CN111817637A

CN111817637A - Motor control device

Info

Publication number: CN111817637A
Application number: CN202010249477.9A
Authority: CN
Inventors: 田中贤太; 松浦大树
Original assignee: Mitsubishi Electric Corp
Current assignee: Mitsubishi Electric Corp
Priority date: 2019-04-08
Filing date: 2020-04-01
Publication date: 2020-10-23
Anticipated expiration: 2040-04-01
Also published as: JP6739577B1; CN111817637B; JP2020174416A

Abstract

A motor control device (1) is provided with: an inverter (3) for supplying power to the motor; a capacitor (4) connected in parallel with the inverter; a voltage detection unit (5) for detecting the voltage of the capacitor; a command generation unit (6) for generating a second command value on the basis of the voltage detection value detected by the voltage detection unit and a preset first command value; and an inverter control unit (7) that controls the inverter on the basis of a second command value, wherein the command generation unit generates the second command value on the basis of a value for nonlinearity of the voltage detection value, which is obtained from the voltage detection value and the first command value.

Description

Motor control device

Technical Field

The present application relates to a motor control device.

Background

Electric vehicles such as electric vehicles and hybrid vehicles using a three-phase ac motor as a driving force source are known. In the above-described electric vehicle, the three-phase ac motor performs power running driving to generate running driving torque during running, and performs regenerative driving to generate regenerative braking torque during braking. A drive system of an electric vehicle is composed of a dc power supply composed of a rechargeable battery such as a lithium ion battery, a motor control device having the dc power supply as an input source, and a three-phase ac motor connected to the motor control device as a load. The motor control device includes an inverter including a plurality of semiconductor switches, and a capacitor connected in parallel to the inverter.

In the drive system configured as described above, when the motor is rapidly decelerated, the motor operates as a generator, and the motion energy is converted into power. This power flows from the motor to the dc power supply via the motor control device. Such power is referred to as regenerative power, and when the regenerative power is large, overcharge may occur in the dc power supply while overvoltage occurs in the capacitor of the motor control device. If overcharge occurs in the dc power supply, the dc power supply may malfunction. To avoid such a problem, the following method is considered: a relay is provided in a circuit between the dc power supply and the motor control device, and the relay is used to interrupt the circuit when an excessive regenerative power is generated. However, if the circuit between the dc power supply and the motor control device is interrupted by the relay, the motor control device cannot be driven continuously, and the drive system is stopped. Therefore, a motor control device that controls the motor so as not to generate excessive regenerative power is required.

As such a motor control device, a motor control device is disclosed that controls a motor by adjusting a torque command value based on a difference between a command value of a capacitor voltage and an actual capacitor voltage value (for example, see patent document 1). The conventional motor control device that performs such control adjusts the torque of the motor so that the capacitor voltage matches the command value, and therefore can prevent the generation of excessive regenerative power.

Documents of the prior art

Patent document

Patent document 1: japanese patent No. 5407752

Disclosure of Invention

Technical problem to be solved by the invention

In a conventional motor control device, a torque command value is adjusted based on a difference between a command value of a capacitor voltage and an actual capacitor voltage value. However, since the torque command value for the difference is nonlinear, there is a problem that the control of the capacitor voltage is unstable with respect to the magnitude of the capacitor voltage. If the control of the capacitor voltage is unstable, the operation of the devices in the motor control apparatus other than the inverter to which power is supplied from the capacitor will be unstable.

The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a motor control device that can stably control a capacitor voltage regardless of the magnitude of the capacitor voltage by setting a torque command value for a difference between a command value of the capacitor voltage and an actual capacitor voltage value to a linear relationship.

Technical scheme for solving technical problem

The motor control device according to the present application includes: an inverter for supplying power to the motor; a capacitor connected in parallel with the inverter; a voltage detection unit for detecting a voltage of the capacitor; a command generation unit that generates a second command value based on a voltage detection value detected by the voltage detection unit and a preset first command value; and an inverter control unit that controls the inverter based on a second command value, wherein the command generation unit generates the second command value based on a value for nonlinearity of the voltage detection value obtained from the voltage detection value and the first command value.

