JP5621581B2 - Torque abnormality detection device and transportation equipment - Google Patents

Description

  The present invention relates to a torque abnormality detection device and transportation equipment that can detect an abnormality in load torque applied to a power source.

  Conventionally, the engine and two motor generators are used as the power source, a disturbance observer is added to the gear ratio control loop, feedforward compensation is added to the gear ratio control operation amount, the load torque when the engine is started is estimated, and the control amount An example of a technique for correcting the gear ratio and driving force fluctuation to a small value is disclosed (see, for example, claim 1 and paragraph 0054 of Patent Document 1).

JP 2005-172145 A

  However, although the technique of Patent Document 1 can improve control responsiveness by correcting the control amount with the estimated load torque, it is not determined whether the estimated load torque is an appropriate value or an abnormal value. For example, the load torque may become an abnormal value depending on a cause such as abnormal data due to external noise or a failure of a device / part.

  This invention is made in view of such a point, and it aims at providing the torque abnormality detection apparatus and transportation apparatus which can detect the abnormality of the load torque concerning a motive power source.

In order to solve the above-mentioned problems, the invention according to claim 1 is characterized in that only the rotating electrical machine is used as a power source, or both the rotating electrical machine and the torque generation source are used as power sources, and the transmission of power to the outside of the system is interrupted. In a torque abnormality detection device for detecting an abnormality in load torque applied to the power source using possible power transmission means, load torque estimation means for estimating the load torque applied to the power source, and an influence from outside the system A load for detecting an abnormality in the load torque applied to the power source based on the load torque estimated by the load torque estimation means in a state where the power transmission means cuts off the transmission of power to the outside of the system. have a torque abnormality detection means, the load torque estimating means, the moment of inertia of the shaft for the power source, the attenuation coefficient, the angular acceleration, the power And it calculates the first mathematical model is a mathematical expression that defines with the output torque and estimates the load torque.

According to this configuration, the transmission of power between the power source and the outside of the system is cut off and is not affected by fluctuations or changes outside the system, so that the load torque estimating means can accurately estimate the load torque. it can. Since the load torque abnormality detection means detects an abnormality based on the estimated load torque, it can accurately detect that some failure or the like has occurred.
Further, since it is not necessary to add a new device such as a sensor, the cost can be reduced. The “first mathematical model” may be any mathematical formula that can estimate the load torque.
Furthermore, the load torque can be estimated by performing simple calculations. “Power source output torque” means the output torque of the power source.

  Note that the “power source” may be only the rotating electrical machine, may include both the rotating electrical machine and the torque generation source, and any number may be used. “Rotating electric machine” corresponds to, for example, an electric motor, a motor generator, a generator, or the like. The “torque generation source” can be any device capable of generating torque, such as a heat engine or a rotating electrical machine. The “heat engine” mainly applies an internal combustion engine, but includes an external combustion engine. The “load” corresponds to a power source itself, parts or members attached to the power source such as an oil pump. “Outside of the system” corresponds to a part or member whose load varies with movement (for example, traveling, flying, sailing, etc.). For example, wheels, ailerons and flaps of main wings, vertical and horizontal tails of tails, propellers (screws), and the like are applicable. The “power transmission means” corresponds to any mechanism or member that can switch between transmission and disconnection of power. For example, a clutch mechanism, a gear mechanism, and a transmission (including a torque converter and a retarder) having a neutral position (range) are applicable. “Detection” includes measurement performed using a sensor or the like and estimation performed using a mathematical model or the like. As the “load torque estimating means”, any means (device, method, etc.) capable of estimating the load torque applied to the power source may be applied.

In the first mathematical model, for example, the load torque is “Td”, the moment of inertia of the shaft is “Im”, the damping coefficient (including 0) is “D”, the angular acceleration is “α”, and the power source output torque is “To”. The following formula (1) can be defined.

According to a second aspect of the present invention, the power source output torque includes a torque detected by a torque detector. According to this configuration, the power source output torque (for example, the output torque of the rotating shaft, the output shaft, etc.) can be detected with high accuracy, so that it is possible to more accurately detect that some sort of failure has occurred. The “torque detection device” is arbitrary as long as it is a device (including a sensor) that can detect the output torque of the power source. For example, a torque sensor that detects torque based on a current value of a current flowing through a power source (rotating electric machine), a displacement sensor that includes an excitation coil and a detection coil, and the like are applicable.

The invention according to claim 3 is characterized in that the power source output torque is estimated by calculating a second mathematical model. According to this configuration, since it is not necessary to add a new device such as a sensor, the cost can be reduced. The “second mathematical model” is a mathematical model different from the “first mathematical model” described above, and any mathematical formula that can estimate the power source output torque may be applied.

The invention according to claim 4 is characterized in that the power source output torque is estimated using a map having an argument of a current value of a current flowing through the rotating electrical machine. According to this configuration, a torque detection device is not required, and work such as wiring is not required, thereby reducing costs. The “map” is a data group indicating the correlation between the current value and the power source output torque.

The invention according to claim 5 is characterized in that a commanded torque command value is used for the power source output torque. According to this configuration, although the accuracy is lower than the actual output torque detected by the torque detection device, the torque detection device and the estimation logic are not required, so that the cost can be reduced.

  The invention according to claim 6 stops the operation of the power source when the load torque abnormality detecting means detects the occurrence of abnormality when the load torque estimated by the load torque estimating means is out of a predetermined range. It has a power source operation stop means. According to this configuration, when the load torque abnormality detecting means detects the occurrence of abnormality, the power source operation stopping means forcibly stops the operation of the power source. Therefore, it is possible to prevent the power source from operating unstablely.

According to a seventh aspect of the present invention, when the load torque abnormality detecting means detects the occurrence of abnormality when the load torque estimated by the load torque estimating means is outside a predetermined range, the power source and the power source are It is characterized by having a system operation stop means for stopping the operation of one or both of the transport equipment provided. According to this configuration, when the load torque abnormality detection means detects the occurrence of abnormality, the system operation stop means forcibly stops the operation of one or both of the power source and the transportation equipment. Therefore, it is possible to prevent the system (that is, the power source and the transportation equipment) from operating unstablely. The “transport equipment” is optional as long as it is equipped with a rotating electric machine and can transport humans and cargo. For example, a vehicle such as an automobile, an aircraft, a ship, and a railway vehicle are applicable.

