CN114553106A - Inverter control device and in-vehicle fluid machine - Google Patents

Inverter control device and in-vehicle fluid machine Download PDF

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Publication number
CN114553106A
CN114553106A CN202111335847.1A CN202111335847A CN114553106A CN 114553106 A CN114553106 A CN 114553106A CN 202111335847 A CN202111335847 A CN 202111335847A CN 114553106 A CN114553106 A CN 114553106A
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China
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phase
command value
voltage command
voltage
pulse width
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CN202111335847.1A
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Chinese (zh)
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川岛隆
大神崇
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Toyota Industries Corp
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Toyota Industries Corp
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • H02P27/085—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/007—Physical arrangements or structures of drive train converters specially adapted for the propulsion motors of electric vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/02—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles characterised by the form of the current used in the control circuit
    • B60L15/08—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles characterised by the form of the current used in the control circuit using pulses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/12—Arrangements for reducing harmonics from ac input or output
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
    • H02M7/5387—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
    • H02M7/53871—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
    • H02M7/539—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters with automatic control of output wave form or frequency
    • H02M7/5395—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters with automatic control of output wave form or frequency by pulse-width modulation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/06—Arrangements for speed regulation of a single motor wherein the motor speed is measured and compared with a given physical value so as to adjust the motor speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/421—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/52—Drive Train control parameters related to converters
    • B60L2240/527—Voltage
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/54—Drive Train control parameters related to batteries
    • B60L2240/547—Voltage

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Inverter Devices (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The invention provides an inverter control device and a fluid machine mounted on a vehicle. Provided are an inverter control device capable of reducing noise of a specific frequency caused by switching of a switching element, and a vehicle-mounted fluid machine provided with the inverter control device. The inverter control device (14) is used for controlling an inverter circuit (13) that drives an in-vehicle electric motor (11) using an in-vehicle power storage device (104). A rotation control unit (36) of an inverter control device (14) performs processing for deriving a 3-phase voltage command value. The rotation control unit (36) has a reference pulse width corresponding to a 3-phase voltage command value, and performs pulse change control on a plurality of PWM signals within a control period of 1 phase. The pulse change control is control for making at least 2 pulse widths of the plurality of PWM signals different from each other so that the average pulse width becomes the reference pulse width.

Description

Inverter control device and in-vehicle fluid machine
Technical Field
The present invention relates to an inverter control device and a fluid machine mounted on a vehicle.
Background
For example, as shown in patent document 1, an inverter control device for controlling an inverter circuit that is driven by an electric motor for vehicle-mounted use using a power storage device for vehicle-mounted use is known. Patent document 1 describes the following points: the vehicle-mounted electric motor is used as an air-conditioning motor of an automobile and is provided with a 3-phase coil; and the inverter circuit has 3-phase switching elements. Patent document 1 describes the following points: a drive voltage as a 3-phase voltage command value is calculated based on a 2-phase voltage command value composed of an excitation component voltage and a torque component voltage.
Documents of the prior art
Patent document
Patent document 1: JP 2015-208187 publication
Here, when a PWM signal is generated based on a 3-phase voltage command value and the 3-phase switching element is controlled using the PWM signal, noise of a specific frequency may be generated by switching of the switching element. The inventors of the present application have found that the noise of the specific frequency is caused by the waveform of the neutral point potential. For example, when the waveform of the neutral point potential is a square wave, harmonic noise, which is noise of a specific frequency, is included in the neutral point potential.
Disclosure of Invention
The present invention has been made in view of the above circumstances, and an object thereof is to provide an inverter control device capable of reducing noise of a specific frequency caused by switching of a switching element, and a vehicle-mounted fluid machine including the inverter control device.
An inverter control device for achieving the above object is used for controlling an inverter circuit that drives an in-vehicle electric motor using an in-vehicle power storage device, the in-vehicle electric motor having 3-phase coils, the inverter circuit having 3-phase switching elements, the inverter control device including: a 3-phase voltage command value derivation unit that derives a 3-phase voltage command value to be applied to the 3-phase coil; and a generator unit that generates a plurality of PWM signals for each of the phases in a predetermined control period based on the 3-phase voltage command value and a carrier signal, and performs PWM control on the 3-phase switching elements using the PWM signals for each of the phases, wherein the generator unit includes a pulse changing unit that performs pulse change control of the plurality of PWM signals in the control period of 1 phase having a reference pulse width corresponding to the 3-phase voltage command value, and in the pulse change control, at least 2 pulse widths of the plurality of PWM signals are made different from each other so that an average pulse width of the plurality of PWM signals in the control period becomes the reference pulse width.
According to the related structure, the neutral point potential can be made close to the trapezoidal wave by making at least 2 pulse widths different from each other among the plurality of PWM signals in the control period in 1 phase. A trapezoidal wave is a wave form that is closer to a sine wave without harmonic noise than a square wave. Thus, the waveform of the neutral point potential can be made closer to a waveform with less harmonic noise than a square wave, and therefore, noise of a specific frequency caused by switching of the 3-phase switching element can be reduced.
On the other hand, the average pulse width of the plurality of PWM signals in the control period becomes the reference pulse width corresponding to the 3-phase voltage command value. Thus, the phase voltage applied to the 3-phase coil becomes a value corresponding to the 3-phase voltage command value. Therefore, a torque corresponding to the 3-phase voltage command value is applied to the electric motor for vehicle. Therefore, it is possible to suppress a problem that different torques are applied by bringing the neutral point potential close to the trapezoidal wave.
The inverter control device may include: a voltage grasping unit that grasps a power supply voltage that is a voltage of the on-vehicle power storage device; a speed grasping unit that grasps a rotation speed of the in-vehicle electric motor; and a 2-phase voltage command value derivation unit that derives 2-phase voltage command values that are target values of voltages applied to a d-axis and a q-axis of the electric motor for vehicle use, based on an external command value transmitted from the outside and a result of grasping the speed grasping unit, wherein the 3-phase voltage command value derivation unit derives the 3-phase voltage command value based on the 2-phase voltage command value, and the generation unit performs the pulse change control by the pulse changing unit when a voltage utilization rate calculated based on the 2-phase voltage command value and the result of grasping the voltage grasping unit is equal to or less than a predetermined threshold utilization rate.
According to the above configuration, by performing the pulse change control when the voltage use rate is equal to or less than the threshold use rate, it is possible to reduce noise of a specific frequency that tends to increase when the voltage use rate is small.
As described in detail, if the voltage utilization rate is small, the variation amount of the 3-phase voltage command value is likely to be small. In this case, since the 3-phase voltage command value tends to be biased to a specific value or a value close thereto, the pulse width of the PWM signal of each phase tends to be biased to a specific value or a value close thereto. In such a situation, when the waveform of the neutral point potential is a square wave, the harmonic noise corresponding to the specific pulse width tends to increase as noise of a specific frequency.
In this regard, according to the present configuration, when the voltage use ratio is equal to or less than the threshold use ratio, the waveform of the neutral point potential is close to a trapezoidal wave, and therefore the harmonic noise can be reduced. This can suitably reduce the harmonic noise which tends to increase when the voltage utilization rate is low.
In the inverter control device, the pulse changing unit may perform the pulse change control on the plurality of PWM signals in the control period in 2 variable phases out of 3 phases, while not performing the pulse change control on the plurality of PWM signals in the control period in 1 fixed phase other than the variable phase corresponding to 3 phases.
According to the above configuration, since 1 phase is a stationary phase, the processing load can be reduced as compared with the case where all the phases are variable phases.
In the inverter control device, the plurality of 1 st variable phase PWM signals, which are the plurality of PWM signals in the control period in the 1 st variable phase among the 2 variable phases, may include: a 1 st width signal having a pulse width wider than the reference pulse width; and a 1 st narrow signal having a pulse width narrower than the reference pulse width, wherein the plurality of PWM signals in the control period in the 2 nd variable phase among the 2 nd variable phases, that is, a plurality of 2 nd variable phase PWM signals include: a 2 nd narrow-width signal which is output when the 1 st wide-width signal is output and has a pulse width narrower than the reference pulse width; and a 2 nd wide signal which is output when the 1 st narrow signal is output and has a pulse width wider than the reference pulse width.
According to the above configuration, the pulse width in one of the 2 variable phases is wider than the reference pulse width, and the pulse width in the other variable phase is narrower than the reference pulse width. This makes it possible to increase the difference in pulse width between the corresponding 2 variable phases, and to make the waveform of the neutral point potential a trapezoidal wave closer to a sine wave.
The inverter control device may include: a voltage grasping unit that grasps a power supply voltage that is a voltage of the on-vehicle power storage device; a speed grasping unit that grasps a rotation speed of the in-vehicle electric motor; and a 2-phase voltage command value derivation unit that derives 2-phase voltage command values that are target values of voltages applied to a d-axis and a q-axis of the vehicle-mounted electric motor based on an external command value transmitted from the outside and a grasping result of the speed grasping unit, wherein the 3-phase voltage command value derivation unit derives the 3-phase voltage command value based on the 2-phase voltage command value, derives a 1 st shift command value obtained by a 1 st neutral point amplitude change of a neutral point potential of the 3-phase voltage command value as the 3-phase voltage command value when a voltage utilization rate calculated based on the 2-phase voltage command value and the grasping result of the voltage grasping unit is a 1 st voltage utilization rate, and derives a 2 nd shift command value obtained by a 2 nd neutral point amplitude change of the neutral point potential larger than the 1 st neutral point amplitude when the voltage utilization rate is a 2 nd voltage utilization rate smaller than the 1 st voltage utilization rate, as the 3-phase voltage command value.
According to the above configuration, when the voltage utilization rate is the 2 nd voltage utilization rate smaller than the 1 st voltage utilization rate, the 2 nd shift command value having at least the variation range of the 2 nd neutral point amplitude or more is obtained by changing the neutral point potential by the 2 nd neutral point amplitude larger than the 1 st neutral point amplitude corresponding to the 1 st voltage utilization rate. This can suppress the narrowing of the variation range of the 2 nd shift instruction value. Therefore, it is possible to suppress local increase of noise at a specific frequency due to a narrow variation range of the 3-phase voltage command value.
In particular, in general, when the voltage utilization rate is small, the variation range of the 3-phase voltage command value tends to be small. Therefore, when the voltage utilization rate is the 2 nd voltage utilization rate, the variation range of the 3-phase voltage command value is easily narrowed.
