JP2010022141A - Power controller - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To prevent a harmonic current from being included in a charge current from a commercial power supply when a vehicle battery is charged with power from the commercial power supply. <P>SOLUTION: The commercial power supply 18 is connected to a neutral point between two motors 16 and 17 that are controlled respectively by inverters 14 and 15 with a battery 10 as a DC power supply. The inverters 14 and 15 generate zero-phase voltages to control a neutral point voltage for the motors 16 and 17 to charge the battery 10 with the commercial power supply 18. A distorted voltage is generated due to the fluctuation of an inverter DC voltage in a voltage command value. To suppress the distorted voltage, a correction voltage is read from a distorted voltage table prepared in advance and is applied to the voltage command value. The distorted voltage table is optimized using an adaptive filter. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a power control apparatus, and more particularly to a technique for transferring power between a commercial power supply and a DC power supply (battery) mounted on a vehicle.

  Conventionally, there has been proposed a motor drive device capable of transferring power between an AC power supply outside the vehicle and a battery mounted on the vehicle.

  FIG. 9 shows a block diagram of this type of power control apparatus. A commercial power source is connected to the neutral point of two motors controlled by each inverter that uses a battery as a DC power source, and a zero-phase voltage is generated by the inverter to control the neutral point voltage of the motor. To charge the battery.

In the figure, a battery 10 as a DC power source is connected to two inverters 14 and 15 via a converter (boost converter) 12. The inverter 14 is connected to a three-phase motor (functionally a motor / generator but is simply referred to as a motor) 16, and the inverter 15 is a three-phase motor (functionally a motor / generator but simplified). 17) is connected. The operation of the motor 16 is controlled by the inverter 14, and the operation of the motor 17 is controlled by the inverter 15. A commercial power source 18 is connected between the neutral points of the stator windings of the motor 16 and the motor 17. In addition to these components, a charge control system 20 is provided. The charge control system 20 includes a voltage sensor that detects a power supply voltage Vs, a current sensor that detects a power supply current (neutral point current) i, a current command generator 24, a proportional compensator 28, a sine wave internal model compensator 30, a disturbance. A voltage compensator 32 and a PWM controller 38 are included. A leakage reactor of the motor is used as a filter reactor, and the AC filter 22 including the leakage reactor and the filter capacitor Cf suppresses the flow of the switching ripple current of the neutral point current i to the commercial power supply 18 side. The detected power supply voltage Vs is supplied to the current command generator 24. The current command generator 24 generates a sinusoidal charging current command value i ^* with a power factor of 1 for the power supply voltage Vs. The inverters 14 and 15 for controlling the motors 16 and 17 are operated in a coordinated manner, and the inverters 14 and 15 are subjected to switching control (PWM control) so that the current i at the motor neutral point follows the command value i ^*. The charging power to the battery 10 is controlled. Specifically, the difference between the command value i ^* calculated according to the power supply voltage Vs by the current command generator 24 and the detected neutral point current i is calculated by the difference unit 26 as an error, and the proportional compensator 28 And a sine wave internal model compensator 30. The proportional compensator 28 and the sine wave internal model compensator 30 each generate a compensation signal that eliminates the error. These compensation signals are added by the adder 34, and further added by the adder 36 and the compensation signal from the disturbance voltage compensator 32, and are supplied to the PWM controller 38, and the respective switches of the inverters 14 and 15 are controlled to be turned on / off. In order to reduce the inverter loss, only the inverter 14 is PWM-controlled, and the inverter 15 can be stopped to control the charging current. As will be described later, the disturbance voltage compensator 32 compensates for a compensation signal for compensating the output voltage of the inverter 15 whose operation is stopped and an output voltage in a dead time (a period in which both the upper and lower arms of the inverter are off). Each compensation signal is calculated.

In order to reduce inverter loss, when the operation of the inverter 15 is stopped and PWM control is performed only by the inverter 14, the circuit of FIG.
10 and 11 show the operation in the equivalent circuit. 10 shows a case where i> 0, and FIG. 11 shows a case where i <0. 10 (a) and 11 (a) show the case where the lower arm of the upper and lower arms of the inverter is turned on (indicated by a circle in the figure), and FIG. 10 (b) and FIG. 11 (b). Is when the upper arm is turned on. Assuming that the AC output voltage is Vac, the zero-phase output voltage of the inverter 14 is V1, the zero-phase output voltage of the inverter 15 is V2, and the inverter DC voltage is Vh, the inverter 15 stops operating, so the output voltage Vac is It becomes the following formula.

