JP2002191198A - Method for correcting dc voltage detected value of motor drive and motor drive control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve source-use efficiency of by accurately detecting DC power to be supplied to an inverter. SOLUTION: A voltage detection corrector 8 obtains a voltage consumption in a synchronous motor 1 by using AC real current values iu, iv and iw supplied to the motor 1 and a motor angle frequency ω according to the rotational speed N of the motor 1, obtains a voltage consumption in an inverter 5, and calculates an inferred output voltage value for estimating an output voltage supplied to the motor 1 from the inverter 5 from the sum of the obtained power consumption of the motor 1 and the obtained power consumption of the inverter 5. The corrector 8 further obtains an error of an inverter DC input voltage value VB from a ratio of an estimated output voltage value to a voltage output wave peak value V1* indicating the amplitude of the voltage supplied from the inverter 5 to the motor 1 based on a torque command Tref, corrects the inverter DC input voltage value VB detected by a voltage sensor 14 using the error of the inverter DC input voltage value VB, and supplies the value to a high efficiency current table 2.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for correcting a DC voltage detection value of a motor driving apparatus for converting DC power of a battery into AC power by an inverter circuit and supplying the AC power to a motor, and a motor driving control apparatus.

[0002]

2. Description of the Related Art Conventionally, for example, Japanese Unexamined Patent Application Publication No.
As disclosed in JP-A-99-99, a power converter of a motor drive device that drives a motor having a permanent magnet detects a supplied DC power with a voltage sensor and supplies the DC power to the motor based on the DC voltage value. Devices that control the current flowing are known.

FIG. 8 shows a conventional motor driving device. In this motor driving device, a motor 10 having a permanent magnet and generating a driving force in accordance with an external torque command Tref is provided.
1. Speed detector (PG) 102, magnetic pole position detector 10
3. Motor speed detector 104, current table calculator 1
05, a current control unit 106, a two-phase three-phase conversion unit 107, an inverter 108, and a three-phase two-phase conversion unit 109. Further, this motor driving device includes a pole-pair multiplication unit 110 that calculates a motor electrical angular frequency ω based on the motor rotation speed, a battery 111 that supplies DC power to the inverter 108, and a voltage sensor 112 built in the inverter 108. .

[0004] In this motor drive device, a motor 10 is supplied from an inverter 108 in response to an external torque command Tref.
The motor 101 is configured to be driven by supplying a three-phase current to the motor 1. When the motor 101 is driven to rotate, the speed detection unit 102 rotates together with the rotor of the motor 101, generates a pulse signal P, and supplies the pulse signal P to the magnetic pole position detection unit 103 and the motor rotation speed detection unit 104. The magnetic pole position detection unit 103 obtains a phase detection value θ indicating the rotor position (phase) of the motor 101 based on the pulse signal P, and the motor rotation speed detection unit 104 calculates the rotation speed N of the motor 101 based on the pulse signal P. Calculate the pole pair number multiplication unit 1
10 to generate a motor electrical angular frequency ω in accordance with the rotation speed N, and a current table calculation unit 105 and a current control unit 106
To supply.

In the motor driving device, an external torque command Tref, a motor electrical angular frequency ω, and an inverter DC input voltage value VB from the voltage sensor 112 are input to a current table calculation unit 105, and based on these values, an internal D corresponding to the d-axis and the q-axis of the motor 101 from the current table
The axis current command id * and the q-axis current command iq * are determined.
The current table calculator 105 calculates the d-axis current command id * and the q-axis current command iq * for the torque command Tref,
Motor electrical angular frequency ω and inverter DC input voltage value V
Data that changes according to B is stored as table data, and the motor electrical angular frequency ω and the inverter DC input voltage value VB are supplied as reference signals, and the motor electrical angular frequency ω based on the torque command Tref is referred to. -Axis current command id * and q-axis current command iq uniquely determined
Determine *.

The motor driving device receives the d-axis actual current id and the q-axis actual current iq, and outputs a d-axis current command i.
The d-axis voltage command value vd * and the q-axis voltage command value vq * are determined by the current control unit 106 so that the difference between d * and the actual current id, and the q-axis current command iq * and the actual current iq are made zero. 2
It is supplied to the three-phase converter 107.

Next, in the motor driving device, the d-axis voltage command value vd * and the q-axis voltage command value vq * are converted from two phases to three phases, and the U-phase AC voltage command value vu * and the V-phase AC voltage Command value vv * and W-phase AC voltage command value vw * are determined and supplied to inverter 108.

[0008] Next, the motor driving device is connected to the inverter 10
8, the DC voltage from the battery 111 is switched based on the respective command values vu *, vv *, vw * and supplied to the motor 101 as an AC voltage.

[0009]

In the above-described motor driving device, an error may occur in the inverter DC input voltage value VB detected by the voltage sensor 112. A current table was created and stored in the current table calculation unit 105.
Therefore, in the conventional motor drive device, the battery 11
1 to the output power determined by the DC power supplied to the inverter 108
There is a problem that the phase AC voltage command value vu *, the V-phase AC voltage command value vv *, and the W-phase AC voltage command value vw * are reduced by the estimated amount of the error, and the power use efficiency is reduced.

In the conventional motor driving device, when an abnormality occurs in the voltage sensor 112, the battery 111
In order to control the motor 101 using the DC power input from the inverter to the inverter 108 as the minimum guaranteed voltage, there is a problem that the power usage efficiency is reduced.

