calculated by expression 10. By setting the actual Fv change value in duration S0 to FvS0, setting the return EMF from Phase A to EMFA and setting a temp o from moment A/D to moment S0 as TS0, the actual amount change Fv(tF) is calculated by following expression 11.

    [00081] Furthermore, with regard to the EMF feedback information CEM, although there are various signal generating means, for example, it is possible to obtain the feedback information CEM as described below. That is, since the EMF feedback motor waveform is determined by a motor angle and there is no proportional relationship in the waveform amplitude according to the number of revolutions, it is possible to obtain the EMF feedback motor based on a motor angle information, an EMF return waveform template, and a revolution number information obtained by differentiating the motor angle information.
    [00082] Similarly, in timings S2 ~ S6 after timing A / D, the actual modification amount Fv (Tb) is calculated by the following expression 12.

    [00083] The actual change amount of the calculation section 203 is given as input and the actual change amount Fv (TF) or Fv (Tb) from the actual change amount of the calculation section 202 to the applied voltage component and simultaneously introduces the current motor Im, then calculates the actual amount of change ΔIf or ΔIb with respect to the real value detected for each timing data using Expression 4 and Expression 7. In the example in Figure 11, given that time S0 is located before the A / D sync, the actual modification amount ΔIf with respect to the actual value detected by the timing S0 is calculated by expression 4 and since the S1 ~ S6 intervals are located after the A / D timing, the amount of real change ΔIb with respect to the real value detected for intervals S1 ~ S6 are calculated by Expression 7. When setting the real value change in duration S0 as ΔI0, the actual amount change ΔI0 before A/D time is calculated by the following exp resistance 13.

    [00084] In the same way, the change of current that rises to ΔI1 ~ ΔI6 in the delays S2 ~ S6 after the A / D delay are, respectively, calculated by the following expression 14.

    [00085] Current detection correction value of time calculation section 204 calculates the average of the real change amountΔIf or ΔIb for each hourly data that is output for each time from the actual change amount of calculation section 203 and calculates and outputs the Idct_h current detection correction value. In the example of Figure 11, by approximating the current changes between given times by a straight line obtained (the sum of the area of formed trapezoids, defining time as a horizontal axis and fixing the actual amount of change as a vertical axis) / ( PWM a period of time), it is possible to calculate the Idct_h correction value of current detection according to the following expression 15 .

    [00086] In the first embodiment described above, the time being given is organized into seven points (S0 ~ S6) within a PWM period, as being limited to three point intervals, that is, a starting point, the midpoint and the end point of a PWM period, the internal calculations are simplified and it becomes possible to calculate the Idct_h correction value of current detection with few calculation steps.
    [00087] As shown in Figure 15, the times indicated are the starting point (the S0 time) of a PWM period before the current detection time for Phase A, the midpoint (the S1 time delay) after the detection time of current for phase A and the end point (time delay S2) after the moment of current detection for phase A. In the second embodiment, which defines the indicated intervals as three points, the output of each section of the internal configuration of the section of correction current detection 200 changes as follows, since the calculation itself becomes little, the calculation steps can be substantially reduced.
    [00088] That is, the PWM ON / OFF pattern duration time output calculated in section 201 is simplified as shown in Figure 16. In the actual calculation change value of section 202 of the applied voltage component, in the example of Figure 15, given that time S0 is located before timing A/D, the amount of current modification caused by the applied voltage at time S0 is calculated by the following expression 16 and since the times of S1 and S2 are located after the A/D sync, the actual value change caused by the voltage applied at the times of S1 and S2 is calculated by the following expression 17.

    [00089] The Current Modification Amount Calculation section 203 calculates the current change value in relation to the current value detected by each given timings, in the example of Figure 15, since the S0 time is located before the A/D timing , the amount of current modification with relative to the detected current value at moment S0 is calculated by the following expression 18 and since the intervals of S1 and S2 lie after the moment of A/D, the actual modification amount in the with respect to the value of the current detected in the time delays S1 and S2 are, respectively, calculated by the following expression 19.

    [00090] The current detection correction value of calculation section 204 in time calculates the average of the actual amount of change for each given times that is output for each times from the actual amount of change of calculation section 203 and calculates and outputs the current detection correction value Idct_h. In the example of Figure 15 by approximating the current changes between given times by a straight line and obtaining (the sum of the area of trapezoids formed by defining time as a horizontal axis and fixing the actual amount of change as a vertical axis) / ( PWM a period of time), it is possible to calculate the Idct_h correction value of current detection according to the following expression 20.

