JP3158914B2 - Motor control device and motor control device for electric vehicle - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a motor having an electromagnetic brake and a control device for a motor for an electric vehicle.

[0002]

2. Description of the Related Art As shown in FIG. 4, in a conventional motor control device provided with an electromagnetic brake, a motor 1 rotates a driving wheel to travel, and an electromagnetic brake 2 stops the rotation of the motor 1 to stop traveling. Perform control. The control device is
It comprises a motor drive unit 3, a motor drive control unit 4, an electromagnetic brake control unit 5, and a travel control unit 6. The motor drive unit 3 applies a voltage to the motor 1 from a DC power supply 7 such as a battery to rotate the motor 1. The motor drive controller 4 controls the application of voltage to the motor 1 by a drive signal from the motor drive signal generator 8a. The electromagnetic brake controller 5 controls the electromagnetic brake by a brake signal from the brake command signal generator 9a. 2 to control the energization from the DC power supply 7 to the second excitation coil. The traveling control unit 6 is configured to control the driving signal from the motor driving signal generating unit 8a and the brake command signal generating unit based on a start signal from the external start signal generating unit 10a of the electric vehicle and a stop signal from the stop signal generating unit 11a. The control of the output of the braking signal from 9a is performed.

When the electric vehicle is run, the electromagnetic brake 2 is released by energizing the exciting coil of the electromagnetic brake 2 via a semiconductor element such as the transistor 12 in response to a braking signal from the brake command signal generating means 9a. . Then, according to the drive signal from the motor drive signal generating means 8a, the relay 14 is energized through the semiconductor element such as the transistor 13 and the contact 15 of the relay 14 is closed to energize the motor 1 to rotate the motor 1. Run the electric car.

When the electric vehicle is stopped, the output of the drive signal from the motor drive signal generating means 8a is turned off to stop energizing the motor 1, and at the same time, the braking signal from the brake command signal generating means 9a is turned off. Then, the electric vehicle is stopped by stopping the energization of the exciting coil of the electromagnetic brake 2 and closing the electromagnetic brake 2 to stop the rotation of the motor 1.

[0005]

However, in the above-described conventional circuit configuration, if the semiconductor element such as the transistor 12 for controlling the energization of the exciting coil of the electromagnetic brake 2 is damaged, for example, if the short-circuit is damaged. The current flows through the electromagnetic brake 2 even when the braking signal is not output from the brake command signal generating means 9a.
When the electric vehicle stops on a sloping road, there is a problem that the rotation of the motor 1 is not locked and the electric vehicle goes down the hill and runs away.

Conversely, if the disconnection is broken, the brake command signal generating means 9 is used while the electric vehicle is running.
Even if a outputs a braking signal, current does not flow through the exciting coil of the electromagnetic brake 2, and the motor 1 attempts to rotate with the electromagnetic brake 2 locked, causing an overcurrent to flow through the motor 1 and burning the motor 1. There was a problem.

An object of the present invention has been made in view of the above-mentioned drawbacks, and is provided in the event that a failure occurs in the electromagnetic brake control unit.
An object of the present invention is to provide a motor control device and an electric vehicle motor control device that can prevent runaway and motor burnout.

Another object of the present invention is to shut off the supply of electric power or control signals to the motor drive control unit and the electromagnetic brake control unit when a failure occurs in the semiconductor switch circuit of the electromagnetic brake control unit. An object of the present invention is to provide a motor control device and a motor control device for an electric vehicle that can be stopped to prevent runaway and motor burnout.

[0009]

A motor control device according to the present invention comprises a motor drive control section for supplying drive power from a drive power supply to a motor while a drive control command is being input; An electromagnetic brake that applies braking to the motor or the load of the motor when in the state, and an exciting current is supplied to the exciting coil of the electromagnetic brake when the braking control command is not input, and to the exciting coil when the braking control command is input. The present invention is directed to a motor control device including an electromagnetic brake control unit for stopping supply of an exciting current, and a control command generation unit for providing a drive control command and a brake control command to the motor drive control unit and the electromagnetic brake control unit, respectively. .