According to an eighth aspect of the present invention, the load torque abnormality detection means includes a torque generation source output torque detection means for detecting a torque generation source output torque that is an output torque of the torque generation source, and a load torque applied to the power source. And an abnormality cause determining means for determining a part that has caused the abnormality when detecting the abnormality. According to this configuration, since the abnormality cause determination unit determines the part that caused the abnormality, it is possible to know which part caused the failure.

According to a ninth aspect of the present invention, the abnormality cause determination means includes a load torque estimated based on the power source output torque and a torque generation source output torque detected by the torque generation source output torque detection means. If the absolute value of the difference is less than a predetermined value, it is determined that an abnormality has occurred in the torque generating source, and if it is greater than the predetermined value, it is determined that an abnormality has occurred in the shaft system. According to this configuration, it is possible to specify the cause of the abnormal load torque being estimated. That is, it is possible to determine (specify) whether the torque generation source has output an abnormal torque or because some abnormality has occurred in the shaft system. This is because when the torque source output torque and the estimated load torque have different values, the moment of inertia, damping coefficient, etc., which should have been constant, have changed. Can be identified.

In a tenth aspect of the present invention, the power source output torque includes a torque detected by a torque detector. According to this configuration, the power source output torque (for example, the output torque of the rotating shaft, the output shaft, etc.) can be detected with high accuracy, so that it is possible to more accurately detect that some sort of failure has occurred.

The invention according to claim 11 is characterized in that the power source output torque is estimated by calculating the second mathematical model. According to this configuration, since it is not necessary to add a new device such as a sensor, the cost can be reduced.

The invention according to claim 12 is characterized in that the power source output torque is estimated using a map having an argument of a current value of a current flowing through the rotating electrical machine. According to this configuration, a torque detection device is not required, and work such as wiring is not required, thereby reducing costs.

In the invention according to claim 13 , the load torque abnormality detecting means detects that an abnormality has occurred in the load torque applied to the power source only when the abnormality of the load torque is continuously detected for a certain period or longer. It is characterized by that. According to this configuration, the “predetermined period” is a period in which an abnormality can be allowed, and even if an abnormal load torque is temporarily estimated due to a calculation error or the like, the operation can be prevented from being forcibly stopped.

In a fourteenth aspect of the invention, the rotational speed of the rotating electrical machine is controlled to follow the commanded rotational speed by correcting the control amount using the load torque estimated by the load torque estimating means. It has a rotation speed control means. According to this configuration, the feedback control is performed so that the rotational speed of the rotating electrical machine becomes the commanded rotational speed (target rotational speed, command rotational speed), so that the rotating electrical machine can be controlled to have the target rotational speed. .

A fifteenth aspect of the present invention is characterized in that the transportation apparatus includes the torque abnormality detection device according to any one of the first to fourteenth aspects and the power source. According to this configuration, it is possible to provide a transport device that can detect an abnormality in load torque applied to a power source.

It is a schematic diagram which shows the outline | summary of a torque abnormality detection apparatus. It is a schematic diagram which shows the 1st structural example of a vehicle (transport equipment). It is a schematic diagram which mainly shows the 1st structural example of a power transmission means. It is a block diagram which shows the example of control of a rotary electric machine (power source). It is a flowchart which shows the example of a procedure of a load torque abnormality detection process. It is a flowchart which shows the 1st example of a procedure of abnormality cause determination processing. It is a flowchart which shows the 2nd procedure example of abnormality cause determination processing. It is a schematic diagram which shows the 2nd structural example of a vehicle (transport equipment). It is a schematic diagram which mainly shows the 2nd structural example of a power transmission means. It is a schematic diagram which shows the 3rd structural example of a vehicle (transport equipment). It is a schematic diagram which shows the 4th structural example of a vehicle (transport equipment). It is a flowchart which shows the 3rd procedure example of abnormality cause determination processing.

  Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings. Unless otherwise specified, “connect” means electrical connection. Each figure shows elements necessary for explaining the present invention, and does not show all actual elements. When referring to directions such as up, down, left and right, the description in the drawings is used as a reference.

[Embodiment 1]
In the first embodiment, an outline of the torque abnormality detection device will be described with reference to FIG. FIG. 1A is a schematic diagram illustrating a configuration example of the invention. FIGS. 1B to 1D show examples of mechanical connections, respectively.

  The torque abnormality detection device 10 shown in FIG. 1A includes power transmission means 30 that can switch between transmission and disconnection of power between a power source and a torque generation source or between the power source and the system exterior 60. 50 is used to detect an abnormality in the load torque applied to the power source. The power source is either the rotary electric machine 40 alone or the rotary electric machine 40 and the torque generation source 20. In other words, the rotating electrical machine 40 is essential, but whether or not the torque generating source 20 indicated by a two-dot chain line is included is arbitrary. Elements other than the system outside 60 correspond to “system”.

  A power transmission means 50 indicated by a solid line transmits or cuts power between the rotating electrical machine 40 and the system exterior 60. The power transmission means 30 indicated by a two-dot chain line transmits or cuts power between the rotating electrical machine 40 and the torque generation source 20. In order to perform this function, for example, a clutch mechanism, a gear mechanism, a transmission (including a torque converter, a retarder, etc.) having a neutral position is applied.

  The rotating electrical machine 40 corresponds to, for example, an electric motor, a motor generator, a generator, or the like. The torque generation source 20 is an arbitrary device or device that can generate torque. For example, a heat engine or a rotating electric machine is applicable. However, each quantity concerning the rotary electric machine 40 and the torque generation source 20 is not ask | required. Any device or engine capable of transmitting (transmitting / receiving) power can be applied to the system outside 60. In this embodiment, a wheel is applied as the system outside 60.

  A mechanical connection example (hereinafter simply referred to as “mechanism example”) applied to a power source, a torque generation source, and a load will be described with reference to FIGS. 1 (B) to 1 (D). FIG. 1B shows a mechanism example in which the power transmission means 50 is interposed between the rotating electrical machine 40 and the system exterior 60. In this example of the mechanism, transmission and disconnection of power generated by the rotating electrical machine 40 serving as a power source are switched. The mechanism example shown in FIG. 1B is applied to an electric vehicle and a fuel cell vehicle.

