JP2004056935A - Electric circuit and control method - Google Patents

Electric circuit and control method Download PDF

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JP2004056935A
JP2004056935A JP2002212200A JP2002212200A JP2004056935A JP 2004056935 A JP2004056935 A JP 2004056935A JP 2002212200 A JP2002212200 A JP 2002212200A JP 2002212200 A JP2002212200 A JP 2002212200A JP 2004056935 A JP2004056935 A JP 2004056935A
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current
value
voltage
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secondary battery
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JP3875932B2 (en
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Hiroya Terada
寺田　泰也
Keiichiro Kondo
近藤　圭一郎
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Railway Technical Research Institute
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02E60/10—Energy storage using batteries

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Abstract

<P>PROBLEM TO BE SOLVED: To improve the following property of current control/voltage control to a load of extremely-low impedance. <P>SOLUTION: Impedance generated by nominal values of an inductance L and a resistance R is multiplied by a difference between a charge-voltage command value Em* and a second-battery terminal-voltage detected value Vbdet, and a charge current Ib^ is obtained. Transfer functions of the impedance and a low-pass filter obtained by the nominal values of the inductance L and the resistance R are multiplied by a difference between the charge current Ib^ and a charge-current detected value Ibdet that actually flows to the secondary battery, and the charge-voltage command value Em* is calculated based on the result of the multiplication. <P>COPYRIGHT: (C)2004,JPO

Description

【０００１】
【発明の属する技術分野】
本発明は極低インピーダンスの負荷、特に二次電池に対する充電電流／電圧を制御するための電気回路および制御方法に関するものである。
【０００２】
【従来の技術】
図４は、昇降圧チョッパ回路１を用いて二次電池２を充電する充電回路の構成の一例を示す図である。昇降圧チョッパ回路１は、サイリスタ１１、１２、ダイオード１３、１４、フィルタコンデンサＣｆ、インダクタンスＬ１のコイルおよびインダクタンスＬ２のコイルによって構成される。抵抗Ｒ１はインダクタンスＬ１のコイルの抵抗成分であり、抵抗Ｒ２はインダクタンスＬ２のコイルの抵抗成分である。インダクタンスＬ１およびＬ２のインダクタンスは数ｍＨオーダ、抵抗Ｒ１およびＲ２の抵抗は数ｍΩオーダであり、合成インピーダンスは非常に低い（本明細書において「極低インピーダンス」という。）。また、二次電池２自体も内部インピーダンスを持つ。