[0010] In the present invention, the excitation state detecting means is provided,
It detects whether the exciting coil of the electromagnetic brake is in the exciting state. The excitation state detection means may have any configuration as long as it can detect whether or not the excitation coil is excited. For example, the excitation is performed so as to detect whether or not the excitation coil of the electromagnetic brake is in the excitation state based on the magnitude of the voltage applied to the semiconductor switch circuit that supplies the excitation current to the excitation coil or the presence or absence of the current flowing through the semiconductor switch circuit. State detecting means can be configured.

Further, according to the present invention, the excitation state of the excitation coil of the electromagnetic brake detected by the excitation state detection means provided with the failure determination means, and the presence or absence of the drive control command and the brake control command output from the control command generation unit are determined. Then, it is determined whether or not the electromagnetic brake control unit is in a failure state. The failure determination means may be configured by an actual circuit, but may be realized by software using a microcomputer or the like. The failure determination unit receives the excitation state detection signal output from the excitation state detection unit when the excitation coil is in the excitation state and the drive control command and the brake control instruction output from the control command generation unit, and receives, for example, the following: In such a case, it can be configured to determine that a failure has occurred in the semiconductor switch circuit of the electromagnetic brake control unit. That is, when a drive control command is output from the control command generator and no braking control command is output, the excitation state detecting means detects that the excitation coil is in the non-excitation state, and It is determined that a failure has occurred when the excitation state detection means detects that the excitation coil is in the excitation state when the drive control command is not output from the unit and the braking control command is output. .

In the present invention, an operation stopping means is further provided. The operation stopping unit sets the motor drive control unit and the electromagnetic brake control unit to an inoperative state when the failure determination unit determines that the electromagnetic brake control unit has failed. The operation stopping means is
For example, a power control circuit configured to stop supply of control power from the control power supply to the motor drive control unit and the electromagnetic brake control unit when the failure determination unit determines that the electromagnetic brake control unit has failed. Can be. In this case, the power supply control circuit is disposed in series between the control power supply and the motor drive control unit and an electromagnetic brake control unit, failure determining means is nonconducting and determining a failure of the electromagnetic brake control unit By providing the switch means, it is possible to easily control the energization of each part.

An electromagnetic brake control unit supplies an exciting current to the exciting coil when a braking control command is not input, and turns on and off so as to stop supplying the exciting current to the exciting coil when the braking control command is input. When the semiconductor switch circuit is provided, when the failure determination unit determines that the electromagnetic brake control unit has failed, the operation stop unit stops the output of the control command generation unit or inputs a drive control command to the motor drive control unit. Alternatively, the signal stop control circuit may include a means for preventing the signal from being turned off, and a cutoff switch that is connected in series with the semiconductor switch circuit and is turned off.

The motor drive control unit stops supplying the driving power to the motor when the motor is inactive, and the electromagnetic brake control unit stops supplying the exciting current to the exciting coil of the electromagnetic brake when the motor is inactive. To be configured.

According to the present invention, a motor drive control unit for supplying drive power from a drive power supply while the drive control command is being input to the motor for rotating the drive wheels of the electric vehicle, and the exciting coil is in a non-excited state. An electromagnetic brake that brakes the motor or driving wheels at a certain time, and supplies an exciting current to the exciting coil when a braking control command is not input, and supplies an exciting current to the exciting coil when a braking control command is input. For an electric vehicle, comprising: an electromagnetic brake control unit including a semiconductor switch circuit that is turned on / off so as to stop, and a control command generation unit that supplies a drive control command and a brake control command to the motor drive control unit and the electromagnetic brake control unit, respectively. It can also be applied to motor control devices.

In this case, whether or not the excitation coil of the electromagnetic brake is in the excited state is determined by providing an excitation state detecting means and determining the magnitude of the voltage applied to the semiconductor switch circuit or the presence or absence of a current flowing through the semiconductor switch circuit. Is detected.
The electromagnetic brake control unit includes a failure determination unit based on the excitation state of the excitation coil detected by the excitation state detection unit and the presence or absence of a drive control command and a brake control command output from the control command generation unit. The failure of the semiconductor switch circuit is determined.

Further, a power supply control circuit is provided, and when the failure determination means determines that the electromagnetic brake control section has failed, the control power supply from the control power supply to the motor drive control section and the electromagnetic brake control section is performed. Stop the supply. Thus, the electric vehicle can be stopped, and the runaway of the electric vehicle and the burnout of the motor can be prevented well. Furthermore, if an alarm generating means is provided so that an alarm is generated when the failure determining means determines a failure, the cause of the stop of the electric vehicle can be displayed.

