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1. 发明公开

EP3243728A4 MOTOR CONTROL DEVICE, ELECTRIC POWER STEERING DEVICE, AND VEHICLE 有权
公开(公告)号：EP3243728A4
公开(公告)日：2018-06-20
申请号：EP16834958
申请日：2016-07-25
申请人： NSK LTD
发明人： NAMPEI KOUICHI
IPC分类号： B62D6/00 , B62D5/04 , B62D113/00 , B62D119/00 , B62D137/00 , H02P6/16
CPC分类号： B62D5/0484 , B62D5/0409 , B62D5/0463 , B62D5/0487 , B62D5/049 , H02P6/16 , H02P29/028 , H02P2203/05
摘要： There are provided a motor control apparatus, an electric power steering apparatus, and a vehicle, capable of controlling the driving of an electric motor accurately even when a failure occurs in a motor electric angle detecting unit that detects a motor electric angle. The motor control apparatus includes: a relative offset amount estimating unit (62) that estimates a relative offset amount (¸off) between a reference value (¸osr) of an output shaft rotational angle detection value (¸os) of a steering shaft (12), detected by an output-side rotational angle sensor (13c), and a motor electric angle original point (¸md) of a three-phase electric motor (22); and a motor electric angle estimating unit (63) that calculates a motor electric angle estimate (¸me) based on the output shaft rotational angle (¸os) and the relative offset amount (¸off), wherein when at least either one of a resolver (23a) and an angle computing unit (60) is abnormal, the driving of the three-phase electric motor (22) is controlled based on the motor electric angle estimate (¸me) estimated by the motor electric angle estimating unit (63).

2. 发明公开

EP2429074A3 Brushless motor control device and brushless motor system 无效
标题翻译：无刷电机控制装置和无刷电机系统
公开(公告)号：EP2429074A3
公开(公告)日：2018-03-28
申请号：EP11177402.2
申请日：2011-08-12
申请人： Hitachi Car Engineering Co., Ltd.
发明人： Ota, Hiroyuki , Nojiri, Yuukou , Suzuki, Ippei , Noda, Junichi
IPC分类号： H02P29/02 , H02P21/14 , G05B23/02
CPC分类号： H02P6/18 , G05B23/0235 , H02P6/002 , H02P21/18 , H02P29/024 , H02P29/0241 , H02P2203/05
摘要： Provided are a brushless motor control device (3) and a brushless motor system capable of preventing impossibility of intended control of a brushless motor (4) resulting from false recognition that the brushless motor (4) is in operation in spite of stoppage of the brushless motor (4). A brushless motor control unit (302) calculates a voltage instruction, representing voltages to be applied to the brushless motor (4), according to a control instruction supplied from an upper control device (12). A position error calculation unit (306) calculates and estimates a position error between d-q-axes and dc-qc-axes as rotational coordinate axes by use of the voltage instruction outputted by the brushless motor control unit (302), current values acquired by a coordinate transformation unit (305) and revolution speed for control of the brushless motor (4). A fault detection unit (308) judges whether the brushless motor (4) is faulty or not based on the position error calculated by the position error calculation unit (306).
摘要翻译：本发明提供一种无刷电动机控制装置（3）和无刷电动机系统，其能够防止由于无刷电机（4）停止而无刷电动机（4）处于运转中的错误识别所导致的无刷电动机（4）电机（4）。无刷电机控制单元（302）根据从上部控制装置（12）提供的控制指令来计算电压指令，该电压指令表示要施加到无刷电机（4）的电压。位置误差计算单元（306）利用由无刷电机控制单元（302）输出的电压指令，由位置误差计算单元（306）计算并估计作为旋转坐标轴的dq轴和dc-qc轴之间的位置误差，坐标变换单元（305）和用于控制无刷电动机（4）的转速。故障检测单元（308）基于由位置误差计算单元（306）计算的位置误差来判断无刷电动机（4）是否有故障。

