CN103166560A - Control device of motor - Google Patents
Control device of motor Download PDFInfo
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- CN103166560A CN103166560A CN2012105058211A CN201210505821A CN103166560A CN 103166560 A CN103166560 A CN 103166560A CN 2012105058211 A CN2012105058211 A CN 2012105058211A CN 201210505821 A CN201210505821 A CN 201210505821A CN 103166560 A CN103166560 A CN 103166560A
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Abstract
The invention provides a control device of a motor, which can prevent the reduction of operating efficiency. When a DC voltage detection part (31) detects the DC voltage of a storage battery (11), a processing device (14) enables an engine (12) to run in an orthogonal area or a weak magnetic area. When the DC voltage detection part (31) cannot detect the DC voltage of the storage battery (11) in a normal way, the processing device (14) limits the upper limit of a target torque in the orthogonal area and limits the running area of the engine (12) in the orthogonal area. When the running point of the engine (12) enters into the orthogonal area, the processing device (14) sets the DC voltage value used for the engine control to a fixed value which is smaller than a DC voltage value which is normally detected by the DC voltage detection part (31).
Description
Technical field
The present invention relates to the control device of motor.
Background technology
In prior art, known following engine control system (for example, with reference to patent documentation 1): for example in the situation that detect to be used for drive the voltage detection department of the direct voltage of engine and become and can not carry out normal the detection, direct voltage is fixed in the minimum guarantee voltage of inverter.
Patent documentation
Patent documentation 1:JP JP 2005-117756 communique
But, in the related engine control system of above-mentioned prior art, in the situation that direct voltage is fixed in the minimum guarantee voltage of inverter, because of the operation range difference of engine, original unwanted leading angle control is carried out in existence, the possibility that running efficiency reduces.
Namely, at the induced voltage of engine not in the operation range of beyond supply voltage, can become in the running efficiency of engine the running (energising) of control engine under maximum condition, on the other hand, in the operation range of the induced voltage beyond supply voltage of engine, need to carry out the leading angle control based on weak magnetic, running efficiency is reduced.
Therefore, can drive under the state of engine by the direct voltage higher than the minimum guarantee voltage of inverter actually, only will be fixed in for the direct voltage that drives engine the minimum guarantee voltage of inverter, even if actual supply voltage also has allowance also can carry out leading angle control based on weak magnetic with respect to the induced voltage of engine, can produce the problem that running efficiency reduces.
Summary of the invention
The present invention proposes in view of the above problems, and purpose is to provide the control device of the motor that can prevent that running efficiency from reducing.
thereby reach relevant purpose in order to solve above-mentioned problem, the control device of the motor that technical scheme 1 of the present invention is related possesses: the direct voltage detecting unit, and it detects the direct voltage of the power supply (for example storage battery in execution mode 11) that is used for drive motor (for example engine 12 of execution mode), and control unit (for example processing unit in execution mode 14), it controls described motor based on the detected described direct voltage of described direct voltage detecting unit (for example direct voltage test section 31 in execution mode), when described control unit normally carries out the detection of described direct voltage at described direct voltage detecting unit, for the current transformation of the armature that will offer described motor to the dq coordinate and the d shaft current and the q shaft current that obtain are controlled, the operation range that makes described motor turns round in orthogonal area or weak magnetic area territory, become normally to carry out the detection of described direct voltage the time at described direct voltage detecting unit, described direct voltage is set as the little fixed value of value of detected described direct voltage when normally carrying out the detection of described direct voltage than described direct voltage detecting unit, and the operation range of described motor is limited in described orthogonal area.
in the related control device of technical scheme 2 of the present invention, described control unit possesses: target output computing unit (for example target torque configuration part in execution mode 37), and it calculates target output of described motor, with electric current designated value computing unit (the target current calculating part 38 in execution mode for example, the 2nd direct voltage switching part 39, delay timer 40, the 2nd low pass filter 41 and weak magnetic control part 42), it calculates the command value (for example the target d shaft current Idc in execution mode and target q shaft current Iqc) of described d shaft current and described q shaft current based on described direct voltage, become normally to carry out the detection of described direct voltage the time at described direct voltage detecting unit, the upper limit of the described target output of described target output computing unit restriction, described current instruction value computing unit is after the operation point of described motor enters in described orthogonal area, described direct voltage is set as described fixed value.