４は二次電池２の端子電圧を測定する電圧計、５は二次電池２に流れる電流を測定する電流計である。電圧計４および電流計５の測定結果は、電流制御装置３０に入力される。電流制御装置３０は、二次電池２に対して定電流充電を行うために、昇降圧チョッパ回路１に対して電圧指令値Ｅｍ＊を出力する回路である。６は外部電源である。尚、二次電池２は、例えば鉛蓄電池等で、繰り返し充放電を行えるものである。
【０００３】
図５は、図４に示す充電回路の制御ブロック図である。以下、昇降圧チョッパ回路１のインダクタンスＬ１をインダクタンスＬ、昇降圧チョッパ回路１の抵抗Ｒ２と二次電池２の内部抵抗の合成抵抗を抵抗Ｒとして説明する。図５において、１１は充電電流指令値Ｉｂ＊と、電流計５（ゲイン１８）からの充電電流検出値Ｉｂｄｅｔとの差を求める加算器であり、その出力信号はＰＩ制御器１２に入力される。１３は、ＰＩ制御器１２の出力信号と、電圧計４からの二次電池端子電圧検出値Ｖｂｄｅｔとの加算を求める加算器であり、その出力信号は充電電圧指令値Ｅｍ＊として昇降圧チョッパ装置１（ゲイン１５）に入力される。１６は、充電電圧指令値Ｅｍ＊に昇降圧チョッパ装置１のゲイン１５を乗じた充電電圧Ｅｍと、二次電池端子電圧Ｖｂの差を求める加算器である。そして、加算器１６の出力信号に、インダクタンスＬおよび抵抗Ｒの伝達関数１７を乗じ、充電電流Ｉｂが出力される。充電電流Ｉｂは、電流計５のゲイン１８を乗じて、充電電流検出値Ｉｂｄｅｔとして、加算器１１に入力される。
【０００４】
このように、従来においては、充電電流Ｉｂおよび充電電圧Ｖｂを検出し、それをフィードバックさせて充電電圧指令値Ｅｍ＊を算出して定電流制御を行っていた。
【０００５】
【発明が解決しようとする課題】
しかしながら従来の制御においては次の様な問題があった。即ち、インダクタンスＬや抵抗Ｒは温度や磁気飽和の影響で変化する。また、二次電池２には充電状況に応じた化学的変化による内部インピーダンスの変動も生じる。更に、昇降圧チョッパ回路１と二次電池２は極低インピーダンスであるために、わずかな二次電池電圧の変動や、二次電池電圧の検出誤差によっても、充電電流Ｉｂの変動は大きなものとなり、フィードバック制御の追従性が悪化する要因となっていた。
【０００６】
更に、制御系全体の制御の遅れに占める、昇降圧チョッパ装置１による電圧変換の遅れの割合が大きい。このため、実際の昇降圧チョッパ装置１に係る遅れと、設計上の遅れとの差によって、制御系全体に遅れが生じ、追従性が更に悪化する要因となっていた。
【０００７】
また、例えば、充電電流の供給側の問題等から、二次電池への充電電圧が５００［ｍＶ］程度変動することを想定して充電回路を設計する場合がある。この場合、合成したインピーダンスが５［ｍΩ］の場合においては、電流が１００［Ａ］変動することとなり、充電電流／電圧の追従制御を困難にしている要因の１つであった。
【０００８】
本発明は、極低インピーダンスの負荷に対する電流制御／電圧制御の追従性を改善することである。
【０００９】
【課題を解決するための手段】
以上の課題を解決するために、請求項１記載の発明の電気回路は、極低インピーダンスの負荷（例えば、図１の二次電池２の内部インピーダンス）と、
電圧指令値に応じた電圧を前記負荷に印加する電圧印加装置（例えば、図１の昇降圧チョッパ装置１）と、
前記負荷に印加されている電流及び／又は電圧を検出する検出手段（例えば、図１の電圧計４、電流計５）と、
前記電圧印加装置に出力する電圧指令値を前記検出手段の検出値に基づいてフィードバック制御する制御装置（例えば、図１の電流制御装置３）と、
を備えて構成される電気回路であって、
前記制御装置は、前記検出手段による検出値に基づいて推定外乱値を算出する算出手段（例えば、図１の外乱値推定部２００）を有し、出力する電圧指令値を、この算出手段により算出された推定外乱値に基づいて補正することを特徴としている。
【００１０】
請求項２記載の発明の電気回路は、極低インピーダンスの負荷（例えば、図１の二次電池２の内部インピーダンス）と、
電流指令値に応じた電流を前記負荷に印加する電流印加装置と、
前記負荷に印加されている電流及び／又は電圧を検出する検出手段（例えば、図１の電圧計４、電流計５）と、
前記電流印加装置に出力する電流指令値を前記検出手段の検出値に基づいてフィードバック制御する制御装置（例えば、図１の電流制御装置３）と、
を備えて構成される電気回路であって、
前記制御装置は、前記検出手段による検出値に基づいて推定外乱値を算出する算出手段（例えば、図１の外乱オブザーバ２００）を有し、出力する電流指令値を、この算出手段により算出された推定外乱値に基づいて補正することを特徴としている。
【００１１】
この請求項１または２記載の発明によれば、電圧指令値と、負荷に印加されている電流／電圧の検出値とに基づいて推定外乱値を算出し、この推定外乱値を用いて電流指令値又は電圧指令値を補正する。このため、極低インピーダンスの変動を推定外乱値として予期（推定）してフィードバック制御できるため、電流制御又は電圧制御の追従性を向上させることができる。
【００１２】