  FIG. 1C shows a mechanism example in which a power transmission means 30 is interposed between the rotating electrical machine 40 and the torque generation source 20 in addition to the mechanism example of FIG. In this example of the mechanism, when the rotating electrical machine 40 is a power source, transmission and cutting of power generated by the rotating electrical machine 40 are switched. Further, when the torque generation source 20 is a power source, the transmission and disconnection of the power generated by the torque generation source 20 are switched. FIG. 1D shows an example of a mechanism in which a power transmission means 30a is interposed between a power source (torque generation source 20 or rotating electrical machine 40) and a load 20a in addition to the example of the mechanism shown in FIG. Show. In this example of the mechanism, transmission and disconnection of power generated by the power source are switched. Each mechanism example shown in FIGS. 1C and 1D is applied to a hybrid vehicle.

  The torque abnormality detection device 10 described above includes angular acceleration detection means 11, load torque estimation means 12, load torque abnormality detection means 13, and the like. The angular acceleration detection means 11 is provided as necessary, and has a function of detecting the angular acceleration α of the power source. The detection method is arbitrary as long as the angular acceleration α can be detected. For example, a method of detecting angular acceleration α using a rotation angle detection device, a method of calculating a mathematical model for angular acceleration estimation that can estimate angular acceleration, and the like are applicable. The rotation angle detection device is arbitrary as long as it is a device (including a sensor) that can detect the angular acceleration of the power source. For example, a resolver, a rotary encoder, a gyroscope, a GMR (Giant Magnetoresistance Revolution) rotation sensor, and the like are applicable.

  The load torque estimating means 12 has a function of estimating the load torque Td applied to the power source. As this load torque estimating means 12, any means (device, method, etc.) capable of estimating the load torque Td applied to the power source may be applied. For example, any estimation method capable of calculating the first mathematical model and estimating the load torque Td may be applied. Specifically, there is a method of estimating using the angular acceleration α detected by the angular acceleration detecting means 11. In addition to the angular acceleration α, it may be estimated using the rotational speed of the power source, the power source output torque, or the like. The rotational speed of the power source is detected by the rotational speed detection means 11a for the torque generation source 20, and detected by the rotational speed detection means 11b for the rotating electrical machine 40 (see FIG. 2). The power source output torque is detected by the output torque detection means 12a for the torque generation source 20, and detected by the output torque detection means 12b for the rotating electrical machine 40 (see FIG. 2). These rotation speed detection means 11a and 11b and output torque detection means 12a and 12b will be described later.

  In the first mathematical model, any mathematical formula that can estimate the load torque Td can be set. For example, the following equation (1) can be defined using the moment of inertia Im of the shaft, the damping coefficient D, the angular acceleration α, and the power source output torque To. The attenuation coefficient D includes “0”.

  The power source output torque To means a torque output from the power source, and specifically corresponds to a torque generation source output torque Tio, a motor output torque Tmo, etc., which will be described later. This power source output torque To is detected by an arbitrary detection method. For example, a method of detecting using a torque sensor (torque detection device), a method of calculating and estimating a second mathematical model, a method of estimating using a map with the current value of the current flowing through the rotating electrical machine 40 as an argument, A method using a torque command value commanded from an external device (for example, an ECU or the like) is applicable.

In the second mathematical model, any mathematical formula that can estimate the power source output torque To can be set. For example, when the motor 41 is an embedded magnet synchronous motor, the number of pole pairs Pn, the electric flux linkage Φ, the d-axis current id, the q-axis current iq, the d-axis inductance Ld, and the q-axis inductance Lq are used as follows: Equation (2) can be defined.
T = Pn {Φiq + (Ld−Lq) idiq} (2)

  The load torque abnormality detection means 13 has a function of detecting an abnormality in the load torque Td applied to the power source. A method for detecting an abnormality in the load torque Td can be arbitrarily set. For example, in the first detection method, detection is performed based on the load torque Td estimated by the load torque estimation means 12 in a state in which the transmission of power to the outside of the system 60 is cut off. The second detection method detects that an abnormality has occurred in the load torque Td applied to the power source only when abnormality in the load torque Td is detected continuously for a certain period or longer. The load torque abnormality detection means 13 includes a torque generation source output torque detection means 13a, an abnormality cause determination means 13b, an operation stop means 13c, and the like.

  The torque generation source output torque detection means 13 a has a function of detecting a torque generation source output torque Tio that is an output torque of the torque generation source 20. The torque source output torque Tio is detected by an arbitrary detection method. For example, a method of detecting using a torque sensor (torque detection device), a method of calculating a mathematical model for estimating output torque for estimating the torque generation source output torque Tio, a method of estimating using a map, and the like are applicable.

  The abnormality cause determination unit 13b has a function of determining a part that causes an abnormality when detecting an abnormality of the load torque Td applied to the power source. For example, if the absolute value of the difference between the load torque Td estimated based on the power source output torque To and the torque source output torque Tio detected by the torque source output torque detector 13a is less than a predetermined value. It is determined that an abnormality has occurred in the torque generation source 20, and if it is greater than a predetermined value, it is determined that an abnormality has occurred in the shaft system.

  The operation stopping means 13c has a function of stopping the operation of the target device when an abnormality in the load torque Td applied to the power source is detected. The target device may be a power source only or one or both of a power source and a transport device. Therefore, the operation stop means 13c includes either one of a power source operation stop means for stopping the operation of the power source and a system operation stop means for stopping the operation of one or both of the power source and the transportation equipment. Is applicable.

  Embodiments 2 to 5 describe examples in which the above-described torque abnormality detection device 10 is applied to a vehicle (transport equipment) and an abnormality in the load torque Td applied to the power source is detected.

[Embodiment 2]
The second embodiment is applied to a vehicle that is an example of a hybrid car (split method) that uses (runs) both a rotating electrical machine and a torque generation source as a power source. The second embodiment will be described with reference to FIGS. FIG. 2 is a schematic diagram showing a first configuration example of a vehicle (transport equipment). FIG. 3 is a schematic diagram mainly showing a first configuration example of the power transmission means. FIG. 4 is a block diagram showing a control example of the rotating electrical machine (power source). FIG. 5 is a flowchart showing a procedure example of the load torque abnormality detection process. FIG. 6 is a flowchart illustrating a first procedure example of the abnormality cause determination process. FIG. 7 is a flowchart showing a second procedure example of the abnormality cause determination process. In addition, the same code | symbol is attached | subjected to the element same as the element used in Embodiment 1, and description is abbreviate | omitted.