In this regard, according to the present configuration, when the voltage use ratio is the 2 nd voltage use ratio, the neutral point potential is changed with a relatively large 2 nd neutral point amplitude, and thus, even when the voltage use ratio is the 2 nd voltage use ratio, the change range of the 3-phase voltage command value can be suppressed from narrowing. This can suppress local increase in noise at a specific frequency.
The inverter control device may further include: a voltage grasping unit that grasps a power supply voltage that is a voltage of the on-vehicle power storage device; a speed grasping unit that grasps a rotation speed of the in-vehicle electric motor; and a 2-phase voltage command value derivation unit that derives 2-phase voltage command values that are target values of voltages applied to a d-axis and a q-axis of the electric motor for vehicle use, based on an external command value transmitted from the outside and a result of grasping the speed grasping unit, wherein the 3-phase voltage command value derivation unit derives the 3-phase voltage command value based on the 2-phase voltage command value, and switches and derives the 3-phase voltage command values, for the same 2-phase voltage command value, in which line voltages of the 3-phase coils are the same and change ranges thereof are different from each other, at a switching cycle when a voltage utilization rate calculated based on the 2-phase voltage command value and the result of grasping the voltage grasping unit is equal to or less than a predetermined threshold utilization rate.
According to the above configuration, when the voltage utilization rate is equal to or less than the threshold utilization rate, the 3-phase voltage command value is switched to a value having a different variation range in a switching cycle while the line voltages of the 3-phase coils are kept the same. Thus, even if the 2-phase voltage command value is the same, the 3-phase voltage command value changes at the switching cycle. Therefore, noise of a specific frequency caused by the 3-phase voltage command value periodically becoming the same value in a situation where the voltage use efficiency is small can be reduced.
In particular, according to this configuration, even when the 3-phase voltage command value is switched, the same line voltage is applied to the 3-phase coil. This applies the same torque to the electric motor mounted on the vehicle. Therefore, it is possible to suppress a problem that different torques are applied by switching the 3-phase voltage command value.
As described above, it is possible to reduce noise of a specific frequency generated when the 3-phase voltage command value periodically becomes the same value in a situation where the voltage use efficiency is small while maintaining a state where an appropriate torque is applied to the vehicle-mounted electric motor.
The on-vehicle fluid machine for achieving the above object is characterized by including the on-vehicle electric motor, the inverter circuit, and the inverter control device.
The in-vehicle fluid machine may be an in-vehicle electric compressor including a compression unit driven by the in-vehicle electric motor.
ADVANTAGEOUS EFFECTS OF INVENTION
According to the present invention, noise of a specific frequency caused by switching of the switching element can be reduced.
Drawings
Fig. 1 is a block diagram showing an outline of an in-vehicle electric compressor.
Fig. 2 is a block diagram showing an electrical configuration of the inverter circuit and the inverter control device.
Fig. 3 is a flowchart showing the rotation control process according to embodiment 1.
Fig. 4 (a) is a waveform diagram showing an example of a u-phase PWM signal, (b) is a waveform diagram showing an example of a v-phase PWM signal subjected to pulse change control, (c) is a waveform diagram showing an example of a w-phase PWM signal subjected to pulse change control, and (d) is a waveform diagram showing an example of a neutral point potential.
Fig. 5 is a flowchart showing the rotation control processing according to embodiment 2.
Fig. 6 (a) is a waveform diagram showing an example of a u-phase PWM signal, (b) is a waveform diagram showing an example of a v-phase PWM signal subjected to pulse change control, (c) is a waveform diagram showing an example of a w-phase PWM signal subjected to pulse change control, and (d) is a waveform diagram showing an example of a neutral point potential.
Description of reference numerals
10 … an in-vehicle electric compressor (in-vehicle fluid machine), 11.. an in-vehicle electric motor, 12.. a compression unit, 13.. an inverter circuit, 14.. an inverter control device, 22.. a rotor, 24u, 24v, 24w.. 3-phase coil, 31.. a voltage sensor (voltage palm grip), 34.. a position/speed estimation unit (speed palm grip), 35.. an acquisition unit, 36.. a rotation control unit, 104.. an in-vehicle electric storage device, Qu1 to qw2.. 3-phase switching element, Vdr, vqq.2-phase voltage command value, Vur, Vvr, vwr, 3-phase voltage command value, Vu 2, Vv0, vw0.. 3-phase reference command value, uvx, Vvx, vvwx.. shift command value, vw5, 35wx.3-phase voltage command value, 35xw.2, 35xw.75, 35xw.2. shift command value, 36xw.9, 9. x.. 2. a shift command value, 36xwx Pu0, Pv0, pw0.. reference PWM signal, Pu1, Pv1, pw1.. 1PWM signal, Pu2, Pv2, pw2.. 2 nd PWM signal, Wu0, Wv0, ww0.. reference pulse width, Wu1, Wv1, ww1.. 1 st pulse width, Wu2, Wv2, ww2.. 2 nd pulse width, Wua, Wva, wwa.. average pulse width, En... neutral point potential, fn... neutral point amplitude, fn1.. 1 st neutral point amplitude, fn2 nd neutral point amplitude, r.. voltage utilization, rth.. threshold utilization, r1.. 1 st voltage utilization, r.2 nd voltage utilization, t.2 nd voltage utilization.
Detailed Description
(embodiment 1)
The following describes an inverter control device and a vehicular fluid machine mounted with the inverter control device in embodiment 1. The following description is an example, and the inverter control device and the in-vehicle fluid machine are not limited to the contents of the present embodiment.
In the present embodiment, the in-vehicle fluid machine is an in-vehicle electric compressor used in an in-vehicle air conditioner. An outline of an in-vehicle air conditioner and an in-vehicle electric compressor will be described.
As shown in fig. 1, an in-vehicle air conditioner 101 mounted on a vehicle 100 includes: an in-vehicle electric compressor 10; and an external refrigerant circuit 102 for supplying a refrigerant as a fluid to the in-vehicle electric compressor 10.
The external refrigerant circuit 102 includes, for example, a heat exchanger and an expansion valve. The in-vehicle air conditioner 101 compresses a refrigerant by the in-vehicle electric compressor 10, and performs heat exchange and expansion of the refrigerant by the external refrigerant circuit 102, thereby supplying cooling and heating to the inside of the vehicle.
The in-vehicle air conditioner 101 includes an air conditioning ECU103 that controls the entire in-vehicle air conditioner 101. The air conditioner ECU103 is configured to recognize an in-vehicle temperature, a set temperature of the in-vehicle air conditioner, and the like, and to transmit various commands such as a command rotation speed Nc to the in-vehicle electric compressor 10 based on these parameters.
Vehicle 100 includes a vehicle-mounted power storage device 104. Vehicle-mounted power storage device 104 may be any device as long as it can charge and discharge dc power, and may be, for example, a secondary battery, an electric double layer capacitor, or the like. The in-vehicle power storage device 104 is used as a dc power supply for the in-vehicle electric compressor 10.
The vehicle-mounted electric compressor 10 includes: an electric motor 11 for vehicle mounting; a compressor 12 driven by an in-vehicle electric motor 11; an inverter circuit 13 for driving the in-vehicle electric motor 11 using the in-vehicle power storage device 104; and an inverter control device 14 used in the control of the inverter circuit 13.
The vehicle-mounted electric motor 11 includes: a rotating shaft 21; a rotor 22 fixed to the rotary shaft 21; a stator 23 disposed to face the rotor 22; and 3- phase coils 24u, 24v, 24w wound around the stator 23. The rotor 22 includes a permanent magnet 22 a. In detail, the permanent magnet 22a is embedded in the rotor 22. As shown in fig. 2, the 3- phase coils 24u, 24v, and 24w are Y-connected, for example. The rotor 22 and the rotary shaft 21 are rotated by energizing the 3- phase coils 24u, 24v, 24w in a given pattern. That is, the in-vehicle electric motor 11 of the present embodiment is a 3-phase motor.
The connection method of the 3- phase coils 24u, 24v, and 24w is not limited to the Y connection, and may be any connection method, such as Δ connection. The rotation speed and acceleration of the electric motor 11 for vehicle use are the rotation speed and acceleration of the rotor 22.
The compressor 12 is driven by the in-vehicle electric motor 11 to compress a fluid (a refrigerant in the present embodiment). In detail, the compressor 12 compresses the suction refrigerant supplied from the external refrigerant circuit 102 by the rotation of the rotary shaft 21, and discharges the compressed refrigerant. The specific structure of the compression section 12 is any of a scroll type, a piston type, a vane type, and the like.
The inverter circuit 13 converts direct current input from the in-vehicle power storage device 104 into alternating current, thereby driving the in-vehicle electric motor 11 using the in-vehicle power storage device 104.
As shown in fig. 2, the inverter circuit 13 includes 3-phase switching elements Qu1 to Qw2. Specifically, the inverter circuit 13 includes: u-phase switching elements Qu1, Qu2 corresponding to the u-phase coil 24 u; v-phase switching elements Qv1, Qv2 corresponding to the v-phase coil 24 v; and w-phase switching elements Qw1, Qw2 corresponding to the w-phase coil 24w.
The 3-phase switching elements Qu1, Qu2, Qv1, Qv2, Qw1, and Qw2 (hereinafter referred to as "3-phase switching elements Qu1 to Qw 2") are power switching elements such as IGBTs, for example. The 3-phase switching elements Qu1 to Qw2 are not limited to IGBTs, and may be MOSFETs, for example. The 3-phase switching elements Qu1 to Qw2 include free wheeling diodes (body diodes) Du1 to Dw 2.
The u-phase switching elements Qu1 and Qu2 are connected in series with each other via a connection line, and the connection line is connected to the u-phase coil 24 u. The collector of the u-phase switching element Qu1 is connected to the positive terminal (+ terminal) that is the high-voltage side of the in-vehicle power storage device 104. The emitter of the u-phase switching element Qu2 is connected to the negative electrode terminal (-terminal), which is the low voltage side of the in-vehicle power storage device 104.
The connection modes of the other switching elements Qv1, Qv2, Qw1, and Qw2 are the same as those of the u-phase switching elements Qu1 and Qu2, except that the corresponding coils are different. The inverter control device 14 is a controller having electronic components such as a CPU and a memory. The inverter control device 14 drives the in-vehicle electric motor 11 by controlling the inverter circuit 13, specifically, by controlling the 3-phase switching elements Qu1 to Qw2.
