JP2009112163A - Motor control device, drive device and hybrid drive device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To make a primary-side capacitor miniaturized and lowered in cost, and to prevent a ripple of a primary-side voltage by smoothly controlling a secondary-side voltage of a converter. <P>SOLUTION: Since the primary-side capacitor 22 is made small in capacity and thereby the ripple is apt to be generated in the primary-side voltage Vdc during regeneration, for power running, a first gain having a large value is decided which is suitable for the capacity of a secondary-side capacitor 23 and is available for rapidly and smoothly controlling the secondary-side voltage, and for regeneration, a second gain having a small value is decided which is suitable for the small capacity of the primary-side capacitor and which is capable of avoiding the ripple of the primary-side voltage. Besides, by determining whether the operation mode as the entire motor group is "power running" or "regeneration", the first gain is selected when "power running" is determined, and the second gain is selected when "regeneration" is determined, thereby feedback-controlling a converter 40 using the selected gain so that the output voltage becomes a target voltage. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention boosts the voltage of a primary power source in which a primary side capacitor is connected in parallel to a power storage means, for example, a battery, by a converter, supplies the voltage to an electric motor via an inverter, and provides braking or driving torque to the electric motor from the outside. The present invention relates to an electric motor control device that reversely feeds electric power generated by an electric motor to a primary power source, and more particularly to control of a secondary voltage of the converter. The electric motor control device of the present invention includes, for example, a driving device of an electric vehicle (EV) that drives wheels with an electric motor, a fuel engine and a generator that is rotationally driven by the engine in addition to the electric motor (referred to as an electric motor or a generator motor). And may be used in a hybrid electric vehicle (HEV) drive device that charges a secondary capacitor with a generator output.

JP 2003-309997 A JP 2007-166874 A.

  Patent Document 1 discloses electric motor control using the inverter, the secondary capacitor, the converter, and the primary power source of EV and HEV, and feedback-controls the output voltage of the converter to the target voltage. PI (proportional, integral) control is adopted for feedback control, and the gain (proportional gain and integral gain) of this PI control is adjusted according to the error between the target voltage of the converter and the actual output voltage. Similarly, Patent Document 2 discloses electric motor control using the inverter, the secondary capacitor, the converter, and the primary power source of EV and HEV, and feedback-controls the output voltage of the converter to the target voltage. Patent Document 2 is provided with a voltage sensor and a current sensor that detect the input / output of electric power to / from the primary side power supply, and monitors the change in the electric power during regeneration when the electric power enters the primary side power supply. Is larger than the predetermined amount, the feedback gain of the converter output voltage control is reduced to switch the converter output voltage control operation from the steep operation to the slow operation.

  In the power running mode in which the power of the primary side power source is boosted by the converter and supplied to the electric motor through the inverter, and in the regenerative mode in which the electric power generated by the electric motor is reversely supplied to the primary side power source through the inverter and converter, the primary Since the dynamic characteristics of storage and discharge of the power supply loop between the side power supply / converter / inverter are different, ripple current (current oscillation) or spikes are likely to occur in the power supply loop when the same feedback gain is used. When the ripple current is large, the accuracy of feedback control is lowered and unstable. This may reduce the accuracy of motor control for controlling the output of the inverter so that the motor output torque matches the target torque and may make it unstable. In addition, the battery life is shortened.

  A primary side capacitor connected in parallel to the battery is connected to the primary side of the converter, and a secondary side capacitor is connected to the secondary side. For example, in the case of EV, the motor is driven only by battery power. Therefore, a high-capacity battery is used, so that high-speed charging / discharging is possible, and fluctuations in the primary-side voltage during charging / discharging are small, so a small-capacity primary-side capacitor can be used. The secondary side capacitor suppresses voltage fluctuation due to switching by the switching element of the inverter or the booster circuit in the converter. The capacity is preferably large so that the power supply voltage to the motor (inverter) does not fluctuate and the regenerative power is efficiently stored. In the case of HEV, it is preferable to increase the capacity of the secondary side capacitor so that the power generated by the generator is stored in the secondary side capacitor and supplied to the motor (inverter) and the supply voltage does not fluctuate. The battery of the primary side power supply may have a small capacity, and a small capacity primary side capacitor can be used. Therefore, in both EV and HEV, it is preferable that the primary side capacitor has a small capacity, a small size, and a low cost.