Effects of the invention

In the motor control device of the present application, the command generation unit generates the second command value based on the nonlinear value for the voltage detection value obtained from the voltage detection value and the first command value, and therefore the capacitor voltage can be stably controlled regardless of the magnitude of the capacitor voltage.

Drawings

Fig. 1 is a block diagram showing a configuration of a motor control device according to embodiment 1.

Fig. 2 is a block diagram showing a configuration of a command generating unit according to embodiment 1.

Fig. 3 is a diagram showing a second instruction value according to embodiment 1.

Fig. 4 is a diagram showing a second instruction value according to embodiment 1.

Fig. 5 is a block diagram showing a configuration of a motor control device according to embodiment 2.

Fig. 6 is a block diagram showing a configuration of a command generating unit according to embodiment 2.

Fig. 7 is a block diagram showing a configuration of a command generating unit according to embodiment 3.

Fig. 8 is a block diagram showing a configuration of a command generating unit according to embodiment 4.

Fig. 9 is a diagram showing input/output signals of the command generating unit according to embodiment 5.

Fig. 10 is a block diagram showing a configuration of a command generating unit according to embodiment 5.

Fig. 11 is a block diagram showing a configuration of a command generating unit according to embodiment 5.

Fig. 12 is a block diagram showing a configuration of a motor control device according to embodiment 6.

Detailed Description

Hereinafter, a motor control device according to an embodiment for implementing the present application will be described in detail with reference to the drawings. In the drawings, the same reference numerals denote the same or corresponding parts.

Embodiment 1.

Fig. 1 is a block diagram showing a configuration of a motor control device according to embodiment 1. The motor control device 1 of the present embodiment includes: an inverter 3 for supplying power to the motor 2 to control the motor 2 as a control target; a capacitor 4 connected in parallel with the inverter 3; a voltage detection unit 5 for detecting a voltage across the capacitor 4; a command generation unit 6 for generating a second command value based on the voltage detection value output from the voltage detection unit 5; and an inverter control unit 7 that generates a gate signal for controlling the switching elements of the inverter 3 based on the second command value.

The motor 2 is, for example, a three-phase ac motor or the like used as a drive source of an electric vehicle. The inverter 3 drives the motor 2 based on the power supplied from the capacitor 4. The inverter 3 includes a plurality of switching elements controlled by gate signals generated by an inverter control unit 7. The voltage detection unit 5 detects a voltage across the capacitor 4, and outputs the detected voltage value to the command generation unit 6. The command generation unit 6 generates a second command value, which is a torque command value, based on the voltage detection value output by the voltage detection unit 5. The inverter control unit 7 generates a gate signal for controlling the switching elements of the inverter 3 based on the second command value. The motor control device according to the present embodiment controls the voltage of the capacitor 4 by adjusting the power supplied from the capacitor 4 to the motor 2 and the power regenerated from the motor 2 to the capacitor 4 using the second command value.

Next, the detailed function of the command generating unit 6 will be described.

Fig. 2 is a block diagram showing the configuration of the command generating unit 6. As shown in fig. 2, the command generation unit 6 includes a multiplier 8, a subtractor 9, and a feedback controller 10. The multiplier 8 outputs a square value of the voltage detection value. The subtractor 9 outputs a difference between the first command value preset in the command generation unit 6 and a square value of the voltage detection value output from the multiplier 8. The feedback controller 10 outputs a second command value based on a difference between the first command value output from the subtractor 9 and a square value of the voltage detection value.

In the motor control device, a capacitor voltage is in an appropriate range in order to stably operate internal devices including an inverter to which power is supplied from a capacitor. The target value at which the capacitor voltage is controlled so that the capacitor voltage is within its range is defined as a specified value of the capacitor voltage. In the present embodiment, the first command value is set to a value proportional to the square of the voltage, and for example, the energy value obtained by multiplying the square of the set value of the capacitor voltage by the capacitor capacitance sum 1/2 is set as the first command value. The second command value is a torque command value.

As a specific method of generating the second command value in the feedback controller 10, PI control may be used in which a proportional term obtained by multiplying an input value by a proportional gain and an integral term based on a result of integrating the input value are added. In addition, the control is not limited to the PI control, and other control methods such as PID control may be used as the control for suppressing the deviation.