The inverter control device 14 includes a voltage sensor 31 as a voltage grasping portion that grasps the power supply voltage Vin, which is the voltage of the in-vehicle power storage device 104. The voltage sensor 31 detects the input voltage of the inverter circuit 13 to recognize the power supply voltage Vin.
The inverter control device 14 includes a current sensor 32 that detects a motor current flowing through the in-vehicle electric motor 11. The motor current in the present embodiment is, for example, 3-phase currents Iu, Iv, Iw flowing through the 3- phase coils 24u, 24v, 24w.
As shown in fig. 2, the inverter control device 14 includes a 3-phase/2-phase conversion circuit 33 that converts the 3-phase currents Iu, Iv, Iw detected by the current sensor 32 into d-axis currents Id and q-axis currents Iq (hereinafter referred to as "2-phase currents Id, Iq") that are orthogonal to each other.
Incidentally, the d-axis current Id may be a field component current, which is a current of a magnetic flux directional component of the rotor 22, and the q-axis current Iq may be a torque component current that contributes to the torque of the in-vehicle electric motor 11.
The inverter control device 14 includes a position/speed estimation unit (position estimation unit) 34 that estimates the rotational position and rotational speed of the rotor 22. The position/speed estimation unit 34 estimates the rotational position of the rotor 22 and the actual rotational speed Nr, which is the actual rotational speed, based on at least one of the 2-phase currents Id, Iq and the 2-phase voltage command values Vdr, Vqr, for example. The unit of the command rotation speed Nc and the actual rotation speed Nr is arbitrary, and for example, rpm is considered.
The specific configuration of the position/velocity estimating unit 34 is arbitrary. For example, the position/speed estimating unit 34 may include an induced voltage calculating unit that calculates induced voltages induced in the 3- phase coils 24u, 24v, and 24w based on the 2-phase currents Id and Iq, the d-axis voltage command value Vdr, the motor constant, and the like. In this case, the position/speed estimating section 34 may estimate the rotational position of the rotor 22 and the actual rotational speed Nr based on the induced voltage, and the d-axis current Id among the 2-phase currents Id, Iq, and the like.
The position/speed estimating unit 34 periodically grasps the detection result of the current sensor 32, and periodically estimates the rotational position and the actual rotational speed Nr of the rotor 22. Thereby, the position/speed estimation unit 34 follows the change in the rotational position of the rotor 22 and the actual rotational speed Nr. In the present embodiment, the position/speed estimating unit 34 corresponds to a "speed grasping unit" that grasps the rotation speed of the electric motor 11 for vehicle.
The inverter control device 14 includes: an acquisition unit 35 that acquires an external command value transmitted from the external air conditioning ECU 103; and a rotation control unit (rotation control circuit) 36 that performs rotation control of the in-vehicle electric motor 11 based on the external command value acquired by the acquisition unit 35 and the actual rotation speed Nr.
The acquisition unit 35 is, for example, a connector or the like for electrically connecting the air conditioner ECU103 and the inverter control device 14. The air conditioning ECU103 and the inverter control device 14 are electrically connected by the acquisition unit 35, and information can be exchanged. The acquisition unit 35 may be an input unit that inputs various commands such as a command rotation speed Nc.
The external command value is, for example, a command rotation speed Nc. Specifically, the air-conditioning ECU103 calculates a flow rate of a required refrigerant based on an operation state of the in-vehicle air-conditioning apparatus 101 and the like, calculates a command rotation speed Nc capable of achieving the flow rate, and transmits the command rotation speed Nc to the inverter control device 14.
The external command value is not limited to the command rotation speed Nc, and may be any specific command content as long as the driving method of the in-vehicle electric motor 11 can be defined. The main body of the output of the external command value is not limited to the air-conditioning ECU103, and may be any.
The rotation control unit 36 is electrically connected to the acquisition unit 35. The rotation control unit 36 is electrically connected to the air conditioner ECU103 via the acquisition unit 35, and inputs the command rotation speed Nc acquired by the acquisition unit 35 to the rotation control unit 36. That is, the rotation control unit 36 receives an external command value from the air conditioner ECU103 via the acquisition unit 35.
The rotation control unit 36 is electrically connected to the voltage sensor 31 and can grasp the power supply voltage Vin.
The rotation control unit 36 is electrically connected to the position/velocity estimation unit 34. Thus, the rotation control unit 36 can grasp the rotational position of the rotor 22 and the actual rotation speed Nr estimated by the position/speed estimation unit 34, and can transmit parameters necessary for estimation to the position/speed estimation unit 34.
The 3-phase/2-phase conversion circuit 33 outputs the 2-phase currents Id and Iq to both the position/speed estimation unit 34 and the rotation control unit 36. Therefore, the rotation control unit 36 can grasp the 2-phase currents Id and Iq.
The rotation control unit 36 performs rotation control processing to control the rotation of the in-vehicle electric motor 11 (specifically, the rotor 22) by PWM-controlling the 3-phase switching elements Qu1 to Qw2 of the inverter circuit 13. Here, the rotation control unit 36 repeatedly executes the rotation control process at a predetermined control cycle T.
The specific hardware configuration of the rotation control unit 36 is arbitrary. For example, the rotation control unit 36 may have a configuration including a memory for storing a program for performing the rotation control process and necessary information, and a CPU for executing the rotation control process based on the program.
The rotation control unit 36 may have a configuration including 1 or more dedicated hardware circuits that execute a part or all of the rotation control processing, or may be a combination of 1 or more dedicated hardware circuits and a CPU that executes software processing. In other words, the rotation control unit 36 may be realized by at least one of 1 or more dedicated hardware circuits and 1 or more processors (control circuits) operating in accordance with a computer program (software), for example.
Here, for the sake of convenience of explanation, the rotation control process performed by the rotation control unit 36 will be described in the form of a flowchart shown in fig. 3.
As shown in fig. 3, first, in step S101, the rotation control unit 36 derives 2-phase current command values Idr and Iqr based on the external command value (in the present embodiment, the command rotation speed Nc) acquired by the acquisition unit 35 and the actual rotation speed Nr grasped (in the present embodiment, estimated) by the position/speed estimation unit 34. The 2-phase current command values Idr and Iqr are a d-axis current command value Idr that is a target value of the d-axis current Id and a q-axis current command value Iqr that is a target value of the q-axis current Iq.
Thereafter, in step S102, the rotation control unit 36 derives 2-phase voltage command values Vdr, Vqr based on the 2-phase current command values Idr, Iqr and the 2-phase currents Id, Iq obtained by the 3-phase/2-phase conversion circuit 33. The 2-phase voltage command values Vdr, Vqr are constituted by a d-axis voltage command value Vdr and a q-axis voltage command value Vqr. The d-axis voltage command value Vdr is a target value of a voltage applied to the d-axis of the in-vehicle electric motor 11, and the q-axis voltage command value Vqr is a target value of a voltage applied to the q-axis of the in-vehicle electric motor 11.
Incidentally, the rotation control unit 36 outputs the 2-phase voltage command values Vdr, Vqr to the position/speed estimation unit 34. The position/speed estimation unit 34 uses at least one of the 2-phase voltage command values Vdr, Vqr for estimation of the rotational position of the rotor 22 and the actual rotational speed Nr.
In step S103, the rotation control unit 36 performs a process of deriving the 3-phase voltage command values Vur, Vvr, Vwr based on the 2-phase voltage command values Vdr, Vqr.
The 3-phase voltage command values Vur, Vvr, Vwr are constituted by a u-phase voltage command value Vur, a v-phase voltage command value Vvr, and a w-phase voltage command value Vwr. The u-phase voltage command value Vur is a target value of the applied voltage of the u-phase coil 24u, the v-phase voltage command value Vvr is a target value of the applied voltage of the v-phase coil 24v, and the w-phase voltage command value Vwr is a target value of the applied voltage of the w-phase coil 24w. In step S103, rotation control unit 36, for example, performs 2-phase/3-phase conversion on the 2-phase voltage command values Vdr, Vqr to derive 3-phase reference command values Vu0, Vv0, Vw0 as 3-phase voltage command values Vur, Vvr, Vwr.
The 3-phase reference command values Vu0, Vv0, Vw0 vary according to the electrical angle, and have a waveform having a reference amplitude f0 with a cycle of 0 ° to 360 ° in the electrical angle as 1, for example. The 3-phase reference command values Vu0, Vv0, Vw0 are out of phase with one another, for example, shifted by 120 ° from one another. The waveforms of the 3-phase reference command values Vu0, Vv0, Vw0 are arbitrary waveforms such as sine waves, triangular waves, rectangular waves, and modified waveforms thereof.
Next, in step S104, rotation control unit 36 calculates voltage utilization rate R based on 2-phase voltage command values Vdr, Vqr and power supply voltage Vin.
The voltage utilization rate R is a utilization rate of the power supply voltage Vin required to apply the 2-phase voltage command values Vdr, Vqr to the electric motor 11 for vehicle. For example, the voltage utilization rate R is a ratio of the effective value of the 2-phase voltage command value Vdr and Vqr to the power supply voltage Vin, or a parameter obtained by adding or multiplying a predetermined correction parameter to the ratio.
Note that, focusing on the point that the line voltages of the 3- phase coils 24u, 24v, and 24w change in accordance with the 2-phase voltage command values Vdr and Vqr, the voltage utilization rate R can also be said to be a ratio of the effective values of the line voltages of the 3- phase coils 24u, 24v, and 24w to the power supply voltage Vin. In other words, the voltage utilization rate R can be said to be a parameter indicating the utilization rate of the power supply voltage Vin so that the line voltages of the 3- phase coils 24u, 24v, and 24w become values corresponding to the 2-phase voltage command values Vdr and Vqr.
Incidentally, the reference amplitude f0, which is the amplitude of the 3-phase reference command values Vu0, Vv0, Vw0, becomes smaller as the voltage utilization rate R becomes smaller. For example, when the reference amplitude f0 in the case where the voltage utilization rate R is the 1 st voltage utilization rate R1 is compared with the reference amplitude f0 in the case where the voltage utilization rate R is the 2 nd voltage utilization rate R2 smaller than the 1 st voltage utilization rate R1, the reference amplitude f0 in the case of the 2 nd voltage utilization rate R2 is smaller than the reference amplitude f0 in the case of the 1 st voltage utilization rate R1. When the reference amplitude f0 is small, the variation range (specifically, the range from the minimum value to the maximum value) of the 3-phase reference command values Vu0, Vv0, and Vw0 is easily narrowed.
