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WO2019064748A1 - Procédé de diagnostic d'erreur, dispositif de conversion de courant, module moteur et dispositif de direction assistée électrique - Google Patents

Procédé de diagnostic d'erreur, dispositif de conversion de courant, module moteur et dispositif de direction assistée électrique Download PDF

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Publication number
WO2019064748A1
WO2019064748A1 PCT/JP2018/023721 JP2018023721W WO2019064748A1 WO 2019064748 A1 WO2019064748 A1 WO 2019064748A1 JP 2018023721 W JP2018023721 W JP 2018023721W WO 2019064748 A1 WO2019064748 A1 WO 2019064748A1
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Prior art keywords
voltage
switch element
side switch
failure
phase
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English (en)
Japanese (ja)
Inventor
アハマッド ガデリー
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Nidec Corp
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Nidec Corp
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of AC power input into DC power output; Conversion of DC power input into AC power output
    • H02M7/42—Conversion of DC power input into AC power output without possibility of reversal
    • H02M7/44—Conversion of DC power input into AC power output without possibility of reversal by static converters
    • H02M7/48—Conversion of DC power input into AC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode

Definitions

  • the present disclosure relates to a failure diagnosis method, a power conversion device, a motor module, and an electric power steering device.
  • Patent Document 1 discloses a motor drive device having a first system and a second system.
  • the first system is connected to a first winding set of the motor, and includes a first inverter unit, a power supply relay, a reverse connection protection relay, and the like.
  • the second system is connected to a second winding set of the motor, and includes a second inverter unit, a power supply relay, a reverse connection protection relay, and the like.
  • the power supply relay is operated from the power supply, the failed system or the failure. Shut off the power supply to the grid connected to the set of windings. It is possible to continue motor drive using the other system which has not failed.
  • Patent documents 2 and 3 also disclose a motor drive device having a first system and a second system. Even if one system or one winding set fails, the motor drive can be continued by the system which has not failed.
  • Patent Document 4 discloses a motor drive device having four electrical separation means and two inverters and converting power supplied to a three-phase motor.
  • one electrical separation means is provided between the power supply and the inverter, and one electrical separation means is provided between the inverter and the ground (hereinafter referred to as GND).
  • GND ground
  • Embodiments of the present disclosure provide a fault diagnosis method capable of appropriately diagnosing a fault of the H bridge.
  • Exemplary fault diagnosis methods of the present disclosure convert power from a power supply into power supplied to a motor having at least one phase winding, each of which is a first high side switch element, a second high side switch element,
  • a fault diagnostic method for diagnosing a fault in an H bridge for use in a power converter comprising at least one H bridge having a first low side switch element and a second low side switch element, the current / voltage represented in the dq coordinate system And the first actual voltage indicating the voltage across the first low side switch element and the second actual voltage indicating the voltage across the second low side switch element, and the rotational speed of the motor Acquiring the current and voltage of the dq coordinate system, the first actual voltage, the second actual voltage, and the rotation speed.
  • An exemplary power converter of the present disclosure is a power converter that converts power from a power source to power supplied to a motor having at least one phase winding, each of which is a first high side switch element, 2) at least one H bridge having a high side switching device, a first low side switching device, and a second low side switching device, and a control circuit for controlling the switching operation of the switching devices of the at least one H bridge;
  • the circuit acquires a current / voltage represented in a dq coordinate system, and acquires a first actual voltage indicating a voltage across the first low side switch element and a second actual voltage indicating a voltage across the second low side switch element.
  • Another exemplary power converter of the present disclosure is a power converter that converts power from a power supply to power supplied to a motor having n-phase (n is an integer of 3 or more) windings.
  • a first inverter connected to one end of a winding of each phase of the motor and having n legs each including a first high side switching device and a first low side switching device, and the winding of each phase of the motor
  • a second inverter connected to the end and having n legs each including a second high side switch element and a second low side switch element, a winding of the n phase, the n legs of the first inverter,
  • n H bridges having the n legs of the second inverter, and a control circuit for controlling the switching operation of the switch elements of the n H bridges, the control circuit having dq coordinates system Obtaining a current / voltage expressed in the equation, and acquiring a first actual voltage indicating the voltage across the first low side switch element and a second actual voltage indicating the voltage across
  • a failure diagnosis method capable of appropriately diagnosing a failure of an H bridge, a power conversion device, a motor module including the power conversion device, and an electric power steering device including the motor module Is provided.
  • FIG. 1 is a block diagram schematically showing a typical block configuration of a motor module 2000 according to an exemplary embodiment 1.
  • FIG. 2 is a circuit diagram schematically showing a circuit configuration of the inverter unit 100 according to the exemplary embodiment 1.
  • FIG. 3A is a schematic view showing the configuration of the A-phase H bridge BA.
  • FIG. 3B is a schematic view showing the configuration of the B-phase H bridge BB.
  • FIG. 3C is a schematic view showing the configuration of the C-phase H bridge BC.
  • FIG. 4 is a functional block diagram illustrating functional blocks of the controller 340 for performing motor control in general.
  • FIG. 5A is a functional block diagram illustrating functional blocks for performing failure diagnosis of the A-phase H bridge BA.
  • FIG. 5A is a functional block diagram illustrating functional blocks for performing failure diagnosis of the A-phase H bridge BA.
  • FIG. 5B is a functional block diagram illustrating functional blocks for performing failure diagnosis of B-phase H bridge BB.
  • FIG. 5C is a functional block diagram illustrating functional blocks for performing failure diagnosis of the C-phase H bridge BC.
  • FIG. 6 is a schematic diagram showing a look-up table 840 for determining the saturation voltage Vsat from the rotational speed ⁇ and the current amplitude value.
  • FIG. 7 exemplifies a current waveform (sine wave) obtained by plotting current values flowing in the A-phase, B-phase, and C-phase windings of the motor 200 when the power conversion device 1000 is controlled according to three-phase conduction control. Is a graph.
  • FIG. 8A is obtained by plotting the current values flowing in the B-phase and C-phase windings of the motor 200 when the power converter 1000 is controlled according to the two-phase energization control when the A-phase H bridge BA fails. It is a graph which illustrates a current waveform.
  • FIG. 8B can be obtained by plotting the current values flowing through the A-phase and C-phase windings of the motor 200 when the power converter 1000 is controlled according to the two-phase energization control when the B-phase H bridge BB fails. It is a graph which illustrates a current waveform.
  • FIG. 8A is obtained by plotting the current values flowing in the B-phase and C-phase windings of the motor 200 when the power converter 1000 is controlled according to the two-phase energization control when the B-phase H bridge BB fails. It is a graph which illustrates a current waveform.
