JP2006094588A - 駆動モータ制御装置 - Google Patents
駆動モータ制御装置 Download PDFInfo
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Abstract
【解決手段】 駆動モータ制御装置1は、外部から入力されるトルク指令値Trq*と、車両の走行負荷を反映する負荷反映値(例えば、モータ回転数Nmot)と、に基づいて電流指令値Id*、Iq*を演算する電流指令値演算部20と、電流指令値Id*、Iq*と、駆動モータ94を流れる実電流Id、Iqと、の偏差ΔId、ΔIqを、ゼロに収束させるために、モータ電圧に対する電圧指令値Vd、Vqを演算する電圧指令値演算部21と、走行負荷が急変し、電圧指令振幅|Vm|がガード電圧Vmin*〜Vmax*を逸脱した場合には、Vmin*、Vmax*で電圧をガードする電圧ガード部23と、を備える。
【選択図】 図2
Description
まず、本実施形態のモータECUの配置について説明する。図1に、本実施形態のモータECUが配置された車両のトルク制御システムのブロック図を示す。図に示すように、トルク制御システム9は、アクセル90とHV−ECU91とモータECU1とインバータ92、93と駆動モータ94と発電電動機95と昇圧コンバータ96とバッテリ97とを備えている。
このため、復帰前後で電圧指令値Vd、Vqの急変を無くすことができる。
本実施形態と第一実施形態との相違点は、モータECUにq軸電流指令補正部が配置されていない点である。したがって、ここでは相違点についてのみ説明する。
本実施形態と第一実施形態との相違点は、電圧指令下限値Vmin〜電圧指令上限値Vmax間から電圧指令振幅|Vm|が逸脱する場合の電流指令値の補正方法だけである。したがって、ここでは相違点についてのみ説明する。
本実施形態と第一実施形態との相違点は、電圧指令下限値Vmin〜電圧指令上限値Vmax間から電圧指令振幅|Vm|が逸脱する場合の電流指令値の補正方法だけである。したがって、ここでは相違点についてのみ説明する。
本実施形態と第一実施形態との相違点は、モータECUを有するトルク制御システムに昇圧コンバータが配置されていない点である。したがって、ここでは相違点についてのみ説明する。
本実施形態と第一実施形態との相違点は、モータECUを有するトルク制御システムに、発電電動機およびこの発電電動機と電力授受を行うインバータが配置されていない点である。したがって、ここでは相違点についてのみ説明する。
本実施形態と第一実施形態との相違点は、モータECUを有するトルク制御システムに、昇圧コンバータと、発電電動機と、この発電電動機と電力授受を行うインバータと、が配置されていない点である。したがって、ここでは相違点についてのみ説明する。
以上、本発明の駆動モータ制御装置の実施の形態について説明した。しかしながら、実施の形態は上記形態に特に限定されるものではない。当業者が行いうる種々の変形的形態、改良的形態で実施することも可能である。
Id:実電流、Iq:実電流、Id*:電流指令値、Iq*:電流指令値、Iqs*:電流指令補正値、Idm*:電流指令値(復帰目標値)、Iqm*:電流指令値(復帰目標値)、Id_A*:復帰時Id指令初期値、Iq_A*:復帰時Iq指令初期値、ΔId:偏差、ΔIq:偏差、Iu:U相電流、Iv:V相電流、Iw:W相電流、Trq*:トルク指令値、Vmax:電圧指令上限値、Vmin:電圧指令下限値、|Vm|:電圧指令振幅、Vd:電圧指令値、Vq:電圧指令値、Vu:U相電圧、Vv:V相電圧、Vw:W相電圧、θ:回転角、Nmot:回転数、A:定数、B:定数、K:定数、Kp:比例ゲイン、Ki:積分ゲイン、ω:電気角速度、Lq:インダクタンス、Ld:インダクタンス、φ:逆起電圧定数。
Claims (8)
- 車両駆動用の駆動モータに印加するモータ電圧を制御可能であり、
外部から入力されるトルク指令値と、該車両の走行負荷を反映する負荷反映値と、に基づいて電流指令値を演算する電流指令値演算部と、
該電流指令値と、該駆動モータを流れる実電流と、の偏差を、ゼロに収束させるために、該モータ電圧に対する電圧指令値を演算する電圧指令値演算部と、
該駆動モータの運転状態に関連する所定の物理量と、該負荷反映値と、に基づいて、許容電圧範囲を演算する許容電圧演算部と、
を備える駆動モータ制御装置であって、
さらに、前記許容電圧範囲と前記電圧指令値とを比較し、該電圧指令値が該許容電圧範囲から逸脱するのを抑制する電圧ガード部を備え、
該電圧ガード部は、該電圧指令値が該許容電圧範囲を逸脱した場合に、該電圧指令値を許容電圧でガードすることを特徴とする駆動モータ制御装置。 - さらに、前記電流指令値を補正する電流指令値補正部を備え、
前記電圧指令値が前記許容電圧範囲から逸脱する場合、前記電圧ガード部は、該電流指令値補正部に、該電圧指令値が該許容電圧範囲に復帰する方向に該電流指令値を補正する補正指示を伝送する請求項1に記載の駆動モータ制御装置。 - 前記電圧指令値演算部は、前記電流指令値と前記実電流に基づきd軸q軸それぞれ独立に電圧指令を演算するフィードバック制御部と、d軸q軸の諸変数が相互にクロスして影響を及ぼす非干渉項を用いて電圧指令を演算するフィードフォワード制御部と、を持つ請求項2に記載の駆動モータ制御装置。