After calculating the voltage utilization rate R, the rotation control unit 36 proceeds to step S105 to determine whether or not the voltage utilization rate R calculated in step S104 is equal to or less than a predetermined threshold utilization rate Rth. The threshold utilization rate Rth is arbitrary, and may be, for example, smaller than 50% or larger than 50%. The threshold utilization rate Rth may be set, for example, within a range of 40 to 70%.
When the voltage utilization rate R is greater than the threshold utilization rate Rth, the rotation control unit 36 proceeds to step S106 to generate the reference PWM signals Pu0, Pv0, Pw0 based on the 3-phase voltage command values Vur, Vvr, Vwr and the carrier signal.
The reference PWM signals Pu0, Pv0, Pw0 are PWM signals corresponding to the 3-phase voltage command values Vur, Vvr, Vwr derived in step S103 (specifically, the 3-phase reference command values Vu0, Vv0, Vw 0). Specifically, the u-phase reference PWM signal Pu0 is a pulse signal having a u-phase reference pulse width Wu0 corresponding to the u-phase reference command value Vu 0. The v-phase reference PWM signal Pv0 is a pulse signal having a v-phase reference pulse width Wv0 corresponding to the v-phase reference command value Vv 0. The w-phase reference PWM signal Pw0 is a pulse signal having a w-phase reference pulse width Ww0 corresponding to the w-phase reference command value Vw0.
Then, in step S107, the rotation control unit 36 outputs the reference PWM signals Pu0, Pv0, and Pw0 to the 3-phase switching elements Qu1 to Qw2, thereby performing switching control of the 3-phase switching elements Qu1 to Qw2. That is, the inverter control device 14 PWM-controls the 3-phase switching elements Qu1 to Qw2 using the PWM signals.
Here, in the present embodiment, the rotation control unit 36 generates a plurality of reference PWM signals Pu0, Pv0, Pw0 in step S106. That is, the rotation control unit 36 generates a plurality of reference PWM signals Pu0, Pv0, Pw0 for 1 rotation control process. When the rotation control process is repeatedly executed in the control cycle T, the rotation control unit 36 may generate a plurality of PWM signals for each phase in the control cycle T. In the present embodiment, the number of PWM signals generated in the control period T is 2.
Then, in step S107, the rotation control unit 36 outputs the reference PWM signals Pu0, Pv0, and Pw0 to the 3-phase switching elements Qu1 to Qw 2a plurality of times, thereby performing switching control of the 3-phase switching elements Qu1 to Qw2, and ends the present rotation control process.
That is, when the voltage utilization rate R is larger than the threshold utilization rate Rth, the rotation control unit 36 of the present embodiment performs the switching control of the 3-phase switching elements Qu1 to Qw 2a plurality of times by using the pulse signals of the same pulse width (specifically, the reference pulse widths Wu0, Wv0, and Ww0) in the control period T.
On the other hand, as shown in fig. 3, when the voltage utilization rate R is equal to or less than the threshold utilization rate Rth, the rotation control unit 36 performs pulse change control so that the pulse width is made different so that the waveform of the neutral point potential En approaches a trapezoidal wave in steps S108 to S111. The neutral point potential En is a potential of a neutral point of the 3-phase voltage command values Vur, Vvr, Vwr.
The pulse change control in steps S108 to S111 will be described in detail with reference to fig. 3 and 4.
The pulse change control is as follows: for a plurality of PWM signals having a reference pulse width corresponding to the 3-phase voltage command value and within a control period T of at least 1 phase, at least 2 pulse widths among the plurality of PWM signals are made different from each other so that average pulse widths Wua, Wva, Wwa become reference pulse widths Wu0, Wv0, Ww0. In the present embodiment, the rotation control unit 36 performs pulse change control on the v-phase and w-phase PWM signals among the 3 phases, while not performing pulse change control on the u-phase. That is, in the present embodiment, the v phase and the w phase correspond to the "variable phase", and the u phase corresponds to the "stationary phase".
First, as shown in fig. 3, the rotation control unit 36 generates the 1 st PWM signal Pu1, Pv1, Pw1 among the plurality of PWM signals in the control period T in step S108. The 1 st PWM signals Pu1, Pv1, Pw1 are pulse signals having 1 st pulse widths Wu1, Wv1, Ww1.
To describe step S108 in detail, the rotation control unit 36 first derives the reference pulse widths Wu0, Wv0, and Ww0 based on the 3-phase voltage command values Vur, Vvr, and Vwr and the carrier signal, as in step S106.
Thereafter, as shown in fig. 4 (a), the rotation control unit 36 generates a 1 u-th phase PWM signal Pu1 having a 1 u-th phase pulse width Wu1 set to be the same as the u-phase reference pulse width Wu 0. On the other hand, as shown in fig. 4 (b) and 4 (c), the rotation control unit 36 changes the 1 v-phase pulse width Wv1 and the 1 w-phase pulse width Ww1 from the v-phase reference pulse width Wv0 and the w-phase reference pulse width Ww0.
For example, the rotation control unit 36 has a 1 v-th phase PWM signal Pv1 of a 1 v-th phase pulse width Wv1 set to be wider than the v-phase reference pulse width Wv 0. In this case, the difference between the 1 v-th phase pulse width Wv1 and the v-phase reference pulse width Wv0 is set as the 1 v-th phase pulse difference 8Wv 1.
Similarly, the rotation control unit 36 generates a 1 w-phase PWM signal Pw1 having a 1 w-phase pulse width Ww1 set narrower than the w-phase reference pulse width Ww0. In this case, the difference between the 1 w-th phase pulse width Ww1 and the w-phase reference pulse width Ww0 is defined as a 1 w-th phase pulse difference δ Ww1.
In the present embodiment, the 1 v-th phase pulse difference δ Wv1 is the same as the 1 w-th phase pulse difference δ Ww 1(δ Wv1 is δ Ww 1). However, the magnitude relationship between the 1 v-th phase pulse difference δ Wv1 and the 1 w-th phase pulse difference δ Ww1 is arbitrary, and for example, the 1 v-th phase pulse difference δ Wv1 may be larger than the 1 w-th phase pulse difference δ Ww1, or vice versa.
As shown in fig. 3, after generating the 1 st PWM signals Pu1, Pv1, and Pw1, the rotation controller 36 performs 1-time switching control of the 3-phase switching elements Qu1 to Qw2 in step S109 using the 1 st PWM signals Pu1, Pv1, and Pw1.
In this case, as shown in fig. 4, the 1 u-th phase PWM signal Pu1, the 1 v-th phase PWM signal Pv1, and the 1 w-th phase PWM signal Pw1 are synchronized with each other. For example, the rotation control unit 36 adjusts the output timing so that the centers of the 1 st PWM signals Pu1, Pv1, Pw1 become the same. That is, the 1 w-th phase PWM signal Pw1 can be said to be a signal that is output (in other words generated) when the 1 v-th phase PWM signal Pv1 is output (in other words generated).
Incidentally, as shown in fig. 4 (b), the rising timing of the 1 v-th phase PWM signal Pv1 and the rising timing of the v-phase reference PWM signal Pv0 are shifted by δ Wv 1/2. Further, the falling timing of the 1 v-th phase PWM signal Pv1 and the falling timing of the v-phase reference PWM signal Pv0 are shifted by δ Wv 1/2. The same applies to the w phase.
Thereafter, in step S110, the rotation control unit 36 generates the 2 nd PWM signals Pu2, Pv2, Pw2 among the plurality of PWM signals in the control period T. The 1 st PWM signals Pu1, Pv1, Pw1 and the 2 nd PWM signals Pu2, Pv2, Pw2 are PWM signals generated and output in the same control period T. The 2 nd PWM signals Pu2, Pv2, Pw2 are PWM signals output after the 1 st PWM signals Pu1, Pv1, Pw1 in the control period T. The 2 nd PWM signals Pu2, Pv2, Pw2 have 2 nd pulse widths Wu2, Wv2, Ww2.
To describe step S110 in detail, as shown in fig. 4 (a), the rotation control unit 36 generates a 2 u-th phase PWM signal Pu2 having a 2 u-th phase pulse width Wu2 set to be the same as the u-phase reference pulse width Wu 0. On the other hand, as shown in fig. 4 (b) and 4 (c), the rotation control unit 36 changes the 2 v-phase pulse width Wv2 and the 2 w-phase pulse width Ww2 from the v-phase reference pulse width Wv0 and the w-phase reference pulse width Ww0.
For example, the rotation control unit 36 generates a 2 v-th phase PWM signal Pv2 having a 2 v-th phase pulse width Wv2 set narrower than the v-phase reference pulse width WvO. In this case, the difference between the 2 v-th phase pulse width Wv2 and the v-phase reference pulse width Wv0 is set as a 2 v-th phase pulse difference δ Wv 2.
Similarly, the rotation control unit 36 generates a 2 w-phase PWM signal Pw2 having a 2 w-phase pulse width Ww2 set wider than the w-phase reference pulse width Ww0. In this case, the difference between the 2 w-th phase pulse width Ww2 and the w-phase reference pulse width Ww0 is defined as a 2 w-th phase pulse difference δ Ww2.
That is, the rotation control unit 36 of the present embodiment makes the pulse width in one of the 2 variable phases wider than the reference pulse width, and makes the pulse width in the other variable phase narrower than the reference pulse width.
Here, the rotation control unit 36 controls the average pulse widths Wua, Wva, Wwa of the phases in the control cycle T to be the reference pulse widths Wu0, Wv0, and Ww0.
In detail, regarding the u-phase as the stationary phase, since the 1 u-phase pulse width Wu1 and the 2 u-phase pulse width Wu2 are the u-phase reference pulse width Wu0, the u-phase average pulse width Wua is the u-phase reference pulse width Wu 0.
Regarding the v-phase as a variable phase, the 1 v-phase pulse width Wv1 and the 2 v-phase pulse width Wv2 are set so that the v-phase average pulse width Wva becomes the v-phase reference pulse width Wv 0. Specifically, the 1 v-th phase pulse difference δ Wv1 and the 2 v-th phase pulse difference δ Wv2 are set to be the same.