Next, the control principle of the capacitor voltage will be explained.

The energy stored in the capacitor 4 can be calculated by multiplying the electrostatic capacitances C and 1/2 of the capacitor 4 by the square of the voltage detection value. The first command value preset in the command generating unit 6 is a value obtained by converting a specified value of the capacitor voltage into energy. Therefore, the command generating unit 6 generates the second command value based on the difference between the energy actually stored in the capacitor 4 and the energy calculated from the specified value of the capacitor voltage.

Next, a relationship between the energy of the capacitor and the second instruction value will be described.

The relationship between the inverter input power from the capacitor to the inverter, the motor mechanical output, and the system efficiency is expressed by equation (1).

Inverter input power (1) is motor mechanical output multiplied by system efficiency

The inverter input power is expressed by equation (2), and the motor mechanical output is expressed by equation (3).

Inverter input power is Vdc × Idc (2)

Motor mechanical output ═ ω m × τ (3)

Here, Vdc is a capacitor voltage, and Idc is a current flowing from the capacitor to the inverter. In addition, ω m represents a mechanical angular velocity of the motor, and τ represents a torque of the motor.

Next, assuming that the system efficiency is η, the following expression is derived by substituting the expressions (2) and (3) into the expression (1).

Vdc×Idc＝ωm×τ×η (4)

When the charge stored in the capacitor 4 is Q, Q is expressed by equation (5) based on the capacitance C of the capacitor 4 and the capacitor voltage Vdc.

Q＝C×Vdc (5)

Q and current Idc flowing from capacitor 4 are expressed by equation (6).

Q＝－∫Idc×dt (6)

Equation (6) is substituted for equation (5), and the following equation is derived by differentiating the two sides.

Idc＝C×d/dt×Vdc (7)

When formula (7) is substituted for formula (4), the following formula is derived.

Vdc×C×d/dt×Vdc＝ωm×τ×η (8)

The following expression is derived by modifying the expression (8).

d/dt(1/2×C×Vdc×Vdc)＝ωm×τ×η (9)

From the above derived result, as shown in equation (9), the capacitor voltage Vdc and the torque τ have a nonlinear relationship.

Here, the feedback controller 10 is configured to generate the second command value, which is the torque command value, based on the difference Δ V between the specified value of the capacitor voltage and the voltage detection value output by the voltage detection unit 5. Fig. 3 is a diagram showing a relationship between Δ V and the second instruction value. Fig. 3 is a graph showing the relationship between Δ V and τ using equation (9). As shown in fig. 3, when the second command value is generated simply based on a difference Δ V between the specified value of the capacitor voltage and the detected voltage value, the second command value is nonlinear with respect to Δ V. As a result, the second command value changes greatly with respect to the magnitude of Δ V, and therefore the control of the capacitor voltage becomes unstable with respect to the magnitude of the capacitor voltage. For example, when the capacitor voltage is rapidly decreased (when Δ V is large), the second command value (torque command value) is rapidly increased as compared with when the change in the capacitor voltage is small (when Δ V is small), and therefore the regenerative power is rapidly increased. In this phenomenon, since the feedback gain is increased, there is a possibility that the control is unstable.

On the other hand, the formula is (1/2 × C × Vdc)²) When the capacitor energy is Edc as the energy stored in the capacitor 4, equation (9) is expressed by the following equation.

d/dt×Edc＝ωm×τ×η (10)

As shown in equation (10), the energy Edc of the capacitor and the torque τ are linearly related. As described above, the first instruction value is set to the energy value obtained by multiplying the capacitor capacitance sum 1/2 by the square of the specified value of the capacitor voltage. In the motor control device of the present embodiment, the difference Δ (V) based on the square value of the first command value and the voltage detection value²) The torque command value, i.e., the second command value, is generated.

FIG. 4 shows the difference Δ (V)²) And a graph of the relationship of the second instruction value. As shown in fig. 4, Δ (V) in direct proportion to the energy of the capacitor Edc²) And the second instruction value is in a linear relationship. As a result, the second command value is constantly changed with respect to the difference between the specified value of the capacitor voltage and the actual capacitor voltage value, and therefore the control of the capacitor voltage is stable regardless of the magnitude of the capacitor voltage.