  • FIG. 8C is obtained by plotting the current values flowing in the A-phase and B-phase windings of the motor 200 when the power conversion apparatus 1000 is controlled according to the two-phase energization control when the C-phase H bridge BC fails. It is a graph which illustrates a current waveform.
  • FIG. 9A is a graph showing a waveform (upper side) of a simulation result of motor rotation speed and a waveform (lower side) of a simulation result of rotor angle.
  • FIG. 9B is a graph showing the waveform of the simulation result of the A-phase current Ia.
  • FIG. 9C is a graph showing the waveform of the simulation result of the B phase current Ib.
  • FIG. 9D is a graph showing the waveform of the simulation result of the C-phase current Ic.
  • FIG. 9E is a graph showing the waveform of the simulation result of the zero phase current Iz.
  • FIG. 9F shows waveforms of simulation results of the first actual voltage VA1 (upper side) and the second actual voltage VA2 (lower side) of the A phase when the high side switch element SW_A1H in the H bridge BA of the A phase has an open failure. It is a graph.
  • FIG. 9G shows waveforms of simulation results of the first real voltage VB1 (upper side) and the second real voltage VB2 (lower side) of the B phase when the high side switch element SW_A1H in the H bridge BA of the A phase has an open failure. It is a graph.
  • FIG. 9G shows waveforms of simulation results of the first real voltage VB1 (upper side) and the second real voltage VB2 (lower side) of the B phase when the high side switch element SW_A1H in the H bridge BA of the A phase has an open failure. It is a graph.
  • FIG. 9H shows waveforms of simulation results of the first actual voltage VC1 (upper side) and the second actual voltage VC2 (lower side) of the C phase when the high side switch element SW_A1H in the H bridge BA of the A phase has an open failure. It is a graph.
  • FIG. 9I is a graph showing waveforms of simulation results of the first actual voltage VA1 (upper side) and the second actual voltage VA2 (lower side) of the A phase when the low side switch element SW_A1L in the H bridge BA of the A phase has an open failure. It is.
  • FIG. 9H shows waveforms of simulation results of the first actual voltage VC1 (upper side) and the second actual voltage VC2 (lower side) of the C phase when the high side switch element SW_A1H in the H bridge BA of the A phase has an open failure. It is a graph.
  • FIG. 9I is a graph showing waveforms of simulation results of the first actual voltage VA1 (upper side) and the second actual voltage VA2 (lower
  • FIG. 9J is a graph showing waveforms of simulation results of the first actual voltage VB1 (upper side) and the second actual voltage VB2 (lower side) of the B phase when the low side switch element SW_A1L in the H bridge BA of the A phase has an open failure. It is.
  • FIG. 9K is a graph showing waveforms of simulation results of the first actual voltage VC1 (upper side) and the second actual voltage VC2 (lower side) of the C phase when the low side switch element SW_A1L in the H bridge BA of the A phase has an open failure.
  • FIG. 9L is a graph showing a waveform of a simulation result of the failure signal A_FD.
  • FIG. 10 is a schematic view showing a typical configuration of an electric power steering apparatus 3000 according to the second embodiment.
  • the implementation of the present disclosure will be exemplified taking a power conversion device that converts power from a power supply into power supplied to a three-phase motor having three-phase (A-phase, B-phase, C-phase) windings.
  • the form will be described.
  • a power converter for converting power from a power supply into power for supplying to an n-phase motor having n-phase (n is an integer of 4 or more) windings such as four-phase or five-phase, and H used for the apparatus
  • the fault diagnosis method of the bridge is also within the scope of the present disclosure.
  • FIG. 1 schematically shows a typical block configuration of a motor module 2000 according to the present embodiment.
  • Motor module 2000 typically includes a power conversion device 1000 having an inverter unit 100 and a control circuit 300, and a motor 200.
  • the motor module 2000 may be modularized and manufactured and sold as an electromechanical integrated motor having, for example, a motor, a sensor, a driver and a controller.
  • Power converter 1000 can convert power from power source 101 (see FIG. 2) into power to be supplied to motor 200. Power converter 1000 is connected to motor 200. For example, power conversion apparatus 1000 can convert DC power into three-phase AC power which is pseudo sine waves of A-phase, B-phase and C-phase.
  • connection between components (components) mainly means electrical connection.
  • the motor 200 is, for example, a three-phase alternating current motor.
  • Motor 200 includes A-phase winding M1, B-phase winding M2 and C-phase winding M3, and is connected to first inverter 120 and second inverter 130 of inverter unit 100.
  • the first inverter 120 is connected to one end of the winding of each phase of the motor 200
  • the second inverter 130 is connected to the other end of the winding of each phase.
  • the control circuit 300 includes, for example, a power supply circuit 310, an angle sensor 320, an input circuit 330, a controller 340, a drive circuit 350, and a ROM 360. Each component of the control circuit 300 is mounted on, for example, a single circuit board (typically, a printed circuit board). Control circuit 300 is connected to inverter unit 100, and controls inverter unit 100 based on input signals from current sensor 150 and angle sensor 320. As the control method, there are, for example, vector control, pulse width modulation (PWM) or direct torque control (DTC). However, depending on the motor control method (for example, sensorless control), the angle sensor 320 may not be necessary.
  • PWM pulse width modulation
  • DTC direct torque control
  • the control circuit 300 can achieve closed loop control by controlling the target position, rotational speed, current, and the like of the rotor of the motor 200.
  • Control circuit 300 may include a torque sensor instead of angle sensor 320. In this case, the control circuit 300 can control the target motor torque.
  • the power supply circuit 310 generates power supply voltages (for example, 3 V, 5 V) necessary for each block in the circuit based on, for example, a voltage of 12 V of the power supply 101.
  • the angle sensor 320 is, for example, a resolver or a Hall IC. Alternatively, the angle sensor 320 is also realized by a combination of an MR sensor having a magnetoresistive (MR) element and a sensor magnet. The angle sensor 320 detects a rotation angle of the rotor (hereinafter referred to as “rotation signal”), and outputs a rotation signal to the controller 340.
  • rotation signal a rotation angle of the rotor
  • the input circuit 330 receives the phase current detected by the current sensor 150 (hereinafter may be referred to as “actual current value”), and the level of the actual current value corresponds to the input level of the controller 340 as necessary. It converts and outputs an actual current value to the controller 340.
  • the input circuit 330 is, for example, an analog-to-digital (AD) conversion circuit.