In the related control device of technical scheme 3 of the present invention, described target output computing unit is limited in the pace of change of described target output below fixing speed in the described upper limit of the described target output of restriction.
In the related control device of technical scheme 4 of the present invention, described control unit becomes can not normally carry out the detection of described direct voltage the time at described direct voltage detecting unit, described direct voltage is fixed in the minimum guarantee voltage of described power supply.
The control device of the motor that technical scheme 1 according to the present invention is related, become normally to carry out the detection of direct voltage the time the little fixed value of value of detected direct voltage when the value of the direct voltage that uses in the control with motor is fixed on than the detection of normally carrying out direct voltage at the direct voltage detecting unit.
Thus, can prevent following situation: the induced voltage that produces when for example causing turning round lower than the detected value of direct voltage due to real direct voltage surpasses real direct voltage, causes together therewith becoming controlling motor.
Therefore, even become in the detection of the direct voltage of direct voltage detecting unit the running that also continues motor in the time of can not normally carrying out, travel etc. such as keeping out of the way.
In addition, at this moment, for example in the situation that fixed value is less than real direct voltage, owing to will carry out weak magnetic control system when turning round with respect to the weak magnetic area territory of fixed value, even therefore in fact do not need weak magnetic control system can carry out unwanted leading angle control yet, might cause the reduction of the running efficiency of motor.
For such problem, in the present invention, be limited in orthogonal area by the operation range with motor, thus in orthogonal area, become maximum d shaft current and q shaft current (namely satisfying d shaft current and the q shaft current of relation of the regulation of breakdown torque and electric current) with respect to the unique efficient of determining to make motor of output.
Thus, even in the situation that fixed value is less than real direct voltage, can not carry out in fact unwanted weak magnetic control system (for example leading angle control) yet, can turn round under the condition of efficient for maximum of motor, can prevent the reduction of the running efficiency of motor.
The control device of the motor that technical scheme 2 according to the present invention is related, the running that becomes the time point that can not normally carry out in the detection from direct voltage is lighted, when operation point moves in orthogonal area transiently, if becoming the time point that can not normally carry out the detection of direct voltage at the direct voltage detecting unit rises at once direct voltage is set as fixed value, operation point move to orthogonal area during transition state under, might carry out in fact unwanted weak magnetic control system.
For such problem, in the present invention, becoming normally to carry out the detection of direct voltage the time, at first target is exported the upper limit of computing unit limited target torque, the current instruction value computing unit is after the operation point of motor enters in orthogonal area, the value of direct voltage is set as fixed value, can carry out unwanted weak magnetic control system under the transition state during till thus in operation point moves to orthogonal area, can prevent the reduction of running efficiency with more producing effect.
The control device of the motor that technical scheme 3 according to the present invention is related, become normally to carry out the detection of direct voltage the time at the direct voltage detecting unit, can suppress target output in target is exported the upper limit of computing unit limited target output and sharply change, can suppress the sharply variation of the output of motor.
Therefore, in the situation that in for example motor being used in the vehicle traction purposes, can suppress the sharply variation of the speed of vehicle, can prevent from bringing the occupant with the impact of following that sharply changes of the speed of vehicle.
The control device of the motor that technical scheme 4 according to the present invention is related, in the situation that the direct voltage detecting unit becomes the running that continues motor in the time of can not normally carrying out the detection of direct voltage, supply voltage is reducing variation on tendency even follow the continuation of running, also due to until supply voltage becomes minimum guarantee voltage is the minimum voltage that supply voltage can be got, can prevent the situation that to control motor that becomes, therefore can correctly turn round during longer.
Description of drawings
Fig. 1 is the pie graph of the control device of the related motor of embodiments of the present invention.
Fig. 2 means the flow chart of action of the control device of the motor that embodiments of the present invention are related.
Fig. 3 means the figure of an example of the variation of the operation point in the control device of the motor that embodiments of the present invention are related.
When Fig. 4 means direct voltage test section in the control device of the motor that embodiments of the present invention are related normal and the figure of the example of the weak magnetic area territory under the operation point of the motor when abnormal and orthogonal area.