The motor control device configured as described above generates the second command value based on the difference between the square value of the voltage detection value and the first command value, and therefore can stably control the capacitor voltage regardless of the magnitude of the capacitor voltage. That is, in the motor control device of the present embodiment, the command generating unit generates the second command value based on the nonlinear value for the voltage detection value obtained from the voltage detection value and the first command value, and therefore the capacitor voltage can be stably controlled regardless of the magnitude of the capacitor voltage.

In addition, although the present embodiment shows an example in which the second command value generated by the command generating unit is a torque command value of the motor, when the target of control is a three-phase ac motor, the second command value may be a q-axis current command value flowing through the three-phase ac motor. The torque of the motor is substantially equal to a value obtained by multiplying the pole pair number Pn and the magnet flux Φ m by the q-axis current. Therefore, a value obtained by dividing the torque command value by the pole pair number Pn and the magnet magnetic flux Φ m can be used as the q-axis current command value for the second command value.

Embodiment 2.

The motor control device according to embodiment 1 controls the capacitor voltage using a first command value preset in a command generation unit. In the motor control device according to embodiment 2, the command generating unit receives a first command value from the outside.

Fig. 5 is a block diagram showing a configuration of the motor control device according to the present embodiment. The motor control device 1 of the present embodiment has the same configuration as that of embodiment 1, but differs in that the first command value is input from the outside of the command generating unit. The first command value is an energy value obtained by multiplying the capacitor capacitance sum 1/2 by the square of the specified value of the capacitor voltage, as in embodiment 1.

The motor control device according to the present embodiment controls the voltage of the capacitor 4 by adjusting the power supplied from the capacitor 4 to the motor 2 and the power regenerated from the motor 2 to the capacitor 4 using the second command value. Since the power that flows in and out between the motor 2 and the capacitor 4 is the product of the motor torque and the mechanical angular velocity of the motor 2, the necessary torque changes according to the mechanical angular velocity of the motor even when the same power is regenerated. Therefore, it is preferable to set the first command value by changing the specified value of the capacitor voltage in accordance with a change in the mechanical angular velocity of the motor.

In the present embodiment, since the first command value set in accordance with a change in the mechanical angular velocity of the motor is input from the outside, the specified value of the capacitor voltage can be changed in accordance with the change in the mechanical angular velocity of the motor. As a result, the torque command value, i.e., the second command value can be prevented from becoming excessively large.

Further, since the specified value of the capacitor voltage can be changed from the outside, the specified value of the capacitor voltage can be increased. The energy stored in the capacitor 4 is proportional to the square of the capacitor voltage. Therefore, by setting the voltage of the capacitor 4 to be high, the power supply to the load other than the inverter to which the power is supplied from the capacitor 4 can be increased.

Fig. 6 is a block diagram showing the configuration of a command generating unit of another motor control device according to the present embodiment. As shown in fig. 6, the command generating unit 6 of the other motor control device according to the present embodiment includes a feedforward controller 11 to which a first command value input from the outside is input, and an adder 12 that adds the output of the feedforward controller 11 to the output of the feedback controller 10.

The feedforward controller 11 generates a command correction value for a change in the first command value input from the outside. The adder 12 adds the instruction correction value to the second instruction value generated by the feedback controller 10 to generate a new second instruction value.

The variation in the capacitor voltage due to the variation in the power consumption of the load in the motor control device, the variation in the mechanical angular velocity of the motor, and the like is controlled by the second command value generated by the feedback controller 10. Since the suppression of the variation in the capacitor voltage and the overshoot with respect to the first command value are in a trade-off relationship, if the feedback gain of the command generating unit is increased to improve the control responsiveness, the overshoot tends to be deteriorated. In the other motor control device of the present embodiment shown in fig. 6, the responsiveness to the first command value can be independently set by the feedforward controller 11, and the responsiveness to a change in power consumption of a load in the motor control device, a change in the mechanical angular velocity of the motor, and the like can be independently set by the feedback controller 10.

The motor control device configured as described above can reduce overshoot with respect to the first command value.

Embodiment 3.