Furthermore, in the conventional motor driving device, it is necessary to use a highly accurate voltage sensor that can be ignored by making the error of the voltage sensor 112 small, and it is necessary to select and adjust the highly accurate voltage sensor. There is a problem that the total cost increases.

In view of the above, the present invention has been proposed in view of the above-mentioned circumstances, and a motor drive capable of detecting DC power supplied to an inverter with high accuracy and improving power use efficiency. An object of the present invention is to provide a method for correcting a DC voltage detection value of a device and a motor drive control device.

[0013]

According to a first aspect of the present invention, there is provided an inverter for driving a motor in accordance with a torque command input from the outside and converting a DC voltage to an AC voltage from a battery. In a method for correcting a DC voltage detection value of a motor drive device provided with a voltage sensor for detecting a DC voltage value supplied to a circuit, a motor according to a two-phase DC actual current value supplied to the motor and a rotation speed of the motor The consumption voltage of the motor is obtained using the angular frequency, the consumption voltage of the inverter circuit is obtained, and the sum of the obtained consumption voltage of the motor and the consumption voltage of the inverter circuit is obtained from the inverter circuit. An estimated output voltage value obtained by estimating the output voltage supplied to the motor is calculated, and the estimated output voltage value and the IN based on the torque command are calculated. From the ratio of the voltage command output value indicating the magnitude of the voltage supplied to the motor from over-capacitor circuit, it obtains the error of the detected DC voltage value by the voltage sensor,
The DC voltage value detected by the voltage sensor is corrected using the error of the DC voltage value detected by the voltage sensor.

According to the second aspect of the present invention, when the motor is in operation, a DC voltage value corrected using the error is output, and when the motor is substantially stopped, the DC voltage detected by the voltage sensor is output. A voltage value is output, and when the motor is in an operating state and a current value supplied to the motor is in a transient state, a DC voltage value held in advance is output.

According to the third aspect of the present invention, it is determined whether or not the vehicle is in the field-weakening region based on the motor angular frequency or the rotation speed of the motor. A process of correcting the DC voltage value detected by the voltage sensor using the error is performed.

In order to solve the above-mentioned problem, in the invention according to claim 4, a DC voltage supplied to an inverter circuit for driving a motor in accordance with a torque command input from the outside and converting a DC voltage into an AC voltage from a battery. In a motor drive control device provided with a voltage sensor for detecting a value, a consumption voltage of the motor is obtained by using a two-phase DC actual current value supplied to the motor and a motor angular frequency according to a rotation speed of the motor. In addition, an estimation is made by calculating a consumption voltage of the inverter circuit and estimating an output voltage supplied to the motor from the inverter circuit from a sum of the obtained consumption voltage of the motor and a consumption voltage of the inverter circuit. An estimated output voltage calculating means for calculating an output voltage value; an estimated output voltage value calculated by the estimated output voltage calculating means; A voltage error calculating means for obtaining an error of a DC voltage value detected by the voltage sensor from a ratio of a voltage command output value indicating a magnitude of a voltage supplied to the motor from the inverter circuit; Using the error of the DC voltage value calculated by the means, a correction means for correcting the DC voltage value detected by the voltage sensor, using the DC voltage value corrected by the correction means,
AC voltage value determining means for determining an AC voltage supplied to the motor from the inverter circuit.

In the invention according to claim 5, an operating state detecting means for detecting an operating state of the motor, and when the motor is in an operating state, outputting a DC voltage value corrected using the error, When the motor is in a substantially stopped state, the DC voltage value detected by the voltage sensor is output.When the motor is in an operating state and the current value supplied to the motor is in a transient state, the DC voltage value held in advance is output. Switching means for outputting.

The invention according to claim 6 further comprises a judging means for judging whether or not the motor is in the field-weakening region based on the motor angular frequency or the number of revolutions of the motor. Only when it is determined by the means that it is in the field-weakening region, a process of correcting the DC voltage value detected by the voltage sensor using the error is performed.

[0019]

According to the first aspect of the present invention, an estimated output voltage value obtained by estimating the output voltage supplied to the motor from the inverter circuit is calculated, and a ratio between the estimated output voltage value and the voltage command output value is calculated. Since the error of the DC voltage value detected by the voltage sensor is obtained, and the DC voltage value detected by the voltage sensor is corrected using the error of the DC voltage value detected by the voltage sensor, the DC voltage value is supplied to the inverter circuit. The detection accuracy of the DC voltage value can be improved, and up to the AC output possible voltage of the inverter unit determined by the DC voltage.
The voltage can be effectively supplied to the motor, and the power use efficiency can be improved.

According to the first aspect of the present invention, it is necessary to consider an error of the voltage sensor when determining the torque current component and the field current component of the motor based on the torque command and the angular frequency of the motor. Absent.

According to the second aspect of the present invention, when the motor is in the operating state, the DC voltage value corrected using the error is output, and when the motor is substantially stopped, the DC voltage value detected by the voltage sensor is output. When the motor is in the operating state and the current value to be supplied to the motor is in the transient state, the DC voltage value held in advance can be output, so the control according to the operating state of the motor should be performed. Can be.

According to the third aspect of the present invention, the DC voltage value is corrected by using the error only when it is determined that the DC voltage value is in the field weakening region. In response to the remarkable effect of (1), the processing for correcting the DC voltage value can be executed, and the processing efficiency can be improved.