  In addition to the torque abnormality detection device 10 described above, the hybrid vehicle vehicle 100 shown in FIG. 2 includes a heat engine 21, an electric motor 41, power transmission means 50, wheels 61, a battery 110, a generator 120, a PCU (power control circuit). Unit) 130, power split mechanism 140, and the like. The heat engine 21 corresponds to the “torque generation source 20”, and the electric motor 41 corresponds to the “rotating electric machine 40”. Below, the function of each element, the detection method of the abnormality of the load torque Td applied to the power source in the vehicle 100, etc. are demonstrated.

  The vehicle 100 is configured to use both the heat engine 21 and the electric motor 41 as power sources, and transmit power generated by one or both to the wheels 61 to travel. The heat engine 21 shown in FIG. 2 is an internal combustion engine (a gasoline engine, a diesel engine, or the like), and generates power by burning hydrocarbon fuel. The heat engine 21 transmits the generated power (rotational force) to the output shaft 150. The electric motor 41 is a multi-phase motor, for example, a motor having three phases of U phase, V phase, and W phase. The electric motor 41 has a function of receiving power supplied from the PCU 130 to generate power, or a function of relaying power split from the power split mechanism 140, and one or both of the power is supplied to the rotary shaft 160. introduce.

  The power transmission means 50 has a function of transmitting or cutting power from the electric motor 41 to the wheel 61. It also has a function of transmitting to the load torque abnormality detection means 13 whether the power is transmitted or disconnected. The specific configuration of the power transmission means 50 will be described later (see FIG. 3).

  The battery 110 is a storage / discharge unit capable of storing and discharging, and corresponds to, for example, a secondary battery or a fuel cell. The generator 120 generates electric power using the power divided by the power split mechanism 140. A normal generator may be used, and a motor generator (shown as “MG” in FIG. 2) having both an electric function and a power generation function may be used. The generated electric power is stored in the battery 110 through the PCU 130, or the electric motor 41 is rotated.

  The PCU 130 is responsible for power transfer in the vehicle 100. Specifically, control for storing electric power generated by the generator 120 in the battery 110, control for supplying electric power for rotationally driving the electric motor 41, and the like are performed. The PCU 130 includes, for example, an inverter 131, a boost converter, a battery ECU, and the like. The battery ECU controls the accumulation and release of electric power with the battery 110.

  The power split mechanism 140 has a function of splitting (distributing) the power generated in the heat engine 21. Specifically, power is transmitted to one or both of the generator 120 and the electric motor 41 in accordance with the state of the vehicle 100 (that is, a state such as running or stopping). The power split mechanism 140 can be arbitrarily configured. For example, the power split mechanism 140 includes a carrier, a sun gear, a planetary gear, and the like.

  Next, a specific configuration of the power transmission means 50 will be described with reference to FIG. The power transmission means 50 shown in FIG. 3 is an example of a dual clutch transmission (DCT) and includes clutches 51 and 53, transmissions 52 and 54, and the like. The clutches 51 and 53 are mechanical elements that mechanically or electromagnetically couple one shaft and the other shaft and transmit power (rotational force) between the one shaft and the other shaft. By the action (operation) of the clutches 51 and 53, power is transmitted or disconnected between the electric motor 41 and the wheel 61. The transmissions 52 and 54 are devices that convert the rotational speed (in the case of rotation), speed, torque, and the like of power. In the configuration example shown in FIG. 3, the clutch 51 and the transmission 52 are connected in series, the clutch 53 and the transmission 54 are connected in series, and these are connected in parallel. The power generated by the electric motor 41 is transmitted to the transmission 52 by the clutch 51, and the generator 120 generates electric power by the power.

  In the vehicle 100 configured as described above, feedback control will be described with reference to FIG. 4 with a focus on the components of the torque abnormality detection device 10. In addition to the elements shown in FIGS. 1 to 3 described above, the block diagram shown in FIG. 4 includes the ECU 200, the joining means 201 and 203, the PI control means 202, the torque control means 204, the current sensor 205, and the output torque calculation. There are means 206, resolver 207, rotation speed calculation means 208 and the like.

  Among the elements described above, the joining means 201 and 203, the PI control means 202, and the torque control means 204 correspond to “rotational speed control means”. The current sensor 205 and the output torque calculation means 206 correspond to the “output torque detection means 12b”. Instead of the current sensor 205 and the output torque calculation means 206, a torque detection device such as a torque sensor that directly detects the output torque of the electric motor 41 may be applied. The resolver 207 and the rotational speed calculation means 208 correspond to the “rotational speed detection means 11b”.

The ECU 200 corresponds to an “external device” and outputs a command rotational speed N ^* that commands the rotational speed of the electric motor 41 in order to perform control for accelerating / decelerating the vehicle 100. The adding unit 201 adds input signals. In the example of FIG. 4, in order to form a negative feedback loop, a difference value obtained by subtracting the detected rotational speed Ns from the command rotational speed N ^* is output as the deviation Ne. The PI control unit 202 calculates and outputs a torque command T in order to perform PI control based on the deviation Ne output from the adding unit 201 and a proportional gain, an integral gain, or the like.

The adding unit 203 adds the input signals in the same manner as the adding unit 201 described above. Specifically, an added value obtained by adding the torque command T output from the PI control unit 202 and the load torque Td output from the load torque estimating unit 12 is output as the final torque command T ^* . Torque control means 204 transmits voltage command Vc corresponding to torque command T ^* to inverter 131. This torque control means 204 includes load torque abnormality detection means 13.

  The inverter 131 outputs a drive signal (including a modulation signal) for rotationally driving the electric motor 41 based on the voltage command Vc output from the torque control unit 204. The inverter 131 is composed of, for example, a switching element or a diode. As the switching element, any semiconductor element capable of switching operation can be applied. For example, an FET (specifically, MOSFET, JFET, MESFET, etc.), IGBT, GTO, power transistor, or the like is applicable.