Similarly, the 1 st w-phase pulse width Ww1 and the 2 nd w-phase pulse width Ww2 are set so that the w-phase average pulse width Wwa becomes the w-phase reference pulse width Ww0 for the w-phase. Specifically, the 1 w-th phase pulse difference δ Ww1 and the 2 w-th phase pulse difference δ Ww2 are set to be the same. That is, the rotation control unit 36 changes the pulse width of each pulse signal to be pulse-changed so that the integrated value of the change amount from the reference pulse width becomes "0".
In the present embodiment, the 2 v-th phase pulse difference δ Wv2 is the same as the 2 w-th phase pulse difference δ Ww2. However, the magnitude relationship between the 2 v-th phase pulse difference δ Wv2 and the 2 w-th phase pulse difference δ Ww2 is arbitrary, and for example, the 2 v-th phase pulse difference δ Wv2 may be larger than the 2 w-th phase pulse difference δ Ww2, or vice versa.
As shown in fig. 3, after generating the 2 nd PWM signals Pu2, Pv2, and Pw2, the rotation control unit 36 performs 1-time switching control of the 3-phase switching elements Qu1 to Qw2 using the 2 nd PWM signals Pu2, Pv2, and Pw2 in step S111, and ends the rotation control process. In this case, the rotation control unit 36 adjusts the output timing so that the centers of the 2 nd PWM signals Pu2, Pv2, Pw2 become the same, for example. Thus, the 2 u-th phase PWM signal Pu2, the 2 v-th phase PWM signal Pv2, and the 2 w-th phase PWM signal Pw2 are synchronized with each other. That is, the 2 w-th phase PWM signal Pw2 can be said to be a signal that is output (in other words generated) when the 2 v-th phase PWM signal Pv2 is output (in other words generated).
In the present embodiment, the rotation control unit 36 that executes the processing of steps S101 and S102 corresponds to a "2-phase voltage command value derivation unit", and the rotation control unit 36 that executes the processing of step S103 corresponds to a "3-phase voltage command value derivation unit". The rotation control unit 36 that executes the processing of steps S106, S108, and S110 corresponds to the "generation unit", and particularly, the rotation control unit 36 that executes the processing of steps S108 and S110 corresponds to the "pulse change unit".
In the present embodiment, the two v-phase PWM signals Pv1 and Pv2 correspond to "a plurality of 1 st variable-phase PWM signals", specifically, the 1 st v-phase PWM signal Pv1 corresponds to a "1 st wide signal", and the 2 nd v-phase PWM signal Pv2 corresponds to a "1 st narrow signal". Then, the two w-phase PWM signals Pw1 and Pw2 correspond to "a plurality of 2 nd variable phase PWM signals", specifically, the 1 st w-phase PWM signal Pw1 corresponds to "a 2 nd narrow signal", and the 2 nd w-phase PWM signal Pw2 corresponds to "a 2 nd wide signal".
Next, the operation of the present embodiment will be described with reference to fig. 4. Fig. 4 (a) is a waveform diagram showing an example of a u-phase PWM signal. Fig. 4 (b) is a waveform diagram showing an example of the v-phase PWM signal subjected to the pulse change control. Fig. 4 (c) is a waveform diagram showing an example of a w-phase PWM signal subjected to pulse change control. Fig. 4 (d) is a waveform diagram showing an example of the neutral point potential En. For the sake of convenience of explanation, the 3-phase voltage command values Vur, Vvr, Vwr are set to be the same in each control cycle T.
As shown in fig. 4, as described above, in the present embodiment, a plurality of (for example, 2) PWM signals are generated in the control period T, and the 2PWM signals are repeatedly generated in the control period T.
In this case, since the u-phase is a stationary phase that is not subjected to the pulse change control, u-phase PWM signals Pu1, Pu2 having the same pulse width (more specifically, u-phase reference pulse width Wu0) are generated in the u-phase within the control period T as shown in fig. 4 (a).
As shown in fig. 4 (b) and 4 (c), when the 1 u-th phase PWM signal Pu1 is generated, the 1 v-th phase PWM signal Pv1 and the 1 w-th phase PWM signal Pw1 that are pulse change controlled are generated. In this case, the 1 v-th phase pulse width Wv1, which is the pulse width of the 1 v-th phase PWM signal Pv1, is wider than the v-phase reference pulse width Wv0, while the 1 w-th phase pulse width Ww1, which is the pulse width of the 1 w-th phase PWM signal Pw1, is narrower than the w-phase reference pulse width Ww0. As a result, as shown in fig. 4 (d), the waveform of the neutral point potential En obtained from the 1 st PWM signals Pu1, Pv1, Pw1 approaches a trapezoidal wave.
Specifically, when the 1 v-th phase pulse width Wv1 is the v-phase reference pulse width Wv0 and the 1 w-th phase pulse width Ww1 is the w-phase reference pulse width Ww0, the waveform of the neutral point potential En becomes a square wave as shown by a broken line in fig. 4 (d). On the other hand, when the pulse change control is performed, as shown by the solid line in fig. 4 (d), the waveform of the neutral point potential En approaches a trapezoidal wave in which the rise/fall gently slopes.
Similarly, the 2 v-th phase pulse width Wv2, which is the pulse width of the 2 v-th phase PWM signal Pv2, is narrower than the v-phase reference pulse width Wv0, while the 2 w-th phase pulse width Ww2, which is the pulse width of the 2 w-th phase PWM signal Pw2, is wider than the w-phase reference pulse width Ww0. Thus, as shown by the solid line in fig. 4 (d), the waveform of the neutral point potential En obtained from the 2 nd PWM signals Pu2, Pv2, Pw2 is close to a trapezoidal wave.
Since the average pulse widths Wua, Wva, and Wwa of the respective phases in the control cycle T are the reference pulse widths Wu0, Wv0, and Ww0 which are pulse widths corresponding to the 3-phase voltage command values Vur, Vvr, and Vwr, torques (in other words, target torques) corresponding to the 3-phase voltage command values Vur, Vvr, and Vwr are applied to the electric motor 11 for a vehicle.
According to the present embodiment described in detail above, the following effects are obtained.
(1-1) the inverter control device 14 is used for controlling the inverter circuit 13 that drives the in-vehicle electric motor 11 using the in-vehicle electric storage device 104. The vehicle-mounted electric motor 11 has 3- phase coils 24u, 24v, and 24w, and the inverter circuit 13 has 3-phase switching elements Qu1 to Qw2.
The inverter control device 14 includes: a position/speed estimation unit 34 that obtains an actual rotation speed Nr that is the rotation speed of the in-vehicle electric motor 11; and a rotation control section 36. The rotation control unit 36 performs processing to derive 2-phase voltage command values Vdr, Vqr, which are target values of voltages applied to the d-axis and q-axis of the vehicle-mounted electric motor 11, based on an external command value transmitted from the outside and the actual rotation speed Nr. Then, the rotation control unit 36 performs processing to derive 3-phase voltage command values Vur, Vvr, Vwr to be applied to the 3- phase coils 24u, 24v, 24w, based on the 2-phase voltage command values Vdr, Vqr. The rotation control unit 36 generates a plurality of PWM signals for each phase in a predetermined control period T based on the 3-phase voltage command values Vur, Vvr, Vwr and the carrier signal, and performs PWM control on the 3-phase switching elements Qu1 to Qw2 using the generated PWM signals.
The rotation control unit 36 has a reference pulse width corresponding to the 3-phase voltage command value, and performs pulse change control of a plurality of PWM signals in the control period T of 1 phase. The pulse change control is control for making at least 2 pulse widths of the plurality of PWM signals different from each other so that the average pulse width becomes the reference pulse width. In the present embodiment, the rotation control unit 36 performs pulse change control on the 1 v-th phase PWM signal Pv1 and the 2 v-th phase PWM signal Pv2, and also performs pulse change control on the 1 w-th phase PWM signal Pw1 and the 2 w-th phase PWM signal Pw2.
According to this configuration, the neutral point potential En can be approximated to a trapezoidal wave by performing the pulse change control. A trapezoidal wave is a wave form that is closer to a sine wave without harmonic noise than a square wave. Thus, the waveform of the neutral point potential can be made closer to a waveform with less harmonic noise than a square wave, and therefore, noise of a specific frequency caused by switching of the 3-phase switching element can be reduced.
On the other hand, the average pulse width of the phase to be subjected to the pulse change control is the reference pulse width corresponding to the 3-phase voltage command value. For example, the v-phase average pulse width Wva, which is an average pulse width of the 1 v-phase PWM signal Pv1 and the 2 v-phase PWM signal Pv2, is the v-phase reference pulse width Wv 0. Thus, the phase voltages applied to the 3- phase coils 24u, 24v, and 24w become values corresponding to the 3-phase voltage command values Vur, Vvr, and Vwr. Therefore, torques corresponding to the 3-phase voltage command values Vur, Vvr, Vwr are applied to the electric motor 11 for vehicle. The disadvantage that different torques are applied due to the neutral point potential En being close to the trapezoidal wave can be suppressed.
(1-2) the inverter control device 14 includes a voltage sensor 31 for detecting a power supply voltage Vin which is a voltage of the in-vehicle power storage device 104. The rotation control unit 36 performs pulse change control when the voltage utilization rate R calculated based on the 2-phase voltage command values Vdr, Vqr and the power supply voltage Vin is equal to or less than the threshold utilization rate Rth.
According to the above configuration, by performing the pulse change control when the voltage utilization rate R is equal to or less than the threshold utilization rate Rth, it is possible to reduce noise of a specific frequency that tends to increase when the voltage utilization rate R is small.
In detail, when the voltage utilization rate R becomes small, the variation range of the 3-phase voltage command values Vur, Vvr, Vwr tends to become small. In this case, since the 3-phase voltage command values Vur, Vvr, Vwr tend to be biased to a specific value or values close thereto, the pulse width of the PWM signal of each phase tends to be biased to a specific value or values close thereto. In such a situation, when the waveform of the neutral point potential En is a square wave, harmonic noise corresponding to the specific pulse width tends to increase as noise of a specific frequency.