Vac = V1-V2 = V1 + Vh / 2 (i> 0)
= V1-Vh / 2 (i <0)
Therefore, the voltage of the inverter 14 which makes the output voltage Vac is
V1 = Vac−Vh / 2 (i> 0)
= Vac + Vh / 2 (i <0)
It becomes. Therefore, in addition to the control command for following the current command value, the voltage command value of the inverter 14 needs to be applied with a voltage of Vh / 2 according to the direction of the output current in order to compensate the output voltage of the inverter 15. .

  FIG. 12 shows a control block diagram. The disturbance voltage compensator 32 has an adder for compensating the output voltage of the inverter 15 and adds Vh / 2 or -Vh / 2 to the compensation signal according to the direction of the output current. Furthermore, an adder for compensating the power supply voltage (system voltage) Vs is provided, and Vs is added to the compensation signal. The modulation factor calculator 37 calculates the modulation factor by dividing the compensation signal (compensation voltage signal) by Vh / 2. The modulation factor is supplied to the modulator, and the PWM carrier signal is modulated and supplied to the inverter 14 as a PWM voltage command.

  In such a control system, if an error occurs in the calculation in the disturbance voltage compensator 32 or the calculation in the modulation factor calculator 37, a distorted voltage is generated in the voltage command value. More specifically, since these calculations are performed using the inverter output voltage Vh, if there is an error in the inverter output voltage vh, an error also occurs in the calculation.

  FIG. 13 shows operation waveforms during charging. The inverter DC side voltage fluctuates at twice the power supply frequency due to the influence of the instantaneous power of the single-phase AC power supply that fluctuates at twice the power supply frequency. As a result, as shown in the figure, the amplitude of both the inverter output voltage on the PWM control side and the inverter output voltage on the non-PWM control side fluctuates at twice the power supply frequency. On the other hand, the inverter DC voltage detection value used for disturbance voltage compensation calculation and the inverter DC side voltage detection value used for PWM modulation factor calculation are filtered and averaged for noise removal. As a result, an error occurs in the calculation result of the disturbance voltage compensation value and the PWM modulation rate, and a distorted voltage occurs in the voltage command value.

  14 and 15 show the influence of the inverter DC voltage fluctuation on the disturbance voltage compensation value. FIG. 14 shows a case where the amplitude error vde is 0 (V), and FIG. 15 shows a case where the amplitude error vde is 25 (V). The inverter DC voltage detection value used for the calculation of the disturbance voltage compensation value is filtered and averaged, so that the amplitude is a constant rectangular wave with vh0, whereas the actual amplitude varies with twice the power cycle. Since it is vh, a fluctuating distortion voltage is generated. Furthermore, if there is an error vde in the amplitude value due to dead time or detection error, the distortion voltage vme generated in the disturbance voltage compensation calculation is expressed by the following equation.

vme = vm-vm0
= Sign (vh-vh0-vde) / 2
sign = -1 (i> 0)
sign = 1 (i <0)

  16 and 17 show the influence of the inverter DC voltage fluctuation on the PWM modulation rate. Also in the calculation of the modulation factor, the inverter voltage command value is divided by the inverter DC voltage averaged by the filter to obtain the PWM modulation factor, so that a distortion voltage due to the calculation error is generated. Assuming that the inverter command voltage is Vr, the modulation rate when the DC voltage is constant at vh0 is k0, and the modulation rate when the actual DC voltage vh is used is k, the modulation rate error ke is given by the following equation.

ke = k−k0
= 2 · vr (1 / vh-1 / vh0)
Therefore, the error voltage vke of the modulation factor is as follows.
vke = (vh / 2) · ke
= Vr (1-vh / vh0)
The total distortion voltage is a value (vme + vke) obtained by adding vme and vke.

  FIG. 18 shows the influence of the distortion voltage (vme + vke) on the output current waveform. 18A shows a case where the amplitude error vde is 0 (V), and FIG. 18B shows a case where the amplitude error vde is 25 (V).

  Patent Document 1 below is a power control device that transfers power to and from a commercial power supply through the neutral points of two AC motors, and can transfer power efficiently and without interference to motor drive control. An electric power control apparatus and a vehicle including the same are disclosed. The control device detects the effective value and phase of the voltage of the commercial power source based on the voltage from the voltage sensor, and commands the current to flow through the power line based on the detected effective value and phase and the charge / discharge power command value for the battery. It is disclosed that a current command having a value that is in phase with the voltage of the commercial power supply is generated, and the zero-phase voltage of the inverter is controlled based on the generated current command. The PI control unit 202 in the current control unit of FIG. 19 of Patent Document 1 corresponds to the proportional compensator 28, and the internal model compensation unit 204 corresponds to the sine wave internal model compensator 30.