[0018]

According to the present invention, a failure determining means is provided, and a control command generating unit is provided based on an excitation state of an exciting coil of an electromagnetic brake and presence / absence of a drive control command and a braking control command output from a control command generating unit. Drive control command is output
Excitation state detection when no braking control command is output
Out means it detects that the excitation coil is in the non-excited state
And the drive control command is output from the control command generator
Is not being performed and the braking control command is being output
The excitation state detecting means detects that the excitation coil is in the excitation state.
When it is detected, a failure of the electromagnetic brake control unit is determined. Then, when the failure of the electromagnetic brake control unit is determined, the operation stopping means operates to deactivate the motor drive control unit and the electromagnetic brake control unit.

For this reason, when the motor is rotating, for example, when a failure that cannot be braked by the electromagnetic brake in the electromagnetic brake control unit (for example, a failure in which the semiconductor element constituting the semiconductor switch circuit is short-circuited) occurs. Turns off the motor by stopping the supply of electric power to the motor drive control unit or blocking the input of the drive control command, thereby stopping the motor. At this time, to stop the supply of electric power to the electromagnetic brake control unit and the like, so that the electromagnetic brake control unit is also inoperative, so that the brake is applied by the electromagnetic brake, and the motor is stopped early and surely. This makes it possible to prevent runaway of the electric vehicle that occurs when the electromagnetic brake is not applied.

Even in the case where a failure that cannot release the braking state (for example, a failure in which the semiconductor element of the semiconductor switch circuit that allows current to flow through the exciting coil is broken and the exciting current cannot flow) occurs in the electromagnetic brake control unit, the motor drive control is performed. Since the part is in the non-operating state, it is possible to prevent a drive current from flowing to the motor in a state where the electromagnetic brake is applied, and to prevent burning of the motor.

[0021]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to an electric vehicle motor control device will be described below with reference to the drawings.

In FIG. 1, the control device of the present embodiment includes a motor drive unit 3, a motor drive control unit 4, an electromagnetic brake control unit 5, a travel control unit 6, and a power control circuit 17. The motor drive unit 3 supplies power to the motor 1 that rotates the drive wheels of the electric vehicle from a DC power supply 7 such as a battery used as both a drive power supply and a control power supply via a drive switch 15, The motor 1 is rotated.

The motor drive controller 4 includes a switching transistor 13, an exciting coil of a relay 14, and a first transistor drive circuit 8. When the drive control command S11 is input, the first transistor drive circuit 8 outputs a transistor conduction signal. When the drive control command S11 is not input, the first transistor drive circuit 8 stops outputting the transistor conduction signal. On / off control. When the transistor 13 is turned on, that is, turned on, and the exciting coil of the relay 14 is excited, the drive switch 15 constituting the contact point of the relay 14 is turned on, and the driving power is supplied to the motor 1.

Reference numeral 2 denotes a motor 1 or a driving wheel of the electric vehicle (motor load) when the exciting coil is in a non-excited state.
An electromagnetic brake that applies braking to The electromagnetic brake control unit 5 includes a switching transistor 12 provided in series with the exciting coil of the electromagnetic brake 2 and a transistor 12 when the braking control command S21 is not input.
To supply an exciting current to the exciting coil, and when the braking control command S21 is input, the supply of the exciting current to the exciting coil is stopped to make the transistor 12 non-conductive, thereby exciting the exciting current to the exciting coil. And a second transistor drive circuit 9 for outputting a transistor conduction signal for stopping the supply of the transistor.

The electromagnetic brake control unit 5 is provided with excitation state detecting means 16. The exciting state detecting means 16 detects whether or not an exciting current is flowing through the exciting coil of the electromagnetic brake 2. In this embodiment, the applied voltage Vce applied to the transistor 12 is compared with a reference voltage Vt. When the applied voltage is higher than the reference voltage, the excitation coil is determined to be in the non-excitation state, and when the applied voltage is equal to or lower than the reference voltage, the excitation coil is determined to be in the excitation state, and the excitation state detection indicating the respective conditions is performed. The signal S3 is output.