The explanation of symbol
The control device of 10 motor
11 storage batterys (power supply)
12 engines (motor)
14 processing unit (control unit)
31 direct voltage test sections (direct voltage detecting unit)
37 target torque configuration parts (target output computing unit)
38 target current calculating parts (current instruction value computing unit)
39 the 2nd direct voltage switching parts (current instruction value computing unit)
40 delay timers (current instruction value computing unit)
41 the 2nd low pass filters (current instruction value computing unit)
42 weak magnetic control parts (current instruction value computing unit)
Embodiment
Below, the control device of the motor that an embodiment of the invention are related is described with reference to accompanying drawing.
The control device 10 of the motor of present embodiment for example carries on vehicle, as shown in Figure 1, possess inverter 13 and processing unit 14 and consist of, wherein inverter 13 is take storage battery 11 as DC power supply, controls the brushless DC engine 12 (the following engine 12 that only is called) that 3 phases that are used for exporting the actuating force that Vehicle Driving Cycle for example uses (for example U phase, V phase, W this 3 phase) mutually exchange.
Inverter 13 possesses and uses a plurality of switch elements (such as two-way MOSFET:Metal Oxide Semi-conductor Field Effect Transistor (mos field effect transistor) etc.) bridging to connect bridge circuit (switching circuit) and the smmothing capacitor that forms, and is passed through the signal driver after this bridge circuit pulse-width modulation (PWM).
And, inverter 13 switches to the connection (conducting) of each right switch element/cut-off (cut-out) state based on the switch command (being pwm signal) of exporting and be input to each switch element from processing unit 14 by each for example when the power running of engine 12 mutually.Thus, be transformed into 3 cross streams power by relay 15 from the direct current power that storage battery 11 provides with being situated between, energising to the stator winding of 3 phases of engine 12 is commutated successively, thus, flow through U phase current Iu, V phase current Iv and the W phase current Iw of interchange in the stator winding of each phase.
On the other hand, for example when the regeneration operating of engine 12, inverter 13 is according to obtaining synchronous based on the rotation angle θ of the rotor of engine 12 and from the switch command (being pwm signal) of processing unit 14 outputs, switch to mutually the connection (conducting) of each right switch element/cut-off (cut-out) by each, 3 cross streams power from engine 12 outputs can be changed to direct current power thus, and be charged to storage battery 11.
Processing unit 14 for example carries out the FEEDBACK CONTROL (vector control) of electric current on the dq coordinate that consists of the rotating orthogonal coordinate, calculate target d shaft current Idc and target q shaft current Iqc.
Then, based target d shaft current Idc and target q shaft current Iqc calculate each phase voltage directive Vu, Vv, Vw, correspondingly export the switch command of inverter 13, be pwm signal with each phase voltage directive Vu, Vv, Vw.
Then, be changed on the dq coordinate and each deviation of the d shaft current Id that obtains and q shaft current Iq and target d shaft current Idc and target q shaft current Iqc becomes zero mode according to each phase current Iu, Iv, Iw that reality is offered engine 12 from inverter 13, control.
Thus, to the processing unit 14 following signals of input, that is, offer the signal of the detected value that the phase current transducer 21 of each phase current Iu, Iv, the Iw of the armature of engine 12 exports and the signal of the detected value exported from the rotation angle sensor 22 of the anglec of rotation (for example anglec of rotation of the magnetic pole of the rotor from the benchmark position of rotation of the regulation) θ of the rotor (diagram slightly) that detects engine 12 from detecting by inverter 13.
Processing unit 14 for example possesses following key element and consists of: direct voltage test section 31, torque limit section 32 when voltage detecting is normal, rotating speed calculating part 33, the 1st direct voltage switching part 34, the 1st low pass filter 35, torque limit section 36 when voltage detecting is abnormal, target torque configuration part 37, target current calculating part 38, the 2nd direct voltage switching part 39, delay timer 40, the 2nd low pass filter 41, weak magnetic control part 42 and current control division 43.
Direct voltage test section 31 detects the direct voltage of storage battery 11, the signal of output detections result, and survey direct voltage test section 31 fault-free is arranged, can output normally carry out the signal (malfunction detection signal) of result of detection of detection of the direct voltage of storage battery 11.