なお、請求項１または２に記載の電気回路は、請求項３記載の発明のように、負荷のインピーダンスを１Ω以下、前記負荷に印加される電流を１０Ａ以上として構成してもよい。
【００１３】
また、請求項４記載の発明のように、二次電池を極低インピーダンスの負荷としてもよい。この場合には、二次電池に対する充電電圧又は充電電流の制御特性を向上させることができる。
【００１４】
また、請求項５記載の発明のように、二次電池への充電電流を制御する制御方法として、前記二次電池に印加されている電流及び／又は電圧を検出する検出工程と、前記検出した検出値に基づいて推定外乱値を算出する算出工程と、前記検出した検出値と前記算出した推定外乱値に基づいて前記二次電池に印加する電流値を設定する設定工程と、を含む制御方法を実現することとしてもよい。
【００１５】
【発明の実施の形態】
以下、電圧印加装置および電流印加装置である昇降圧チョッパ回路を用いて、二次電池を充電する充電回路に対して本発明を適用した実施の形態を説明する。なお、図中、図４および５と同一の符号を付した部分は従来の充電回路と同一物を表しており、その詳細な説明を省略する。
【００１６】
図１は本実施の形態の充電回路を示す図である。図１において、電流制御装置３は外乱値推定部２００を備える。外乱値推定部２００は、二次電池端子電圧検出値Ｖｂｄｅｔおよび充電電流検出値Ｉｂｄｅｔに基づき、外乱オブザーバを用いた推定外乱値を算出する算出手段として機能する。そして、電流制御装置３は、算出した推定外乱値を用いたフィードバック制御を行う。
【００１７】
図２は、図１に示す充電回路の制御ブロック図である。図２において、２１は二次電池端子電圧検出値Ｖｂｄｅｔと、充電電圧指令値Ｅｍ＊との差を求める加算器である。そして、加算器２１の出力信号にインダクタンスＬおよび抵抗Ｒのノミナル値を含んだインピーダンスの伝達関数２２を乗じ、出力信号Ｉｂ＾を出力する。
【００１８】
２３は、出力信号Ｉｂ＾と、充電電流検出値Ｉｂｄｅｔの差を求める加算器であり、出力信号ΔＩｂ＾を出力する。出力信号ΔＩｂ＾に、インダクタンスＬおよび抵抗Ｒのノミナル値のインピーダンスに一次遅れフィルタ（１／（Ｔｆｓ＋１））を挿入した伝達関数２４を乗じ、推定外乱値ΔＥｍｆｂを出力する。ここで、一次遅れフィルタは、充電電流指令値Ｉｂ＊に対する応答を改善するために挿入される。そして加算器１８が、推定外乱値ΔＥｍｆｂ、二次電池端子電圧検出値ＶｂｄｅｔおよびＰＩ制御器１２の出力信号を加算し、充電電圧指令値Ｅｍ＊を出力する。
【００１９】
ここで、図５の従来の制御ブロック図において、入力を充電電流指令値Ｉｂ＊および二次電池端子電圧Ｖｂ、出力を充電電流Ｉｂとした場合の充電電流Ｉｂの伝達関数を求めると次のようになる。
【数１】

Figure 2004056935
【００２０】
ここで、
【数２】
Figure 2004056935
とし、式（２）、（３）および（４）を式（１）に代入すると、
【数３】
Figure 2004056935
となる。
【００２１】
一方、本実施の形態の充電回路の制御ブロック図において、同様に充電電流Ｉｂの伝達関数を求めると次のようになる。
【数４】
Figure 2004056935
【００２２】
ここで、式（２）、（３）および（４）を式（６）に代入すると、
【数５】
Figure 2004056935
となる。
【００２３】
外乱値推定部２００による外乱オブザーバの使用有無による充電電流Ｉｂの伝達関数を比較すると、次式のようになる。
【数６】
Figure 2004056935
【００２４】
即ち、式（７）は、下線部で示す項によって、抵抗ＲおよびインダクタンスＬのインピーダンスの値変動が充電電流Ｉｂの値に反映されている。
【００２５】
更に式（７）を展開すると次式となる。
【数７】
Figure 2004056935
【００２６】
ここで、
【数８】
Figure 2004056935
とおき、式（９）および（１０）を式（８）に代入すると、次式となる。
【数９】
Figure 2004056935
【００２７】
更に、式（１１）の右辺の分母および分子にＲＮ／ＬＮをかけると、
【数１０】
Figure 2004056935
ここで、（ＬＮ／ＲＮ）≫ＴｆとなるようにＴｆを設定する。即ち、Ｔｆ／（ＬＮ／ＲＮ）≒０であり、Ｔｆ・ＲＮ／ＬＮ≒０とおくと、
【数１１】
Figure 2004056935
【００２８】
以上より、ＰＩ制御器１２において、ＫＰ＝ＬＮ／Ｔｄ、ＫＩ＝ＲＮ／Ｔｄとすれば、充電電流Ｉｂは式（１３）のように一次遅れ系で表すことができる。即ち、充電電流指令値Ｉｂ＊の入力に対して、充電電流Ｉｂが二次遅れ以上の応答に見られる振動を伴った応答をせず、理想的な応答を行う。
【００２９】
図３は、充電電流指令値Ｉｂ＊のステップ入力に対して、外乱値推定部２００による推定外乱値を用いたフィードバック制御を行う場合（外乱オブザーバを使用した場合）と、行わない場合（使用しない場合）の充電電流検出値Ｉｂｄｅｔの変化を示した図である。図３において、外乱オブザーバを使用しない場合には、充電電流検出値Ｉｂｄｅｔが充電電流指令値Ｉｂ＊に収束（追従）するまでに約０．０９［秒］かかった。これに対し、外乱オブザーバを使用した場合には、充電電流検出値Ｉｂｄｅｔは約０．０７［秒］で充電電流指令値Ｉｂ＊とに収束（追従）し、外乱オブザーバを使用しなかった場合に比べて、約０．０２［秒］早く収束した。
