JP2006174531A - Motor controller - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To solve a matter that regenerative power may be generated under impact of quantization error in speed operation when a motor is entering a substantially no-load state and performing regenerative operation with a torque command 0 from a light load regenerative torque command operating unit, and it increases DC voltage and stringing voltage thus causing overvoltage. <P>SOLUTION: A flux command operating unit for operating a correction flux command ϕs from the output of a light load regenerative torque command operating unit, i.e. a limit torque command τs, and a flux command ϕ<SP>*</SP>is provided additionally, and the correction flux command ϕs is inputted to a torque control means in place of the flux command ϕ<SP>*</SP>. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a technique for controlling electric motor torque without a speed sensor, and in particular, suppresses an increase in DC voltage during light load regenerative operation.

  FIG. 2 is a block diagram showing a conventional example, where 1 is an electric motor, 2 is a current detector, 3 is a PWM inverter, 4 is a torque control means, 5 is a light load regenerative torque calculator, 6 is a speed calculator, Reference numeral 7 denotes filter processing means.

ここで、VdはPWMインバータ３による電圧降下分、R1は電動機１の一次抵抗、R2は電動機１の二次抵抗、L1は電動機１の一次自己インダクタンス、L2は電動機１の二次自己インダクタンス、Mは電動機１の相互インダクタンス、ω１は一次角周波数、ｊは虚数単位である。なお、式（１）のｖ-Vdの代わりに、電動機１の電圧ｖｒに置き換えても電動機速度ωｍが演算できる。 The current detector 2 detects the current i of the electric motor 1. The speed calculator 6 calculates the motor speed ωm from the voltage command v given to the PWM inverter 3 and the current i detected by the current detector 2 using equation (1).

Where Vd is the voltage drop due to the PWM inverter 3, R1 is the primary resistance of the motor 1, R2 is the secondary resistance of the motor 1, L1 is the primary self inductance of the motor 1, L2 is the secondary self inductance of the motor 1, M Is the mutual inductance of the motor 1, ω1 is the primary angular frequency, and j is the imaginary unit. Note that the motor speed ωm can be calculated by replacing the voltage vr of the electric motor 1 instead of v−Vd in the equation (1).

  The filter processing means 7 filters the overhead wire voltage VL and outputs the DC voltage VC and the input power Pi.

The light load regenerative torque command calculator 5 receives the torque command τ *, the motor speed ωm, the DC voltage VC, and the input power Pi, and outputs a limit torque command τs.
The light load regenerative torque command calculator 5 calculates the limit torque command τs from the equations (2) to (4).
ωm · τ2 = K1 · (VC-Vx) [If greater than 0, set to 0] Equation (2)
τs = τ * [in the case of ωm · τ * ≧ ωm · τ2] Equation (3)
τs = τ2 [in the case of ωm · τ * <ωm · τ2] Equation (4)
Here, Vx is a DC voltage upper limit value during light load regeneration, and K1 is a positive gain.
Alternatively, the limit torque command τs is calculated from the equations (5) to (7).
ωm · τ3 = Pi + K2 · (VC-Vx) [If it is greater than or equal to 0, it is assumed to be 0] Equation (5)
τs = τ * [in the case of ωm · τ * ≧ ωm · τ3] Equation (6)
τs = τ3 [when ωm · τ * <ωm · τ3] Equation (7)
Here, K2 is a positive gain.

The torque control means 4 inputs the magnetic flux command φ *, the limiting torque command τs, the motor speed ωm, and the current i, and outputs a voltage command v such that the magnetic flux and torque of the motor 1 become the magnetic flux command φ * and the limiting torque command τs. Output.
The PWM inverter 3 inputs a DC voltage VC and a voltage command v, and supplies electric power corresponding to the voltage command v to the electric motor 1 by power conversion by PWM.

With the above configuration, the following effects can be expected.
When the electric motor 1 is in regenerative operation, the regenerative electric power from the electric motor 1 is returned to the DC power source via the PWM inverter 3. Here, if there is sufficient load on the DC power supply side, the regenerative power from the electric motor 1 can be consumed by the load. However, if the load on the DC power supply side is not light and sufficient, the consumption of regenerative power from the motor 1 is delayed, causing the DC voltage VC and the overhead line voltage VL to rise, resulting in overvoltage. As a result, the element of the PWM inverter 3 is destroyed or the DC power source is adversely affected.
If the load on the DC power supply side is not sufficient by adding the light load regenerative torque command calculator 5 of FIG. 2, the DC voltage VC approaches Vx, the magnitude of the limit torque command τs decreases, and the motor 1 Regenerative power decreases. As a result, the increase in the DC voltage VC and the overhead line voltage VL can be stopped. (For example, see Patent Document 1)

Japanese Patent No. 3509020

The prior art has the following problems.
Due to the quantization error in equation (1), a slight calculation error occurs in the motor speed ωm. In this state, when the DC power supply side is almost unloaded and the limit torque command τs according to the equations (2) to (7) becomes 0, electric power is generated due to the quantization error of the motor speed ωm. Depending on how the quantization error of the motor speed ωm occurs, regenerative power is generated. Then, the DC voltage VC and the overhead wire voltage VL increase and become overvoltage.
The present invention is to solve the above problems.