3. 发明公开

EP3243728A1 MOTOR CONTROL DEVICE, ELECTRIC POWER STEERING DEVICE, AND VEHICLE 有权
标题翻译：电机控制装置，电力转向装置和车辆
公开(公告)号：EP3243728A1
公开(公告)日：2017-11-15
申请号：EP16834958.7
申请日：2016-07-25
申请人： NSK Ltd.
发明人： NAMPEI Kouichi
IPC分类号： B62D6/00 , B62D5/04 , H02P6/16 , B62D113/00 , B62D119/00 , B62D137/00
CPC分类号： B62D5/0484 , B62D5/0409 , B62D5/0463 , B62D5/0487 , B62D5/049 , H02P6/16 , H02P29/028 , H02P29/032 , H02P2203/05
摘要： There are provided a motor control apparatus, an electric power steering apparatus, and a vehicle, capable of controlling the driving of an electric motor accurately even when a failure occurs in a motor electric angle detecting unit that detects a motor electric angle. The motor control apparatus includes: a relative offset amount estimating unit (62) that estimates a relative offset amount (θoff) between a reference value (θosr) of an output shaft rotational angle detection value (θos) of a steering shaft (12), detected by an output-side rotational angle sensor (13c), and a motor electric angle original point (θmd) of a three-phase electric motor (22); and a motor electric angle estimating unit (63) that calculates a motor electric angle estimate (θme) based on the output shaft rotational angle (θos) and the relative offset amount (θoff), wherein when at least either one of a resolver (23a) and an angle computing unit (60) is abnormal, the driving of the three-phase electric motor (22) is controlled based on the motor electric angle estimate (θme) estimated by the motor electric angle estimating unit (63).
摘要翻译：提供一种即使在检测马达电角度的马达电角度检测单元中发生故障时也能够精确地控制电动马达的驱动的马达控制装置，电动转向装置和车辆。该电动机控制装置具有：相对偏移量推定部（62），推定转向轴（12）的输出轴旋转角度检测值（θos）的基准值（θosr）由输出侧旋转角度传感器（13c）和三相电动机（22）的电动机电角原点（θmd）检测出的电动机电角度。以及基于所述输出轴旋转角度（θos）和所述相对偏移量（θoff）来计算电动机电角度推定值（θme）的电动机电角推定部（63），其中，当分解器（23a，）和角度运算部（60）异常的情况下，基于由电动机电角推定部（63）推定的电动机电角推定值（θme）来控制三相电动机（22）的驱动。

4. 发明公开

EP2154779A3 Motor control system 审中-公开
标题翻译：电机控制系统
公开(公告)号：EP2154779A3
公开(公告)日：2017-11-15
申请号：EP09251913.1
申请日：2009-07-30
申请人： Sanyo Denki Co., Ltd.
发明人： Ide, Yuji
IPC分类号： H02P6/00 , H02P6/10 , H02P23/04
CPC分类号： H02P23/04 , H02P6/10 , H02P6/34 , H02P2203/05
摘要： A motor control system suppresses vibration of a machine base and achieves high-speed positioning without using a special sensor but using a model control system. A first feedback section outputs a first feedback command generated based on model machine base position information and containing at least position information on the machine base. A second feedback section outputs a second feedback command containing a filtered model torque command. A differential between the sum of the first feedback command and the second feedback command obtained by a second addition section and the model torque command is calculated to give the differential to an input portion of a model torque command low-pass filter and an input portion of a torque command low-pass filter. The model control system gives a model position command to a position controller as a position command, and model machine base position information generated based on the model position command is added to a speed command input from the position controller to a speed controller.
摘要翻译：电机控制系统可以抑制机座的振动，并且可以在不使用特殊传感器而使用模型控制系统的情况下实现高速定位。第一反馈部分输出第一反馈命令，该第一反馈命令基于模型机器基础位置信息生成并且至少包含机器基础上的位置信息。第二反馈部分输出包含滤波模型转矩命令的第二反馈命令。计算由第二加法部分获得的第一反馈命令和第二反馈命令之和与模型转矩命令之间的差值，以将该差值给予模型转矩命令低通滤波器的输入部分，一个转矩指令低通滤波器。模型控制系统向位置控制器提供模型位置命令作为位置命令，并且基于模型位置命令生成的模型机器基础位置信息被添加到从位置控制器输入到速度控制器的速度命令。