【００３０】
また、外乱オブザーバを使用しなかった場合には、充電電流検出値Ｉｂｄｅｔが一時的に充電電流指令値Ｉｂ＊を超えた後に収束（追従）したのに対し、外乱オブザーバを使用しなかった場合には、充電電流指令値Ｉｂ＊を超えることなく収束（追従）した。
【００３１】
以上のように、外乱オブザーバを用いたフィードバック制御を行うことにより、インピーダンスの変動の大きい極低インピーダンスである負荷であっても、その充電電流の定電流制御における追従性を向上させることができる。
【００３２】
尚、本発明の電気回路および制御方法は、上述の実施の形態例に限定されるものではなく、本発明の要旨を逸脱しない範囲内において種々変更を加え得ることは勿論である。例えば、電流制御装置３が定電流制御を行うこととして説明したが、定電圧制御を行うこととしてもよいし、二次電池ではなく極低インピーダンスである電気二重層コンデンサ等の他の負荷を用いることとしてもよい。
【００３３】
但し、極低インピーダンスの負荷に対する電流又は電圧の制御であるため、負荷のインピーダンスはより低い方が好ましく、また電流や電圧はより高い方が本発明の特徴が顕著に表れる。例えば、負荷のインピーダンスが１［Ω］以下で、負荷に流れる電流が１０［Ａ］以上の電気回路への適用が好適である。
【００３４】
【発明の効果】
本発明によれば、電圧指令値と、負荷に印加されている電流／電圧の検出値とに基づいて推定外乱値を算出し、この推定外乱値を用いて電流指令値又は電圧指令値を補正する。このため、極低インピーダンスの変動を推定外乱値として予期（推定）してフィードバック制御できるため、電流制御又は電圧制御の追従性を向上させることができる。
【図面の簡単な説明】
【図１】本実施の形態における昇降圧チョッパ回路を用いて二次電池を充電する充電回路。
【図２】本実施の形態における図１の充電回路の制御ブロック図。
【図３】充電電流指令値Ｉｂ＊のステップ入力に対する、充電電流検出値Ｉｂｄｅｔおよび充電電流検出値Ｉｂｄｅｔの変化を示した図。
【図４】従来の昇降圧チョッパ回路を用いて二次電池を充電する充電回路。
【図５】図４の充電回路の制御ブロック図。
【符号の説明】
１　　昇降圧チョッパ回路
１１、１２　　サイリスタ
１３、１４　　ダイオード
２　　二次電池
３　　電流制御装置
２００　　外乱値推定部
４　　電圧計
５　　電流計[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to an electric circuit and a control method for controlling a charging current / voltage for an extremely low impedance load, particularly a secondary battery.
[0002]
[Prior art]
FIG. 4 is a diagram illustrating an example of a configuration of a charging circuit that charges the secondary battery 2 using the step-up / step-down chopper circuit 1. The step-up / step-down chopper circuit 1 includes thyristors 11, 12, diodes 13, 14, a filter capacitor Cf, a coil having an inductance L1, and a coil having an inductance L2. The resistance R1 is a resistance component of the coil having the inductance L1, and the resistance R2 is a resistance component of the coil having the inductance L2. The inductances of the inductances L1 and L2 are on the order of several mH, the resistances of the resistors R1 and R2 are on the order of several mΩ, and the combined impedance is very low (referred to as “extremely low impedance” in this specification). Also, the secondary battery 2 itself has an internal impedance.