  • the controller 340 is an integrated circuit that controls the entire power conversion apparatus 1000, and is, for example, a microcontroller or a field programmable gate array (FPGA).
  • the controller 340 controls the switching operation (turn on or off) of each switch element (typically, semiconductor switch element) in the first and second inverters 120 and 130 of the inverter unit 100.
  • the controller 340 sets a target current value according to the actual current value, the rotation signal of the rotor, etc. to generate a PWM signal, and outputs it to the drive circuit 350.
  • the drive circuit 350 is typically a predriver (sometimes referred to as a "gate driver").
  • the drive circuit 350 generates a control signal (gate control signal) for controlling the switching operation of each switch element in the first and second inverters 120 and 130 of the inverter unit 100 according to the PWM signal, and controls the gate of each switch element give.
  • gate control signal gate control signal
  • the pre-driver may not be required. In that case, the function of the pre-driver may be implemented in the controller 340.
  • the ROM 360 is, for example, a writable memory (for example, a PROM), a rewritable memory (for example, a flash memory), or a read only memory.
  • the ROM 360 stores a control program including instructions for causing the controller 340 to control the power conversion apparatus 1000.
  • the control program is temporarily expanded in a RAM (not shown) at boot time.
  • FIG. 2 schematically shows the circuit configuration of the inverter unit 100 according to the present embodiment.
  • the power supply 101 generates a predetermined power supply voltage (for example, 12 V).
  • a DC power supply is used as the power supply 101.
  • the power supply 101 may be an AC-DC converter or a DC-DC converter, or may be a battery (storage battery).
  • the power supply 101 may be a single power supply common to the first and second inverters 120, 130 as shown, or for the first power supply (not shown) for the first inverter 120 and for the second inverter 130.
  • the fuses ISW_ 11 and ISW_ 12 are connected between the power supply 101 and the first inverter 120.
  • the fuses ISW_11 and ISW_12 can interrupt a large current that can flow from the power supply 101 to the first inverter 120.
  • the fuses ISW 21 and ISW 22 are connected between the power supply 101 and the second inverter 130.
  • the fuses ISW_ 21 and ISW_ 22 can interrupt a large current that can flow from the power supply 101 to the second inverter 130.
  • a relay or the like may be used instead of the fuse.
  • coils are provided between the power supply 101 and the first inverter 120 and between the power supply 101 and the second inverter 130.
  • the coil functions as a noise filter, and smoothes high frequency noise included in the voltage waveform supplied to each inverter or high frequency noise generated in each inverter so as not to flow out to the power supply 101 side.
  • a capacitor is connected to the power supply terminal of each inverter.
  • the capacitor is a so-called bypass capacitor, which suppresses voltage ripple.
  • the capacitor is, for example, an electrolytic capacitor, and the capacity and the number to be used are appropriately determined according to design specifications and the like.
  • the first inverter 120 has a bridge circuit composed of three legs. Each leg has a high side switch element, a low side switch element and a shunt resistor.
  • the A-phase leg has a high side switch element SW_A1H, a low side switch element SW_A1L, and a first shunt resistor S_A1.
  • the B-phase leg has a high side switch element SW_B1H, a low side switch element SW_B1L, and a first shunt resistor S_B1.
  • the C-phase leg has a high side switch element SW_C1H, a low side switch element SW_C1L, and a first shunt resistor S_C1.
  • a switch element for example, a field effect transistor (typically, a MOSFET) in which a parasitic diode is formed, or a combination of an insulated gate bipolar transistor (IGBT) and a free wheeling diode connected in parallel thereto can be used.
  • a field effect transistor typically, a MOSFET
  • IGBT insulated gate bipolar transistor
  • the first shunt resistor S_A1 is used to detect an A-phase current IA1 flowing through the A-phase winding M1, and is connected, for example, between the low side switch element SW_A1L and the GND line GL.
  • the first shunt resistor S_B1 is used to detect the B-phase current IB1 flowing through the B-phase winding M2, and is connected, for example, between the low side switch element SW_B1L and the GND line GL.
  • the first shunt resistor S_C1 is used to detect a C-phase current IC1 flowing through the C-phase winding M3, and is connected, for example, between the low side switch element SW_C1L and the GND line GL.
  • the three shunt resistors S_A1, S_B1 and S_C1 are commonly connected to the GND line GL of the first inverter 120.
  • the second inverter 130 has a bridge circuit composed of three legs. Each leg has a high side switch element, a low side switch element and a shunt resistor.
  • the A-phase leg has a high side switch element SW_A2H, a low side switch element SW_A2L, and a shunt resistor S_A2.
  • the B-phase leg has a high side switch element SW_B2H, a low side switch element SW_B2L, and a shunt resistor S_B2.
  • the C-phase leg has a high side switch element SW_C2H, a low side switch element SW_C2L, and a shunt resistor S_C2.
  • the shunt resistor S_A2 is used to detect the A-phase current IA2, and is connected, for example, between the low side switch element SW_A2L and the GND line GL.
  • the shunt resistor S_B2 is used to detect the B-phase current IB2, and is connected, for example, between the low side switch element SW_B2L and the GND line GL.
  • the shunt resistor S_C2 is used to detect the C-phase current IC2, and is connected, for example, between the low side switch element SW_C2L and the GND line GL.
  • the three shunt resistors S_A2, S_B2 and S_C2 are commonly connected to the GND line GL of the second inverter 130.
  • the above-described current sensor 150 includes, for example, shunt resistors S_A1, S_B1, S_C1, S_A2, S_B2 and S_C2 and a current detection circuit (not shown) that detects the current flowing in each shunt resistor.
  • the A-phase leg of the first inverter 120 (specifically, the node between the high-side switch element SW_A1H and the low-side switch element SW_A1L) is connected to one end A1 of the A-phase winding M1 of the motor 200.
  • the 130 A-phase leg is connected to the other end A2 of the A-phase winding M1.
  • the B-phase leg of the first inverter 120 is connected to one end B1 of the B-phase winding M2 of the motor 200, and the B-phase leg of the second inverter 130 is connected to the other end B2 of the winding M2.
  • the C-phase leg of the first inverter 120 is connected to one end C1 of the C-phase winding M3 of the motor 200, and the C-phase leg of the second inverter 130 is connected to the other end C2 of the winding M3.
  • FIG. 3A schematically shows the configuration of the A-phase H bridge BA.
  • FIG. 3B schematically shows the configuration of the B-phase H bridge BB.
  • FIG. 3C schematically shows the configuration of the C-phase H bridge BC.