5. 发明公开

EP1768250A3 Drehwinkelbestimmung eines Elektromotors 审中-公开
标题翻译：电动机的旋转角度确定
公开(公告)号：EP1768250A3
公开(公告)日：2017-11-01
申请号：EP06118945.2
申请日：2006-08-15
申请人： ROBERT BOSCH GMBH
发明人： Brosche, Thomas , Heimburger, Stefan , Krueger, Hartmut , Bitzer, Matthias , Fricker, David
IPC分类号： H02P6/18 , H02P6/00 , H02P7/00
CPC分类号： H02P6/18 , H02P6/007 , H02P6/34 , H02P7/0094 , H02P2203/05
摘要： Es wird ein Verfahren und eine Vorrichtung zur Bestimmung eines Schätzfehlers eines geschätzten Motordrehwinkels eines Elektromotors vorgeschlagen, der eine periodische Modulation eines Motorstromsignals und/oder eines Motorspannungssignals in Abhängigkeit von dem Motordrehwinkel zeigt. Bei dem vorgeschlagenen Verfahren und der vorgeschlagenen Vorrichtung findet ein Vergleich des geschätzten Motordrehwinkels mit einer Phasenlage der periodischen Modulation des Motorstromsignals und/oder des Motorspannungssignals statt.
摘要翻译：提出了一种用于确定电动机的估计的电动机旋转角度的估计误差的方法和装置，该方法和装置根据电动机旋转角度呈现电动机电流信号和/或电动机电压信号的周期性调制。在所提出的方法和设备中，发生所估计的电动机旋转角度与电动机电流信号和/或电动机电压信号的周期性调制的相位位置的比较。

6. 发明授权

EP2523009B1 Method and apparatus for monitoring the condition of electromechanical systems 有权转让
标题翻译：用于监控机电系统的状态的方法和装置
公开(公告)号：EP2523009B1
公开(公告)日：2015-01-28
申请号：EP11460026.5
申请日：2011-05-12
申请人： ABB Technology AG
发明人： Ottewill, James , Orkisz, Michal
IPC分类号： G01R31/06 , G01R31/28 , G01R31/34 , G01M13/00 , G01M13/02 , G01M15/04 , G01M15/05 , G01P3/48 , H02P6/00 , H02P6/08 , H02P21/00 , H02P21/14 , H02P29/02
CPC分类号： G01B7/003 , G01R31/06 , G01R31/2829 , G01R31/343 , G05B19/4065 , G05B2219/50197 , H02P2203/05 , H02P2203/09 , H02P2207/01

7. 发明公开

EP2128975A4 CONTROL DEVICE AND METHOD FOR DETERMINING THE MOTOR ROTOR POSITION 有权
标题翻译：控制装置及方法来确定电机转子位置
公开(公告)号：EP2128975A4
公开(公告)日：2013-07-31
申请号：EP07846028
申请日：2007-12-05
申请人： BYD CO LTD
发明人： TANG XIAOHUA , YU MING , ZHOU XUGUANG , GONG JIAN , LIU NAN , YANG GUANGMING , XU YINGWU , LUO TING , LIU KAI , JIANG XIANHONG , WU QIAOQIAO
IPC分类号： H02P6/16 , G01D5/244 , H02P25/02 , H02P29/02 , H03M1/10
CPC分类号： H02P29/032 , H02P2203/05
摘要： This invention involves in electric motor field, providing a method and an apparatus for electric vehicle motor control and rotor position detection and fault-tolerance processing. The method comprises the following steps: detecting a current correct rotor position angle during a current sampling cycle; comparing said current correct rotor position angle with a calculated previous sampled rotor position angle and getting the difference between the current correct rotor position angle and the calculated previous sampled rotor position angle; determining whether the difference exceed a specified rotor angle limit maximum or not; if it exceeds, discarding the current correct rotor position angle, and computing the sum between the calculated previous sampled rotor position angle and the specified rotor angle limit maximum, and using the sum as a correcting value to control the motor motion. Thus, the invention resolves the problem in the prior art, that when an error rotor position appears, and the motor is continually controlled, this can lead to an overly large electric current resulting in damage to power components.