In this regard, according to the present configuration, when the voltage utilization rate R is equal to or less than the threshold utilization rate Rth, the waveform of the neutral point potential En is close to a trapezoidal wave, and therefore the harmonic noise can be reduced. This can suitably reduce the harmonic noise which tends to increase when the voltage utilization rate R is small.
(1-3) the rotation control unit 36 does not perform the pulse change control when the voltage use ratio R is larger than the threshold use ratio Rth.
In a situation where the voltage utilization rate R is greater than the threshold utilization rate Rth, the noise at the specific frequency is relatively liable to become small. In this regard, according to the present configuration, in a situation where the voltage utilization rate R is greater than the threshold utilization rate Rth, the processing load related to the pulse width change control can be reduced by not performing the pulse change control.
(1-4) the rotation control unit 36 performs pulse change control on a plurality of PWM signals in the control period T in 2 variable phases out of the 3 phases, for example, a 1 v-th phase PWM signal Pv1 and a 2 v-th phase PWM signal Pv2 and a 1 w-th phase PWM signal Pw1 and a 2 w-th phase PWM signal Pw2. On the other hand, the rotation controller 36 does not perform pulse change control on a plurality of PWM signals (specifically, the 1 u-th phase PWM signal Pu1 and the 2 u-th phase PWM signal Pu2) in the control period T in the u-phase in the present embodiment, which is a stationary phase other than the variable phase corresponding to 3.
According to the above configuration, since 1 phase is a stationary phase, the processing load can be reduced as compared with the case where all the phases are variable phases.
(1-5) the PWM signal in the control period T in the 1 st variable phase (for example, v phase) of the 2 variable equivalents includes the 1 st v-phase PWM signal Pv1 and the 2 nd v-phase PWM signal Pv 2. The 1 v-th phase PWM signal Pv1 has a 1 v-th phase pulse width Wv1 wider than the v-phase reference pulse width Wv 0. The 2 v-th phase PWM signal Pv2 has a 2 v-th phase pulse width Wv2 narrower than the v-phase reference pulse width Wv 0.
The PWM signal in the control period T in the 2 nd variable phase (for example, w phase) of the 2 variable phases includes the 1 w-phase PWM signal Pw1 and the 2 w-phase PWM signal Pw2. The 1 w-th phase PWM signal Pw1 is a PWM signal output when the 1 v-th phase PWM signal Pv1 is output (in other words, generated), and has a 1 w-th phase pulse width Ww1 narrower than the w-phase reference pulse width Ww0. The 2 w-th phase PWM signal Pw2 is a PWM signal output when the 2 v-th phase PWM signal Pv2 is output, and has a 2 w-th phase pulse width Ww2 wider than the w-phase reference pulse width Ww0.
For example, if the difference between the 1 v-th phase pulse width Wv1 and the 1 w-th phase pulse width Ww1 is large, the waveform of the neutral point potential En tends to be a trapezoidal wave close to a sine wave. Here, if the 1 v-th phase pulse width Wv1 is made narrower than the v-phase reference pulse width Wv0 and the 1 w-th phase pulse width Ww1 is made narrower than the w-phase reference pulse width Ww0, the difference between the 1 v-th phase pulse width Wv1 and the 1 w-th phase pulse width Ww1 is likely to be small because the difference varies within the reference pulse width. The same applies to the case where the 1 v-phase pulse width Wv1 is made wider than the v-phase reference pulse width Wv0 and the 1 w-phase pulse width Ww1 is made wider than the w-phase reference pulse width Ww0.
In this regard, according to the present configuration, the pulse width in one of the 2 variable phases is wider than the reference pulse width, while the pulse width in the other variable phase is narrower than the reference pulse width. This makes it possible to increase the difference in pulse width between the corresponding 2 variable phases, and to make the waveform of the neutral point potential En a trapezoidal wave closer to a sine wave.
(embodiment 2)
In the present embodiment, the derivation processing of the 3-phase voltage command values Vur, Vvr, Vwr, and the like are different from those in embodiment 1. The rotation control processing according to the present embodiment will be described with reference to fig. 5.
As shown in fig. 5, rotation control unit 36 derives 2-phase voltage command values Vdr and Vqr in step S102, and then calculates voltage utilization rate R in step S201. Thereafter, in step S202, the rotation control unit 36 derives 3-phase reference command values Vu0, Vv0, Vw0 corresponding to the 2-phase voltage command values Vdr, Vqr.
Then, in step S203, the rotation control unit 36 derives the neutral point amplitude fn, which is the amplitude of the neutral point potential En that changes, based on the voltage utilization rate R. The rotation control unit 36 varies the neutral point amplitude fn in accordance with the voltage utilization rate R. Specifically, the rotation control unit 36 derives a 1 st neutral point amplitude fn1 as the neutral point amplitude fn when the voltage utilization rate R is the 1 st voltage utilization rate R1, and derives a 2 nd neutral point amplitude fn2 larger than the 1 st neutral point amplitude fn1 as the neutral point amplitude fn when the voltage utilization rate R is the 2 nd voltage utilization rate R2 smaller than the 1 st voltage utilization rate R1. In the present embodiment, the rotation control unit 36 increases the neutral point amplitude fn as the voltage utilization rate R decreases.
After deriving the 3-phase reference command values Vu0, Vv0, Vw0 and the neutral point amplitude fn, the rotation control unit 36 derives, in step S204, shift command values Vux, Vvx, Vwx obtained by changing the neutral point potential En by the neutral point amplitude fn, as 3-phase voltage command values Vur, Vvr, Vwr, and ends the present derivation process.
Specifically, the rotation control unit 36 superimposes the neutral point potential En of the neutral point amplitude fn on the 3-phase reference command values Vu0, Vv0, and Vw0 to derive the shift command values Vux, Vvx, Vwx. That is, the rotation control unit 36 derives the shift command values Vux, Vvx, Vwx by adding (or subtracting) the 3-phase reference command values Vu0, Vv0, Vw0 that change in accordance with the electrical angle while changing the neutral point potential En by the neutral point amplitude fn in accordance with the electrical angle. In other words, the rotation control unit 36 can derive the shift command values Vux, Vvx, Vwx by superimposing the waveform of the 3-phase reference command values Vu0, Vv0, Vw0 on the waveform of the neutral point potential En of the neutral point amplitude fn. In addition, the period of the superimposed neutral point potential En is made 120 °, for example.
For example, when the voltage utilization rate R is the 1 st voltage utilization rate R1, the rotation control unit 36 superimposes the neutral point potential En of the 1 st neutral point amplitude fn1 on the 3-phase reference command values Vu0, Vv0, and Vw0 corresponding to the 1 st voltage utilization rate R1, thereby deriving the 1 st shift command values Vux1, Vvx1, and Vwx1. The 1 st shift command values Vux1, Vvx1, Vwx1 vary at least more than the 1 st neutral point amplitude fn1.
When the voltage utilization rate R is the 2 nd voltage utilization rate R2, the rotation control unit 36 superimposes the neutral point potential En of the 2 nd neutral point amplitude fn2 on the 3-phase reference command values Vu0, Vv0, and Vw0 corresponding to the 2 nd voltage utilization rate R2, thereby deriving the 2 nd shift command values Vux2, Vvx2, and Vwx2. The 2 nd shift command value Vux2, Vvx2, Vwx2 varies at least more than the 2 nd neutral point amplitude fn2. Further, the 2 nd shift command values Vux2, Vvx2, Vwx2 have a larger variation range than the 3-phase reference command values Vu0, Vv0, Vw0.
As already explained, the 2 nd neutral point amplitude fn2 is greater than the 1 st neutral point amplitude fn1. Therefore, even when the reference amplitude f0 is reduced because the voltage utilization rate R becomes the 2 nd voltage utilization rate R2, the variation range of the 2 nd shift command value Vux2, Vvx2, Vwx2 is difficult to be narrowed.
For convenience of explanation, the neutral point amplitude fn in the shift instruction values Vux, Vvx, Vwx is referred to as the shift amplitude fx. As described above, the shift amplitude fx is a parameter determined according to the voltage utilization rate R, and includes the 1 st neutral point amplitude fn1 and the 2 nd neutral point amplitude fn2.
Next, in step S205, the rotation control unit 36 determines whether or not the voltage utilization rate R is greater than the threshold utilization rate Rth. The process is the same as step S105.
When the affirmative determination is made at step S205, the rotation control unit 36 generates a PWM signal at step S206 based on the shift command values Vux, Vvx, Vwx, which are the 3-phase voltage command values Vur, Vvr, Vwr derived at step S204. Then, in step S207, the rotation control unit 36 performs switching control using the PWM signal generated in step S206. In the present embodiment, the rotation control unit 36 outputs the PWM signal 2 times in the control period T.
On the other hand, when the voltage utilization rate R is equal to or less than the threshold utilization rate Rth, the rotation control unit 36 proceeds to step S208 to generate the 1 st PWM signal Pu1, Pv1, Pw1 based on the shift command values Vux, Vvx, Vwx. In this case, the rotation control unit 36 performs pulse change control of the variable phase, as in embodiment 1. Then, in step S209, the rotation control unit 36 performs switching control using the 1 st PWM signals Pu1, Pv1, and Pw1.
Then, in step S210, the rotation control unit 36 of the present embodiment derives the variation command values Vuy, Vvy, Vwy that are different from the variation ranges of the shift command values Vux, Vvx, Vwx.
The variation command values Vuy, Vvy, Vwy are values of the neutral point potential En of the variation amplitude fy superimposed on the 3-phase reference command values Vu0, Vv0, Vw0. The variation amplitude fy is an amplitude different from the shift amplitude fx. Thus, the variation ranges of the variation command values Vuy, Vvy, Vwy are different from the variation ranges of the shift command values Vux, Vvx, Vwx, and the variation command values Vuy, Vvy, Vwy and the shift command values Vux, Vvx, Vwx are likely to be different values. The variation range means a range from a minimum value to a maximum value.
The variation amplitude fy may be larger than the shift amplitude fx or may be smaller than the shift amplitude fx. The variation amplitude fy may be a variable value that is changed for each control period T, or may be a fixed value that is not changed for each control period T.
Next, in step S211, the rotation control unit 36 generates the 2 nd PWM signals Pu2, Pv2, and Pw2 based on the variation command values Vuy, Vvy, and Vwy. In this case, the rotation control unit 36 performs pulse change control of the variable phase, as in embodiment 1. Then, in step S212, the rotation control unit 36 performs switching control using the 2 nd PWM signals Pu2, Pv2, and Pw2.