JP 2007-318970 A

  As described above, in the conventional apparatus, the voltage command value is distorted due to the distortion voltage vme generated by the disturbance voltage compensation calculation and the distortion voltage vke generated by the PWM modulation factor calculation, and the current is supplied according to the command value. It becomes difficult to control. As a result, a large amount of harmonic current is included in the charging current on the commercial power supply side, and it becomes difficult to satisfy the regulation value set in advance as the harmonic target level of the commercial power system.

  An object of the present invention is to provide an apparatus capable of suppressing charge voltage generated by disturbance voltage compensation calculation and PWM modulation factor calculation and performing charge control with high accuracy.

  The present invention provides a power control for connecting a commercial power source to a neutral point of first and second motors driven by first and second inverters using a battery as a DC power source, and charging the battery from the commercial power source. A voltage command value for generating a zero-phase voltage in at least one of the first and second inverters based on the charge current command value and a current command generation means for generating a charge current command value Inverter control means for controlling the voltage between the neutral points of the motor, and correction means for applying a correction voltage value for correcting a distortion voltage caused by fluctuation of the DC side voltage of the inverter to the voltage command value. Have.

  In one embodiment of the present invention, the correction means includes a distortion voltage correction table prepared in advance, in which the correction voltage value is defined for each charging power. The correction voltage value in the distortion voltage correction table is preferably optimized by an adaptive filter. The adaptive filter is an FIR filter, and a deviation between the charging current command value and an actually detected current value is used as an error for learning, and the coefficient of the adaptive filter is adjusted so that the error becomes zero. It is preferable to optimize the correction voltage value.

  Further, the present invention connects a commercial power source to the neutral point of the first and second motors driven by the first and second inverters using the battery as a DC power source, and charges the battery from the commercial power source. A voltage control value for generating a zero-phase voltage in at least one of the first and second inverters based on the charge current command value and a current command generation means for generating a charge current command value. And inverter control means for controlling the voltage between the neutral points of the motor, the inverter control means comprising a compensation signal according to a deviation between the charging current command value and the actually detected current value. A disturbance voltage compensator for calculating a disturbance voltage compensation signal according to the inverter side DC voltage, an application means for applying the disturbance voltage compensation signal to the compensation signal, and the disturbance voltage compensation signal. Has a modulation factor calculator that calculates a PWM modulation factor from the compensation signal to which the inverter is applied and the inverter DC voltage, and further calculates the inverter DC voltage from the average value of the charging power and the inverter DC voltage effective value Have means.

  According to the present invention, by applying a correction voltage value for correcting the distortion voltage to the voltage command value, the distortion voltage can be corrected easily and with high accuracy, and the influence on the commercial power supply side can be minimized. . Further, according to the present invention, the inverter DC voltage is estimated, and the voltage command value is corrected using the estimated value, thereby correcting the distortion voltage easily and with high accuracy to minimize the influence on the commercial power supply side. can do.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 is a block diagram showing the configuration of the power control apparatus according to this embodiment. It is almost the same as the configuration block diagram shown in FIG. Two inverters 14 and 15 are connected to a battery 10 as a DC power source via a converter 12. A motor 16 is connected to the inverter 14, and a motor 17 is connected to the inverter 15. A commercial power source 18 is connected between the neutral points of the stator windings of the motor 16 and the motor 17. A charge control system 21 is also provided. Specifically, the charge control system 21 is realized by a controller having an internal memory. As with the charge control system 20 shown in FIG. 9, the charge control system 21 includes a voltage sensor that detects the power supply voltage Vs, a current sensor that detects the power supply current (neutral point current) i, a current command generator 24, and proportional compensation. A sine wave internal model compensator 30, a disturbance voltage compensator 32, and a PWM controller 38. The AC filter 22 including the leakage reactor and the filter capacitor C suppresses the outflow of the switching ripple current of the neutral point current i to the commercial power supply 18 side by utilizing the leakage reactor of the motor as a filter reactor.