8. 发明公开

EP2388906A1 MOTOR DRIVING DEVICE AND ELECTRIC EQUIPMENT USING SAME 有权
标题翻译：电机驱动装置和使用该装置的电气设备
公开(公告)号：EP2388906A1
公开(公告)日：2011-11-23
申请号：EP10731144.1
申请日：2010-01-13
申请人： Panasonic Corporation
发明人： TANAKA, Hidehisa , TAKEOKA, Yoshinori
IPC分类号： H02P6/18
CPC分类号： H02P6/182 , H02P6/181 , H02P6/188 , H02P2203/05
摘要： Brushless DC motor (4) is driven based on a first or second waveform signal output from operation switching unit (11), which switches output so that a first waveform signal by first waveform generation unit (6) is output when the speed of rotor (4a) is determined to be lower than a predetermined speed, and a second waveform signal by second waveform generation unit (10) is output when the speed of rotor (4a) is determined to be higher than the predetermined speed. Thus, there is provided a motor driving device in which drive is stable even at high speed / under high load, and a driving range is extended.
摘要翻译：基于从操作切换单元（11）输出的第一或第二波形信号来驱动无电刷直流电动机（4），所述第一或第二波形信号切换输出，使得当转子的速度（第一波形） 4a）的速度被确定为低于预定速度，并且当转子（4a）的速度被确定为高于预定速度时，由第二波形生成单元（10）输出第二波形信号。因此，提供了一种电动机驱动装置，其中即使在高速/高负载下驱动也是稳定的，并且驱动范围得以延长。

9. 发明公开

EP1758240A3 Motor control device 有权
标题翻译：发动机控制单元
公开(公告)号：EP1758240A3
公开(公告)日：2011-06-29
申请号：EP06119540.0
申请日：2006-08-25
申请人： SANYO ELECTRIC CO., LTD.
发明人： Tomigashi, Yoshio , Hida, Hajime
IPC分类号： H02P21/14
CPC分类号： H02P21/18 , H02P2203/05 , H02P2203/09 , H02P2203/11 , H02P2207/05
摘要： A motor control device includes an estimator for estimating a rotor position of a motor having a salient pole by using a value corresponding to a q-axis inductance of the motor as an operation parameter where an estimated axes for the control corresponding to d-q axes are γ-δ axes, and a controller for controlling the motor based on the estimated rotor position. The estimator generates a deviation between a d-axis and a γ-axis by performing the estimation of the rotor position based on a value between a real q-axis inductance and a real d-axis inductance of the motor adopted as the operation parameter. The controller controls the motor so that a γ-axis component of a motor current supplied to the motor is maintained to be a predetermined value of zero or close to zero regardless of a value of a δ-axis component of the motor current.

10. 发明公开

EP2215713A2 STILLSTANDSROTORPOSITIONSERKENNUNGSVERFAHREN 审中-公开
公开(公告)号：EP2215713A2
公开(公告)日：2010-08-11
申请号：EP08843091.3
申请日：2008-10-22
申请人： Continental Teves AG & Co. oHG
发明人： STRECKER, Andreas
IPC分类号： H02P6/20
CPC分类号： H02P6/20 , H02P6/181 , H02P6/182 , H02P6/21 , H02P23/14 , H02P2203/05
摘要： Stationary rotor position identification method in a drive circuit for a brushless three-phase electric motor having three motor connections (TA, TB, TC) having the following steps: - application of a measurement signal to two of the three motor connections, in which DC voltages are applied to two of the motor connections successively and alternating between the motor connections, to each motor connection and with a different mathematical sign, with the DC voltage remaining essentially the same in a limited time period, - measurement of the induced voltage at the respective third motor connection, through which no current flows, within the time period and once or more during one measurement sequence, - assessment of the voltages measured during the measurement sequence, in particular of their mathematical signs, with respect to the rotor position. A motor drive circuit for carrying out the above method, and its use, are also described.

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