  • the inverter unit 100 includes A-phase, B-phase and C-phase H bridges BA, BB, BC.
  • the A-phase H bridge BA includes a high side switch element SW_A1H and a low side switch element SW_A1L in the leg on the first inverter 120 side, a high side switch element SW_A2H in the leg on the second inverter 130 side, a low side switch element SW_A2L, and a winding It has M1.
  • the B-phase H bridge BB includes a high side switch element SW_B1H and a low side switch element SW_B1L in a leg on the first inverter 120 side, a high side switch element SW_B2H in a leg on the second inverter 130 side, a low side switch element SW_B2L, and a winding It has M2.
  • the C-phase H bridge BC includes a high side switching device SW_C1H and a low side switching device SW_C1L in the leg on the first inverter 120 side, a high side switching device SW_C2H in the leg on the second inverter 130 side, a low side switching device SW_C2L, and a winding It has M3.
  • the control circuit 300 (specifically, the controller 340) can identify the failed H bridge from among the three-phase H bridges by performing the failure diagnosis of the H bridge described below. Furthermore, the control circuit 300 can identify an open failure switch element from among the four switch elements of the failed H bridge. For example, when the control circuit 300 identifies a failed H bridge, it is possible to switch to motor control in which a two-phase winding is energized using a two-phase H bridge other than the failed H bridge.
  • energization of a three-phase winding is referred to as "three-phase energization control”
  • energization of a two-phase winding is referred to as "two-phase energization control”.
  • failure diagnosis method of H bridge With reference to FIGS. 4 to 6, for example, a specific example of a failure diagnosis method for diagnosing a failure of the H bridge, which is used for the power conversion device 1000 shown in FIG. However, as will be described later, the failure diagnosis method of the present disclosure can be suitably used for a power converter including at least one H bridge, for example, a full bridge type power converter.
  • the failure of the H bridge will be described.
  • the failure of the H bridge refers to the open failure of the switch element.
  • the occurrence of an open failure in the high-side switch element SW_A1H of the A-phase H bridge BA may be referred to as a failure of the A-phase H bridge BA.
  • the H-bridge failure diagnosis method of the present disclosure it is possible to identify an open-failed switch element among the four switch elements of the failed H-bridge.
  • the H-bridge failure diagnosis method includes a method of identifying an open failure switch element.
  • the outline of the failure diagnosis method for diagnosing the failure of the H bridge is as follows.
  • a current / voltage expressed in the dq coordinate system is acquired, and a first actual voltage indicating a voltage across the first low side switch element and a second actual voltage indicating a voltage across the second low side switch element are And the motor rotation speed ⁇ (acquisition step).
  • the current / voltage represented in the dq coordinate system includes the d-axis voltage Vd, the q-axis voltage Vq, the d-axis current Id and the q-axis current Iq.
  • an axis corresponding to the zero phase is represented as az axis.
  • the rotational speed ⁇ is represented by the number of revolutions (rpm) at which the rotor of the motor rotates per unit time (for example, one minute) or the number of revolutions (rps) at which the rotor rotates per unit time (for example, one second).
  • the first actual voltage and the second actual voltage will be described with reference to FIGS. 3A to 3C.
  • a first actual voltage and a second actual voltage are defined for the A-phase, B-phase and C-phase H bridges BA, BB and BC, respectively.
  • the first actual voltage indicates the voltage across the first low-side switch element in the leg on the first inverter 120 side in the H bridge of each phase. In other words, the first actual voltage corresponds to the node potential between the first high side switching device and the first low side switching device in the leg on the first inverter 120 side.
  • the second actual voltage indicates the voltage across the second low side switch element in the leg on the second inverter 130 side. In other words, the second actual voltage corresponds to the node potential between the second high side switching device and the second low side switching device in the leg on the second inverter 130 side.
  • the voltage across the switch element is equal to the voltage Vds between the source and drain of the FET which is the switch element.
  • the first actual voltage indicates the voltage VA1 across the low-side switch element SW_A1L shown in FIG. 3A
  • the second actual voltage indicates the voltage VA2 across the low-side switch element SW_A2L shown in FIG. 3A.
  • the first actual voltage indicates the voltage VB1 across the low side switch device SW_B1L shown in FIG. 3B
  • the second actual voltage indicates the voltage VB2 across the low side switch device SW_B2L shown in FIG. 3B.
  • the first actual voltage indicates the voltage VC1 across the low-side switch element SW_C1L shown in FIG. 3C
  • the second actual voltage indicates the voltage VC2 across the low-side switch element SW_C2L shown in FIG. 3C. .
  • the failure signal indicating the failure of the H bridge is phase-by-phase based on the diagnosis result of the open failure of each of the first high side switching device, the second high side switching device, the first low side switching device and the second low side switching device. And output to a motor control unit described later (fault signal generation step).
  • a fault signal is a signal that is asserted when a fault occurs.
  • the above acquisition step, diagnosis step and fault signal generation step are repeatedly performed, for example, in synchronization with the cycle of measuring each phase current by the current sensor 150, that is, the cycle of AD conversion.
  • the algorithm for realizing the fault diagnosis method according to the present embodiment can be realized only by hardware such as an application specific integrated circuit (ASIC) or an FPGA, for example, or realized by a combination of a microcontroller and software.
  • ASIC application specific integrated circuit
  • FPGA field-programmable gate array
  • the operation subject of failure diagnosis is the controller 340 of the control circuit 300.
  • FIG. 4 exemplifies functional blocks of the controller 340 for performing motor control in general.
  • FIG. 5A illustrates functional blocks for performing failure diagnosis of the A-phase H bridge BA.
  • FIG. 5B illustrates functional blocks for performing failure diagnosis of the B-phase H bridge BB.
  • FIG. 5C illustrates functional blocks for performing failure diagnosis of the C-phase H bridge BC.
  • each block in the functional block diagram is shown not in hardware but in functional block.
  • the software used for motor control and fault diagnosis of the H bridge may be, for example, a module constituting a computer program for executing a specific process corresponding to each functional block.
  • Such computer programs are stored, for example, in the ROM 360.
  • the controller 340 can read an instruction from the ROM 360 and sequentially execute each process.
  • the controller 340 includes, for example, a fault diagnosis unit 800 and a motor control unit 900.
  • the fault diagnosis of the present disclosure can be suitably combined with motor control (for example, vector control) and can be incorporated into a series of processes of motor control.
  • the failure diagnosis unit 800 obtains, as input signals, a voltage peak value Vpeak expressed in the dq coordinate system, a current amplitude value (Id 2 + Iq 2 ) 1/2, and a rotational speed ⁇ of the motor 200.