The 1st direct voltage switching part 34 is based on the malfunction detection signal from 31 outputs of direct voltage test section, when direct voltage test section 31 can normally carry out the detection of direct voltage of storage battery 11, selection is from the testing result of the direct voltage of direct voltage test section 31 output, and the value of this direct voltage is exported to the 1st low pass filter 35.
On the other hand, when direct voltage test section 31 can not normally carry out the detection of direct voltage of storage battery 11, select the fixed value (for example the minimum voltage that can get of the voltage of storage battery 11 is minimum guarantee voltage) of predefined regulation, and this fixed value is exported to the 1st low pass filter 35 as the value of direct voltage.
In addition, the fixed value of regulation is by the little value of value of direct voltage test section 31 detected direct voltages when normally carrying out the detection of direct voltage of storage battery 11 than direct voltage test section 31.
For example, the fixed value of regulation also can be set as: the value of the little setting of value of detected direct voltage etc. when before occuring than the fault of having determined direct voltage test section 31, soon direct voltage test section 31 normally carries out the detection of direct voltage.
The 1st low pass filter 35 makes from exporting to voltage detecting torque limit section 36 when abnormal after the signal of the 1st direct voltage switching part 34 output postpones according to predefined time constant.
When voltage detecting is abnormal, torque limit section 36 according to from the values of the direct voltage of the 1st low pass filter 35 outputs, with the corresponding target torque of setting such as the driver's of vehicle accelerator operation with from the signal of the result of calculation of the rotating speed of rotating speed calculating part 33 outputs, exports the limits value (torque limit value when voltage detecting is abnormal) with respect to the torque of exporting from engine 12.
In addition, when this voltage detecting is abnormal, torque limit value is for example the minimum guarantee voltage of minimum voltage that can get with respect to storage battery 11 and from the specified limit of the torque of engine 12 outputs, and the operation range of engine 12 is limited in orthogonal area.
The torque limit value when voltage detecting of target torque configuration part 37 such as torque limit section 32 outputs when normal from voltage detecting is normal, torque limit value and the target torque set according to the driver's of vehicle accelerator operation etc. when when voltage detecting is abnormal, the voltage detecting of torque limit section 36 outputs is abnormal, come as required the limited target torque, and the export target torque.
For example, when the detection of direct voltage of storage battery 11 is normally carried out at direct voltage test section 31 in target torque configuration part 37, any less side when voltage detecting is normal in torque limit value and target torque after as restriction target torque and export.
On the other hand, when direct voltage test section 31 can not normally carry out the detection of direct voltage of storage battery 11, any less side when voltage detecting is abnormal in torque limit value and target torque after as restriction target torque and export.
Target current calculating part 38 is for example according to the target torque from target torque configuration part 37 outputs, based on the corresponding relation of the regulation of predefined target torque and target d shaft current Idc and target q shaft current Iqc (efficient of the engine 12 when making output with the corresponding torque of target torque becomes maximum target d shaft current Idc and target q shaft current Iqc etc.), calculate target d shaft current Idc and target q shaft current Iqc.
And then target current calculating part 38 is for example in the situation that from weak magnetic control part 42 output magnetic flux adjusted values described later, utilize this magnetic flux adjusted value to come revisal target d shaft current Idc, exports the target d shaft current Idc after this revisal.
The 2nd direct voltage switching part 39 is based on the malfunction detection signal of inputting after the time of delay of the regulation of exporting and passing through 40 timing of delay timer from direct voltage test section 31, when direct voltage test section 31 normally carries out the detection of direct voltage of storage battery 11, selection is from the testing result of the direct voltage of direct voltage test section 31 output, and the value of this direct voltage is exported to the 2nd low pass filter 41.
On the other hand, when direct voltage test section 31 can not normally carry out the detection of direct voltage of storage battery 11, select the fixed value (minimum voltage that can get such as the voltage of storage battery 11 is minimum guarantee voltage etc.) of predefined regulation, with the value of this fixed value as direct voltage, export to the 2nd low pass filter 41.
In addition, the fixed value of regulation is by the little value of value of direct voltage test section 31 detected direct voltages when normally carrying out the detection of direct voltage of storage battery 11 than direct voltage test section 31.