According to the fourth aspect of the invention, the estimated output voltage value is calculated by the estimated output voltage calculation means, the DC voltage value error is determined by the voltage error calculation means, and the voltage is calculated by using the DC voltage value error. Since the DC voltage value detected by the sensor is corrected to determine the AC voltage to be supplied from the inverter circuit to the motor, the detection accuracy of the DC voltage value supplied to the inverter circuit can be improved, and the DC voltage value is determined by the DC voltage. Up to the AC output voltage of the inverter circuit
The voltage can be effectively supplied to the motor, and the power use efficiency can be improved.

According to the present invention, it is necessary to consider an error of the voltage sensor when determining the torque current component and the field current component of the motor based on the torque command and the angular frequency of the motor. Absent.

According to the present invention, when the motor is in the operating state, the DC voltage value corrected using the error is output, and when the motor is substantially stopped, the DC voltage value detected by the voltage sensor is output. When the motor is in the operating state and the current value to be supplied to the motor is in the transient state, the DC voltage value held in advance can be output, so that the control according to the operating state of the motor is performed. be able to.

According to the sixth aspect of the present invention, the DC voltage value is corrected by using the error only when it is determined that the DC voltage value is in the field weakening region. In response to the remarkable effect of (1), the processing for correcting the DC voltage value can be executed, and the processing efficiency can be improved.

[0027]

Embodiments of the present invention will be described below with reference to the drawings.

The present invention is applied to, for example, a motor drive device configured as shown in FIG. This motor drive device controls and drives a synchronous motor 1 that generates a driving force according to an external torque command Tref.

[Configuration of Motor Driving Apparatus] This motor driving apparatus has a high-efficiency current table section 2, a current control section 3, a two-phase to three-phase conversion section 4, to which a torque command Tref is input from the outside.
Inverter unit 5, battery 6, three-phase to two-phase conversion unit 7, voltage detection and correction unit 8, speed detection unit 9, magnetic pole position detection unit 10, correction unit 11, motor speed detection unit 12, pole pair number multiplication unit 13
It is configured with. Further, the motor driving device includes a voltage sensor 14 for detecting a battery voltage supplied from the battery 6 to the inverter unit 5 and current sensors 15U, 15V, 15W for detecting a current supplied from the inverter unit 5 to the synchronous motor 1. And further comprising:

In this motor driving device, the high-efficiency current table section 2, the current control section 3, the two-phase to three-phase conversion section 4, the inverter section 5, the three-phase to two-phase conversion section 7, and the voltage detection correction section 8 are formed in a loop. While being electrically connected, the high efficiency current table section 2,
The current control unit 3, the two-phase to three-phase conversion unit 4, the inverter unit 5, the synchronous motor 1, the speed detection unit 9, the magnetic pole position detection unit 10, the correction unit 11, the motor speed detection unit 12, and the pole pair multiplication unit 13 are looped. They are electrically connected in a shape.

The high-efficiency current table section 2 is connected to a voltage detection and correction section 8, a pole pair multiplication section 13 and a current control section 3 to be described later, and a voltage correction value VBh together with a torque command Tref.
And the motor electrical angular frequency ω. As shown in FIGS. 2 and 3, the high-efficiency current table section 2 determines d according to the motor electrical angular frequency ω and the torque command Tref.
A high-efficiency current table that changes in response to a change in the axis current command id * and the q-axis current command iq * up to the inverter DC input voltage value VB (aV to cV (a>b> c)) is created in advance therein. Stored. The high-efficiency current table 2 stores the input torque command Tref and the voltage correction value VBh.
And a d-axis current command id * as a torque current component and a q-axis current command iq * as a field current component, which are supplied to the synchronous motor 1 which is a two-phase DC, based on the motor electrical angular frequency ω. It is supplied to the control unit 3. At zero torque, that is, when the torque command Tref is “0”, the q-axis current command iq * is independent of the value of the inverter DC input voltage value VB.
Becomes “0”.

The current control unit 3 is connected to the high-efficiency current table unit 2, a three-phase / two-phase conversion unit 7, and a pole-pair multiplication unit 13 to be described later.
*, And the two-phase DC actual current values id and iq and the motor electrical angular frequency ω are input. The current control unit 3 includes a d-axis current command id *, a two-phase DC actual current value id, and a q-axis current command iq.
The motor electrical angular frequency ω and the winding resistance R1, d of the synchronous motor 1 so that the difference between * and the two-phase DC actual current value iq becomes zero.
Using the shaft inductance Ld, the q-axis inductance Lq, and the interlinkage magnetic flux φ of the synchronous motor 1 by the permanent magnet, the d-axis voltage command value vd * and the q-axis voltage command value vq * are calculated in accordance with an arithmetic expression described later to be two-phase. Output to the three-phase converter 4.

The current control unit 3 uses the obtained d-axis voltage command value vd * and q-axis voltage command value vq * to output an AC signal from the inverter unit 5 to the synchronous motor 1 by a predetermined arithmetic expression. The voltage output peak value V1 * of the output voltage is calculated and supplied to the voltage detection correction unit 8. The detailed operation of the current control unit 3 will be described later.