  • the failure diagnosis unit 800 refers to the look-up table 840 to determine the saturation voltage Vsat based on the acquired current amplitude value and rotational speed ⁇ .
  • the fault diagnosis unit 800 further obtains the first actual voltages VA1, VB1, VC1, and the second actual voltages VA2, VB2, and VC2.
  • the failure diagnosis unit 800 diagnoses a failure of the A-phase H bridge BA based on the acquired voltage peak value Vpeak, the saturation voltage Vsat, the first actual voltage VA1 and the second actual voltage VA2.
  • the failure diagnosis unit 800 diagnoses a failure of the B-phase H bridge B based on the acquired voltage peak value Vpeak, the saturation voltage Vsat, the first actual voltage VB1 and the second actual voltage VB2.
  • the failure diagnosis unit 800 diagnoses a failure of the C-phase H bridge BC based on the acquired voltage peak value Vpeak, the saturation voltage Vsat, the first actual voltage VC1 and the second actual voltage VC2.
  • the failure diagnosis unit 800 generates failure signals A_FD, B_FD and C_FD indicating a failure of the H bridge for each phase based on the diagnosis result, and outputs the signals to a motor control unit 900 that controls the motor 200.
  • the motor control unit 900 generates a PWM signal that controls the overall switching operation of the switch elements of the first and second inverters 120 and 130 using, for example, vector control.
  • the motor control unit 900 outputs a PWM signal to the drive circuit 350. Further, the motor control unit 900 can switch the motor control from the three-phase energization control to the two-phase energization control, for example, when a failure signal is asserted.
  • each functional block may be referred to as a unit for convenience of explanation. Naturally, these notations should not be used with the intention of limiting interpretation of each functional block to hardware or software.
  • controller 340 When each functional block is implemented as software in the controller 340, the execution subject of the software may be, for example, the core of the controller 340. As described above, controller 340 may be implemented by an FPGA. In that case, all or part of the functional blocks can be realized in hardware.
  • the computing load of a specific computer can be distributed.
  • all or part of the functional blocks shown in FIG. 4 and FIGS. 5A to C may be distributed and implemented in a plurality of FPGAs.
  • the plurality of FPGAs are communicably connected to one another by, for example, a vehicle-mounted control area network (CAN), and can transmit and receive data.
  • CAN vehicle-mounted control area network
  • the failure diagnosis unit 800 is a failure diagnosis unit 800A (see FIG. 5A) for diagnosing a failure of the A-phase H bridge BA, and a failure diagnosis unit 800B for diagnosing a failure of the B-phase H bridge BB (FIG. 5B). And a failure diagnosis unit 800C (see FIG. 5C) for diagnosing a failure of the C-phase H bridge BC.
  • the failure diagnosis units 800A, B, C are configured by substantially the same functional blocks. However, the input signals of the first actual voltage and the second actual voltage are different among the blocks.
  • the fault diagnosis of the H-bridge will be described in detail with reference to FIG. 5A, taking the fault diagnosis of the A-phase H bridge BA as an example.
  • the fault diagnosis unit 800A is a low side fault diagnosis unit including multipliers 810, 811, adders 812, 813_1, 813_2, signal generation units 814_1 and 814_2, multipliers 820, 821, adders 822, 823_1, 823_2, signal generation. It has a high side fault diagnosis unit including units 824_1 and 824_2, and a logic circuit OR 830.
  • the low side fault diagnosis unit identifies open faults of the low side switch elements SW_A1L and SW_A2L.
  • the high side fault diagnosis unit identifies open faults of the high side switch elements SW_A1H and SW_A2H.
  • the high side fault diagnosis unit performs a first fault diagnosis for diagnosing an open fault of the high side switch element SW_A1H based on the voltage peak value Vpeak, the saturation voltage Vsat and the first actual voltage VA1, a voltage peak value Vpeak, a saturation voltage Vsat and A second failure diagnosis for diagnosing an open failure of the high side switch element SW_A2H is performed based on the second actual voltage VA2.
  • the multiplier 820 multiplies the voltage peak value Vpeak by a constant "1/2".
  • the voltage peak value Vpeak is calculated based on the equation (1).
  • Vd indicates the d-axis voltage in the dq coordinate system
  • Vq indicates the q-axis voltage.
  • Vpeak (2/3) 1/2 (Vd 2 + Vq 2 ) 1/2 equation (1)
  • the failure diagnosis unit 800 may have a pre-operation unit (not shown) for acquiring Vpeak.
  • the pre-arithmetic unit uses three-phase currents Ia, Ib and Ic obtained based on the measurement values of the current sensor 150 using Clarke transformation to generate currents I ⁇ and ⁇ on the ⁇ axis in the ⁇ fixed coordinate system. Current I.sub..beta .
  • the pre-arithmetic unit further converts the currents I ⁇ and I ⁇ into the d-axis current Id and the q-axis current Iq in the dq coordinate system, using Park transformation (dq coordinate transformation).
  • the pre-arithmetic unit acquires the d-axis voltage Vd and the q-axis voltage Vq based on Id and Iq, and calculates the voltage peak value Vpeak from the acquired Vd and Vq based on Expression (1).
  • the pre-arithmetic unit can also receive Vd and Vq necessary for calculation of Vpeak from the motor control unit 900 performing vector control.
  • the pre-arithmetic unit acquires Vpeak in synchronization with the cycle of measuring each phase current by the current sensor 150.
  • the multiplier 821 multiplies the saturation voltage Vsat by a constant "1".
  • FIG. 6 schematically shows a look-up table (LUT) 840 for determining the saturation voltage Vsat from the rotational speed ⁇ and the current amplitude value.
  • the LUT 840 relates the relationship between the saturation voltage Vsat and the input of the current amplitude value (Id 2 + Iq 2 ) 1/2 determined based on the d-axis current and the q-axis current and the rotational speed ⁇ of the motor 200.
  • Id and Iq are input from, for example, a pre-operation unit.
  • the rotation speed ⁇ is calculated based on, for example, a rotation signal from the angle sensor 320.
  • the rotational speed ⁇ can be estimated, for example, using a known sensorless control method.
  • Table 1 illustrates the configuration of the LUT 840 that can be used for the H-bridge failure diagnosis method.
  • Iq (A) In Table 1, Iq (A) is described.
  • the saturation voltage Vsat is determined from the acquired current amplitude value Iq and the rotational speed ⁇ .
  • a constant value for example, about 0.1 V) depending on the system can be used as the saturation voltage Vsat.