In addition, regulation following setting time of delay of 40 timing of delay timer: at least in the operation point of engine 12 in the situation that in the weak magnetic area territory, when causing that from become the detection that can not normally carry out the direct voltage of storage battery 11 because of direct voltage test section 31 voltage detecting is abnormal, torque limit section 36 carries out torque limit, until the operation point of engine 12 moves to orthogonal area more than the needed time in the weak magnetic area territory.
The 2nd low pass filter 41 makes after the signal delay of the 2nd direct voltage switching part 39 outputs according to predefined time constant and exports to weak magnetic control part 42 and current control division 43.
Weak magnetic control part 42 is for example based on from the value of the direct voltage of the 2nd low pass filter 41 outputs with from the signal of the result of calculation of the rotating speed of rotating speed calculating part 33 outputs, the magnetic flux adjusted value that will flow with respect to the weak magnetoelectricity of weak magnetic control system is exported to target current calculating part 38, wherein, the increase of the reverse electrification voltage that described weak magnetic control system for example causes for the increase of the rotating speed that suppresses to be accompanied by engine 12 makes the excitation amount of rotor weaken to control current phase of equal valuely.
For example, thereby current control division 43 transforms to each phase current Iu, Iv, Iw and calculates d shaft current Id and q shaft current Iq on the dq coordinate, by such as PID (proportion integration differentiation) action etc., each deviation of d shaft current Id and q shaft current Iq and target d shaft current Idc and target q shaft current Iqc being controlled amplification, calculate thus d shaft voltage command value Vd and q shaft voltage command value Vq.
Then, according to the rotation angle θ of the rotor of engine 12, the d shaft voltage command value Vd on the dq coordinate and q shaft voltage command value Vq are converted into i.e. U phase output voltage V u, V phase output voltage V v and the W phase output voltage V w on 3 cross streams coordinates of static coordinate.
Then, flow through sinuous U phase current Iu, V phase current Iv and the W phase current Iw of interchange for the stator winding in each phase of engine 12, value based on the direct voltage of exporting from the 2nd low pass filter 41, the carrier signal of each phase output voltage V u, Vv, Vw and triangular wave etc. is compared, generate the switch command (for example pwm signal) of each switch element connection/cut-off driving that makes inverter 13.
The control device 10 of the motor of present embodiment possesses above-mentioned formation, next, the action of the control device 10 of this motor is described.
At first, for example in step S01 shown in Figure 2, determine whether that based on the malfunction detection signal from 31 outputs of direct voltage test section the fault of having determined direct voltage test section 31 occurs.
In the situation that its result of determination is "Yes", advance to step S04 described later.
On the other hand, in the situation that its result of determination is "No", advance to step S02.
Then, in step S02, processing as common nominal torque restriction, based on from the testing result of the direct voltage of direct voltage test section 31 output, and the target torque set corresponding with the driver's of vehicle accelerator operation etc., from the signal of the result of calculation of the rotating speed of rotating speed calculating part 33 outputs, the specified limit (torque limit value when voltage detecting is normal) by regulation limits from the torque of engine 12 outputs.
Next, in step S03, be updated in successively the value (namely being input to the value of the direct voltage of current control division 43) of the direct voltage that uses the control of engine 12 according to the testing result of the direct voltage of exporting successively from direct voltage test section 31, advance to end.
in addition, in step S04, the processing of the torque limit when abnormal, according to the time constant of the 1st low pass filter 35 at leisure (namely, the pace of change of target torque is limited in below fixing speed) direction of torque limit value is come the torque of limiting engine 12 when abnormal to voltage detecting, wherein, when described voltage detecting is abnormal torque limit value be for example for the limits value of the corresponding torque of value of the direct voltage of the fixed value that is set to minimum voltage (the minimum guarantee voltage) regulation that can get with the voltage of storage battery 11, namely with respect to minimum guarantee voltage and from the specified limit of the torque of engine 12 output, and the operation range of engine 12 is limited in orthogonal area.
Next, in step S05, determine whether the regulation time of delay of having passed through 40 timing of delay timer from the fault of having determined direct voltage test section 31 occurs.