- 前記電流指令値補正部は、ステップ状に前記電流指令値を補正する請求項2に記載の駆動モータ制御装置。
- 前記電流指令値補正部は、パルス状に前記電流指令値を補正する請求項2に記載の駆動モータ制御装置。
- 前記電圧ガード部は、前記電圧指令値が前記許容電圧範囲に復帰する際、補正後の前記電流指令値を所定の復帰目標値に緩やかに近づける第一なまし処理を行う請求項2に記載の駆動モータ制御装置。
- 前記電圧ガード部は、前記電圧指令値が前記許容電圧範囲から逸脱する際、前記電流指令値の初回値を前記実電流に一致させる一致処理と、
該電圧指令値が該許容電圧範囲に復帰する際、該電流指令値を所定の復帰目標値に緩やかに近づける第二なまし処理と、を行う請求項1に記載の駆動モータ制御装置。 - 前記負荷反映値は、前記駆動モータの回転数である請求項1に記載の駆動モータ制御装置。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004273919A JP4400389B2 (ja) | 2004-09-21 | 2004-09-21 | 駆動モータ制御装置 |
US11/218,489 US7235937B2 (en) | 2004-09-21 | 2005-09-06 | Traction motor control system |
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Application Number | Priority Date | Filing Date | Title |
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JP2004273919A JP4400389B2 (ja) | 2004-09-21 | 2004-09-21 | 駆動モータ制御装置 |
Publications (2)
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JP2006094588A true JP2006094588A (ja) | 2006-04-06 |
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Cited By (3)
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JP2008232110A (ja) * | 2007-03-23 | 2008-10-02 | Toyota Motor Corp | 車両の制御装置 |
US8004223B2 (en) | 2008-02-21 | 2011-08-23 | Yamaha Hatsudoki Kabushiki Kaisha | Wheel driving apparatus and electric vehicle including the same |
WO2014188963A1 (ja) * | 2013-05-21 | 2014-11-27 | Ntn株式会社 | 電気自動車の制御装置 |
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WO2011004488A1 (ja) * | 2009-07-09 | 2011-01-13 | トヨタ自動車株式会社 | 燃料電池システムおよびその制御方法 |
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Cited By (5)
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JP2008232110A (ja) * | 2007-03-23 | 2008-10-02 | Toyota Motor Corp | 車両の制御装置 |
US8004223B2 (en) | 2008-02-21 | 2011-08-23 | Yamaha Hatsudoki Kabushiki Kaisha | Wheel driving apparatus and electric vehicle including the same |
WO2014188963A1 (ja) * | 2013-05-21 | 2014-11-27 | Ntn株式会社 | 電気自動車の制御装置 |
JP2014230351A (ja) * | 2013-05-21 | 2014-12-08 | Ntn株式会社 | 電気自動車の制御装置 |
US9956890B2 (en) | 2013-05-21 | 2018-05-01 | Ntn Corporation | Device for controlling electric automobile |
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US7235937B2 (en) | 2007-06-26 |
JP4400389B2 (ja) | 2010-01-20 |
US20060061310A1 (en) | 2006-03-23 |
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