  • the adder 822 adds the output Vsat of the multiplier 821 to the output Vpeak / 2 of the multiplier 820.
  • the adder 823_1 calculates the first failure diagnosis voltage VA1H_FD by adding the first actual voltage VA1 to the output (Vpeak / 2) + Vsat from the adder 822 in the first failure diagnosis (Equation (2)) .
  • the adder 823_2 calculates the second fault diagnosis voltage VA2H_FD by adding the second actual voltage VA2 to the output (Vpeak / 2) + Vsat from the adder 822 in the second fault diagnosis (Equation (3)) .
  • the first actual voltage VA1 and the second actual voltage VA2 are measured by, for example, a drive circuit (predriver) 350.
  • VA1H_FD VA1 + [(Vpeak / 2) + Vsat]
  • VA2H_FD VA2 + [(Vpeak / 2) + Vsat] Formula (3)
  • the signal generation unit 824_1 diagnoses an open failure of the high side switch element SW_A1H based on the first failure diagnosis voltage VA1H_FD. Specifically, when the first failure diagnosis voltage VA1H_FD is less than zero (VA1H_FD ⁇ 0), the signal generation unit 824_1 identifies an open failure of the high side switch element SW_A1H. When the first failure diagnosis voltage VA1H_FD is greater than or equal to zero (VA1H_FD ⁇ 0), the signal generation unit 824_1 determines that an open failure has not occurred in the high side switch element SW_A1H.
  • the signal generation unit 824_1 generates a first failure signal A1H_FD indicating an open failure of the high side switch element SW_A1H based on the diagnosis result in the first failure diagnosis.
  • the first failure signal A1H_FD can be assigned to a 1-bit signal.
  • the level of the first failure signal A1H_FD is Low.
  • the signal generation unit 824_1 identifies the open failure of the high side switch element SW_A1H, it asserts the first failure signal A1H_FD.
  • the signal generation unit 824_2 diagnoses an open fault of the high side switch element SW_A2H based on the second fault diagnosis voltage VA2H_FD. Specifically, when the second failure diagnosis voltage VA2H_FD is less than zero (VA2H_FD ⁇ 0), the signal generation unit 824_2 specifies an open failure of the high side switch element SW_A2H. When the second failure diagnosis voltage VA2H_FD is greater than or equal to zero (VA2H_FD ⁇ 0), the signal generation unit 824_2 determines that an open failure has not occurred in the high side switch element SW_A2H.
  • the signal generation unit 824_2 generates a second failure signal A2H_FD indicating an open failure of the high side switch element SW_A2H based on the diagnosis result in the second failure diagnosis.
  • the second failure signal A2H_FD can be assigned to a 1-bit signal.
  • the level of the second failure signal A2H_FD is Low.
  • the signal generation unit 824_2 identifies the open failure of the high side switch element SW_A2H, it asserts the second failure signal A2H_FD.
  • the low side fault diagnosis unit performs third fault diagnosis that diagnoses an open fault of the low side switch element SW_A1L based on the voltage peak value Vpeak, the saturation voltage Vsat and the first actual voltage VA1, and the voltage peak value Vpeak, the saturation voltage Vsat and the second fault diagnosis unit.
  • a fourth failure diagnosis is performed to diagnose an open failure of the low side switch element SW_A2L based on the actual voltage VA2.
  • the multiplier 810 multiplies the voltage peak value Vpeak by a constant “ ⁇ 1 ⁇ 2”.
  • the multiplier 811 multiplies the saturation voltage Vsat by a constant “ ⁇ 1”.
  • the low side fault diagnosis unit has the opposite sign of the multipliers 810 and 811 of the high side fault diagnosis unit. A constant is used.
  • the adder 812 adds the output (-Vsat) of the multiplier 811 to the output (-Vpeak / 2) of the multiplier 810.
  • the adder 813_1 calculates the third fault diagnosis voltage VA1L_FD by adding the first actual voltage VA1 to the output from the adder 812:-[(Vpeak / 2) + Vsat] in the third fault diagnosis (formula (4)).
  • the adder 813_2 calculates the fourth failure diagnosis voltage VA2L_FD by adding the second actual voltage VA2 to the output from the adder 812:-[(Vpeak / 2) + Vsat] in the fourth failure diagnosis.
  • VA1L_FD VA1-[(Vpeak / 2) + Vsat] formula (4)
  • VA2L_FD VA2-[(Vpeak / 2) + Vsat] formula (5)
  • the signal generation unit 814_1 diagnoses an open failure of the low side switch element SW_A1L based on the third failure diagnosis voltage VA1L_FD. Specifically, when the third failure diagnosis voltage VA1L_FD is larger than zero (VA1L_FD> 0), the signal generation unit 814_1 identifies an open failure of the low side switch element SW_A1L. When the third failure diagnosis voltage VA1L_FD is equal to or less than zero (VA1L_FD ⁇ 0), the signal generation unit 814_1 determines that the open failure does not occur in the low side switch element SW_A1L.
  • the signal generation unit 814_1 generates a third failure signal A1L_FD indicating an open failure of the low side switch element SW_A1L based on the diagnosis result in the third failure diagnosis.
  • the third fault signal A1L_FD can be assigned to a 1-bit signal.
  • the level of the third failure signal A1L_FD is Low.
  • the signal generation unit 814_1 asserts the third failure signal A1L_FD upon identifying the open failure of the low side switch element SW_A1L.
  • the signal generation unit 814_2 diagnoses an open fault of the low-side switch element SW_A2L based on the fourth fault diagnostic voltage VA2L_FD. Specifically, when the fourth failure diagnosis voltage VA2L_FD is larger than zero (VA2L_FD> 0), the signal generation unit 814_2 identifies an open failure of the low side switch element SW_A2L. When the fourth failure diagnosis voltage VA2L_FD is less than or equal to zero (VA2L_FD ⁇ 0), the signal generation unit 814_2 determines that the open failure does not occur in the low side switch element SW_A2L.
  • the signal generation unit 814_2 generates a fourth failure signal A2L_FD indicating an open failure of the low side switch element SW_A2L based on the diagnosis result in the fourth failure diagnosis.
  • the fourth failure signal A2L_FD can be assigned to a 1-bit signal.
  • the level of the fourth failure signal A2L_FD is Low.
  • the signal generation unit 814_2 identifies the open failure of the low side switch element SW_A2L, it asserts a fourth failure signal A2L_FD.
  • the failure diagnosis unit 800A can specify the open failure switch element among the high side switch elements SW_A1H and SW_A2H, and the low side switch elements SW_A1L and SW_A2L.