The traveling control section 6 comprises a control command generating section 6a and a failure judging means 6b. Control command generator 6a
Is a start signal S1 from the start signal generating means 10 for outputting a signal corresponding to the accelerator movement of the electric vehicle, and a stop signal from the stop signal generating means 11 for outputting a signal corresponding to the movement of the brake lever of the electric vehicle. Based on S2, it has a function of giving a drive control command S11 to the motor drive control unit 4 and giving a brake control command S21 to the electromagnetic brake control unit 5.

The failure judging means 6b includes the excitation state detecting means 1
6, the excitation state detection signal S of the electromagnetic brake 2 detected by
3 and the drive control command S11 and the brake control command S21 output from the control command generator 6a are input, and the failure of the electromagnetic brake controller 5 is determined. Most of the failures are caused by short-circuit or destruction of the transistor 12,
In some cases, a failure occurs in the second transistor drive circuit 9 and the same state as the state in which the transistor 12 is short-circuited or broken is generated. In this embodiment, in the following two cases, it is determined that a failure has occurred in which the electromagnetic brake control unit 5 cannot perform the on / off control of the transistor 12. The first case is a case where the electromagnetic brake 2 is detected to be in a non-excited state when the drive control command S11 is output and the brake control command S21 is not output. In other words, there is a case where the exciting current is not flowing to the exciting coil of the electromagnetic brake 2 and the electromagnetic brake 2 is being braked, even though the motor 1 is being driven and the current is flowing to rotate the motor. If the drive current continues to flow in the motor 1 in such a state, the motor will burn out. In the second case, when the drive control command S11 is not output and the brake control command S21 is output,
This is a case where it is detected that the electromagnetic brake 2 is in the excited state. That is, the supply of the drive current to the motor 1 is stopped, and the excitation current continues to flow through the excitation coil despite the operation of applying the brake by setting the excitation coil of the electromagnetic brake 2 to the non-excitation state. , When the brake is not applied. In such a state, when the electric vehicle is on a sloping road, there is a risk that the electric vehicle runs away without braking.

When the failure judging means 6b judges a failure,
It outputs a failure occurrence signal S4 and an alarm signal S5. Reference numeral 6c denotes an alarm generating unit that generates an alarm when the failure determining unit 6b determines a failure.

The power supply control circuit 17 constitutes an operation stopping means, and is arranged in series between the motor drive control unit 4 and the electromagnetic brake control unit 5 and the DC power supply 7 which is also used as a control power supply. A control switch 21, an exciting coil of a relay 20 having the switch 21 as a control contact, a switching transistor 19 connected in series to the exciting coil of the relay, and a third transistor driving circuit 18 are provided. Third transistor drive circuit 1
8 outputs a non-conduction signal that turns off the transistor 19 and turns off the control switch 21 when the failure determination means 6b determines a failure of the electromagnetic brake control unit 5 and outputs a failure occurrence signal S4. When the control switch 21 is turned off, supply of electric power to the motor drive control unit 4 and the electromagnetic brake control unit 5 is stopped, and both control units are set in a non-operation state.

The control device according to the present embodiment has a third
The transistor 19 is turned on by the output signal of the transistor drive circuit 18, the relay 20 is operated, the control switch 21 is turned on, and power is supplied from the DC power supply 7 to the relay 14 and the electromagnetic brake 2 of the motor drive control unit 4. Is supplied.

When the electric vehicle is driven, a brake control command S21 is output from the control command generator 6a based on the start signal S1 from the start signal generator 10, and the output of the second transistor drive circuit 9 is used as a transistor. Turn 12 on. As a result, the exciting coil of the electromagnetic brake 2 is excited to open the electromagnetic brake 2 (in a state where braking is not applied). On the other hand, the drive control command S11 is output from the control command generator 6a, and the transistor 13 is turned on by the output of the first transistor drive circuit 8. As a result, the excitation coil of the relay 14 is energized, the drive switch 15 controlled by the relay 14 is turned on, and a drive current is supplied to the motor 1,
The electric vehicle is run by rotating the motor.

When the electric vehicle is stopped, the output of the drive control command S11 and the brake control command S21 from the control command generator 6a is stopped based on the stop signal S2 from the stop signal generator 11, and the transistor 12 is turned off. Turn off. As a result, the power supply to the exciting coil of the electromagnetic brake 2 is cut off to close the electromagnetic brake 2 (braking, that is, the state where the brake is applied). At this time, since the output of the drive control command S11 from the control command generator 6a is also stopped, the transistor 1
The switch 3 is turned off, and the power supply to the exciting coil of the relay 14 is cut off, and the drive switch 15 is turned off. Thereby, the rotation of the motor 1 stops.