FIG. 2 shows a control block diagram of the charge control system 21. The detected power supply voltage Vs is supplied to the current command generator 24. The current command generator 24 generates a sinusoidal charging current command value i ^* with a power factor of 1 for the power supply voltage Vs. The inverters 14 and 15 of the motors 16 and 17 are cooperatively operated, and the charging power is controlled by switching the inverters 14 and 15 so that the current i at the motor neutral point follows the command value i *. That is, the difference between the command value i ^* and the detected neutral point current i is calculated by the differentiator 26, and the difference signal ie is supplied to the proportional compensator 28 and the sine wave internal model compensator 30. The compensation signal from the proportional compensator 28 and the compensation signal from the sine wave internal model compensator 30 are added by the adder 34 and further added by the adder 35 to the compensation signal from the disturbance voltage compensator 32. The proportional compensator 28 performs a proportional integration calculation using the deviation between the current command from the current command generator 24 and the current value from the current sensor as an input signal. The sine wave internal model compensator 30 includes a sine wave transfer function ks · s / (s ² + ω ₀ ² ) corresponding to the current command being a sine wave function. ω ₀ is the frequency of the current command, and ks is a proportionality constant. Then, a compensation signal is generated using this sine wave transfer function.

  Conventionally, the compensation signal from the adder 35 is supplied to the modulation factor calculator 37, and the modulation factor calculator 37 calculates the modulation factor by performing an operation of dividing by the inverter side DC voltage. In the embodiment, the compensation signal from the adder 35 is further supplied to the adder 39. The adder 39 adds a correction signal for correcting the distortion voltage output by referring to the distortion voltage table 40 to the compensation signal supplied from the adder 35 and supplies the correction signal to the modulation factor calculator 37. The modulation factor calculated by the modulation factor calculator 37 is supplied to the PWM controller 38, and the switches of the inverters 14 and 15 are turned on / off. The distortion voltage table 40 is a table (or map) in which a voltage value for correcting the distortion voltage is defined, and is stored in advance in an internal memory of the controller, for example, a ROM or a rewritable memory. , The correction signal for correcting the distortion voltage is read out and supplied to the adder 39.

  Hereinafter, the distortion voltage table 40 will be described.

となる。この式より、インバータ直流側コンデンサのエネルギＥｃ（ｔ）は、

となる。定常状態ではｐａｃ（ｔ）の平均値はＰｃｌとなるため、
ｐｃｌ（ｔ）＝ｖｃ（ｔ）ｉｌ（ｔ）
である。電源電流が力率１で正弦波とすると、
ｐａｃ（ｔ）＝ｖｓ（ｔ）ｉ（ｔ）＝Ｖｓ・Ｉ（１−ｃｏｓ（２ωｔ））
ここで、ωは電源電圧の各周波数、Ｖｓ、Ｉはそれぞれ電源電圧ｖｓ（ｔ）、電源電流ｉ（ｔ）の実効値である。 In FIG. 1, Ec (t) is the energy of the inverter DC side capacitor, pac (t) is the input power, pcl (t) is the charging power to the battery, Vcrms is the effective value of the inverter DC voltage, and pcl (t ) Is defined as Pcl. The power Pc (t) of the inverter DC side capacitor is

It becomes. From this equation, the energy Ec (t) of the inverter DC side capacitor is

It becomes. Since the average value of pac (t) is Pcl in the steady state,
pcl (t) = vc (t) il (t)
It is. If the power supply current is a sine wave with a power factor of 1,
pac (t) = vs (t) i (t) = Vs · I (1−cos (2ωt))
Here, ω is each frequency of the power supply voltage, and Vs and I are effective values of the power supply voltage vs (t) and the power supply current i (t), respectively.

となる。したがって、歪み電圧の要因である変動するインバータ直流電圧ｖｃ（ｔ）は、

となる。定常状態では、ｖｃ（０）はｖｃ（ｔ）の実効値Ｖｃｒｍｓとなるため、

となる。このように、変動するインバータ直流電圧は、負荷となる充電電力の平均値Ｐｃｌとインバータ直流電圧実効値から算出することができる。このことは、充電電力に応じて歪み電圧テーブル４０を予め用意し、充電電力を引数として歪み電圧テーブル４０から対応する歪み電圧、すなわちｖｍｅ＋ｖｋｅを補正するための電圧（補正電圧）を読み出し、この補正電圧信号を加算器３９で補償信号に加算することで、歪み電圧ｖｍｅ＋ｖｋｅを補償（フィードフォワード補償）できることを意味する。 Since the average value of pac (t) is Pcl in the steady state,
pac (t) = Pcl (1−cos (2ωt))
It is. Therefore, equation (2) is

It becomes. Therefore, the fluctuating inverter DC voltage vc (t) that is a factor of the distortion voltage is

It becomes. In a steady state, vc (0) becomes an effective value Vcrms of vc (t).