Reference numeral 4 denotes a voltmeter for measuring a terminal voltage of the secondary battery 2 and reference numeral 5 denotes an ammeter for measuring a current flowing through the secondary battery 2. The measurement results of the voltmeter 4 and the ammeter 5 are input to the current control device 30. The current control device 30 is a circuit that outputs a voltage command value Em * to the step-up / step-down chopper circuit 1 in order to perform constant-current charging of the secondary battery 2. 6 is an external power supply. The secondary battery 2 is, for example, a lead storage battery or the like, which can repeatedly charge and discharge.
[0003]
FIG. 5 is a control block diagram of the charging circuit shown in FIG. Hereinafter, the inductance L1 of the step-up / step-down chopper circuit 1 will be described as an inductance L, and the combined resistance of the resistor R2 of the step-up / step-down chopper circuit 1 and the internal resistance of the secondary battery 2 will be described as a resistor R. In FIG. 5, reference numeral 11 denotes an adder for calculating a difference between the charging current command value Ib * and the charging current detection value Ibdet from the ammeter 5 (gain 18), and an output signal thereof is input to the PI controller 12. . Reference numeral 13 denotes an adder for calculating the addition of the output signal of the PI controller 12 and the secondary battery terminal voltage detection value Vbdet from the voltmeter 4, and the output signal is used as a charging voltage command value Em * as a step-up / step-down chopper device. 1 (gain 15). Reference numeral 16 denotes an adder for calculating a difference between the charging voltage Em obtained by multiplying the charging voltage command value Em * by the gain 15 of the step-up / step-down chopper device 1 and the secondary battery terminal voltage Vb. Then, the output signal of the adder 16 is multiplied by the transfer function 17 of the inductance L and the resistance R to output a charging current Ib. The charging current Ib is multiplied by the gain 18 of the ammeter 5 and input to the adder 11 as a charging current detection value Ibdet.
[0004]
As described above, in the related art, the charging current Ib and the charging voltage Vb are detected, and the detected values are fed back to calculate the charging voltage command value Em * to perform the constant current control.
[0005]
[Problems to be solved by the invention]
However, the conventional control has the following problems. That is, the inductance L and the resistance R change under the influence of temperature and magnetic saturation. In addition, the internal impedance of the secondary battery 2 varies due to a chemical change in accordance with the state of charge. Further, since the step-up / step-down chopper circuit 1 and the secondary battery 2 have extremely low impedance, the variation of the charging current Ib becomes large even by a slight variation of the secondary battery voltage or a detection error of the secondary battery voltage. This has been a factor that deteriorates the followability of the feedback control.
[0006]
Furthermore, the ratio of the delay in voltage conversion by the step-up / step-down chopper device 1 to the delay in control of the entire control system is large. For this reason, the difference between the actual delay of the step-up / step-down chopper device 1 and the design delay causes a delay in the entire control system, which further deteriorates the tracking performance.
[0007]
Further, for example, the charging circuit may be designed on the assumption that the charging voltage to the secondary battery fluctuates by about 500 [mV] due to a problem on the supply side of the charging current. In this case, when the combined impedance is 5 [mΩ], the current fluctuates by 100 [A], which is one of the factors that make it difficult to control the following of the charging current / voltage.
[0008]
An object of the present invention is to improve the followability of current control / voltage control for a load having an extremely low impedance.
[0009]
[Means for Solving the Problems]
In order to solve the above problems, the electric circuit according to the first aspect of the present invention includes an extremely low impedance load (for example, the internal impedance of the secondary battery 2 in FIG. 1),
A voltage application device (for example, a step-up / step-down chopper device 1 in FIG. 1) that applies a voltage according to a voltage command value to the load;
Detecting means (for example, a voltmeter 4 and an ammeter 5 in FIG. 1) for detecting a current and / or a voltage applied to the load;
A control device (for example, a current control device 3 in FIG. 1) that performs feedback control of a voltage command value output to the voltage application device based on a detection value of the detection unit;
An electric circuit comprising:
The control device includes a calculating unit (for example, a disturbance value estimating unit 200 in FIG. 1) that calculates an estimated disturbance value based on a detection value of the detecting unit, and calculates a voltage command value to be output by the calculating unit. The correction is performed based on the estimated disturbance value obtained.
