Device and method for controlling electric motor
View Patent ↗Provided is a control device for an electric motor which includes multiple energization systems each including an inverter and coils corresponding to different phases, and which generates a steering assist force in an electric power steering system. Control device diagnoses whether any of inverters 1 A and 1 B fails, and, when either of the inverters is diagnosed as having failed, reduces the output ratio of the failing inverter to 0% while increasing the output ratio of the normally operating inverter to 100% so as to prevent a drop in the total output from all the inverters after the failure-positive diagnosis. If steering operation is performed after the failure-positive diagnosis, control device performs overheat protection processing for gradually lowering the limit value for the total output from all the inverters in accordance with the sensed temperature of the normally operating inverter.
1. A control device tor an electric motor which includes a plurality of energization systems each including an inverter and coils corresponding to different phases, and which generates a steering assist force in an electric power steering system, the control device comprising:
a failure diagnostic unit which diagnoses whether the inverter in any of the energization systems has failed: and
an output correcting unit configured to lower an output limit value for the inverter in each of the energization systems in accordance with a rise in a temperature related to the inverter so that a total output limit value for limiting a total output is limited, the total output limit value being the sum of the output limit values for the inverters, the total output being the sum of outputs from the inverters, wherein
when a failure-positive diagnosis is made in which the failure diagnostic unit diagnoses the inverters in one or some of the energization systems as having failed, the output correcting unit reduces an output of each of failing inverters to a value greater than zero, which are diagnosed as having failed, while raising the output limit value for a normally operating inverter, which is diagnosed as having not failed, so as not to change the total output limit value, and
from when steering operation is performed after the failure-positive diagnosis, the output correcting unit lowers the raised output limit value for the normally operating inverter in accordance with a rise in the temperature related to the normally operating inverter so that the output of the normally operating inverter is limited.
2. The control device for an electric motor according to claim 1 , wherein, after the steering operation is performed, the output correcting unit maintains the output limit value for the normally operating inverter even if the temperature related to the normally operating inverter decreases.
3. The control device for an electric motor according to claim 1 , wherein the temperature related to the normally operating inverter is sensed by a temperature sensing device provided in an interior of the normally operating inverter.
4. The control device for an electric motor according to claim 1 , wherein
an amount by which the output correcting unit lowers the output limit value for the normally operating inverter with respect to a rise in the temperature related to the normally operating inverter after the failure-positive diagnosis is different from an amount by which the output correcting unit lowers the output limit value for the inverter in each of the energization systems with respect to a rise in the temperature related to the inverter after a failure-negative diagnosis in which none of the inverters in the energization systems are diagnosed as having failed.
5. The control device for an electric motor according to claim 4 , wherein, a first lower-limit temperature used after the failure-positive diagnosis in a manner that, when the temperature related to the normally operating inverter reaches the first lower-limit temperature, the output correcting unit starts to lower the output limit value for the normally operating inverter, is lower than a second lower-limit temperature used after the failure-negative diagnosis in a manner that, when the temperature related to the inverter in any one of the energization systems reaches the second lower-limit temperature, the output correcting unit starts to lower the output limit value for the inverter.
6. The control device for an electric motor according to claim 4 , wherein a rate at which the output correcting unit lowers the output limit value for the normally operating inverter in accordance with a rise in the temperature related to the normally operating inverter after the failure-positive diagnosis is lower than a rate at which the output correcting unit lowers the output limit value for the inverter in each of the energization systems in accordance with a rise in the temperature related to the inverter after the failure-negative diagnosis.
7. The control device for an electric motor according to claim 4 , wherein the temperature related to the normally operating inverter, at which the output limit value for the normally operating inverter is lowered to 0 after the failure-positive diagnosis, is lower than the temperature related to the inverter in each of the energization systems, at which the output limit value for the inverter is lowered to 0 after the failure-negative diagnosis.
8. The control device for an electric motor according to claim 1 , wherein, from when steering operation is performed after the failure-positive diagnosis, the output correcting unit limits the output of the normally operating inverter by lowering the output limit value for the normally operating inverter based on a change in an input electric current or an output electric current of the normally operating inverter or based on an integrated value of the input electric current or the output electric current of the normally operating inverter.
9. The control device for an electric motor according to claim 1 , wherein, from when steering operation is performed after the failure-positive diagnosis, the output correcting unit limits the output of the normally operating inverter by lowering the output limit value for the normally operating inverter based on a change or integrated value of an electric-current command for the inverters.
10. The control device for an electric motor according to claim 1 , wherein, from when steering operation is performed after the failure-positive diagnosis, the output correcting unit limits the output of the normally operating inverter by lowering the output limit value for the normally operating inverter based on a change or integrated value of a rotation speed of the electric motor.
11. The control device for an electric motor according to claim 1 , wherein, from when steering operation is performed after the failure-positive diagnosis, the output correcting unit limits the output of the normally operating inverter by lowering the output limit value for the normally operating inverter based on a change or integrated value of a magnetic pole angle of the electric motor.
12. The control device for an electric motor according to claim 1 , wherein, from when steering operation is performed after the failure-positive diagnosis, the output correcting unit limits the output of the normally operating inverter by lowering the output limit value for the normally operating inverter based on a change or integrated value of a steering torque.
13. The control device for an electric motor according to claim 1 , wherein, from when steering operation is performed after the failure-positive diagnosis, the output correcting unit limits the output of the normally operating inverter by lowering the output limit value for the normally operating inverter based on a change or integrated value of an angle of a steering wheel.
14. The control device for an electric motor according to claim 1 , wherein, from when steering operation is performed after the failure-positive diagnosis, the output correcting unit limits the output of the normally operating inverter by lowering the output limit value for the normally operating inverter based on a change or integrated value of a rotation speed of a steering wheel.
15. A control method for an electric motor which includes a plurality of energization systems each including an inverter and coils corresponding to different phases, and which generates a steering assist force in an electric power steering system, the control method comprising the steps of:
diagnosing whether the inverter in any of the energization systems has failed; lowering an output limit value for the inverter in each of the energization systems in accordance with a rise in a temperature related to the inverter so as to lower a total output limit value for limiting a total output, the total output limit value being the sum of the output limit values for the inverters, the total output being the sum of outputs from the inverters;
when a failure-positive diagnosis is made in which inverters in one or some of the energization systems are diagnosed as having failed, reducing an output of each of failing inverters to a value greater than zero, which are diagnosed as having failed, while raising the output limit value for a normally operating inverter, which is diagnosed as having not failed, so as not to change the total output limit value; and from when steering operation is performed after the failure-positive diagnosis, lowering the raised output limit value for the normally operating inverter in accordance with a rise in the temperature related to the normally operating inverter so as to limit the output of the normally operating inverter.