  • the logic circuit OR 830 logically ORs the first to fourth failure signals A1H_FD, A2H_FD, A1L_FD and A2L_FD.
  • the logic circuit OR 830 outputs a logical sum to the motor control unit 900 as a failure signal A_FD indicating a failure of the A-phase H bridge BA.
  • the failure signal A_FD can be assigned to a 1-bit signal.
  • the failure diagnosis unit 800B When the failure diagnosis unit 800B identifies at least one open failure of the high side switch devices SW_B1H and SW_B2H, and the low side switch devices SW_B1L and SW_B2L, the failure diagnosis unit 800B asserts the failure signal B_FD.
  • the failure diagnosis unit 800C identifies at least one open failure of the high side switch devices SW_C1H and SW_C2H, and the low side switch devices SW_C1L and SW_C2L, the failure diagnosis unit 800C asserts the failure signal C_FD.
  • FIG. 7 exemplifies a current waveform (sine wave) obtained by plotting current values flowing in the A-phase, B-phase, and C-phase windings of the motor 200 when the power conversion device 1000 is controlled according to three-phase conduction control.
  • FIG. 8A is obtained by plotting the current values flowing in the B-phase and C-phase windings of the motor 200 when the power converter 1000 is controlled according to the two-phase energization control when the A-phase H bridge BA fails.
  • the current waveform is illustrated.
  • the horizontal axis indicates the motor electrical angle (deg), and the vertical axis indicates the current value (A).
  • I pk represents the maximum current value (peak current value) of each phase.
  • FIG. 8B plots the current values flowing in the A-phase and C-phase windings of the motor 200 when the power conversion device 1000 is controlled according to the two-phase energization control.
  • the current waveform obtained by In FIG. 8C when the C-phase H bridge BC fails, it is obtained by plotting the current values flowing in the A-phase and B-phase windings of the motor 200 when the power conversion device 1000 is controlled according to the two-phase energization control.
  • the current waveform is illustrated.
  • Motor control unit 900 performs three-phase energization control when normal, that is, when the levels of failure signals A_FD, B_FD and C_FD are all low.
  • the motor control unit 900 performs two-phase energization to energize the windings M2 and M3 using the two-phase H bridges BB and BC other than the failed H bridge BA. Control can be performed. Thus, even if one of the three phases of the H bridge is broken, power conversion device 1000 can continue motor driving.
  • the following shows the results of verification of the validity of the algorithm used for fault diagnosis of the H bridge according to the present disclosure, using dSPACE's "Rapid Control Prototyping (RCP) system” and Matlab / Simulink from MathWorks.
  • RCP Rapid Control Prototyping
  • EPS electric power steering
  • the q-axis current command value Iqref is set to 3A
  • the d-axis current command value Idref and the zero-phase current command value Iz_ref are set to 0A.
  • the motor rotational speed ⁇ was set to 1190 rpm, and a simulation was performed in which an open failure was generated at time 1.543 s in the high side switch element SW_A1H of the A-phase H bridge BA. Also, a simulation was performed in which an open failure was generated at time 1.641 s in the low-side switch element SW_A1L of the A-phase H bridge BA.
  • FIG. 9A shows the waveform (upper side) of the rotational speed ⁇ of the motor and the waveform (lower side) of the rotor angle.
  • the upper vertical axis of the graph indicates the rotational speed (rpm), and the lower vertical axis indicates the rotor angle (rad).
  • the horizontal axis shows time (s). The horizontal axis of all the waveforms of this simulation result indicates time.
  • FIG. 9B shows the waveform of the A phase current Ia
  • FIG. 9C shows the waveform of the B phase current Ib
  • FIG. 9D shows the waveform of the C phase current Ic.
  • the vertical axis shows the current (A).
  • waveforms of the respective phases waveforms of actual current values and waveforms of current command values are shown.
  • FIG. 9E shows the waveform of the zero phase current Iz.
  • the vertical axis shows the current (A).
  • FIG. 9F shows the waveforms of the first actual voltage VA1 (upper side) and the second actual voltage VA2 (lower side) of the A phase when the high side switch element SW_A1H in the A bridge H of the A phase has an open failure.
  • FIG. 9G shows waveforms of the first actual voltage VB1 (upper side) and the second actual voltage VB2 (lower side) of the B phase when the high side switch element SW_A1H in the A bridge H of the A phase is open-circuited.
  • FIG. 9H shows waveforms of the first actual voltage VC1 (upper side) and the second actual voltage VC2 (lower side) of the C phase when the high side switch element SW_A1H in the H bridge BA of the A phase has an open failure.
  • the vertical axis represents voltage (V).
  • FIG. 9I shows waveforms of the first actual voltage VA1 (upper side) and the second actual voltage VA2 (lower side) of the A phase when the low side switch element SW_A1L in the H bridge BA of the A phase has an open failure.
  • FIG. 9J shows the waveforms of the first actual voltage VB1 (upper side) and the second actual voltage VB2 (lower side) of the B phase when the low side switch element SW_A1L in the H bridge BA of the A phase has an open failure.
  • FIG. 9K shows waveforms of the first actual voltage VC1 (upper side) and the second actual voltage VC2 (lower side) of the C phase when the low side switch element SW_A1L in the H bridge BA of the A phase has an open failure.
  • the vertical axis represents voltage (V).
  • FIG. 9L shows the waveform of the failure signal A_FD.
  • the vertical axis indicates the failure signal level.
  • FIG. 9F After the open failure of the high-side switch element SW_A1H of the A-phase H bridge BA at time 1.543 s, as shown in FIG. 9F, it can be seen that the upper peak value of the first actual voltage VA1 decreases. Further, it can be seen that the lower peak value of the second actual voltage VA2 is decreasing (the absolute value of the lower peak value is increased). As shown in FIGS. 9G and 9H, the first actual voltages VB1 and VC1 and the second actual voltages VB2 and VC2 do not change. Further, as shown in FIG.
  • an open failure switch element can be identified among the four switch elements of the H bridge.
  • the failed H bridge of the three-phase H bridge can be identified.
  • the fault diagnosis of the present disclosure can be realized by a simple algorithm. Therefore, for example, advantages such as circuit size reduction or memory size reduction can be obtained in the implementation of the controller 340.
  • the failure diagnosis method of the present disclosure can also be suitably used for a full bridge type power converter.
  • the full bridge comprises a one-phase H-bridge structure, for example the circuit structure shown in FIG. 3A.
  • the failure of the full bridge can be detected by utilizing the above-described failure diagnosis method for the failure diagnosis of the full bridge.