Next, the operation when a failure occurs in the electromagnetic brake control unit 5 will be described. The excitation state detecting means 16 compares the voltage Vce applied to the transistor 12 with the reference voltage Vt. When the applied voltage is higher than the reference voltage, it indicates that the excitation coil of the electromagnetic brake 2 is in the non-excitation state. An excitation state detection signal S3 is output.

When the drive control command S11 is output and the braking control command S21 is not output, and the non-excitation state detection signal S3 is output, the failure determination means 6b outputs the failure occurrence signal S4 and An alarm signal S5 is output. Further, when the drive control command S11 is not output and the brake control command S21 is output, the failure determination unit 6b
Even when the excitation state detection signal S3 is not output,
It outputs a failure occurrence signal S4 and an alarm signal S5. As a result, the alarm generating means 6c operates to generate a fault alarm.

FIG. 3 is a flowchart showing an algorithm of software used when the failure determination means 6b is realized using a microcomputer.

When the failure occurrence signal S4 is output, the output of the transistor drive circuit 18 of the power supply control circuit 17 is stopped, the transistor 19 is turned off, and the power supply to the exciting coil of the relay 20 is stopped, and the control switch is turned off. 21 turns off. As a result, the supply of the drive power to the motor drive controller 4 and the electromagnetic brake controller 5 is stopped,
The energization of the motor 1 stops, and the electromagnetic brake 2 enters the braking state. Therefore, even if a failure occurs in the electromagnetic brake control unit 5, an accident that the electric vehicle runs away or the motor burns out does not occur.

Next, another embodiment of the present invention, which differs from the embodiment of FIG. 1 in the structure of the operation stopping means, will be described with reference to FIG.
In the figure, the same parts as those in the embodiment of FIG. 1 are denoted by the same reference numerals, and detailed description is omitted. In FIG. 2, reference numeral 22 denotes a signal stop control circuit constituting an operation stop unit, reference numeral 23 denotes a third transistor drive circuit, reference numeral 24 denotes a switching transistor, and reference numeral 25 denotes a relay. Reference numeral 26 denotes a disconnection switch provided on the input side of the motor drive braking unit 4, reference numeral 27 denotes a disconnection switch inserted in series with the transistor 12, and both switches 26 and 27 are control contacts of the relay 25.

In the embodiment of FIG. 2, when a failure occurrence signal S4 is output from the failure determination means 6b in the same manner as in the embodiment of FIG. 1, the transistor 24 is turned on by the output of the transistor drive circuit 23 and the relay 25 is turned on. Operates and contacts 26 and 2
Turn 7 off. As a result, the input of the drive control command S11 to the motor drive control unit 4 is stopped, so that the power supply to the motor 1 is stopped. Further, since the excitation coil of the electromagnetic brake 2 is not excited, the brake 2 is brought into a braking state. Therefore, even if a failure occurs in the electromagnetic brake control unit 5 in the present embodiment, runaway of the electric vehicle and burnout of the motor do not occur as in the embodiment of FIG.

[0039]

According to the motor control device of the present invention, the result of detecting the excitation state of the excitation coil of the electromagnetic brake,
A drive control command is output from the control command generator based on the presence or absence of the motor drive control command and the brake control command .
Excited when braking control command is not output
The detecting means detects that the exciting coil is in the non-excited state.
And a drive control command is issued from the control command generator.
When no force is applied and a braking control command is output
That the excitation coil is in the excitation state
Is detected, the failure of the electromagnetic brake control unit is determined. In the event of a failure, the motor drive control unit and the electromagnetic brake control unit are deactivated to stop the supply of drive power to the motor and the supply of the excitation current to the electromagnetic brake excitation coil. When a failure occurs in the brake control unit, the rotation of the motor is stopped, and the electromagnetic brake is put into a braking state, whereby runaway and burnout of the motor can be reliably and satisfactorily prevented.

[Brief description of the drawings]

FIG. 1 is a connection diagram showing an embodiment of the present invention.

FIG. 2 is a connection diagram showing another embodiment of the present invention.