As described above, in the present embodiment, the rotation control unit 36 changes the 3-phase voltage command values Vur, Vvr, Vwr by changing the neutral point potential En. Specifically, the rotation control unit 36 changes the 3-phase voltage command values Vur, Vvr, Vwr in accordance with the voltage utilization rate R, and switches the 3-phase voltage command values Vur, Vvr, Vwr to the shift command values Vux, Vvx, Vwx and the change command values Vuy, Vvy, Vwy in the control period T.
Incidentally, both the shift command values Vux, Vvx, Vwx and the change command values Vuy, Vvy, Vwy are values obtained by changing the neutral point potential En with respect to the 3-phase reference command values Vu0, Vv0, Vw0. For this reason, even when the shift command values Vux, Vvx, Vwx and the variation command values Vuy, Vvy, Vwy are different due to the difference in the neutral point potential En, the line voltage does not vary.
That is, when the voltage utilization rate R is equal to or less than the threshold utilization rate Rth, the rotation control unit 36 switches and derives 3-phase voltage command values Vur, Vvr, Vwr having the same line voltages of the vehicle-mounted electric motor 11 and different variation ranges, at the same switching cycle for the same 2-phase voltage command values Vdr, Vqr. The 3-phase voltage command values Vur, Vvr, Vwr having different variation ranges are the shift command values Vux, Vvx, Vwx and the variation command values Vuy, Vvy, Vwy in the present embodiment. The rotation control unit 36 performs switching control based on the derived 3-phase voltage command values Vur, Vvr, Vwr. In the present embodiment, the switching cycle is the same as the carrier cycle, which is the cycle of the carrier signal. However, the switching period is not limited to this.
In other words, the rotation control unit 36 may derive a plurality of 3-phase voltage command values Vur, Vvr, Vwr having different neutral point potentials En in the same control cycle T, and generate a plurality of PWM signals corresponding thereto. In this case, the reference pulse widths of the PWM signals generated in the control period T are different even if the PWM signals are in the same phase. In the related configuration, the reference pulse widths Wu0, Wv0, Ww0 corresponding to the 3-phase voltage command values Vur, Vvr, Vwr are the average of the reference pulse widths of the respective PWM signals in the control period T that are substantially the same phase as each other.
The average pulse widths Wua, Wva, and Wwa of the 1 st PWM signals Pu1, Pv1, and Pw1 and the 2 nd PWM signals Pu2, Pv2, and Pw2 are the reference pulse widths Wu0, Wv0, and Ww0 even when pulse change control is performed. In the present embodiment, the rotation control unit 36 that executes the processing in steps S201 to S204, and S210 corresponds to a "3-phase voltage command value derivation unit".
Next, the operation of the present embodiment will be described with reference to fig. 6. Fig. 6 (a) to (c) are waveforms showing an example of the PWM signal of each phase in embodiment 2, and fig. 6 (d) is a waveform showing an example of the neutral point potential En in embodiment 2.
In the present embodiment, the 3-phase voltage command values Vur, Vvr, Vwr are changed by changing the neutral point potential En, as compared with embodiment 1. Therefore, as shown in fig. 6, the pulse width of the PWM signal of each phase is easily varied.
Specifically, in the present embodiment, in the case of the 2 nd voltage utilization rate R2 in which the voltage utilization rate R is relatively small, the 2 nd shift command values Vux2, Vvx2, Vwx2 that change at the relatively large 2 nd neutral point amplitude fn2 are derived. Thus, the variation range with respect to the variation in the electrical angle is that the 2 nd shift command value Vux2, Vvx2, Vwx2 are larger than the 3-phase reference command values Vu0, Vv0, Vw0. Therefore, the pulse width of the neutral point potential En is liable to vary.
Further, in the control cycle T, the 1 st PWM signals Pu1, Pv1, Pw1 corresponding to the shift command values Vux, Vvx, Vwx and the 2 nd PWM signals Pu2, Pv2, Pw2 corresponding to the variation command values Vuy, Vvy, Vwy having different neutral point amplitudes fn from the shift command values Vux, Vvx, Vwx are alternately output. Therefore, the pulse width of the neutral point potential En also varies in the same control period T. As described above, the pulse width of the neutral point potential En is less likely to be shifted to a specific value.
Further, even if the neutral point potential En changes, the line voltages applied to the 3- phase coils 24u, 24v, 24w do not change. Therefore, the torque equivalent to the 3-phase reference command values Vu0, Vv0, Vw0 is applied to the electric motor 11 for vehicle.
According to the present embodiment described in detail above, the following effects are obtained in addition to the effects of embodiment 1.
(2-1) in the process of deriving the 3-phase voltage command values Vur, Vvr, Vwr, the rotation control unit 36 derives different 3-phase voltage command values Vur, Vvr, Vwr in accordance with the voltage utilization rate R calculated based on the 2-phase voltage command values Vdr, Vqr and the power supply voltage Vin.
Specifically, when the voltage utilization rate R is the 1 st voltage utilization rate R1, the rotation control unit 36 derives the 1 st shift command values Vux1, Vvx1, Vwx1, which are obtained by changing the neutral point potential En by the 1 st neutral point amplitude fn1, as the 3-phase voltage command values Vur, Vvr, Vwr. When the voltage utilization rate R is the 2 nd voltage utilization rate R2 that is smaller than the 1 st voltage utilization rate R1, the rotation control unit 36 derives the 2 nd shift command values Vux2, Vvx2, Vwx2 obtained by changing the neutral point potential En by the 2 nd neutral point amplitude fn2 as the 3-phase voltage command values Vur, Vvr, Vwr. The 2 nd neutral point amplitude fn2 is greater than the 1 st neutral point amplitude fn1.
According to the related configuration, when the voltage utilization rate R is the 2 nd voltage utilization rate R2 that is smaller than the 1 st voltage utilization rate R1, the neutral point potential En changes with the 2 nd neutral point amplitude fn2 that is larger than the 1 st neutral point amplitude fn1 corresponding to the 1 st voltage utilization rate R1. Thus, the 2 nd shift command values Vux2, Vvx2, Vwx2 having at least a variation range of the 2 nd neutral point amplitude fn2 or more are obtained. Therefore, the variation range of the 2 nd shift instruction values Vux2, Vvx2, Vwx2 can be suppressed from narrowing. Therefore, it is possible to suppress noise at a specific frequency from increasing due to a narrowing of the variation range of the 3-phase voltage command values Vur, Vvr, Vwr.
In particular, in general, when the voltage utilization rate R becomes small, the variation range of the 3-phase voltage command values Vur, Vvr, Vwr tends to be narrow. Therefore, when the voltage utilization rate R is the 2 nd voltage utilization rate R2, the variation range of the 3-phase voltage command values Vur, Vvr, Vwr is easily narrowed.
In this regard, according to this configuration, when the voltage utilization rate R is the 2 nd voltage utilization rate R2, the neutral point potential En is changed with the relatively large 2 nd neutral point amplitude fn2, and thus, even when the voltage utilization rate R is the 2 nd voltage utilization rate R2, the change range of the 3-phase voltage command value Vur, Vvr, Vwr can be suppressed from narrowing. This can suppress an increase in noise at a specific frequency.
The 1 st shift command values Vux1, Vvx1, Vwx1 derived when the voltage utilization rate R is the 1 st voltage utilization rate R1 are obtained by changing the neutral point potential En by a 1 st neutral point amplitude fn1 smaller than the 2 nd neutral point amplitude fn2. This can suppress the variation range of the 1 st shift instruction values Vux1, Vvx1, Vwx1 from becoming excessively wide.
(2-2) when the voltage utilization rate R is equal to or less than the threshold utilization rate Rth, the rotation control unit 36 switches the 3-phase voltage command values Vur, Vvr, Vwr having the same line voltage and different variation ranges for the same 2-phase voltage command values Vdr, Vqr at the switching cycle (carrier cycle in the present embodiment) and derives them. For example, the rotation control unit 36 derives shift command values Vux, Vvx, Vwx and variation command values Vuy, Vvy, Vwy that have different variation ranges for 1-phase 2-phase voltage command values Vdr, Vqr.
According to the above configuration, when the voltage utilization rate R is equal to or less than the threshold utilization rate Rth, the 3-phase voltage command values Vur, Vvr, Vwr are switched to values having different variation ranges in the switching cycle while the line voltages of the 3- phase coils 24u, 24v, 24w are kept the same. Thus, even if the 2-phase voltage command values Vdr, Vqr are the same, the 3-phase voltage command values Vur, Vvr, Vwr vary in the switching cycle. Therefore, in a situation where the voltage utilization rate R is small, noise at a specific frequency caused by the 3-phase voltage command values Vur, Vvr, Vwr periodically becoming the same value can be reduced.
Specifically, when the same 3-phase voltage command values Vur, Vvr, Vwr are periodically derived or when a plurality of PWM signals are generated for 1 3-phase voltage command values Vur, Vvr, Vwr, the 3-phase voltage command values Vur, Vvr, Vwr periodically have the same value. In this case, noise having a specific frequency corresponding to the derived period of the 3-phase voltage command values Vur, Vvr, Vwr or the output period of the PWM signal is generated. The influence of the noise of the specific frequency tends to become large when the voltage use ratio R is small.
In this regard, according to the present embodiment, when the voltage utilization rate R is equal to or less than the threshold utilization rate Rth, the 3-phase voltage command values Vur, Vvr, Vwr having different variation ranges are derived in switching cycles. This makes it possible to vary the 3-phase voltage command values Vur, Vvr, Vwr in each switching cycle. Therefore, the frequency at which the 3-phase voltage command values Vur, Vvr, Vwr periodically become the same value can be reduced, and thus the noise of the specific frequency can be reduced.
In particular, according to this configuration, even when the 3-phase voltage command values Vur, Vvr, Vwr are switched, the line voltages applied to the 3- phase coils 24u, 24v, 24w are the same. This applies the same torque to the vehicle-mounted electric motor 11. Therefore, it is possible to suppress a problem that different torques are applied to the switching-caused switching 3-phase voltage command values Vur, Vvr, Vwr.