Fig. 7 is a block diagram showing a configuration of a command generating unit of the motor control device according to embodiment 3. The motor control device of the present embodiment has the same configuration as that of embodiment 1 except for the command generating unit shown in fig. 7.

As shown in fig. 7, the command generating unit 6 of the present embodiment includes a subtractor 9, a feedback controller 10, a gain generating unit 13, a multiplier 14, and an adder 15. The subtractor 9 outputs a difference between the first command value and the voltage detection value preset in the command generation unit 6. The adder 15 outputs the sum of the first command value and the voltage detection value preset in the command generating unit 6. The gain generation unit 13 generates a value obtained by multiplying the gain by the sum of the first command value output from the adder 15 and the voltage detection value. The multiplier 14 multiplies the value generated by the gain generating unit 13 by the value output from the subtractor 9 and outputs the result. That is, the value output from the multiplier 14 is the square value of the voltage. The feedback controller 10 generates a second instruction value based on the value output from the multiplier 14.

In the present embodiment, the first command value is set to a voltage value, and for example, a specified value of the capacitor voltage is set to the first command value. The second command value is a torque command value.

In the motor control device configured as described above, as in embodiment 1, the feedback controller 10 of the command generating unit 6 generates the second command value based on the square value of the voltage proportional to the energy Edc of the capacitor. That is, in the motor control device of the present embodiment, the command generation unit generates the second command value based on the nonlinear value for the voltage detection value obtained from the voltage detection value and the first command value. As a result, the second command value is constantly changed with respect to the difference between the specified value of the capacitor voltage and the actual capacitor voltage value, and therefore the control of the capacitor voltage is stable regardless of the magnitude of the capacitor voltage.

Embodiment 4.

Fig. 8 is a block diagram showing a configuration of a command generating unit of the motor control device according to embodiment 4. As shown in fig. 8, the command generating unit 6 of the motor control device according to the present embodiment includes a feedforward controller 11, an adder 12, a subtractor 9, a feedback controller 10, a gain generating unit 13, a multiplier 14, and an adder 15. The operations of the feedforward controller 11 and the adder 12 are the same as those shown in fig. 6 of embodiment 2, and therefore, the description thereof is omitted. The operations of the subtractor 9, the feedback controller 10, the gain generating unit 13, the multiplier 14, and the adder 15 are the same as those in embodiment 3, and therefore, the description thereof is omitted.

In the present embodiment, the first command value is input from the outside. The first command value is set to a voltage value, and for example, a specified value of the capacitor voltage is set to the first command value. The second command value is a torque command value.

Further, since the first command value is input from the outside, the first command value can be set in accordance with a change in the mechanical angular velocity of the motor. As a result, the torque command value, i.e., the second command value can be prevented from becoming excessively large.

Further, since the responsiveness to the first command value can be independently set by the feedforward controller 11 and the responsiveness to a variation in power consumption of a load in the motor control device, a variation in mechanical angular velocity of the motor, or the like can be independently set by the feedback controller 10, the overshoot with respect to the first command value can be reduced.

Embodiment 5.

Fig. 9 is a diagram showing input/output signals of a command generating unit of the motor control device according to embodiment 5. As shown in fig. 9, the command generating unit 6 of the motor control device of the present embodiment receives the first command value, the voltage detection value, and the motor mechanical angular velocity as inputs, and outputs the second command value, which is the torque command value.

The energy stored in the capacitor 4 is a result of integrating the power supplied from the capacitor 4 to the motor 2 and the power regenerated from the motor 2 to the capacitor 4, and the regenerative power is a product of the motor torque and the motor mechanical angular velocity, and therefore the regenerative power increases with respect to a change in the motor torque as the motor mechanical angular velocity increases. Therefore, when the response of the motor control device is constant with respect to the change in the mechanical angular velocity of the motor, the response to the energy deviation of the motor torque may change, and the control may become unstable. The motor control device of the present embodiment can change the response of the motor control device with respect to a change in the mechanical angular velocity of the motor.