  • a full bridge type power converter controls the switching operation of the H bridge BA having the high side switch element SW_A1H, the high side switch element SW_A2H, the low side switch element SW_A1L and the low side switch element SW_A2L, and the switch elements of the H bridge BA And a control circuit 300.
  • the control circuit 300 acquires the current / voltage represented in the dq coordinate system, and acquires the first actual voltage VA1 indicating the voltage across the low side switch element SW_A1L and the second actual voltage VA2 indicating the voltage across the low side switch element SW_A2L. To obtain the rotational speed ⁇ of the motor.
  • the control circuit 300 controls the high side switch element SW_A1H, the high side switch element SW_A2H, and the low side switch element based on the acquired current / voltage in the dq coordinate system, the first actual voltage VA1, the second actual voltage VA2 and the rotational speed ⁇ . Diagnose open faults of SW_A1L and low side switch element SW_A2L.
  • FIG. 10 schematically shows a typical configuration of the electric power steering apparatus 3000 according to the present embodiment.
  • Vehicles such as automobiles generally have an electric power steering device.
  • the electric power steering apparatus 3000 according to the present embodiment has a steering system 520 and an auxiliary torque mechanism 540 that generates an auxiliary torque.
  • Electric power steering apparatus 3000 generates an assist torque that assists the steering torque of the steering system generated by the driver operating the steering wheel.
  • the assist torque reduces the burden on the driver's operation.
  • the steering system 520 includes, for example, a steering handle 521, a steering shaft 522, free shaft joints 523A and 523B, a rotating shaft 524, a rack and pinion mechanism 525, a rack shaft 526, left and right ball joints 552A and 552B, tie rods 527A and 527B, and knuckles 528A. , 528B, and left and right steering wheels 529A, 529B.
  • the auxiliary torque mechanism 540 includes, for example, a steering torque sensor 541, an electronic control unit (ECU) 542 for a car, a motor 543, a reduction mechanism 544, and the like.
  • the steering torque sensor 541 detects a steering torque in the steering system 520.
  • the ECU 542 generates a drive signal based on the detection signal of the steering torque sensor 541.
  • the motor 543 generates an auxiliary torque corresponding to the steering torque based on the drive signal.
  • the motor 543 transmits the generated assist torque to the steering system 520 via the reduction mechanism 544.
  • the ECU 542 includes, for example, the controller 340 and the drive circuit 350 according to the first embodiment.
  • an electronic control system is built around an ECU.
  • a motor drive unit is constructed by the ECU 542, the motor 543 and the inverter 545.
  • the motor module 2000 by Embodiment 1 can be used suitably for the system.
  • Embodiments of the present disclosure are also suitably used in motor control systems such as shift by wire, steering by wire, X by wire such as brake by wire, and traction motors.
  • an EPS implementing a failure diagnosis method according to an embodiment of the present disclosure is an autonomous vehicle corresponding to levels 0 to 4 (standards of automation) defined by the Government of Japan and the Road Traffic Safety Administration (NHTSA) of the US Department of Transportation. It can be loaded.
  • Embodiments of the present disclosure can be widely used in a variety of devices equipped with various motors, such as vacuum cleaners, dryers, ceiling fans, washing machines, refrigerators, and electric power steering devices.

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  • Chemical & Material Sciences (AREA)
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  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Inverter Devices (AREA)
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Abstract

Selon la présente invention, un procédé de diagnostic de défaut diagnostique un défaut d'un pont en H comptant 4 éléments de commutation. Le procédé de diagnostic de défaut comprend : une étape d'acquisition, permettant d'acquérir un graphe courant/tension représenté dans un système de coordonnées dq, d'acquérir une première tension réelle, indiquant une tension aux bornes d'un élément de commutation côté bas, et une seconde tension réelle, indiquant une tension aux bornes de l'autre élément de commutation côté bas, et d'acquérir une vitesse de rotation du moteur ; et une étape de diagnostic, permettant de diagnostiquer un défaut des 4 éléments de commutation en fonction du graphe tension/tension acquis dans le système de coordonnées dq, de la première tension réelle, de la seconde tension réelle et de la vitesse de rotation acquise.
PCT/JP2018/023721 2017-09-28 2018-06-22 Procédé de diagnostic d'erreur, dispositif de conversion de courant, module moteur et dispositif de direction assistée électrique Ceased WO2019064748A1 (fr)

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WO2019220783A1 (fr) * 2018-05-15 2019-11-21 日本電産株式会社 Procédé de diagnostic de défaillance, dispositif de conversion de courant, module moteur et dispositif de direction assistée électrique

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JP2011025872A (ja) * 2009-07-28 2011-02-10 Jtekt Corp 電動パワーステアリング装置
JP2011078221A (ja) * 2009-09-30 2011-04-14 Denso Corp 多相回転機の制御装置、および、これを用いた電動パワーステアリング装置
JP2016019385A (ja) * 2014-07-09 2016-02-01 株式会社ジェイテクト モータ装置
WO2016152523A1 (fr) * 2015-03-23 2016-09-29 日本精工株式会社 Dispositif de commande de moteur, dispositif de direction assistée électrique et véhicule le comportant
WO2017150638A1 (fr) * 2016-03-04 2017-09-08 日本電産株式会社 Dispositif de conversion de puissance, unité d'entraînement de moteur et dispositif de direction assistée électrique

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Publication number Priority date Publication date Assignee Title
JP2011025872A (ja) * 2009-07-28 2011-02-10 Jtekt Corp 電動パワーステアリング装置
JP2011078221A (ja) * 2009-09-30 2011-04-14 Denso Corp 多相回転機の制御装置、および、これを用いた電動パワーステアリング装置
JP2016019385A (ja) * 2014-07-09 2016-02-01 株式会社ジェイテクト モータ装置
WO2016152523A1 (fr) * 2015-03-23 2016-09-29 日本精工株式会社 Dispositif de commande de moteur, dispositif de direction assistée électrique et véhicule le comportant
WO2017150638A1 (fr) * 2016-03-04 2017-09-08 日本電産株式会社 Dispositif de conversion de puissance, unité d'entraînement de moteur et dispositif de direction assistée électrique

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019220783A1 (fr) * 2018-05-15 2019-11-21 日本電産株式会社 Procédé de diagnostic de défaillance, dispositif de conversion de courant, module moteur et dispositif de direction assistée électrique
JPWO2019220783A1 (ja) * 2018-05-15 2021-06-17 日本電産株式会社 故障診断方法、電力変換装置、モータモジュールおよび電動パワーステアリング装置

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