FIG. 3 is a flowchart showing an algorithm of software used when the failure determination means is realized using a microcomputer.

FIG. 4 is a connection diagram illustrating an example of a conventional motor control device.

[Explanation of symbols]

 Reference Signs List 1 motor 2 electromagnetic brake 3 motor drive unit 4 motor drive control unit 5 electromagnetic brake control unit 6 traveling control unit 6a control command generation unit 6b failure determination unit 6c alarm generation unit 7 DC power supply (drive power supply, control power supply) 8th 1 transistor drive circuit 9 second transistor drive circuit 10 start signal generation means 11 stop signal generation means 12, 13, 19, 24 switching transistor 14, 20, 25 relay 15 drive switch 16 excitation state detection means 17 power supply control circuit 18, 23 Third transistor drive circuit 21 Control switch 22 Signal stop control circuit 26, 27 Cutoff switch

Claims (7)

(57) [Claims] 1. A motor drive control unit (4) for supplying drive power to a motor (1) from a drive power supply while a drive control command (S11) is being input, and when an exciting coil is in a non-excited state. The motor (1)
Alternatively, when an electromagnetic brake (2) for braking the load of the motor and a braking control command (S21) are not input, an exciting current is supplied to the exciting coil, and the braking control command (S
21) The electromagnetic brake control unit (5) for stopping the supply of the exciting current to the exciting coil when is input, and the drive control to the motor drive control unit (4) and the electromagnetic brake control unit (5). A control command generator (6a) for giving the command (S11) and the braking control command (S21).
A motor control device comprising: an excitation state detection means (16) for detecting whether or not the excitation coil of the electromagnetic brake (2) is in an excitation state; and the excitation state detection means (16). Based on the excitation state of the excitation coil detected by the control command generator and the presence or absence of the drive control command (S11) and the braking control command (S21) output from the control command generator (6a) , the control command generator ( 6
a) the drive control command (S11) is output and
When the braking control command (S21) is not output
The exciting state detecting means (16) detects that the exciting coil is not excited.
When detecting the magnetic state, and when the control finger
The drive control command (S11) is output from the command generation unit (6a).
And the braking control command (S21) is output.
The excitation state detection means (16)
A failure determination unit (6b) for determining a failure of the electromagnetic brake control unit (5) when detecting that the coil is in an excited state; and the failure determination unit (6b) includes: And 5) an operation stopping means (17) for disabling the motor drive control section (4) and the electromagnetic brake control section (5) when the failure of 5) is determined; Is configured to stop the supply of drive power to the motor (1) when inoperative, and to stop supplying the exciting current to the exciting coil when the electromagnetic brake control unit (5) is inoperative. A control device for a motor, characterized in that: Wherein said deactivation means, the failure if the decision means (6b) to determine a failure of the electromagnetic brake control unit (5), the motor drive control unit from the control power source (7) (4) and the A power supply control circuit (1) configured to stop supplying control power to the electromagnetic brake control unit (5)
The control device for a motor according to claim 1, comprising: (7). Wherein the power control circuit (17) is arranged in series between said control <br/> supply (7) motor drive control unit (4) and said electromagnetic brake control unit (5) Then, the failure determination means (6b) is connected to the electromagnetic brake control unit (5).
Switch means (2) which becomes non-conductive when the failure of
3. The motor control device according to claim 2, comprising: 4. The electromagnetic brake control unit (5) supplies an exciting current to the exciting coil when the braking control command (S21) is not input, and supplies the braking control command (S2).
When a 1) is input, a semiconductor switch circuit (1) that is turned on and off so as to stop supplying the exciting current to the exciting coil.
2), and the operation stopping means (17) is provided with the failure determining means (6).
If b) determines that the electromagnetic brake control unit (5) has failed, the output of the control command generation unit (6a) is stopped or the drive control command is not input to the motor drive control unit (4). 2. A signal stop control circuit (22) as claimed in claim 1, comprising a means (26) for switching off and a switch (27) connected in series with the semiconductor switch circuit (12) for turning off the switch. Motor control device. 5. A motor for rotating driving wheels of an electric vehicle (1).
A motor drive control unit (4) for supplying drive power from a drive power supply (7) while a drive control command (S21) is being input to the motor (1) when the exciting coil is in a non-excited state;
Or an electromagnetic brake for braking the drive wheels (2)
When the braking control command (S21) is not input, an exciting current is supplied to the exciting coil, and the braking control command (S21) is supplied.