  However, if this is done, the feedback gain suitable for high-speed charging of the large-capacity secondary capacitor by boosting the power of the primary-side power supply, that is, the feedback gain for powering, becomes a relatively large value. The secondary side voltage control of the converter in which the gain is set brings about an optimum control result in the power running mode, but in the regeneration mode in which the primary side power source is charged with the stored power of the secondary side capacitor, the capacity of the primary side capacitor Therefore, a ripple current is generated in the primary power supply line. Patent Document 2 is provided with a voltage sensor and a current sensor that detect the input / output of electric power to / from the primary side power supply, and monitors the change in the electric power during regeneration when the electric power enters the primary side power supply. Is greater than a predetermined amount, the converter output voltage control feedback gain is reduced to switch the converter output voltage control operation from a steep operation to a slow operation. This is a gain adjustment when there is a sudden change in regenerative power. .

  An object of the present invention is to reduce the size and cost of a primary side capacitor and to smoothly control the secondary side voltage of a converter in both power running and regeneration. Specifically, an object is to make the primary side capacitor small and low cost, and to smoothly control the secondary side voltage of the converter and prevent the ripple of the primary side current.

  In order to achieve the above object, in the present invention, the first gain for quickly and smoothly controlling the voltage of the secondary side capacitor, that is, the secondary side voltage is adapted to the secondary side capacitor capacity for powering. For regeneration, a second gain is set to avoid the ripple of the primary side capacitor voltage, that is, the primary side current in conformity with the small capacity of the primary side capacitor. In addition, it is determined whether the power supply between the converter and the primary-side power supply is “power running” that is power supply from the latter to the former, or vice versa. Then, the converter is feedback-controlled using the first gain so that the output voltage becomes the target voltage. If it is determined as “regeneration”, the second gain is selected and the converter is feedback-controlled using the second gain so that the output voltage becomes the target voltage. The electric motor control apparatus according to the first aspect of the present invention that implements this is the following item (1).

(1) Inverter (19m, 19g) that feeds electric motor (10m, 10g):
A secondary capacitor (23) connected to the input side of the inverter;
A primary power source (18, 22) including a power storage means (18) and a primary side capacitor (22) having a smaller capacity than the secondary side capacitor connected in parallel to the power storage means;
Step-up power supply means (41, 42, 45) for boosting the power of the primary side power source (18, 22) and feeding the secondary side capacitor, and the power of the secondary side capacitor for the primary side power source A converter (40) including regenerative power supply means (43) for reversely feeding power to
Motor control means for controlling the output of the inverter based on the output target torque of the motor, the rotational speed and the voltage (Vuc) of the secondary side capacitor so that the output torque of the motor becomes the output target torque (30 m, 20m; 30g, 20g);
Mode determining means for determining whether the power supply between the converter and the primary power source is the power running from the latter to the former or the reversal thereof (37 and 38 in FIG. 2, 21 to 23 in FIG. 4, FIG. 3a to 8a of FIG. 5 and 37 to 39 of FIG. 6, when the mode determination means determines that the power running, the first gain (kpf, kif) having a value corresponding to the capacitance of the secondary capacitor is set to Gain selection means (7, 7a to 7c in FIGS. 3, 4, 5, and 7) for selecting the second gain (kpr, kir) having a value corresponding to the capacity of the primary capacitor when it is determined that regeneration is occurring , Target voltage determining means (31, 32) for deriving the target voltage (Vuc *) of the secondary capacitor corresponding to the output target torque and the rotational speed, and feedback control calculation using the selected gain Based on the above, means for generating a voltage control signal for controlling the boosting and regeneration of the converter to obtain the target voltage (MPU, 60) Converter control means (30v) comprising: and
A driver (20v) for driving the boost power supply means and the regenerative power supply means of the converter in response to the voltage control signal.

  In addition, in order to make an understanding easy, the code | symbol of the corresponding element or the code | symbol of a corresponding matter of the Example which is shown in drawing and mentions later is added to the parenthesis for reference. The same applies to the following.

  According to this, since the primary side capacitor (22) has a small capacity, a small size and low cost primary side capacitor can be used. When the motor is operating in the “powering” mode, the mode determining means determines “powering”, and the gain selecting means has a first gain (kpf, kif) having a value corresponding to the capacity of the secondary side capacitor (23). The target voltage determination means (31, 32) derives the target voltage (Vuc *) of the secondary capacitor corresponding to the output target torque or the output torque and the rotation speed of the electric motor, and the converter control means (30v ) Outputs a voltage control signal for controlling the boosting and regeneration of the converter to obtain the calculated target voltage based on the feedback control calculation using the first gain. As a result, in the “powering” mode, the voltage of the secondary capacitor that feeds power to the electric motor via the inverter, that is, the secondary voltage of the converter is controlled quickly and smoothly. When the motor is operating in the “regeneration” mode, the mode determination means determines “regeneration”, and the gain selection means determines the second gain (kpr, kir) having a value corresponding to the capacity of the primary side capacitor (22). The converter control means (30v) outputs a voltage control signal based on the feedback control calculation using the second gain. Thereby, in the “regeneration” mode, the change in the power regenerated to the primary power supply by the feedback control is relatively gradual, and no spike or large ripple is generated in the primary voltage.