In order to solve the above problems, the following means are applied.
In claim 1, a magnetic flux command calculator 8 for newly calculating the corrected magnetic flux command φs from the limit torque command τs and the magnetic flux command φ *, which are the outputs of the light load regenerative torque command calculator 5, is newly added. Instead, the correction magnetic flux command φs is input to the torque control means 4.

  In the second aspect, the magnetic flux command calculator 8 reduces the magnitude of the limit torque command τs and decreases the correction magnetic flux command φs.

  By inputting the corrected magnetic flux command φs to the torque control means 4 instead of the magnetic flux command φ *, the magnetic flux of the electric motor 1 can be controlled to φs that changes according to the limit torque command τs. By reducing the magnitude of the limit torque command τs and reducing the correction magnetic flux command φs, it is possible to suppress the generated power when τs = 0 due to the quantization error of the motor speed ωm. An increase in DC voltage VC and overhead wire voltage VL due to regenerative power due to quantization error of motor speed ωm can be suppressed, and overvoltage can be prevented.

  By operating the magnetic flux command, the generated power due to the quantization error of the motor speed ωm can be reduced.

FIG. 1 is a block diagram showing an embodiment of the present invention, and 8 is a magnetic flux command calculator.
The magnetic flux command calculator 8 receives the magnetic flux command φ * and the limit torque command τs, and outputs the corrected magnetic flux command φs. The corrected magnetic flux command φs is input to the torque control means 4 instead of the magnetic flux command φ *.

  With the above configuration, the magnetic flux of the electric motor 1 can be changed by the limit torque command τs.

The calculation of the magnetic flux command calculator 8 is realized by the following method.
From the limit torque command τs, φs0 is calculated by the equation (8) using positive constants F1 and G1.
φs0 ＝ F1 + G1 ・ | τs | Formula (8)
A value obtained by limiting φs0 to the interval from F1 to φ * is set as a corrected magnetic flux command φs. Thereby, the magnitude of the limit torque command τs is reduced and the correction magnetic flux command φs is also reduced.

With the above configuration, the generated power at τs = 0 due to the quantization error of the motor speed ωm can be suppressed, and the DC voltage VC and the overhead voltage VL are increased due to the regenerative power due to the quantization error of the motor speed ωm. Therefore, overvoltage can be prevented.
The reason will be described below.

The electric power dP generated by the calculation error dω of the motor speed ωm when the torque command is 0 is given by the equation (9).
dP = ωm / R 2 · φ ² · dω Equation (9)
According to equation (9), it can be seen that if the magnetic flux φ of the electric motor 1 is lowered, the magnitude of dP due to dω decreases. With the block of FIG. 1, the magnetic flux of the electric motor 1 can be controlled to the correction magnetic flux command φs. When the magnitude of the limit torque command τs is reduced and the correction magnetic flux command φs is lowered, dP of τs = 0 is reduced.

In regenerative operation with almost no load, an increase in the DC voltage VC and the overhead line voltage VL can be suppressed, and overvoltage can be prevented.
In regenerative operation of an electric vehicle, when there are few running electric vehicles, the vehicle is almost unloaded, and the effect of the present invention can be obtained.

FIG. 1 is a block diagram showing an embodiment of the present invention. FIG. 2 is a block diagram showing a conventional example.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Electric motor 2 Current detector 3 PWM inverter 4 Torque control means 5 Light load regenerative torque command calculator 6 Speed calculator 7 Filter processing means 8 Magnetic flux command calculator

i · · Current v · · Voltage command
VL ・ ・ Overhead voltage
VC ・ ・ DC voltage
Pi ・ ・ Input power τ * ・ ・ Torque command τs ・ ・ Limit torque command ωm ・ ・ Motor speed φ * ・ ・ Magnetic flux command φs ・ ・ Corrected magnetic flux command

Claims (2)

A speed calculator that calculates the motor speed by supplying power to the motor via a PWM inverter connected to a DC voltage power supply with a filter circuit, and a light load regenerative torque command calculator that calculates the torque command during light load regenerative operation And a motor control unit for inputting the voltage command to the PWM inverter, the torque control means for inputting the output of the motor speed, the output of the light load regenerative torque command calculator and the magnetic flux command, and outputting the voltage command. In the device
A magnetic flux command calculator that calculates a corrected magnetic flux command from the output value of the light load regenerative torque command calculator and the magnetic flux command is newly added, and the corrected magnetic flux command is input to the torque control means instead of the magnetic flux command. An electric motor control device characterized by that. 2. The electric motor control device according to claim 1, wherein the magnetic flux command calculator reduces the correction magnetic flux command as the magnitude of the output value of the light load regenerative torque command calculator decreases.

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