As described above, it is possible to reduce noise of a specific frequency generated when the 3-phase voltage command values Vur, Vvr, Vwr periodically have the same value in a situation where the voltage utilization rate R is small while maintaining a state where an appropriate torque is applied to the electric motor 11 for vehicle.
The above embodiments may be modified as follows. Further, the above-described embodiments and the other examples described below may be appropriately combined within a range where there is no technical contradiction.
The number of PWM signals generated in the control period T is not limited to 2, and may be any number, or 3 or more. In this case, the pulse width may be unchanged. That is, the plurality of PWM signals may be different under the condition that the plurality of PWM signals of 3 or more are generated in the control period T, but at least 2PWM signals may be different, and the PWM signals may include PWM signals having the reference pulse width.
The stationary phase is not limited to the u phase and is arbitrary. In addition, 2 of the u-phase, the v-phase and the w-equivalent may be stationary phases and 1 may be variable phases.
Or may be free of a stationary phase. That is, the rotation control unit 36 may perform pulse change control for all of the u-phase, the v-phase, and the w-phase.
The rotation control unit 36 may be configured to perform pulse change control regardless of the voltage utilization rate R.
Alternatively, the 1 v-th phase pulse width Wv1 may be wider than the v-phase reference pulse width Wv0 and the 1 w-th phase pulse width Ww1 may be wider than the w-phase reference pulse width Ww0. In this case, the 2 v-th phase pulse width Wv2 may be narrower than the v-phase reference pulse width Wv0, and the 2 w-th phase pulse width Ww2 may be narrower than the w-phase reference pulse width Ww0.
In embodiment 2, the values of the 2-phase modulation scheme are used as the change command values Vuy, Vvy, Vwy. In this case, too, the variation range of the variation instruction values Vuy, Vvy, Vwy is different from the variation range of the shift instruction values Vux, Vvx, Vwx.
The specific configuration of the acquisition unit 35 is arbitrary as long as it can receive the external command value transmitted from the air conditioning ECU 103. For example, in a configuration in which the air conditioning ECU103 transmits a command by a wireless signal, the acquisition unit 35 may be a module that receives the wireless signal.
The configuration for grasping the power supply voltage Vin, which is the voltage of the in-vehicle power storage device 104, is not limited to the voltage sensor 31, and may be any configuration. For example, when the in-vehicle power storage device 104 is provided with the voltage sensor 31 that detects the power supply voltage Vin and the battery CPU electrically connected to the voltage sensor 31, the rotation control unit 36 may be configured to acquire the power supply voltage Vin by communicating with the battery CPU. In this case, the rotation control unit 36 communicating with the battery CPU corresponds to a "voltage grasping unit".
The in-vehicle electric compressor 10 is not limited to the structure used in the in-vehicle air conditioner 101, and may be used in other devices. For example, in the case where the vehicle 100 is a fuel cell vehicle, the in-vehicle electric compressor 10 may be used in an air supply device that supplies air to a fuel cell. That is, the fluid to be compressed is not limited to the refrigerant, and may be any fluid such as air.
The in-vehicle fluid machine is not limited to the in-vehicle electric compressor 10 including the compression unit 12 for compressing the fluid. For example, when the vehicle 100 is a fuel cell vehicle, the in-vehicle fluid machine may be an electric pump device having a pump for supplying hydrogen to the fuel cell and an in-vehicle electric motor for driving the pump. In this case, the inverter control device 14 may be used to control an in-vehicle electric motor that drives the pump.
The in-vehicle electric motor 11 is not limited to the in-vehicle electric compressor 10, and may be mounted on a vehicle. For example, the vehicle-mounted electric motor 11 may be a traveling motor for traveling the vehicle.
Next, a suitable example that can be grasped from the above-described embodiment and other examples will be described below.
The 3-phase voltage command value derivation unit includes: a reference generation unit that generates a 3-phase reference command value having a reference amplitude based on the 2-phase voltage command value; and a superimposing unit that derives the 3-phase voltage command value by superimposing the neutral point potential on the 3-phase reference command value, wherein the superimposing unit superimposes the neutral point potential of the 1 st neutral point amplitude on the 3-phase reference command value when the voltage utilization rate is the 1 st voltage utilization rate, and superimposes the neutral point potential of the 2 nd neutral point amplitude on the 3-phase reference command value when the voltage utilization rate is the 2 nd voltage utilization rate.

Claims (8)

1. An inverter control device for controlling an inverter circuit for driving an electric motor for vehicle-mounting using a power storage device for vehicle-mounting, the inverter control device being characterized in that,
the vehicle-mounted electric motor has 3-phase coils,
the inverter circuit has 3-phase switching elements,
the inverter control device includes:
a 3-phase voltage command value derivation unit that derives a 3-phase voltage command value to be applied to the 3-phase coil; and
a generator for generating a plurality of PWM signals for each phase in a predetermined control cycle based on the 3-phase voltage command value and a carrier signal;
the inverter control device PWM-controls the 3-phase switching elements using the PWM signals of the respective phases,
the generation unit includes a pulse changing unit that performs pulse change control of the plurality of PWM signals in the control period of 1 phase having a reference pulse width corresponding to the 3-phase voltage command value, wherein at least 2 pulse widths of the plurality of PWM signals are different from each other so that an average pulse width of the plurality of PWM signals in the control period becomes the reference pulse width.
2. The inverter control device according to claim 1,
the inverter control device includes:
a voltage grasping unit that grasps a power supply voltage that is a voltage of the on-vehicle power storage device;
a speed grasping unit that grasps a rotation speed of the in-vehicle electric motor; and
a 2-phase voltage command value derivation unit that derives 2-phase voltage command values that are target values of voltages applied to the d-axis and q-axis of the vehicle-mounted electric motor, based on an external command value transmitted from the outside and a result of grasping the speed grasping unit,
the 3-phase voltage command value derivation unit derives the 3-phase voltage command value based on the 2-phase voltage command value,
the generator performs the pulse change control of the pulse changer if a voltage use ratio calculated based on the 2-phase voltage command value and the grasping result of the voltage grasping unit is equal to or less than a predetermined threshold use ratio.
3. The inverter control device according to claim 1 or 2,
the pulse changing unit performs the pulse change control on the plurality of PWM signals in the control period in 2 variable phases out of 3 phases, while not performing the pulse change control on the plurality of PWM signals in the control period in 1 fixed phase other than the variable phase out of 3 phases.
4. The inverter control device according to claim 3,
the plurality of PWM signals in the control period in the 1 st variable phase among the 2 variable phases, that is, the plurality of 1 st variable phase PWM signals, includes:
a 1 st width signal having a pulse width wider than the reference pulse width; and
a 1 st narrow signal having a pulse width narrower than the reference pulse width,
the plurality of PWM signals in the control period in the 2 nd variable phase of the 2 variable phases, that is, the plurality of 2 nd variable phase PWM signals, include:
a 2 nd narrow-width signal which is output when the 1 st wide-width signal is output and has a pulse width narrower than the reference pulse width; and
a 2 nd wide signal which is output when the 1 st narrow signal is output and has a pulse width larger than the reference pulse width.
5. The inverter control device according to claim 1,
the inverter control device includes:
a voltage grasping unit that grasps a power supply voltage that is a voltage of the on-vehicle power storage device;
a speed grasping unit that grasps a rotation speed of the in-vehicle electric motor; and
a 2-phase voltage command value derivation unit that derives 2-phase voltage command values that are target values of voltages applied to the d-axis and q-axis of the vehicle-mounted electric motor, based on an external command value transmitted from the outside and a result of grasping the speed grasping unit,
the 3-phase voltage command value derivation unit derives the 3-phase voltage command value based on the 2-phase voltage command value,
deriving a 1 st shift command value obtained by changing a neutral point potential of the 3-phase voltage command value by a 1 st neutral point amplitude when a voltage utilization rate calculated based on the 2-phase voltage command value and a grasping result of the voltage grasping portion is a 1 st voltage utilization rate, as the 3-phase voltage command value, and deriving a 2 nd shift command value obtained by changing the neutral point potential by a 2 nd neutral point amplitude larger than the 1 st neutral point amplitude when the voltage utilization rate is a 2 nd voltage utilization rate smaller than the 1 st voltage utilization rate, as the 3-phase voltage command value,
the 3-phase voltage command value derivation unit includes: a reference generation unit that generates a 3-phase reference command value having a reference amplitude based on the 2-phase voltage command value; and a superimposing unit that derives the 3-phase voltage command value by superimposing the neutral point potential on the 3-phase reference command value,
the superimposing unit superimposes the neutral point potential of the 1 st neutral point amplitude on the 3-phase reference command value when the voltage utilization rate is the 1 st voltage utilization rate,
and when the voltage utilization rate is the 2 nd voltage utilization rate, the neutral point potential of the 2 nd neutral point amplitude is superposed on the 3-phase reference command value.
6. The inverter control device according to claim 1,
the inverter control device includes:
a voltage grasping unit that grasps a power supply voltage that is a voltage of the on-vehicle power storage device;
a speed grasping unit that grasps a rotation speed of the in-vehicle electric motor; and
a 2-phase voltage command value derivation unit that derives 2-phase voltage command values that are target values of voltages applied to the d-axis and q-axis of the vehicle-mounted electric motor, based on an external command value transmitted from the outside and a result of grasping the speed grasping unit,
the 3-phase voltage command value derivation unit derives the 3-phase voltage command value based on the 2-phase voltage command value,
when a voltage utilization rate calculated based on the 2-phase voltage command value and the grasping result of the voltage grasping unit is equal to or less than a predetermined threshold utilization rate, 3-phase voltage command values, in which the line voltages of the 3-phase coils are the same and the variation ranges are different from each other, are switched at a switching cycle for the same 2-phase voltage command value and are derived.
7. A fluid machine for vehicle mounting, comprising:
the vehicle-mounted electric motor;
the inverter circuit; and
the inverter control device according to any one of claims 1 to 6.
8. The vehicular fluid machine according to claim 7, wherein the first and second guide members are disposed on the same side of the housing,
the in-vehicle fluid machine is an in-vehicle electric compressor including a compression unit driven by the in-vehicle electric motor.
CN202111335847.1A 2020-11-25 2021-11-11 Inverter control device and in-vehicle fluid machine Pending CN114553106A (en)

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JP4513863B2 (en) 2008-01-09 2010-07-28 株式会社デンソー Control device for multi-phase rotating machine
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