It becomes. In this way, the fluctuating inverter DC voltage can be calculated from the average value Pcl of the charging power serving as the load and the inverter DC voltage effective value. This is because the distortion voltage table 40 is prepared in advance according to the charging power, and the corresponding distortion voltage, that is, the voltage (correction voltage) for correcting vme + vke is read from the distortion voltage table 40 using the charging power as an argument. It means that the distortion voltage vme + vke can be compensated (feed forward compensation) by adding the voltage signal to the compensation signal by the adder 39.

  FIG. 3 shows an example of the waveform of the distortion voltage correction signal read from the distortion voltage table 40. The horizontal axis is time, and the vertical axis is voltage. FIG. 4 shows an operation waveform at the time of distortion voltage correction. The power supply current and the distortion voltage correction value are shown in comparison. A distortion voltage caused by vme + vke is compensated by applying a distortion voltage correction signal from a certain time.

であるから、インバータ直流電圧ｖｃ（ｔ）は、

となる。すなわち、インバータ直流電圧ｖｃ（ｔ）はインバータ直流電圧の実効値ｖｃｒｍｓ、インバータ直流コンデンサ容量Ｃ、入力電力ｐｃｌ（ｔ）に依存する。このことからも、充電電力に応じて歪み電圧の補正値を用意して波形の歪みをフィードフォワード補償できる。 In addition,

Therefore, the inverter DC voltage vc (t) is

It becomes. That is, the inverter DC voltage vc (t) depends on the effective value vcrms of the inverter DC voltage, the inverter DC capacitor capacity C, and the input power pc1 (t). Also from this, it is possible to prepare a correction value of the distortion voltage according to the charging power and to feedforward compensate for the waveform distortion.

  On the other hand, the distortion voltage depends on the dead time Td, the carrier frequency fc, the average value vh0 of the inverter DC voltage, the input voltage pac, the charging power pch, and the system voltage vs. Since these parameters vary depending on the operating state and system conditions, it is difficult to obtain an accurate distortion voltage table 40. If the actual distortion voltage and the value of the distortion voltage table are different, the charging performance is deteriorated. Therefore, it is preferable to identify and compensate for the distortion voltage using an adaptive filter.

  FIG. 5 shows a control block diagram for compensating for distortion voltage using an adaptive filter. The basic configuration is the same as in FIG. 2, but an adaptive filter 41 is incorporated in the distortion voltage table 40, and the distortion voltage table 40 is optimized by learning.

で与えられる。適応フィルタ４１は、係数を自動的に学習し、ある時間経過すると理想出力とフィルタ出力との差が最小となる最適なフィルタ係数を探索する。適応フィルタ４１の学習アルゴリズムの一つであるＬＭＳアルゴリズムによる係数ｈｋの学習の式は、

である。ここに、μは学習係数、ｅ（ｎ）は学習に用いる誤差である。適応フィルタ４１を用いて歪み電圧を同定するために、電流指令値を入力して電流指令値と実電流との偏差ｉｅを学習に用いる誤差とし、ｉｅが零となるように適応フィルタ４１を学習させることにより歪み電圧のパラメータが適応フィルタ４１の係数として現れる。 FIG. 6 shows a configuration block diagram of an FIR filter as an example of the adaptive filter 41. The formula of the FIR filter is as follows: x (i) as input, y (i) as output, and hk as a filter coefficient.

Given in. The adaptive filter 41 automatically learns the coefficients and searches for the optimum filter coefficient that minimizes the difference between the ideal output and the filter output after a certain period of time. The equation for learning the coefficient hk by the LMS algorithm which is one of the learning algorithms of the adaptive filter 41 is:

It is. Here, μ is a learning coefficient, and e (n) is an error used for learning. In order to identify the distortion voltage using the adaptive filter 41, the current command value is input, the deviation ie between the current command value and the actual current is used as an error for learning, and the adaptive filter 41 is learned so that ie is zero. By doing so, the parameter of the distortion voltage appears as a coefficient of the adaptive filter 41.

  FIG. 7 shows a simulation result of compensation control by the adaptive filter 41. It is understood that after the adaptive filter 41 compensation starts, the adaptive filter 41 identifies the distortion voltage, and as a result, the waveform distortion is improved.