  The load torque Td added by the adding means 203 is estimated by the load torque estimating means 12. The load torque estimation means 12 shown in FIG. 4 includes the motor output torque Tmo transmitted from the output torque calculation means 206, the angular acceleration α transmitted from the angular acceleration detection means 11, and the detected rotation transmitted from the rotation speed calculation means 208. Estimate based on the number Ns.

  The output torque calculation means 206 calculates the motor output torque Tmo based on the current value of the current (for example, three-phase currents Iu, Iv, Iw) detected by the current sensor 205. For example, the motor output torque Tmo is estimated by calculating the second mathematical model such as the mathematical formula (2) described above, or a map having the current values of the currents Iu, Iv, and Iw flowing through the motor 41 as arguments is used. Or estimate.

  The rotation speed calculation means 208 calculates the detected rotation speed Ns based on signals detected by the resolver 207 (for example, SIN detection signal Ss, COS detection signal Sc, etc.). The resolver 207 corresponds to a “rotation angle detection device”. Since a method for calculating the detected rotational speed Ns based on the SIN detection signal Ss, the COS detection signal Sc, and the like is well known, description thereof is omitted.

  Processing for detecting an abnormality in the load torque Td applied to the electric motor 41 in the vehicle 100 having the torque abnormality detection device 10 configured as described above will be described with reference to FIGS. Each of the processes shown in FIGS. 5 to 7 is realized by the torque control unit 204 (specifically, the load torque abnormality detection unit 13) and is repeatedly executed.

  In the load torque abnormality detection process shown in FIG. 5, a load torque estimation process for estimating the load torque Td is executed [step S10]. That is, the load torque estimating means 12 calculates the first mathematical model such as the mathematical formula (1) described above to estimate the load torque Td.

  Next, the process branches depending on whether or not the power transmission means 50 transmits (connects) power from the electric motor 41 to the wheel 61 [step S11]. If power is being transmitted (NO), the load torque abnormality detection process is returned as it is.

  On the other hand, if the power is cut off (YES), it is determined whether or not the load torque Td estimated in step S10 is outside a predetermined range [step S12]. The predetermined range can be set arbitrarily. If the load torque Td is outside an unacceptable predetermined range (YES), it is determined that an abnormality has occurred in the load torque Td applied to the electric motor 41 [step S13], and the load torque abnormality detection process is returned. On the other hand, if the load torque Td is within an allowable range (YES), it is determined that the load torque Td applied to the electric motor 41 is normal [step S14], and the load torque abnormality detection process is returned.

  The abnormality cause determination process shown in FIG. 6 corresponds to the abnormality cause determination means 13b. First, the load torque abnormality detection process shown in FIG. 5 is executed [step S20]. When it is determined that the execution result is “normal” (NO in step S21), it is not necessary to determine the cause of the abnormality, so the abnormality cause determination process is returned.

  On the other hand, when it is determined that the result of executing step S20 is “abnormal” (YES in step S21), the torque generation source output torque Tio, which is the output torque of the heat engine 21, is detected by the torque generation source output torque detection means 13a. Therefore, a torque generation source output torque detection process is executed [step S22].

  As the torque generation source output torque detection process, any process capable of detecting the torque generation source output torque Tio can be applied. In the first process, the torque generation source output torque Tio that is the output torque of the heat engine 21 is directly detected using a torque sensor, a displacement sensor, or the like. In the second process, the torque generation source output torque Tio is estimated using the map.

  Whether or not the absolute value of the difference between the torque generation source output torque Tio detected by the execution of step S22 and the load torque Td estimated in step S10 of FIG. 5 (ie, | Td−Tio |) is less than a predetermined value. Is determined [step S23]. If the absolute value of the difference is less than the predetermined value (YES), it is determined that the output of the heat engine 21 is abnormal [Step S24], and the heat stop means 13c stops the heat engine 21 [Step S25. ], Return to the abnormality cause determination process. On the other hand, if the absolute value of the difference is equal to or greater than the predetermined value (YES), it is determined that the shaft of the motor 41 is abnormal [step S26], and the operation of the motor 41 is stopped by the operation stopping means 13c [step S27. ], Return to the abnormality cause determination process. In addition, execution of steps S25 and S27 by the operation stopping unit 13c may be performed as necessary, and the vehicle 100 itself may be stopped by operating a brake.

  The abnormality cause determination process shown in FIG. 7 corresponds to the abnormality cause determination means 13b, and is executed separately from the abnormality cause determination process shown in FIG. First, the load torque abnormality detection process shown in FIG. 5 is executed [step S30]. When it is determined that the execution result is “normal” (NO in step S31), it is not necessary to determine the cause of the abnormality, so the abnormality cause determination process is returned.

  On the other hand, when it is determined that the result of executing step 320 is “abnormal” (YES in step S31), it is determined whether or not an abnormality in the load torque Td is continuously detected for a certain period or longer (step S32). If the load torque abnormality detection period ts indicating a period during which the abnormality of the load torque Td continues exceeds a predetermined period (YES in step S32), the load torque Td is determined to be “abnormal” (step S33), After the operation of the electric motor 41 is stopped by the operation stopping means 13c [Step S34], the abnormality cause determination process is returned. Note that the execution of step S34 by the operation stopping means 13c may be performed as necessary, and the vehicle 100 itself may be stopped by operating a brake. On the other hand, if the load torque abnormality detection period ts is less than the predetermined period (NO in step S32), the load torque Td is determined to be “normal” [step S35], and the abnormality cause determination process is returned.

  According to the second embodiment described above, the following effects can be obtained. First, corresponding to claim 1, the system outside 60 is a wheel 61, and the power transmission with the system outside 60 is cut off by the load torque estimating means 12 for estimating the load torque Td applied to the electric motor 41 and the power transmission means 50. A load torque abnormality detecting means 13 for detecting abnormality of the load torque applied to the power source based on the load torque estimated by the load torque estimating means 12 in the state (see FIGS. 1 and 2). According to this configuration, the transmission of power to and from the wheel 61 is cut off, and the load torque estimating means 12 can accurately estimate the load torque Td because it is not affected by fluctuations or changes in the wheel 61. . Since the load torque abnormality detection means 13 detects an abnormality based on the estimated load torque Td, it can accurately detect that some sort of failure has occurred.