The two-phase / three-phase converter 4 is connected to the current controller 3, the high-efficiency current table 2 and the corrector 11, and performs voltage correction together with the d-axis voltage command value vd * and the q-axis voltage command value vq *. The value VBh and the magnetic pole position correction value θb are input. The current controller 3 converts the d-axis voltage command value vd * and the q-axis voltage command value vq * based on the magnetic pole position correction value θb into a U-phase AC voltage command value vu *, a V-phase AC voltage command value vv *, It is converted into a W-phase AC voltage command value vw * and supplied to the inverter unit 5.

The two-phase / three-phase converter 4 calculates the d-axis voltage command value vd * and the q-axis voltage command value vq * using the following equations (1) to (3).
With the U-phase AC voltage command value vu * and the V-phase AC voltage command value v
v *, W-phase AC voltage command value vw *.

Vu * = vd * · cos θb−vq * · sin θb (Equation 1) vv * = vd * · cos (θb−120 °) −vq * · sin (θb−120 °) (Equation 2) vw * = vd * · cos (θb + 120 °) −vq * · sin (θb + 120 °) (Equation 3) As a result, the three-phase AC current supplied to the stator of the synchronous motor 1 is divided into the d-axis current and the q-axis current. By performing feedback control, the torque generated by the synchronous motor 1 is arbitrarily controlled by the d-axis current command id * and the q-axis current command iq *.

The inverter unit 5 is connected to the two-phase / three-phase conversion unit 4, the voltage detection / correction unit 8, and the battery 6, and supplies a U-phase AC voltage command value vu *, a V-phase AC voltage command value vv *, and a W-phase AC voltage. Based on the command value vw *, the DC voltage from the battery 6 is switched by the power conversion element, and a three-phase AC voltage is supplied to the synchronous motor 1. Here, for example, an IGBT can be used as the power conversion element.

The voltage sensor 14 detects a voltage value of a DC voltage supplied from the battery 6 to the inverter unit 5 and supplies an inverter DC input voltage value VB to the voltage detection and correction unit 8.

The current sensors 15U, 15V, and 15W are provided on each current supply line that supplies current from the inverter unit 5 to the synchronous motor 1, and correspond to U-phase, V-phase, and W-phase current supply lines. Each current sensor 15 supplies the detected U-phase AC actual current value iu, V-phase AC actual current value iv, and W-phase AC actual current value iw to the three-phase / two-phase converter 7.

The three-phase / two-phase converter 7 is connected to each of the current sensors 15 and the magnetic pole position detector 10, and outputs a U-phase AC actual current value i.
The magnetic pole position detection value θa is input together with the u and V phase AC actual current values iv and W phase AC actual current values iw. The three-phase / two-phase converter 7 converts the U-phase AC actual current value iu, the V-phase AC actual current value iv, and the W-phase AC actual current value iw based on the magnetic pole position detection value θa into a two-phase DC actual current value. convert to id, iq,
The two-phase DC actual current values id and iq are supplied to the voltage detection correction unit 8 and the current control unit 3.

The three-phase / two-phase converter 7 calculates the U-phase AC actual current value iu and the V-phase AC actual current value iv using the following equations (4) and (5).
And the W-phase AC actual current value iw, the two-phase DC actual current value id,
Convert to iq.

Id = iu · cos θa + iv · cos (θa−120 °) + iw · cos (θa + 120 °) (Equation 4) iq = −iu · sin θa−iv · sin (θa−120 °) −iw · sin ( θa + 120 °) (Equation 5) The three-phase to two-phase converter 7 is a two-phase DC indicating a DC amount representing a component that generates a magnetic flux synchronized with the magnetic pole position in the AC current flowing through the stator winding of the synchronous motor 1. A two-phase DC actual current value iq, which is a DC amount representing a component that generates a torque having a phase difference of 90 degrees from the magnetic pole position while obtaining the actual current value id
Get.

The voltage detection and correction unit 8 includes a three-phase to two-phase conversion unit 7,
It is connected to the voltage sensor 14 and the current control unit 3, and receives the two-phase DC actual current values id and iq, the inverter DC input voltage value VB, and the voltage output peak value V1 *. The voltage detection correction unit 8 obtains the two-phase DC actual voltage values vd and vq using the motor electrical angular frequency ω and the two-phase DC actual current values id and iq, and uses the two-phase DC actual voltage value vd to generate the inverter unit. 5 is calculated. Next, the voltage detection correction unit 8 calculates an error Δ of the inverter DC input voltage value VB detected by the voltage sensor 14 using the estimated output voltage peak value V1Ｖ, and uses the obtained error Δ to calculate the inverter DC input voltage. A voltage correction value VBh obtained by correcting the voltage value VB is obtained and output to the high-efficiency current table unit 2. The operation of the voltage detection and correction unit 8 will be described later in detail.

The speed detector 9 is provided with a pulse generator (P
G), and rotates with the rotor of the synchronous motor 1 to generate a pulse signal P and output it to the magnetic pole position detection unit 10 and the motor rotation speed detection unit 12.

The magnetic pole position detector 10 determines a magnetic pole position detection value θa indicating the rotor position (phase) of the synchronous motor 1 based on the pulse signal P from the speed detector 9 and
It outputs to the 1-phase and 3-phase to 2-phase conversion unit 7.

The correction unit 11 has a difference in the operation processing time between the three-phase to two-phase conversion process in the three-phase to two-phase conversion unit 7 and the two-phase to three-phase conversion process in the two-phase to three-phase conversion unit 4. , So that the position of the magnetic pole of the synchronous motor 1 advances during that time. The correction unit 11 corrects the magnetic pole position detection value θa for the calculation processing time, and outputs the corrected magnetic pole position correction value θb to the two-phase to three-phase conversion unit 4.