In the situation that this result of determination is "No", advance to step S06, in this step S06, maintain the fault of determining direct voltage test section 31 occur before soon normally carry out the detection of direct voltage by direct voltage test section 31 time detected direct voltage value, the value of the direct voltage that uses in the control as engine 12 (namely being input to the value of the direct voltage in current control division 43) advances to end.
On the other hand, in the situation that the result of determination of step S05 is "Yes", advance to step S07, in this step S07, time constant according to the 2nd low pass filter 41, the direction of the fixed value that the minimum voltage (minimum guarantee voltage) that can get to the voltage of for example storage battery 11 is namely stipulated switches in the value (namely being input to the value of the direct voltage of current control division 43) of the direct voltage that uses in the control of engine 12 at leisure, advances to end.
Action according to the control device 10 of this motor, in the situation that determined that the fault of direct voltage test section 31 occurs, first carry out torque limit, passing through regulation after time of delay, namely, after the needed time, the value of the direct voltage that will use in the control of engine 12 switches to the fixed value of regulation (minimum guarantee voltage) till the operation point of having passed through engine 12 moves in orthogonal area in the weak magnetic area territory.
Namely, for example as shown in Figure 3, in the situation that the operation point of engine 12 is the suitable position P1 in the weak magnetic area territory, if determined that the fault of direct voltage test section 31 occurs, at first carry out torque limit, follow this, the acceleration of engine 12 reduces, and the operation point of engine 12 is passed to the target torque to the torque of engine 12 is restricted to suitable position P2 in the weak magnetic area territory of zero torque.
Then, after target torque arrives zero torque, the operation point of engine 12 is passed in orthogonal area until be accompanied by the rotating speed reduction of engine 12, all target torque is kept (constraint) in zero torque, and rotating speed and the load of engine 12 correspondingly reduce.
Then, the operation point of engine 12 arrives the suitable position P3 in orthogonal area.
so, thereby until the suitable position P1 of the operation point of engine 12 in the weak magnetic area territory via position P2 arrive suitable position P3 in orthogonal area during in, for example, when the fault of having determined direct voltage test section 31 occurs, if switch to the comparative example of action of the fixed value (minimum guarantee voltage) of regulation according to the value of the direct voltage that uses in the control of carrying out engine 12 before the execution of torque limit, until the operation point of engine 12 arrive in orthogonal area during in, voltage utilization is lower, the running efficiency of engine 12 reduces, might produce the undesirable condition of heating etc.
on the other hand, as above-mentioned execution mode, thereby until the suitable position P1 of the operation point of engine 12 in the weak magnetic area territory via position P2 arrive suitable position P3 in orthogonal area during in, switch to the action of the fixed value (minimum guarantee voltage) of regulation compared with the value of the direct voltage that uses in the control of carrying out engine 12, and first carry out torque limit, thus, even in during till the operation point of engine 12 arrives in orthogonal area, when carrying out the processing of common nominal torque restriction in the time of also can be normal with direct voltage test section 31 in the same manner, the running efficiency that prevents voltage utilization and engine 12 reduces.
As mentioned above, control device 10 according to the motor of present embodiment, the detection of the direct voltage that carries out at direct voltage test section 31 becomes in the time of can not normally carrying out, the little fixed value of value of detected direct voltage when the value of the direct voltage that will use in the control of engine 12 is fixed on than the detection of normally carrying out direct voltage.
Thus, can prevent following situation: the induced voltage that produces when for example causing turning round lower than the detected value of direct voltage due to real direct voltage surpasses real direct voltage, causes together therewith becoming the situation that can not control motor.
Therefore, even the detection of the direct voltage that carries out at direct voltage test section 31 becomes the running that also continues engine 12 in the time of can not normally carrying out, travel etc. such as keeping out of the way.
In addition, at this moment, as shown in Fig. 4 (A), (B), in the situation that fixed value is less than real direct voltage, owing to can carry out weak magnetic control system when turning round with respect to the weak magnetic area territory of fixed value, therefore, even if in fact do not need weak magnetic control system also can carry out unwanted leading angle control, might cause the reduction of the running efficiency of engine 12.
Namely, when direct voltage test section 31 normal, in the operation range of the induced voltage beyond supply voltage of engine 12, become the energising (being d shaft current Id and q shaft current Iq) of control engine 12 under maximum condition in the running efficiency of engine 12, the voltage vector point is described the voltage vector track of orthogonal area.