[0010]
The electric circuit according to the second aspect of the present invention includes an extremely low-impedance load (for example, the internal impedance of the secondary battery 2 in FIG. 1),
A current application device that applies a current according to a current command value to the load,
Detecting means (for example, a voltmeter 4 and an ammeter 5 in FIG. 1) for detecting a current and / or a voltage applied to the load;
A control device (for example, the current control device 3 in FIG. 1) that performs feedback control of a current command value output to the current application device based on a detection value of the detection unit;
An electric circuit comprising:
The control device includes a calculating unit (for example, the disturbance observer 200 in FIG. 1) that calculates an estimated disturbance value based on a detection value of the detecting unit, and a current command value to be output is calculated by the calculating unit. The correction is performed based on the estimated disturbance value.
[0011]
According to the first or second aspect of the present invention, the estimated disturbance value is calculated based on the voltage command value and the detected value of the current / voltage applied to the load, and the current disturbance value is calculated using the estimated disturbance value. Correct the value or voltage command value. For this reason, since the fluctuation of the extremely low impedance can be expected (estimated) as the estimated disturbance value and the feedback control can be performed, the followability of the current control or the voltage control can be improved.
[0012]
The electric circuit according to claim 1 or 2 may be configured such that the impedance of the load is 1Ω or less and the current applied to the load is 10A or more, as in the invention of claim 3.
[0013]
Further, as in the invention according to claim 4, the secondary battery may be a load having an extremely low impedance. In this case, the control characteristics of the charging voltage or the charging current for the secondary battery can be improved.
[0014]
As a control method for controlling a charging current to a secondary battery, as in the invention according to claim 5, a detecting step of detecting a current and / or a voltage applied to the secondary battery; A control method including: a calculating step of calculating an estimated disturbance value based on a detected value; and a setting step of setting a current value to be applied to the secondary battery based on the detected detected value and the calculated estimated disturbance value. May be realized.
[0015]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, an embodiment in which the present invention is applied to a charging circuit that charges a secondary battery using a step-up / step-down chopper circuit that is a voltage application device and a current application device will be described. In the drawings, the portions denoted by the same reference numerals as those in FIGS. 4 and 5 represent the same components as those of the conventional charging circuit, and the detailed description thereof will be omitted.
[0016]
FIG. 1 is a diagram showing a charging circuit according to the present embodiment. 1, the current control device 3 includes a disturbance value estimating unit 200. The disturbance value estimating unit 200 functions as a calculating unit that calculates an estimated disturbance value using a disturbance observer based on the secondary battery terminal voltage detection value Vbdet and the charging current detection value Ibdet. Then, the current control device 3 performs feedback control using the calculated estimated disturbance value.
[0017]
FIG. 2 is a control block diagram of the charging circuit shown in FIG. In FIG. 2, reference numeral 21 denotes an adder for calculating the difference between the secondary battery terminal voltage detection value Vbdet and the charging voltage command value Em * . Then, the output signal of the adder 21 is multiplied by an impedance transfer function 22 including the nominal values of the inductance L and the resistance R to output an output signal Ib #.
[0018]
An adder 23 calculates a difference between the output signal Ib # and the charging current detection value Ibdet, and outputs an output signal ΔIb #. The output signal ΔIb} is multiplied by the transfer function 24 obtained by inserting a first-order lag filter (1 / (Tfs + 1)) into the impedance of the nominal value of the inductance L and the resistance R, and outputs an estimated disturbance value ΔEmfb. Here, the first-order lag filter is inserted to improve the response to the charging current command value Ib * . Then, the adder 18 adds the estimated disturbance value ΔEmfb, the secondary battery terminal voltage detection value Vbdet, and the output signal of the PI controller 12, and outputs a charging voltage command value Em * .
[0019]
Here, in the conventional control block diagram of FIG. 5, a transfer function of the charging current Ib when the input is the charging current command value Ib * and the secondary battery terminal voltage Vb and the output is the charging current Ib is obtained as follows. become.
(Equation 1)
Figure 2004056935
[0020]
here,
(Equation 2)
Figure 2004056935
And substituting equations (2), (3) and (4) into equation (1),
[Equation 3]
Figure 2004056935
It becomes.
[0021]
On the other hand, in the control block diagram of the charging circuit of the present embodiment, the transfer function of the charging current Ib is similarly obtained as follows.