The load torque estimating means 12 is configured to calculate the first mathematical model and estimate the load torque Td. According to this configuration, since it is not necessary to add a new device such as a sensor, the cost can be reduced.

Further , the first mathematical model shown in the mathematical formula (1) is configured to use the shaft inertia moment Im, the damping coefficient D, the angular acceleration α, and the motor output torque Tmo for the motor 41. According to this configuration, the load torque Td can be estimated only by performing a simple calculation.

Corresponding to claim 2 , the motor output torque Tmo includes a torque detected using a torque detection device such as a torque sensor. According to this configuration, since the motor output torque Tmo (for example, the output torque of the rotating shaft 160) can be detected with high accuracy, it is possible to more accurately detect that some sort of failure has occurred.

Corresponding to claim 3 , the motor output torque Tmo is estimated by calculating the second mathematical model. According to this configuration, since it is not necessary to add a new device such as a sensor, the cost can be reduced.

Corresponding to claim 4 , the motor output torque Tmo is estimated using a map having the current values of the currents Iu, Iv, Iw flowing through the motor 41 as arguments. According to this configuration, a torque detection device is not required, and work such as wiring is not required, thereby reducing costs.

Corresponding to claim 5 , a torque command value T ^* commanded from the ECU 200 (or other external device) is used as the motor output torque Tmo (see the two-dot chain line in FIG. 4). According to this configuration, although the accuracy is lower than the actual output torque detected by the torque sensor or the like, the torque sensor, the estimation logic, and the like are no longer necessary, so that the cost can be reduced.

Corresponding to claim 7 , when the load torque abnormality detecting means 13 detects the occurrence of abnormality when the load torque Td estimated by the load torque estimating means 12 falls outside the predetermined range, the electric motor 41, the heat engine 21 and the vehicle 100 are detected. Among them, an operation stop means 13c (system operation stop means) for stopping one or more operations is provided (see step S27 in FIGS. 1 and 6 and step S34 in FIG. 7). According to this configuration, when the load torque abnormality detection unit 13 detects the occurrence of an abnormality, the operation stop unit 13 c forcibly stops one or more operations among the electric motor 41, the heat engine 21, and the vehicle 100. Therefore, it is possible to prevent the system (that is, the electric motor 41, the heat engine 21, and the vehicle 100) from operating unstablely.

Corresponding to claim 8 , the load torque abnormality detection means 13 includes the torque generation source output torque detection means 13a for detecting the torque generation source output torque Tio which is the output torque of the heat engine 21, and the load torque Td applied to the electric motor 41. An abnormality cause determination unit 13b that determines a part that causes an abnormality when an abnormality is detected is provided (see FIGS. 1, 6, and 7). According to this configuration, the abnormality cause determination unit 13b determines the part that caused the abnormality, so that it can know which part caused the failure.

Corresponding to claim 9 , the abnormality cause determination means 13b is the difference between the load torque Td estimated based on the motor output torque Tmo and the torque generation source output torque Tio detected by the torque generation source output torque detection means 13a. If the absolute value is less than or equal to a predetermined value, it is determined that an abnormality has occurred in the heat engine 21, and if it is greater than the predetermined value, it is determined that an abnormality has occurred in the shaft of the motor 41 (step S23 in FIG. 6). (See S24 and S26). According to this configuration, it is possible to specify the cause of the abnormal load torque Td being estimated. That is, it can be determined (specified) whether the heat engine 21 has output an abnormal torque or because some abnormality has occurred in the shaft of the electric motor 41. This is because when the torque generation source output torque Tio and the estimated load torque Td have different values, the inertia moment Im, the damping coefficient D, etc., which should be constant values, have changed. Can be identified.

Corresponding to claim 10 , the motor output torque Tmo includes a torque detected using a torque detection device such as a torque sensor. According to this configuration, since the motor output torque Tmo (for example, the output torque of the rotating shaft 160 or the like) can be detected with high accuracy, it is possible to more accurately detect that some failure has occurred.

Corresponding to claim 11 , the motor output torque Tmo is configured to be estimated by calculating the second mathematical model shown in mathematical formula (2). According to this configuration, since it is not necessary to add a new device such as a sensor, the cost can be reduced.

Corresponding to claim 12 , the motor output torque Tmo is estimated using a map having the current values of the currents Iu, Iv, Iw flowing through the motor 41 as arguments. According to this configuration, a torque detection device is not required, and work such as wiring is not required, thereby reducing costs.

Corresponding to claim 13 , the load torque abnormality detection means 13 detects an abnormality in the load torque Td applied to the motor 41 only when an abnormality in the load torque Td is detected continuously for a load torque abnormality detection period ts (a certain period). (See steps S32 and S33 in FIG. 7). According to this configuration, the load torque abnormality detection period ts is a period during which an abnormality can be allowed, and even if an abnormal load torque Td is temporarily estimated due to a calculation error or the like, the operation is not forcibly stopped. Can do.

Corresponding to claim 14 , a rotational speed control means for controlling the rotational speed of the electric motor 41 calculated based on the load torque Td estimated by the load torque estimating means 12 so as to follow the commanded rotational speed (that is, The joining means 201 and 203, the PI control means 202, and the torque control means 204) are provided (see FIG. 4). According to this configuration, since the feedback control is performed so that the rotation speed of the electric motor 41 becomes the commanded rotation speed (command rotation speed N ^* ), the motor 41 can be controlled to become the command rotation speed N ^* .

Corresponding to claim 15 , the vehicle 100 using both the heat engine 21 and the electric motor 41 as power sources has a configuration including the torque abnormality detection device 10 and the electric motor 41 (see FIGS. 2 and 3). According to this configuration, an abnormality in the load torque Td applied to the electric motor 41 can be detected.

[Embodiment 3]
The third embodiment is applied to a vehicle that is an example of a hybrid car (parallel system) that uses (runs) both a rotating electrical machine and a torque generation source as a power source. The third embodiment will be described with reference to FIG. FIG. 8 is a schematic diagram showing a second configuration example of the vehicle (transport equipment). FIG. 9 is a schematic diagram mainly showing a second configuration example of the power transmission means. In addition, the same code | symbol is attached | subjected to the element same as the element used in Embodiment 1, 2, and description is abbreviate | omitted.