The motor speed detector 12 is provided with a speed detector 9.
Of the synchronous motor 1 based on the pulse signal P from the
Is detected and output to the pole pair multiplication unit 13.

The pole-pair number multiplication unit 13 calculates the motor electrical angular frequency ω by multiplying the input rotation speed N by a pole-log number,
Output to the high efficiency current table section 2 and the current control section 3.

[Configuration of Current Control Unit 3] FIG. 4 shows an example of the configuration of the current control unit 3. The current control unit 3 includes an adder 21 that receives a d-axis current command id * and a two-phase DC actual current value id.
, A multiplier 23 for inputting a motor electrical angular frequency ω, a multiplier 24 for inputting a two-phase actual DC current value iq, and an adder 25 for inputting a q-axis current command iq *. Further, the current control unit 3 includes a PI controller 26 to which the calculation result from the adder 21 is input, a multiplier 22, an adder 27 to which the calculation result from the PI controller 26 is input, and a calculation from the multiplier 23. A multiplier 28 to which the result is input is provided.
Output to the phase converter 4.

Further, the current control unit 3 includes a multiplier 29 for multiplying the two-phase DC actual current value id by the motor electrical angular frequency ω,
Multiplier 30 to which the result of multiplication by multiplier 29 is input, multiplier 31 for multiplying motor electric angular frequency ω by linkage flux φ of synchronous motor 1, and non-interference PI to the operation result from adder 25
The calculation results from the PI controller 32, the multiplier 30, the multiplier 31, the multiplier 24, and the PI controller 32 that perform the calculation by the control are added, and the q-axis voltage command value vq * is converted into a two-phase to three-phase converter 4. Is further provided.

Further, the current control unit 3 compares the calculation result from the adder 27 and the voltage output peak value V1 * obtained by the calculation using the calculation result from the adder 33 with the voltage detection correction unit 8.
Is further provided.

The current control unit 3 is configured as shown in FIG. 4 and performs calculations represented by the following equations 6 and 7. vd * = PI (id * −id) + R1 · id−ω · Lq · iq (Equation 6) vq * = PI (iq * −iq) + R1 · iq + ω · (Ld · id + φ) (Equation 7) R1: Motor winding Line resistance Ld: d-axis inductance Lq: q-axis inductance φ: linkage flux of the synchronous motor 1 by a permanent magnet PI (): calculation by a PI controller Here, the PI controllers 26 and PI in the current control unit 3
The controller 32 has described an example in which the calculation is performed by the non-interference PI control, but the PI control without the non-interference term may be performed.

The current control unit 3 includes a peak value calculating unit 3
4, the calculation represented by the following Expression 8 is performed. V1 * = [(vd *) ² + (vq *) ² ] ^1/2 (Equation 8) [Configuration of Voltage Detection Correction Unit 8] FIG.
Is shown. The voltage detection corrector 8 includes an inverter output voltage estimator 41 that inputs the two-phase actual DC current values id and iq and the motor electrical angular frequency ω, and an inverter output voltage estimator 41 that receives the voltage output peak value V1 *. , An inverter DC input voltage holding unit 43 that holds the inverter DC input voltage value VB or the previous voltage correction value VBh as an initial value, and an error calculation unit. A multiplier 44 for multiplying the error Δ obtained at 42 by the inverter DC input voltage value VB, and terminals a, b, c
Is input to the inverter DC input voltage value VB and the value held in the inverter DC input voltage holding section 43, and the switching is controlled. A switch unit 45 for outputting the correction value VBh or the inverter DC input voltage value VB.

With this configuration, the voltage detection and correction unit 8 performs the operations represented by the following Expressions 9, 10 and 11 in the inverter output voltage estimation unit 41, and obtains the following Expression 12.
Is performed by the error calculating section 42, and the equation 13
Is performed by the multiplier 44.

That is, the inverter output voltage estimating section 41
According to the electric circuit model of the synchronous motor 1 and the inverter unit 5 at the time of the steady control of the current supplied to the synchronous motor 1, vd = R1 · id−ω · Lq · iq + Vced (Equation 9) vq = R1 · iq + ω · (Ld (Id + φ) + Vceq (Equation 10) The two-phase actual DC voltage values vd and vq are calculated by using the expression (10), and the estimated output voltage peak value V1 ＾ is calculated as V1 using the two-phase actual DC voltage values vd and vq. ＾ = [(vd) ² + (vq) ² ] ^1/2 (Equation 11). Where Vced is d
ON of the switching element of the inverter unit 5 deployed on the axis
Vceq is a voltage drop value generated when the switching element of the inverter unit 5 deployed on the q axis is turned on.

The inverter output voltage estimating section 41 calculates
Then, the two-phase actual DC voltage values vd and vq are obtained from the sum of the power consumed by the synchronous motor 1 and the power consumed by the inverter unit 5 for the d-axis and the q-axis in Expression 11, and 2
The peak value of the DC voltage supplied from the battery 6 to the inverter unit 5 is calculated based on the phase DC actual voltage values vd and vq.

The d-axis voltage command value vd * and q-axis voltage command value vq * obtained by the above equations 7 and 8 are the two-phase DC actual voltage values vd and vq obtained by the equations 10 and 11, and the torque, respectively. Command Tref
And a voltage for compensating for an error in the inverter DC input voltage value VB.