(Equation 4)
Figure 2004056935
[0022]
Here, by substituting equations (2), (3) and (4) into equation (6),
(Equation 5)
Figure 2004056935
It becomes.
[0023]
Comparing the transfer function of the charging current Ib depending on whether or not the disturbance observer is used by the disturbance value estimation unit 200, the following expression is obtained.
(Equation 6)
Figure 2004056935
[0024]
That is, in the equation (7), the change in the impedance value of the resistor R and the inductance L is reflected in the value of the charging current Ib by the term shown by the underlined portion.
[0025]
Further expansion of equation (7) gives the following equation.
(Equation 7)
Figure 2004056935
[0026]
here,
(Equation 8)
Figure 2004056935
By substituting equations (9) and (10) into equation (8), the following equation is obtained.
(Equation 9)
Figure 2004056935
[0027]
Further, when R N / L N is applied to the denominator and the numerator of the right side of the equation (11),
(Equation 10)
Figure 2004056935
Here, Tf is set so that (L N / R N ) ≫Tf. That is, Tf / (L N / R N ) ≒ 0, and Tf · R N / L N ≒ 0,
[Equation 11]
Figure 2004056935
[0028]
As described above, in the PI controller 12, assuming that K P = L N / Td and K I = R N / Td, the charging current Ib can be represented by a first-order lag system as in Expression (13). In other words, in response to the input of the charging current command value Ib * , the charging current Ib performs an ideal response without a response accompanied by the oscillation seen in the response of the second order delay or more.
[0029]
FIG. 3 shows a case where feedback control using a disturbance value estimated by the disturbance value estimation unit 200 is performed (when a disturbance observer is used) and a case where the feedback control is not performed (not used) for a step input of the charging current command value Ib *. FIG. 9 is a diagram showing a change in a charging current detection value Ibdet in the (case) case. In FIG. 3, when the disturbance observer is not used, it takes about 0.09 [sec] until the charging current detection value Ibdet converges (follows) the charging current command value Ib * . On the other hand, when the disturbance observer is used, the charging current detection value Ibdet converges (follows) with the charging current command value Ib * at about 0.07 [sec], and when the disturbance observer is not used. In comparison, it converged about 0.02 [sec] earlier.
[0030]
Also, when the disturbance observer was not used, the charging current detection value Ibdet temporarily converged (followed) after exceeding the charging current command value Ib * , whereas when the disturbance observer was not used. Converged (followed) without exceeding the charging current command value Ib * .
[0031]
As described above, by performing the feedback control using the disturbance observer, it is possible to improve the followability in the constant current control of the charging current even for a load having a very low impedance and a very low impedance.
[0032]
It should be noted that the electric circuit and the control method of the present invention are not limited to the above-described embodiment, and it is needless to say that various changes can be made without departing from the gist of the present invention. For example, although the description has been given assuming that the current control device 3 performs the constant current control, the current control device 3 may perform the constant voltage control. It may be good.
[0033]
However, since the current or voltage is controlled with respect to a load having an extremely low impedance, it is preferable that the load impedance is lower, and that the current or voltage is higher, so that the characteristics of the present invention are remarkably exhibited. For example, application to an electric circuit in which the load impedance is 1 [Ω] or less and the current flowing through the load is 10 [A] or more is suitable.
[0034]
【The invention's effect】
According to the present invention, an estimated disturbance value is calculated based on a voltage command value and a detected value of a current / voltage applied to a load, and the current command value or the voltage command value is corrected using the estimated disturbance value. I do. For this reason, since the fluctuation of the extremely low impedance can be expected (estimated) as the estimated disturbance value and the feedback control can be performed, the followability of the current control or the voltage control can be improved.
[Brief description of the drawings]
FIG. 1 is a charging circuit for charging a secondary battery using a step-up / step-down chopper circuit according to an embodiment.
FIG. 2 is a control block diagram of the charging circuit of FIG. 1 in the present embodiment.
FIG. 3 is a diagram showing changes in a charging current detection value Ibdet and a charging current detection value Ibdet with respect to a step input of a charging current command value Ib * .
FIG. 4 is a charging circuit for charging a secondary battery using a conventional buck-boost chopper circuit.