  The vehicle 300 shown in FIG. 8 is different from the vehicle 100 shown in FIG. 2 in the following three points. First, there is no generator 120 and power split mechanism 140. Secondly, instead of the motor 41, a motor generator 42 having both an electric function and a power generation function is used. Third, power transmission means 55 is used in place of the power transmission means 50.

  A configuration example of the power transmission means 55 will be described with reference to FIG. The power transmission means 55 has substantially the same configuration as the power transmission means 50 shown in FIG. That is, the point which has clutches 51 and 53, transmissions 52 and 54, etc., and these connections are the same. The power transmission means 55 is different from the power transmission means 50 because the generator 120 is not provided, so that the power generated by the electric motor 41 is transmitted only to the transmission 52 through the clutch 51.

  The torque abnormality detection device 10 (that is, the angular acceleration detection means 11, the load torque estimation means 12, and the load torque abnormality detection means 13) is the same as that in the first embodiment. Therefore, since only the hybrid car system is different, the same operation and effect as in the second embodiment can be obtained.

[Embodiment 4]
The fourth embodiment is applied to a vehicle that is an example of a hybrid car (series system) that uses both a rotating electrical machine and a torque generation source as a power source. The fourth embodiment will be described with reference to FIG. FIG. 10 is a schematic diagram showing a third configuration example of the vehicle (transport equipment). In addition, the same code | symbol is attached | subjected to the element same as the element used in Embodiment 1-3, and description is abbreviate | omitted.

  The vehicle 400 shown in FIG. 10 is different from the vehicle 100 shown in FIG. 2 in the following two points. First, there is no power split mechanism 140. Secondly, the generator 120 generates power by the output shaft 150 of the heat engine 21 or generates power by the power transmission means 50 (that is, power transmitted from the motor 41 through the clutch 51) shown in FIG.

  The torque abnormality detection device 10 (that is, the angular acceleration detection means 11, the load torque estimation means 12, and the load torque abnormality detection means 13) is the same as that in the first embodiment. Therefore, since only the hybrid car system is different, the same operation and effect as in the second embodiment can be obtained.

[Embodiment 5]
Embodiment 5 is applied to a vehicle that is an example of an electric vehicle that uses (runs) only a rotating electrical machine as a power source. The fourth embodiment will be described with reference to FIGS. FIG. 11 is a schematic diagram illustrating a fourth configuration example of the vehicle (transport equipment). FIG. 12 is a flowchart showing a third procedure example of the abnormality cause determination process. In addition, the same code | symbol is attached | subjected to the element same as the element used in Embodiment 1-4, and description is abbreviate | omitted.

  A vehicle 500 shown in FIG. 11 is different from the vehicle 100 shown in FIG. 2 in the following four points. First, there is no heat engine 21, power split mechanism 140, and generator 120. Secondly, instead of the motor 41, a motor generator 42 having both an electric function and a power generation function is used. In this case, the motor generator 42 generates regenerative electric power at the time of deceleration and stores it in the battery 110 through the PCU 130. Third, power transmission means 55 is used in place of the power transmission means 50. Fourth, instead of the abnormality cause determination process shown in FIG. 6, the abnormality cause determination process shown in FIG. 12 is executed.

  In the vehicle 500 shown in FIG. 11, the power source is only the motor generator 42, and the torque generation source 20 like the heat engine 21 does not exist. Therefore, the abnormality cause determination process shown in FIG. 12 does not require steps S22, S23, S24, and S25 shown in FIG. Therefore, when the result of executing the load torque abnormality detection process in step S20 is determined to be “normal” (NO in step S21), it is not necessary to determine the cause of the abnormality, so the abnormality cause determination process is returned. On the other hand, when it is determined that the result of executing Step S20 is “abnormal” (YES in Step S21), it is determined that the shaft of the motor generator 42 is abnormal [Step S26], and the operation stop means 13c performs motor generation. After stopping the operation of the machine 42 [step S27], the abnormality cause determination process is returned. Note that the execution of step S27 by the operation stopping means 13c may be performed as necessary, and the vehicle 100 itself may be stopped by operating a brake.

According to the fifth embodiment described above, the following effects can be obtained. It should be noted that the operational effects corresponding to claim 1-5 and claims 7-14, which is the same as that in the second embodiment relating to the vehicle (transportation equipment).

Corresponding to claim 6 , when the load torque abnormality detecting means 13 detects an abnormality of the load torque Td applied to the motor generator 42, an operation stopping means 13c (power source operation stopping means) for stopping the operation of the motor generator 42 is provided. (See steps S23b and S27 in FIGS. 1 and 12). According to this configuration, when the load torque abnormality detection means 13 detects the occurrence of abnormality, the operation stopping means 13c forcibly stops the operation of the motor generator 42. Therefore, it is possible to prevent the motor generator 42 from operating in an unstable manner.

Corresponding to claim 15 , the vehicle 500 using only the motor generator 42 as a power source is configured to include the torque abnormality detection device 10 (see FIG. 11). According to this configuration, it is possible to detect an abnormality in the load torque Td applied to the motor generator 42.

[Other Embodiments]
In the above, although the form for implementing this invention was demonstrated according to Embodiment 1-5, this invention is not limited to the said form at all. In other words, various forms can be implemented without departing from the scope of the present invention. For example, the following forms may be realized.

  In the second to fifth embodiments, a heat engine 21 (internal combustion engine) is applied as the torque generation source 20 (see FIGS. 2, 8, 10, and 11). Instead of this form, an external combustion engine may be applied as the heat engine 21. Since only the structure of the heat engine 21 is different and it is the same in that it is a power source, the same effects as those of the second to fifth embodiments can be obtained.

  In the second to fifth embodiments, the power transmission means 50 and 55 are configured to transmit and disconnect power using clutches 51 and 53 (clutch mechanism) (see FIGS. 3 and 9). Instead of this form, another mechanism capable of switching between power transmission and cutting may be applied. Examples of other mechanisms include a gear mechanism and a transmission (including a torque converter and a retarder) having a neutral position. Since the power can be transmitted and disconnected by other mechanisms, the abnormality of the load torque Td can be detected in a state where the power transmission is disconnected. Therefore, the same effect as Embodiments 2 to 5 can be obtained.