Fig. 10 is a block diagram showing a configuration of a command generating unit of the motor control device according to the embodiment. As shown in fig. 10, the instruction generating unit 6 according to the present embodiment is obtained by adding a divider 16 to the configuration of the instruction generating unit shown in fig. 2. The divider 16 generates a new second command value by dividing the output from the feedback controller 10 by the mechanical angular velocity of the motor input from the outside. In the present embodiment, the first command value is an energy value obtained by multiplying the capacitor capacitance sum 1/2 by the square of the specified value of the capacitor voltage. The output from the feedback controller 10 is set as a power command value.

In the motor control device configured as described above, the power command value determined from the first command value and the voltage detection value is fixed regardless of the mechanical angular velocity of the motor, but a fixed control response can be achieved with respect to a change in the mechanical angular velocity of the motor by generating the second command value by dividing the power command value by the mechanical angular velocity of the motor.

In the command generating unit shown in fig. 7 of embodiment 3, a divider may be disposed on the output side of the feedback controller, and a value obtained by dividing the output from the feedback controller by the mechanical angular velocity of the motor input from the outside may be generated as a new second command value by the divider. At this time, the first command value is set to a specified value of the capacitor voltage, and the output from the feedback controller is set to a power command value.

Even in the motor control device configured as described above, by generating the torque command value by dividing the power command value by the motor mechanical angular velocity, a constant control response can be achieved with respect to a change in the motor mechanical angular velocity.

Fig. 11 is a block diagram showing the configuration of a command generating unit of another motor control device according to the present embodiment. As shown in fig. 11, the command generating unit 6 of the other motor control device according to the present embodiment adjusts the proportional gain 17 and the integral gain 18 obtained by the feedback controller 10 by using the mechanical angular velocity of the motor input from the outside. In this case, the proportional gain 17 and the integral gain 18 are adjusted to decrease with an increase in the mechanical angular velocity of the motor.

Even in the motor control device configured as described above, by generating the second command value by dividing the power command value by the motor mechanical angular velocity, a constant control response can be achieved with respect to a change in the motor mechanical angular velocity.

The motor control device of the present embodiment is configured to generate the second command value based on the first command value and the voltage detection value, and the motor mechanical angular velocity input from the outside, and therefore, the response of the voltage with respect to the change in the motor mechanical angular velocity is set to be constant, and stable control is possible.

Embodiment 6.

Fig. 12 is a block diagram showing a configuration of a motor control device according to embodiment 6. As shown in fig. 12, in the motor control device 1 of the present embodiment, a chargeable/dischargeable battery 19 is connected in parallel to the capacitor 4 via a relay 20. The motor control device 1 has the same configuration as the motor control device shown in fig. 1 of embodiment 1, but differs in that a torque command value and a relay state signal indicating whether or not the relay 20 is on are externally input to the command generating unit 6.

In an electric vehicle such as an electric car or a hybrid car, as shown in fig. 12, a capacitor 4 of a motor control device 1 and a battery 19 such as a lithium ion secondary battery are connected in parallel via a relay 20. In the normal driving state, the relay 20 is closed, and the motor control device drives the motor 2 with the power supplied from the battery 19. On the other hand, when the relay 20 is opened in a state where charging and discharging of the battery 19 is prohibited, a failure of the relay 20, or the like, the power supply from the battery 19 to the motor control device 1 is cut off. In this state, the motor control device drives the motor using only the energy stored in the capacitor 4. However, the energy stored in the capacitor 4 is very small compared to the energy stored in the battery 19, and thus it is difficult to continuously drive the motor for a long time in a case where the capacitor voltage cannot be controlled.

In the motor control device 1 of the present embodiment, the command generating unit 6 determines the second command value based on the relay state signal indicating whether or not the relay 20 is open. When a relay state signal indicating that the relay 20 is not opened is input, the command generating unit 6 outputs a torque command value input from the outside as a second command value. When the relay state signal indicating that the relay 20 is open is input, the command generating unit 6 generates and outputs the second command value using the first command value preset in the command generating unit 6, as described in embodiment 1. Therefore, the motor control device of the present embodiment drives the motor based on the torque command value input from the outside when the power is supplied from the battery. In addition, the motor control device generates a second command value, which is a torque command value, using a first command value preset in a command generation unit when power is not supplied from the battery, and drives the motor based on the second command value.