FIG. 5 is a control block diagram of the charging circuit of FIG. 4;
[Explanation of symbols]
REFERENCE SIGNS LIST 1 step-up / step-down chopper circuit 11, 12 thyristor 13, 14 diode 2 secondary battery 3 current controller 200 disturbance value estimator 4 voltmeter 5 ammeter

Claims (5)

極低インピーダンスの負荷と、
電圧指令値に応じた電圧を前記負荷に印加する電圧印加装置と、
前記負荷に印加されている電流及び／又は電圧を検出する検出手段と、
前記電圧印加装置に出力する電圧指令値を前記検出手段の検出値に基づいてフィードバック制御する制御装置と、
を備えて構成される電気回路であって、
前記制御装置は、前記検出手段による検出値に基づいて推定外乱値を算出する算出手段を有し、出力する電圧指令値を、この算出手段により算出された推定外乱値に基づいて補正することを特徴とする電気回路。An extremely low impedance load,
A voltage application device that applies a voltage according to a voltage command value to the load,
Detecting means for detecting a current and / or a voltage applied to the load;
A control device that performs feedback control of a voltage command value output to the voltage application device based on a detection value of the detection unit,
An electric circuit comprising:
The control device includes a calculation unit that calculates an estimated disturbance value based on a detection value of the detection unit, and corrects a voltage command value to be output based on the estimated disturbance value calculated by the calculation unit. Characteristic electric circuit. 極低インピーダンスの負荷と、
電流指令値に応じた電流を前記負荷に印加する電流印加装置と、
前記負荷に印加されている電流及び／又は電圧を検出する検出手段と、
前記電流印加装置に出力する電流指令値を前記検出手段の検出値に基づいてフィードバック制御する制御装置と、
を備えて構成される電気回路であって、
前記制御装置は、前記検出手段による検出値に基づいて推定外乱値を算出する算出手段を有し、出力する電流指令値を、この算出手段により算出された推定外乱値に基づいて補正することを特徴とする電気回路。An extremely low impedance load,
A current application device that applies a current according to a current command value to the load,
Detecting means for detecting a current and / or a voltage applied to the load;
A control device that performs feedback control of a current command value output to the current application device based on a detection value of the detection unit,
An electric circuit comprising:
The control device includes a calculation unit that calculates an estimated disturbance value based on a detection value of the detection unit, and corrects a current command value to be output based on the estimated disturbance value calculated by the calculation unit. Characteristic electric circuit. 前記負荷のインピーダンスは１Ω以下であり、
前記負荷に印加される電流は１０Ａ以上であることを特徴とする請求項１または２に記載の電気回路。The impedance of the load is 1Ω or less;
The electric circuit according to claim 1, wherein a current applied to the load is 10 A or more. 前記負荷は二次電池であることを特徴とする請求項１〜３の何れか一項に記載の電気回路。The electric circuit according to claim 1, wherein the load is a secondary battery. 二次電池への充電電流を制御する制御方法であって、
前記二次電池に印加されている電流及び／又は電圧を検出する検出工程と、
前記検出した検出値に基づいて推定外乱値を算出する算出工程と、
前記検出した検出値と前記算出した推定外乱値に基づいて前記二次電池に印加する電流値を設定する設定工程と、
を含むことを特徴とする制御方法。A control method for controlling a charging current to a secondary battery,
A detecting step of detecting a current and / or a voltage applied to the secondary battery,
A calculating step of calculating an estimated disturbance value based on the detected value,
A setting step of setting a current value to be applied to the secondary battery based on the detected value and the calculated estimated disturbance value,
A control method comprising:
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JP2007003452A (en) * 2005-06-27 2007-01-11 Nissan Motor Co Ltd Offset current calculation device of current sensor
JP2007003451A (en) * 2005-06-27 2007-01-11 Nissan Motor Co Ltd Abnormality detection device of current sensor
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JP2012085510A (en) * 2010-06-25 2012-04-26 Valeo Systemes De Controle Moteur Charging device for power storage means
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Publication number Priority date Publication date Assignee Title
JP2007003452A (en) * 2005-06-27 2007-01-11 Nissan Motor Co Ltd Offset current calculation device of current sensor
JP2007003451A (en) * 2005-06-27 2007-01-11 Nissan Motor Co Ltd Abnormality detection device of current sensor
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JPWO2014010513A1 (en) * 2012-07-10 2016-06-23 日立マクセル株式会社 Non-contact power transmission system and secondary battery pack

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