  In the second to fifth embodiments, the resolver 207 is applied as a rotation angle detection device (see FIG. 4). Instead of this form, another rotation angle detection device that can detect the angular acceleration α of the power source (the heat engine 21, the motor 41, the motor generator 42, the generator, etc.) may be applied. Examples of other rotation angle detection devices include a rotary encoder, a gyroscope, and a GMR rotation sensor. Since the angular acceleration α can be detected even with other rotation angle detection devices, the same effects as those of the second to fifth embodiments can be obtained.

  In the second to fifth embodiments, a three-phase motor 41 and a motor generator 42 are applied to the rotating electrical machine 40 (see FIGS. 2, 8, 10, and 11). Instead of this form, a single-phase or four-phase or more motor or motor generator may be applied. Since only the number of phases is different, it is possible to obtain the same effects as those of the second to fifth embodiments.

  In the second to fifth embodiments, the torque abnormality detection device 10 is applied to the vehicles 100, 300, 400, and 500 serving as transportation equipment (see FIGS. 2, 8, 10, and 11). It may replace with this form and may apply to other transportation equipment provided with rotation electrical machinery 40. Other transportation equipment includes, for example, aircraft, ships, and rail vehicles. The aircraft system exterior 60 includes main wing aileron and flap, tail wing vertical tail, horizontal tail, propeller, and the like. A screw or the like corresponds to the outside 60 of the ship system. Even if it is other transport equipment, since the abnormality of the load torque Td applied to the rotating electrical machine 40 can be detected, the same effect as the second to fifth embodiments can be obtained.

DESCRIPTION OF SYMBOLS 10 Torque abnormality detection apparatus 11 Angular acceleration detection means 11a, 11b Rotational speed detection means 12 Load torque estimation means 12a, 12b Output torque detection means 13 Load torque abnormality detection means 13a Torque generation source output torque detection means 13b Abnormal cause determination means 13c Operation Stop means 20 Torque source 20a Load 21 Heat engine (Power source, Torque source, Load)
30, 30a, 50, 55 Power transmission means 40 Rotating electric machine (power source)
41 Electric motor (rotary electric machine)
42 Motor generator (rotary electric machine)
51,53 Clutch 52,54 Transmission 60 Outside the system 61 Wheel (outside the system)
100, 300, 400, 500 Vehicle (transport equipment)
110 Battery (electric storage / discharge means)
120 generator 130 PCU
131 Inverter (Power conversion circuit)
140 Power split mechanism 200 ECU (external device)
201, 203 Joining means (rotational speed control means)
202 PI control means (rotational speed control means)
204 Torque control means (rotational speed control means)
205 Current sensor (output torque detection means)
206 Output torque calculation means (output torque detection means)
207 Resolver (Rotation speed detection means)
208 Rotational speed calculation means (Rotational speed detection means)
Td Load torque To Power source output torque Tio Torque source output torque (Power source output torque)
Tmo motor output torque (power source output torque)
ts Load torque abnormality detection period (certain period)

Claims (15)

Use only the rotating electrical machine as the power source, or use both the rotating electrical machine and the torque generation source as the power source, and use power transmission means that can cut off the transmission of power to the outside of the system, and detect abnormalities in the load torque applied to the power source. In the torque abnormality detection device to detect,
Load torque estimating means for estimating a load torque applied to the power source;
The power source is applied to the power source based on the load torque estimated by the load torque estimating means in a state in which the power transmission means cuts off the transmission of power to the outside of the system so as not to be affected by the outside of the system. and a load torque abnormality detection means for detecting an abnormality of the load torque,
The load torque estimating means calculates a first mathematical model which is a mathematical formula defined using a moment of inertia of a shaft, a damping coefficient, an angular acceleration, and a power source output torque for the power source to estimate the load torque. Torque abnormality detection device characterized by the above. The torque abnormality detection device according to claim 1 , wherein the power source output torque includes torque detected by a torque detection device. The torque abnormality detection device according to claim 1 , wherein the power source output torque is estimated by calculating a second mathematical model. The torque abnormality detection device according to claim 1 , wherein the power source output torque is estimated using a map having a current value of a current flowing through the rotating electrical machine as an argument. The torque abnormality detection device according to claim 1 , wherein a commanded torque command value is used as the power source output torque. A power source operation stop means for stopping the operation of the power source when the load torque abnormality detection means detects the occurrence of an abnormality when the load torque estimated by the load torque estimation means is outside a predetermined range; The torque abnormality detection device according to any one of claims 1 to 5 , characterized in that: When the load torque abnormality detection means detects the occurrence of an abnormality when the load torque estimated by the load torque estimation means is out of a predetermined range, one or both of the power source and the transportation equipment including the power source torque failure detection device according to claim 1, characterized in that it comprises a system operation stopping means for stopping in any one of 5 the operation of the. The load torque abnormality detecting means is
Torque generation source output torque detection means for detecting a torque generation source output torque which is an output torque of the torque generation source;
An abnormality cause determination means for determining a portion that causes an abnormality when detecting an abnormality in a load torque applied to the power source; and
The torque abnormality detection device according to claim 6 or 7 , characterized by comprising: The abnormality cause determination means has an absolute value of a difference between a load torque estimated based on the power source output torque and a torque generation source output torque detected by the torque generation source output torque detection means less than a predetermined value. 9. The torque abnormality detection device according to claim 8 , wherein it is determined that an abnormality has occurred in the torque generation source, and an abnormality has occurred in the shaft system if the predetermined value or more. The torque abnormality detection device according to claim 9 , wherein the power source output torque includes torque detected by a torque detection device. The torque abnormality detection device according to claim 9 , wherein the power source output torque is estimated by calculating the second mathematical model. The torque abnormality detection device according to claim 9 , wherein the power source output torque is estimated using a map having an argument of a current value of a current flowing through the rotating electrical machine. The load torque abnormality detection means detects that an abnormality has occurred in the load torque applied to the power source only when the abnormality of the load torque is continuously detected for a certain period or longer. The torque abnormality detection device according to any one of 12 . It has a rotational speed control means for controlling the rotational speed of the rotating electrical machine to follow the commanded rotational speed by correcting the control amount using the load torque estimated by the load torque estimating means. The torque abnormality detection device according to any one of claims 1 to 6 . A transportation apparatus comprising: the torque abnormality detection device according to any one of claims 1 to 14 ; and the power source.

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