22), the semiconductor switch circuit (1) which is turned on / off so as to stop supplying the exciting current to the exciting coil.
And a control command generator (6a) for providing the drive control command and the brake control command to the motor drive controller (4) and the electromagnetic brake controller (5), respectively. ), Wherein the electromagnetic brake (2) is controlled according to the magnitude of a voltage applied to the semiconductor switch circuit (12) or the presence or absence of a current flowing through the semiconductor switch circuit (12). ), An exciting state detecting means (16) for detecting whether or not the exciting coil is in an exciting state; an exciting state of the exciting coil detected by the exciting state detecting means (16); and the control command generating section (6a). ) , The control command generator (6 ) based on the presence or absence of the drive control command (S11) and the braking control command (S21).
a) the drive control command (S11) is output and
When the braking control command (S21) is not output
The exciting state detecting means (16) detects that the exciting coil is not excited.
When detecting the magnetic state, and when the control finger
The drive control command (S11) is output from the command generation unit (6a).
And the braking control command (S21) is output.
The excitation state detection means (16)
A failure determination unit (6b) for determining a failure of the semiconductor switch circuit (12) of the electromagnetic brake control unit (5) when detecting that the coil is in an excited state; and a failure determination unit (6b). ) Determines a failure of the electromagnetic brake control unit (5), the power supply configured to stop supply of control power from the control power supply (7) to the motor drive control unit and the electromagnetic brake control unit. A control device for a motor for an electric vehicle, comprising: a control circuit (17). 6. The control device for an electric vehicle motor according to claim 6, further comprising alarm generating means (6c) for generating an alarm when the failure determining means (6b) determines a failure. 7. A motor for rotating driving wheels of an electric vehicle (1).
A driving signal for keeping the driving switch (15) conductive while the driving switch (15) disposed between the driving switch (15) and the driving power supply (7) and the driving control command (S21) are input. The first switch control circuit (8, 1
A motor drive control unit (4) for supplying drive power to the motor (1) from the drive power source (7) to the motor (1); and the motor (3) when the exciting coil is in a non-excited state. 1)
Or an electromagnetic brake for braking the drive wheels (2)
When a braking control command (S21) and a semiconductor switch circuit (12) provided in series with the exciting coil are not input, an exciting current is supplied to the exciting coil and the braking control command (S21) is input. Then, a second switch control circuit (9) that outputs a signal for turning on and off the semiconductor switch circuit (12) so as to stop the supply of the exciting current to the exciting coil (9). 5) a control command generator (6a) for providing the drive control command (S21) and the brake control command (S22) to the motor drive controller (4) and the electromagnetic brake controller (5), respectively.
A control device for an electric vehicle motor, comprising: comparing an applied voltage (Vce) applied to the semiconductor switch circuit (12) with a reference voltage (Vr), wherein the applied voltage is higher than the reference voltage. When the applied voltage is equal to or less than the reference voltage, the excitation state is detected when the applied voltage is equal to or lower than the reference voltage. Detection means (16); and an excitation state detection signal (S3) output from the excitation state detection means (16) when the excitation coil is in the excitation state.
) And the drive control command (S21) and the braking control command (S22) output from the control command generator (6a), and the drive control command (S21) is transmitted from the control command generator (6a). Is output and the braking control command (S22) is not output, the excitation state detecting means (16) detects that the excitation coil is in the non-excitation state, and the control command Generator (6
a) when the drive control command (S21) is not output and the brake control command (S22) is output, the excitation state detection means (16) determines that the excitation coil is in the excitation state. A failure determination unit (6b) for determining that a failure has occurred in the semiconductor switch circuit (12) of the electromagnetic brake control unit (5) when the detection is performed; a motor drive control unit (4); A control switch (21) arranged in series between the electromagnetic brake control unit (5) and a control power supply (7); and the failure determination means (6b).
Determines that the electromagnetic brake control unit (5 ) has failed, generates a non-conduction signal for turning off the control switch (21), and outputs the motor drive from the driving power supply (7).
Control of the control unit (4) and the electromagnetic brake control unit (5)
A third switch control circuit (1
8 to 20), and a power supply control circuit (17).