  In the above-described embodiment, the correction voltage signal for correcting the distortion voltage is added to the compensation signal using the distortion voltage table 40. However, it is also possible to directly correct errors caused by the disturbance voltage compensation calculation and the modulation factor calculation. it can. That is, the inverter DC voltage detection value used in the disturbance voltage compensation calculation is filtered and averaged, so that the amplitude is a constant rectangular wave at vh0, whereas the actual amplitude is an amplitude vh that fluctuates twice the power cycle. Therefore, a fluctuating distortion voltage is generated.

  The same applies to the modulation rate calculation. Therefore, the error may be eliminated by using the actual inverter DC voltage detection value as it is without performing the filtering process.

  Further, as described above, the inverter DC voltage vc (t) can be calculated from the average value Pcl of charging power serving as a load and the inverter DC voltage effective value. Therefore, the error can be suppressed by performing the disturbance voltage compensation calculation and the modulation factor calculation using the inverter DC voltage vc (t) estimated by calculation from the average value Pcl of the charging power and the inverter DC voltage effective value. .

  FIG. 8 shows a control block diagram in this case. The difference from FIG. 2 is that the distortion voltage table 40 and the adder 39 are not provided, and the inverter DC voltage estimated value calculated by the equation (5) is not the average value filtered as the inverter DC voltage, but the disturbance voltage compensator 32. And a point supplied to the modulation factor calculator 37.

It is a configuration block diagram of this embodiment. It is a control block diagram of an embodiment. It is correction voltage value waveform explanatory drawing by a distortion voltage table. It is a timing chart of distortion voltage correction. It is a control block diagram of other embodiments. It is a block diagram of an adaptive filter. It is a timing chart before and after distortion voltage compensation. It is a control block diagram of other embodiments. It is a block diagram of a conventional apparatus. It is operation | movement explanatory drawing (i> 0) of an equivalent circuit. It is operation | movement explanatory drawing (i <0) of an equivalent circuit. It is a control block diagram of a conventional apparatus. It is fluctuation waveform explanatory drawing of an inverter DC voltage. It is explanatory drawing (vde = 0V) of the distortion voltage vme. It is explanatory drawing (vde = 25V) of the distortion voltage vme. It is modulation rate explanatory drawing. It is explanatory drawing of the distortion voltage vke. It is explanatory drawing of distortion voltage vme + vke.

Explanation of symbols

  10 battery, 12 converter, 14, 15 inverter, 16, 17 motor (motor / generator), 18 commercial power supply, 21 charge control system (controller).

Claims (5)

A power control device for connecting a commercial power source to a neutral point of first and second motors driven by first and second inverters using a battery as a DC power source and charging the battery from the commercial power source. ,
Current command generating means for generating a charging current command value;
An inverter control means for generating a voltage command value for generating a zero-phase voltage in at least one of the first and second inverters based on the charging current command value and controlling a voltage between neutral points of the motor;
Correction means for applying to the voltage command value a correction voltage value for correcting a distortion voltage caused by fluctuations in the DC side voltage of the inverter;
A power control apparatus comprising: The apparatus of claim 1.
The power control apparatus according to claim 1, wherein the correction unit includes a distortion voltage correction table that is prepared in advance and defines the correction voltage value for each charging power. The apparatus of claim 2.
The power control apparatus, wherein the correction voltage value of the distortion voltage correction table is optimized by an adaptive filter. The apparatus of claim 3.
The adaptive filter is a FIR filter;
The deviation between the charging current command value and the actually detected current value is used as an error for learning, and the correction voltage value is optimized by adjusting the coefficient of the adaptive filter so that the error becomes zero. A power control device. A power control device for connecting a commercial power source to a neutral point of first and second motors driven by first and second inverters using a battery as a DC power source and charging the battery from the commercial power source. ,
Current command generating means for generating a charging current command value;
An inverter control means for generating a voltage command value for generating a zero-phase voltage in at least one of the first and second inverters based on the charging current command value and controlling a voltage between neutral points of the motor;
Have
The inverter control means includes
A compensator that generates a compensation signal according to a deviation between the charging current command value and the actually detected current value;
A disturbance voltage compensator for calculating a disturbance voltage compensation signal according to the inverter side DC voltage;
Applying means for applying the disturbance voltage compensation signal to the compensation signal;
A modulation factor calculator for calculating a PWM modulation factor from the compensation signal to which the disturbance voltage compensation signal is applied and the inverter side DC voltage;
In addition,
An electric power control apparatus comprising arithmetic means for estimating the inverter DC voltage from an average value of charging power and an inverter DC voltage effective value.

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