Therefore, the current supplied to the synchronous motor 1 is in a steady state, that is, the difference between the d-axis current command id * and the two-phase DC actual current value id is "0" and the q-axis current command iq *
And the two-phase DC actual current value iq is “0”, the error Δ of the voltage value detected by the voltage sensor 14 is represented by Δ = V1 ＾ / V1 * (Equation 12), and the error is calculated. The voltage correction value VBh is obtained by calculation by the unit 42 and is expressed by VBh = Δ · VB (Expression 13), and is obtained by calculation by the multiplier 44.

The voltage detection and correction section 8 includes a controller (not shown), and controls switching of the switch section 45 in accordance with the voltage output peak value V1 * and the estimated output voltage peak value V1 #. The controller calculates the voltage output peak value V1
When * is not “0” and the estimated output voltage peak value V1 で な い is not “0”, and it is determined that the current control to be supplied to the synchronous motor 1 is in the steady state, the terminals a and d are disconnected. The connection is controlled, and the operation result (voltage correction value VBh) from the multiplier 44 is output to the high-efficiency current table unit 2.

When the voltage output peak value V1 * from the current control unit 3 or the estimated output voltage peak value V1 # obtained by the inverter output voltage estimating unit 41 is "0" (V1 * = 0 or V1 ＾ = 0), that is, when the synchronous motor 1 is almost stopped, control is performed to connect the terminals b and d, and the high-efficiency current table unit 2 outputs the inverter DC input voltage value VB as it is. In other words, the controller causes a noticeable effect due to the error in the detection value of the voltage sensor 14 because the AC voltage required for the synchronous motor 1 approaches the maximum voltage that can be output by the inverter 5 determined by the voltage of the battery 6. If it is in the field region and not in the weak field region, control is performed to directly output the inverter DC input voltage value VB.

Further, the controller determines the voltage output peak value V
When 1 * is not “0” and the estimated output voltage peak value V1 ＾ is not “0”, and it is determined that the current control to be supplied to the synchronous motor 1 is in the transient state, the terminals c and d And the voltage correction value VBh held in the inverter DC input voltage holding unit 43 is output to the high-efficiency current table unit 2.

[Processing Procedure of Voltage Detection and Correction Unit 8] FIG.
A processing procedure of the voltage detection and correction unit 8 when performing the above-described processing will be described. In FIG. 6, n (n = 1, 2, 3,...)
Indicates the number of control samplings, and the following processing is repeated at predetermined time intervals.

According to FIG. 6, first, the torque command Tref is input to the high-efficiency current table section 2 and each section is operated. In step S1, the inverter DC input voltage value VB (n) and the inverter DC input voltage value VB (n) are output from the voltage sensor 14 in step S1. Voltage output peak value V1 * (n) is input from current control unit 3, and the process proceeds to step S2.

In step S2, based on the input inverter DC input voltage value VB (n), the voltage sensor 14
It is determined whether or not is in an abnormal state. When the voltage detection and correction unit 8 determines that the state is abnormal, the process proceeds to step S3, and when it is determined that the state is not abnormal, the process proceeds to step S4.

In step S3, in response to the abnormal inverter DC input voltage value VB (n), the inverter DC input voltage value VB (n) is set to the minimum guaranteed voltage value in the synchronous motor 1, The process proceeds to step S4.

In step S4, the control sampling frequency is "1", that is, the previous voltage correction value VBh (n-1)
Is held in the inverter DC input voltage holding unit 43. When it is determined that the previous voltage correction value VBh (n−1) is held, the voltage detection correction unit 8 proceeds to step S5, and proceeds to step S5.
When it is determined that Bh (n-1) is not held, that is, when the initial value is stored in the inverter DC input voltage holding unit 43, the process proceeds to step S6.

In step S5, the previous voltage correction value VB
Assuming that h (n-1) is used in the current control, the process proceeds to step S6.

The voltage detection and correction section 8 sets the initial value of the voltage correction value VBh by performing the processing of steps S4 and S5.

In step S6, the two-phase actual DC current value i
d, iq, and the motor electrical angular frequency ω,
１０10, and the estimated output voltage peak value V1 ＾ (n) is calculated by the inverter output voltage estimating unit 41, and the process proceeds to step S7.

In the next step S7, the voltage output peak value V1 * (n) input in step S1 or step S6
It is determined whether or not the estimated output voltage peak value V1 ＾ (n) calculated in step is “0”. Voltage output peak value V1 * (n)
Alternatively, when it is determined that the estimated output voltage peak value V1 ＾ (n) is not “0”, the process proceeds to step S8, and the voltage output peak value V1 * (n) or the estimated output voltage peak value V1 ＾.
When it is determined that (n) is "0", step S9 is executed.
Processing proceeds.

In step S9, the voltage correction value VBh (n) output to the high-efficiency current table section 2 is changed to the inverter DC input voltage value VB (n), that is, the terminals b and d of the switch section 45 are connected. The inverter DC input voltage value VB (n) is directly output to the high-efficiency current table section 2, and the process returns to step S1.