The motor control device configured as described above can drive the motor while controlling the capacitor voltage when the power is not supplied from the battery, and thus can drive the motor continuously for a long time.

In addition, although the motor control device according to the present embodiment generates the second command value, which is the torque command value, using the first command value preset in the command generating unit when the power is not supplied from the battery, the second command value may be generated using the first command value input from the outside as described in embodiment 2. The method for generating the second command value in this case may be the method described in

embodiments

3 and 4.

Further, the motor control device of the present embodiment is configured to input the torque command value from the outside, but the torque command value may be generated in the motor control device. A feedback controller that detects a motor mechanical angular velocity, a capacitor voltage value, and the like and generates a torque command value so that the capacitor voltage becomes a specified value may be added to the motor control device and the torque command value generated by the feedback controller may be used. For example, in order to control the voltage detection value to a specified value of the capacitor voltage, a PI control unit based on a deviation between the voltage detection value and the specified value of the capacitor voltage is added to the motor control device, and when power is supplied from the battery, an output of the PI control unit may be set as a torque command value.

Various exemplary embodiments are described in the present application, but the various features, forms, and functions described in 1 or more embodiments are not limited to the application to the specific embodiments, and may be applied to the embodiments alone or in various combinations.

Therefore, countless modifications not illustrated are also assumed to be included in the technical scope disclosed in the present application. For example, the case where at least 1 component is modified, added, or omitted, and the case where at least 1 component is extracted and combined with the components of the other embodiments are also included.

Description of the reference symbols

1 a control device of a motor, wherein,

2, the motor is driven by a motor,

3 an inverter for converting the voltage of the power supply to a DC voltage,

4 of a capacitor,

5 a voltage detection part for detecting the voltage of the power supply,

6 an instruction generation unit for generating an instruction for a computer,

7 an inverter control unit for controlling the inverter,

a multiplier (8) is used for multiplying the signals,

a subtractor of 9 (a) and (b),

10 a feedback controller for a motor vehicle, the feedback controller,

11 a feed-forward controller for controlling the operation of the motor,

12 of the adder, and a data processing circuit,

13 a gain generating section for generating a gain of the image signal,

a multiplier (14) for multiplying the received signal by a reference signal,

15 an adder, wherein the adder is used for adding the data,

a 16-stage divider is provided for dividing the signal,

a proportional gain of 17 (in terms of gain),

the gain is integrated by 18. the gain is integrated,

19 a battery, wherein the battery is provided with a plurality of batteries,

20 relays.

Claims

1. A motor control device comprising:

an inverter that supplies power to the motor;

a capacitor connected in parallel with the inverter;

a voltage detection unit that detects a voltage of the capacitor;

a command generation unit that generates a second command value based on the voltage detection value detected by the voltage detection unit and a preset first command value; and

an inverter control unit that controls the inverter based on the second command value, wherein the motor control device is characterized in that,

the command generation unit generates the second command value based on a value of nonlinearity with respect to the voltage detection value obtained from the voltage detection value and the first command value.

2. The motor control device according to claim 1,

the command generation unit includes a feedback controller that generates the second command value based on a difference between a square value of the voltage detection value and the first command value.

3. The motor control device according to claim 1,

the instruction generation section includes:

a gain generation unit that generates a gain based on a sum of the voltage detection value and the first command value; and

a feedback controller that generates the second command value based on a value obtained by multiplying the gain by a difference between the voltage detection value and the first command value.

4. The motor control device according to claim 2 or 3,

the command generation section includes a feedforward controller that generates a command correction value for a change in the first command value,

adding the command correction value to the second command value generated by the feedback controller as a new second command value.

5. The motor control device according to claim 2 or 3,

the command generating section receives a mechanical angular velocity of the motor supplied from the outside,

dividing the second command value generated by the feedback controller by the mechanical angular velocity of the motor as a new second command value.

6. The motor control device according to any one of claims 1 to 5,

the first instruction value is provided from outside the instruction generating section.

7. The motor control device according to any one of claims 1 to 6,

the command generation unit receives a signal indicating whether or not to supply power from the outside to the capacitor and a torque command value,

when power is supplied from the outside, the torque command value is set to a second command value.