In addition, in the operation range of the induced voltage beyond supply voltage of engine 12, produce the necessity of carrying out based on the leading angle control of weak magnetic, voltage vector point moves on the circumference that supply voltage is justified.
on the other hand, when direct voltage test section 31 abnormal, if will be restricted to for the value of the direct voltage that drives engine 12 fixed value less than real supply voltage, even if because being in real supply voltage greater than in fact need to be based on the leading angle control of weak magnetic in the state of the induced voltage of engine 12, but in the induced voltage of engine 12 surpasses the operation range of fixed value, also can carry out the leading angle control based on weak magnetic, because flowing through, reality unwanted d shaft current Id or q shaft current Iq cause copper loss to increase, produce running efficiency and reduce such problem.
For such problem, in the present invention, be limited in orthogonal area by the operation range with engine 12, thereby in orthogonal area, become maximum d shaft current and q shaft current (namely satisfying d shaft current and the q shaft current of relation of the regulation of breakdown torque and electric current) with respect to the unique efficient of determining to make engine 12 of output (being target torque).
Thus, even in the situation that fixed value is less than real direct voltage, can not carry out in fact unwanted weak magnetic control system (for example leading angle control) yet, can turn round under the condition of efficient for maximum of engine 12, can prevent the reduction of the running efficiency of engine 12.
And then, the running that becomes the time point that can not normally carry out in the detection from direct voltage is lighted, when operation point moves in orthogonal area transiently, if at once direct voltage is set as fixed value become the time point of the detection that can not normally carry out direct voltage at direct voltage test section 31 after, operation point move to orthogonal area during transition state under, might carry out in fact unwanted weak magnetic control system.
For such problem, in the present invention, becoming normally to carry out the detection of direct voltage the time, at first the upper limit of limited target torque, after the operation point of engine 12 enters in orthogonal area, the value of direct voltage is set as fixed value, can carry out unwanted weak magnetic control system under the transition state during till thus in operation point moves to orthogonal area, can prevent the reduction of running efficiency with more producing effect.
And then, become can not normally carry out the detection of direct voltage the time at direct voltage test section 31, can suppress the sharply variation of target torque (or target output) in limited time in the upper of limited target torque, the actual output that can suppress engine 12 sharply changes.
Therefore, in the situation that in for example engine 12 being used in the vehicle traction purposes, can suppress the sharply variation of the speed of vehicle, can prevent from bringing the occupant with the impact of following that sharply changes of the speed of vehicle.
And then, in the situation that direct voltage test section 31 becomes the running that continues engine 12 in the time of can not normally carrying out the detection of direct voltage, supply voltage is reducing variation on tendency even follow the continuation of running, also due to until supply voltage becomes minimum guarantee voltage is the minimum voltage that supply voltage can be got, can prevent from becoming can not control engine 12 situation, therefore can correctly running during longer.
In addition, the transition state between the operation point of engine 12 moves in orthogonal area from the weak magnetic area territory is due to during shorter, and therefore during this period the reduction of supply voltage (direct voltage) is small.
Therefore, under this transition state, even the value of the direct voltage that uses in the control with engine 12 maintain the fault of having determined direct voltage test section 31 occur not long ago normally carry out the detection of direct voltage by direct voltage test section 31 time detected direct voltage value, the induced voltage that engine 12 also can not occur surpasses the such situation of real direct voltage.
Claims (4)
1. the control device of a motor possesses:
The direct voltage detecting unit, it detects the direct voltage of the power supply that is used for drive motor; With
Control unit, it controls described motor based on the detected described direct voltage of described direct voltage detecting unit,
The control device of described motor is characterised in that,
When described control unit normally carries out the detection of described direct voltage at described direct voltage detecting unit, to the dq coordinate and the d shaft current and the q shaft current that obtain are controlled, the operation range that makes described motor is the induced voltage beyond supply voltage of orthogonal area or described motor and need carry out turning round in the weak magnetic area territory of weak magnetic control system in the operation range that the induced voltage of described motor is no more than supply voltage for the current transformation of the armature that will offer described motor; Become normally to carry out the detection of described direct voltage the time at described direct voltage detecting unit, described direct voltage is set as the little fixed value of value of detected described direct voltage when normally carrying out the detection of described direct voltage than described direct voltage detecting unit, and the operation range of described motor is limited in described orthogonal area.