In step S8, the d-axis current command id * (n) and the two-phase DC actual current value i are determined in response to the determination in step S7 that the synchronous motor 1 is almost stopped.
The difference from d (n) is “0” and the q-axis current command iq *
It is determined whether or not the difference between (n) and the two-phase actual DC current iq (n) is “0”. When both of the differences are “0”, the voltage detection correction unit 8 determines that the control state of the synchronous motor 1 is in the steady state, and proceeds to step S10.
When it is determined that both of the differences are not “0”, it is determined that the control state of the synchronous motor 1 is in the transient state, and the process proceeds to step S11.

In step S10, the estimated output voltage peak value V1 ＾ (n) calculated in step S6 and step S1
The error calculating unit 42 performs a process of obtaining the error Δ (n) using the voltage output peak value V1 * (n) input in
Next, the multiplier 44 multiplies the inverter DC input voltage value VB (n) input in step S1 by the error Δ (n) to obtain a voltage correction value VBh (n).
And outputs the corrected voltage correction value VBh (n) to the high-efficiency current table section 2 and returns to step S1.

In step S11, the terminal c and the terminal d are connected to output the previous voltage correction value VBh (n-1) held in the inverter DC input voltage holding unit 43 to the high efficiency current table unit 2. Then, the process returns to step S1.

[Other Processing Procedures of Voltage Detection and Correction Unit 8] Further, the voltage detection and correction unit 8 confirms that the field weakening region also depends on the rotation speed N of the synchronous motor 1 and the motor electrical angular frequency ω. By utilizing the values of the rotation speed N and the motor electrical angular frequency ω, it is determined whether or not it is in the field weakening region, and the inverter DC input voltage value VB is output to the high-efficiency current table section 2 as it is. Or make a correction to make the voltage correction value V
It may be controlled whether Bh is output to the high-efficiency current table unit 2.

Here, the field weakening control means that the synchronous motor 1
In order to prevent the voltage supplied to the synchronous motor 1 from increasing in accordance with the increase in the rotation speed N of the motor, and exceeding a value corresponding to the inverter DC input voltage value VB of the battery 6 which is the power supply voltage, the magnetic flux is reduced. This is to generate an exciting magnetic flux in the canceling direction to extend the operable region of the synchronous motor 1 to a weak field region on the higher rotation side than the normal field region.

FIG. 7 shows a processing procedure of the voltage detection and correction section 8. In FIG. 7, the same processes as those in FIG. 6 described above are denoted by the same step numbers, and detailed description thereof is omitted.

In FIG. 7, the next step S6 after step S6
21 in that it is determined at 21 whether or not the region is a weak field region. In step S21, the voltage detection correction unit 8 receives the motor electrical angular frequency ω from the differentiator 13 or the rotation speed N from the motor rotation speed detection unit 12, and uses the motor electrical angular frequency ω or rotation speed N to reduce the field weakening field. When it is determined that is not the case, the process proceeds to step S8, and when it is determined that the region is not in the field-weakening region based on the motor electrical angular frequency ω or the rotation speed N, the process proceeds to step S9 to perform the subsequent processes.

[Effects of Embodiment] As described above in detail, according to the motor driving device of the present embodiment, the voltage detection correction unit 8 controls the inverter DC input voltage VB
Is corrected, the DC voltage supplied from the battery 6 to the inverter unit 5 can be detected with high accuracy.
This eliminates the need for the motor drive device to create a high-efficiency current table that takes into account the detection error of the voltage sensor 14 and store it in the high-efficiency current table section 2.
, The voltage can be supplied to the synchronous motor 1 effectively up to the AC output possible voltage of the inverter 5 determined by the DC voltage supplied to the inverter 5. Therefore,
According to this motor drive device, the value of the current supplied to the synchronous motor 1 can be set small, and the power use efficiency can be improved.

Further, according to this motor driving device, it is not necessary to use a high-precision voltage sensor having a small error, and the device cost can be reduced.

Further, according to this motor driving device,
When an abnormality occurs in the voltage sensor 14, the initial values of the inverter DC input voltage value VB and the voltage correction value VBh are minimized, but the DC power input to the inverter unit 5 can be estimated by the voltage detection correction unit 8. Thus, the power use efficiency can be improved.

Further, according to this motor driving device,
In response to the remarkable influence of the error of the inverter DC input voltage value VB in the field-weakening region, the correction by the voltage detection correction unit 8 is performed only when it is determined that the field is the field-weakening region. Processing for correcting the input voltage value VB can be executed, and processing efficiency can be improved.

The above embodiment is an example of the present invention. For this reason, the present invention is not limited to the above-described embodiment, and other than the present embodiment, various modifications may be made according to the design and the like within a range not departing from the technical idea according to the present invention. Can be changed.

In the above-described embodiment, an example in which the synchronous motor 1 is controlled by the inverter unit 5 has been described. However, a motor driving device using the voltage sensor 14 is not limited to a synchronous motor, but may be an induction motor or a DC motor. It is needless to say that the present invention can be applied to motors of other types.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of a motor drive device to which the present invention is applied.

FIG. 2 is a diagram illustrating a relationship among a d-axis current command id *, a q-axis current command iq *, a torque command Tref, a motor electrical angular frequency ω, and an inverter DC input voltage value VB when a maximum torque is generated.

FIG. 3 shows d-axis current command id *, q-axis current command iq * and torque command Tref at zero torque, motor electrical angular frequency ω,
FIG. 5 is a diagram showing a relationship between inverter DC input voltage values VB.

FIG. 4 is a block diagram illustrating a configuration of a current control unit.