    [00091] In addition, although the above are descriptions about a three-phase motor, in the same way, it is possible to apply the present invention to other motors, such as a two-phase motor. Furthermore, although the above are descriptions about the electric power steering apparatus equipped with the compensation section, in the present invention, the compensation section is not indispensable.
    [00092] Explanation of reference numerals
    [00093] 1 steering wheel (handle)
    [00094] 2 column axis (steering axis)
    [00095] 10 torque sensor
    [00096] 12 speed sensor
    [00097] 20 engine
    [00098] 100 control unit
    [00099] 101 section of current value calculation decommand
    [000100] 103 current limiting section
    [000101] 104 PI control section
    [000102] 105 PWM control section
    [000103] 106 inverter
    [000104] 106A current detector
    [000105] 110 compensation section (convergence)
    [000106] 200 current detection correction section
    [000107] 201 pattern calculation section PWM runtime ON / OFF
    [000108] 202 actual change quantity calculation section for the applied voltage component at each moment
    [000109] 203 real change quantity calculation section for each moment
    [000110] 204 actual value calculation section correction and detection
    [000111] 210 supply voltage detection section
    权利要求:
    Claims (9)
    [0001]
    1. Motor control apparatus characterized in that it drives and controls a motor (20) by an inverter (106) based on the respective phases of operating command values in a pulse width modulation (PWM) control and detecting the respective phases of motor currents of said motor (20) by a single tap current detector (106A), wherein said motor control apparatus comprises: a current detection correction section (200), calculating a current detection correction value based on a power source voltage of said inverter (106), said respective phases of operating command values, a return EMF of said motor (20), said respective phases of motor currents detected by said current detector (106A), an arrangement information of said PWM and an electrical characteristic expression of said motor (20), and said motor (20) is driven and controlled by the correction of the and said respective phases of motor currents, which are detected by said current detector (106A), for an average motor current using said current detection correction value.
    [0002]
    2. Motor control apparatus according to claim 1, characterized in that said correction is performed by adding said current detection correction value to said respective phases of motor currents detected by said current detector (106A).
    [0003]
    3. Motor control apparatus according to claim 1 or 2, characterized in that said current detection correction section (200) obtains said current detection correction value by calculating the respective pattern phases of PWM ON/OFF between current detection times and the times determined within a PWM period and the duration times of said respective phases of PWM ON/OFF patterns, which calculates a current change amount based on a phase current reference value from said electrical characteristic expression and which calculates said average motor current within a PWM period from said amount of current change.
    [0004]
    4. Motor control apparatus according to claim 3, characterized in that said determined times are times that each PWM changes within a PWM period.
    [0005]
    5. Motor control apparatus according to claim 3, characterized in that said determined times are times of a starting point, an intermediate point and an end point within a PWM period.
    [0006]
    6. Motor control apparatus according to claim 1, characterized in that said current detection correction section (200) comprises: a PWM ON/OFF standard duration time calculation section (201 ) which calculates the respective phases of PWM ON/OFF patterns between the current detection times and times determined within a PWM period and the duration times of said respective phases of PWM ON/OFF patterns from respective phases of operating command values and said arrangement information of said PWM; a current change amount calculation section (202) for an applied voltage component that inserts said PWM ON/OFF patterns, said times of duration, a sensed value of said power source voltage and said EMF information return and calculate an amount of current change due to a voltage applied to all. the times; a current change amount calculation section (203), which calculates a current change amount based on a detected phase current value from said current change amount due to said applied voltage and to said respective phases of motor currents; and a current detection correction value calculation section (204) which obtains said correction current value by calculating an average current within a PWM period from said current change amount.
    [0007]
    7. Motor control apparatus according to claim 6, characterized in that said determined times are times that each PWM changes within a PWM period.
    [0008]
    8. Motor control apparatus according to claim 6, characterized in that said determined times are times of a starting point, an intermediate point and an end point within a PWM period.
    [0009]
    9. Apparatus for conducting electrical energy, characterized in that it is equipped with the engine control apparatus, according to any one of claims 1 to 8.
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    同族专利:
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    JP2013062913A|2013-04-04|
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    CN103155401A|2013-06-12|
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    US20130158808A1|2013-06-20|
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    法律状态:
    2019-04-30| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2019-09-17| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|
    2021-01-12| B06A| Notification to applicant to reply to the report for non-patentability or inadequacy of the application [chapter 6.1 patent gazette]|
    2021-05-11| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2021-06-08| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 23/05/2012, OBSERVADAS AS CONDICOES LEGAIS. |
    优先权:
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    JP2011-198582|2011-09-12|
    JP2011198582A|JP5724776B2|2011-09-12|2011-09-12|Motor control device and electric power steering device|
    PCT/JP2012/063168|WO2013038753A1|2011-09-12|2012-05-23|Motor control device and electric power steering device|
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