2. the control device of motor according to claim 1, is characterized in that,
Described control unit possesses:
Target output computing unit, it calculates the target output of described motor; With
Electric current designated value computing unit, it calculates the command value of described d shaft current and described q shaft current based on described direct voltage,
Become can not normally carry out the detection of described direct voltage the time at described direct voltage detecting unit, the upper limit of the described target output of described target output computing unit restriction,
Described current instruction value computing unit is set as described fixed value with described direct voltage after the operation point of described motor enters in described orthogonal area.
3. the control device of motor according to claim 1, is characterized in that,
Described target output computing unit in limited time, is limited in the pace of change of described target output below fixing speed on the described target output of restriction described.
4. the control device of the described motor of any one according to claim 1～3, is characterized in that,
Described control unit becomes can not normally carry out the detection of described direct voltage the time at described direct voltage detecting unit, described direct voltage is fixed in the minimum guarantee voltage of described power supply.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2011270007A JP2013123288A (en) | 2011-12-09 | 2011-12-09 | Controller of motor |
| JP2011-270007 | 2011-12-09 |
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| CN103166560A true CN103166560A (en) | 2013-06-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012105058211A Pending CN103166560A (en) | 2011-12-09 | 2012-11-30 | Control device of motor |
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| JP (1) | JP2013123288A (en) |
| CN (1) | CN103166560A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104201964A (en) * | 2014-09-12 | 2014-12-10 | 东南大学 | Method for suppressing velocity fluctuation of flux-switching linear motor |
| CN104369675A (en) * | 2013-08-13 | 2015-02-25 | 现代摩比斯株式会社 | Vehicle Power Supplying Apparatus |
| CN105756112A (en) * | 2016-04-18 | 2016-07-13 | 西南交通大学 | Speed setting system for hydraulic excavator executing mechanism |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113834195B (en) * | 2021-09-06 | 2022-09-30 | 重庆美的制冷设备有限公司 | Household appliance and motor control method, device and storage medium thereof |
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| US6288515B1 (en) * | 2000-04-19 | 2001-09-11 | General Motors Corporation | System and method for controlling a surface-mounted permanent magnet synchronous machine drive over a wide speed range using a reference voltage |
| JP2005117756A (en) * | 2003-10-06 | 2005-04-28 | Nissan Motor Co Ltd | Failure diagnosis device of dc voltage detecting circuit and motor control system |
| CN101295953A (en) * | 2007-04-25 | 2008-10-29 | 株式会社日立制作所 | Field weakening control apparatus for permanent magnet motor and electric power steering using same |
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| US4649331A (en) * | 1985-05-13 | 1987-03-10 | General Electric Company | Flux-weakening regime operation of an interior permanent magnet synchronous motor |
| US6288515B1 (en) * | 2000-04-19 | 2001-09-11 | General Motors Corporation | System and method for controlling a surface-mounted permanent magnet synchronous machine drive over a wide speed range using a reference voltage |
| JP2005117756A (en) * | 2003-10-06 | 2005-04-28 | Nissan Motor Co Ltd | Failure diagnosis device of dc voltage detecting circuit and motor control system |
| CN101295953A (en) * | 2007-04-25 | 2008-10-29 | 株式会社日立制作所 | Field weakening control apparatus for permanent magnet motor and electric power steering using same |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104369675A (en) * | 2013-08-13 | 2015-02-25 | 现代摩比斯株式会社 | Vehicle Power Supplying Apparatus |
| CN104201964A (en) * | 2014-09-12 | 2014-12-10 | 东南大学 | Method for suppressing velocity fluctuation of flux-switching linear motor |
| CN105756112A (en) * | 2016-04-18 | 2016-07-13 | 西南交通大学 | Speed setting system for hydraulic excavator executing mechanism |
| CN105756112B (en) * | 2016-04-18 | 2017-11-14 | 西南交通大学 | The speed setting system of hydraulic crawler excavator executing agency |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2013123288A (en) | 2013-06-20 |
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Application publication date: 20130619 |