FIG. 5 is a block diagram illustrating a configuration of a voltage detection and correction unit.

FIG. 6 shows an inverter DC input voltage value V in a voltage detection and correction unit.
FIG. 9 is a block diagram showing a processing procedure when correcting B to obtain a voltage correction value VBh.

FIG. 7 shows an inverter DC input voltage value V in a voltage detection and correction unit.
FIG. 13 is a block diagram illustrating another processing procedure when B is corrected to a voltage correction value VBh.

FIG. 8 is a block diagram showing a configuration of a conventional motor driving device.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Synchronous motor 2 High-efficiency current table part 3 Current control part 4 Two-phase three-phase conversion part 5 Inverter part 6 Battery 7 Three-phase two-phase conversion part 8 Voltage detection correction part 9 Speed detection part 10 Magnetic pole position detection part 11 Correction part 12 Motor rotation speed detection unit 13 Pole pair number multiplication unit 14 Voltage sensor 15 Current sensor 21, 25 Adder 27, 33, 22, 23, 24, 28, 29, 30, 3
Reference Signs List 1 adder 26, 32 PI controller 34 peak value calculation unit 41 inverter output voltage estimation unit 42 error calculation unit 43 inverter DC input voltage holding unit 44 multiplier 45 switch unit

Continued on the front page F-term (reference) 5H560 BB04 BB07 BB12 DA07 DB07 DB20 DC12 DC13 EB01 RR10 SS02 XA02 XA04 XA12 XA13 XA17 5H575 DD06 GG02 GG04 HB01 JJ03 JJ04 JJ05 JJ24 KK06 LL07 LL12 LL12 LL12 LL12 LL22 DD01 GG02 GG04 GG05 HA04 HB01 JJ04 JJ08 JJ17 JJ24 JJ25 LL07 LL22 LL24 LL41 LL57

Claims (6)

[Claims] 1. A DC voltage of a motor driving device including a voltage sensor for detecting a DC voltage value supplied to an inverter circuit for driving a motor according to a torque command input from the outside and converting a DC voltage into an AC voltage from a battery. In the detection value correction method, a consumption voltage of the motor is obtained by using a two-phase DC actual current value supplied to the motor and a motor angular frequency according to the number of rotations of the motor, and the consumption voltage of the inverter circuit is determined. Calculating an estimated output voltage value obtained by estimating an output voltage supplied to the motor from the inverter circuit from a sum of the obtained voltage consumption of the motor and the voltage consumption of the inverter circuit; An estimated output voltage value and a voltage command output value indicating the magnitude of the voltage supplied to the motor from the inverter circuit based on the torque command Calculating the error of the DC voltage value detected by the voltage sensor from the ratio, and correcting the DC voltage value detected by the voltage sensor using the error of the DC voltage value detected by the voltage sensor. A method of correcting a DC voltage detection value of a motor driving device. 2. When the motor is in an operating state, a DC voltage value corrected using the error is output. When the motor is in a substantially stopped state, a DC voltage value detected by the voltage sensor is output. 2. The detected DC voltage value of a motor drive device according to claim 1, wherein the DC voltage value held in advance is output when the motor is in an operating state and a current value supplied to the motor is in a transient state. Correction method. And determining whether or not the vehicle is in a field-weakening region based on the motor angular frequency or the number of revolutions of the motor, and using the error only when it is determined that the vehicle is in the field-weakening region. 3. A process for correcting a DC voltage value detected by a voltage sensor.
A method for correcting a DC voltage detection value of a motor drive device according to any one of the preceding claims. 4. A motor drive control device comprising a voltage sensor for driving a motor according to a torque command input from the outside and detecting a DC voltage value supplied from a battery to an inverter circuit for converting a DC voltage to an AC voltage, Using the two-phase DC actual current value supplied to the motor and the motor angular frequency according to the rotation speed of the motor, the consumption voltage of the motor is determined, and the consumption voltage of the inverter circuit is determined. Estimated output voltage calculating means for calculating an estimated output voltage value obtained by estimating an output voltage supplied from the inverter circuit to the motor from a sum of a voltage consumed by the motor and a voltage consumed by the inverter circuit; The estimated output voltage value calculated by the output voltage calculation means is supplied to the motor from the inverter circuit based on the torque command. Voltage error calculating means for obtaining an error of the DC voltage value detected by the voltage sensor from a ratio of the voltage command output value indicating the magnitude of the voltage, and an error of the DC voltage value calculated by the voltage error calculating means. Correction means for correcting a DC voltage value detected by the voltage sensor, and an AC voltage value for determining an AC voltage supplied to the motor from the inverter circuit using the DC voltage value corrected by the correction means. A motor drive control device comprising: a determination unit. 5. An operating state detecting means for detecting an operating state of the motor, a DC voltage value corrected using the error when the motor is in an operating state, and a DC voltage value corrected using the error when the motor is in an operating state. Switching means for outputting a DC voltage value detected by the voltage sensor, and outputting a DC voltage value held in advance when the motor is in an operating state and a current value supplied to the motor is in a transient state. The motor drive control device according to claim 4, further comprising: 6. A weakening field region is determined by the motor angular frequency or the number of rotations of the motor to determine whether or not the motor is in a field-weakening region. 6. The motor drive control device according to claim 4, wherein a process of correcting the DC voltage value detected by the voltage sensor using the error is performed only when it is determined that the motor drive control is performed.