  (2) The electric capacity of the secondary capacitor is larger than that of the primary capacitor, and the second gain is smaller than the first gain; the motor control device according to (1) above.

  That is, since the primary side capacitor has a small capacity and is small in size and low in cost, this easily causes ripples in the primary side current during regeneration, so that it is suitable for the large capacity of the secondary side capacitor for power running. A large first gain is set to quickly and smoothly control the voltage of the secondary capacitor, that is, the secondary voltage. For regeneration, the primary capacitor voltage is adapted to the small capacity of the primary capacitor. That is, the second gain having a small value that avoids the ripple on the primary side current is determined.

  (3) The converter includes a reactor (41) having one end connected to the positive electrode of the primary power supply, and a boosting switching element (42) that turns on and off between the other end of the reactor and the negative electrode of the primary power supply. , A regenerative switching element (43) for turning on and off between the positive electrode of the secondary capacitor and the other end, and each diode (44, 45) connected in parallel to each element; The voltage control signal generated by the means (30v) includes a boosting PWM pulse for turning on and off the boosting switching element and a regenerative PWM pulse for turning on and off the regenerative switching element; Electric motor control device. According to this, the configuration of the inverter is simple, and the ON / OFF of the switching elements for boosting and regeneration is controlled by PWM, so that the power for boosting and regeneration can be controlled relatively finely. I can do it.

  (4) The mode determination means determines “powering” when the direction of the current (iuc) flowing between the power storage means and the converter is from the former to the latter, and “regeneration” when the direction is opposite (FIG. 2). 3); The motor control device according to (1) above. Powering / regeneration can be determined relatively easily.

  (5) The mode determination means determines “powering” when power (Wuc) between the power storage means and the converter is fed from the former to the latter, and “regeneration” when the power is reversed (FIG. 4). The motor control device according to (1) above.

  (6) The mode determination means determines that the power supply (Wuc) between the power storage means and the converter is “middle” when the power supply is within a predetermined small range including 0, and the latter is out of the predetermined small range. Is determined to be “powering” when the latter is the former, and “regeneration” is determined when the latter is the former; when the “intermediate” is selected, the gain selection means has a second gain smaller than the first gain (kpf, kif). The third gain (kpa, kia) larger than (kpr, kir) is selected (FIG. 4); the motor control device according to (2) above. According to this, the binary gain change amount at the time of switching between “power running” and “regeneration” is alleviated, and in the process of switching between “power running” and “regeneration” within the predetermined small range. The gain change becomes smooth and the stability and reliability of the feedback control of the secondary voltage (Vuc) is improved. By calculating the third gain by the interpolation calculation using the first gain and the second gain, the gain change in the process of switching between “power running” and “regeneration” becomes smoother, and the secondary side voltage ( The stability and reliability of Vuc) feedback control is further improved.

  (7) The mode determination means is “power running” when the electric power (Wma, Wga) estimated from the output target torque of the electric motor or the output torque and the rotational speed is power running power, and “ Regenerative ”is determined (FIG. 5); the motor control device according to (1) above.

  (8) The mode determining means determines “power running” when the voltage change (dV) of the primary power supply is decreasing (negative), and “regeneration” when the voltage change (positive) is opposite (FIG. 6). 7); The motor control device according to (1) above.

  (9) The inverter (19m, 19g) includes a first inverter (19m) that supplies power to the first electric motor (10m) and a second inverter (19g) that supplies power to the second electric motor (10g); (30m, 20m; 30g, 20g) includes first motor control means (30m, 20m) for controlling the output of the first inverter and second motor control means (30g, 20g) for controlling the output of the second inverter. The target voltage determining means (31, 32) includes a first target voltage (Vuc * m) corresponding to an output target torque and a rotation speed of the first electric motor (10m), an output target torque of the second electric motor (10g), and The second target voltage (Vuc * g) corresponding to the rotation speed is derived, and the higher target voltage is set as the target voltage (Vuc *) of the secondary side capacitor; any one of (1) to (8) above The motor control apparatus as described in any one. This is compatible with HEV.

  (10) The motor control device according to any one of (1) to (8) above; and the motor that is fed by the inverter of the motor control device, the motor driving a wheel (10m) A drive device comprising; For example, the effect described in the above item (1) can be obtained by mounting on an EV.

(11) The first electric motor (10m) that drives the wheels;
A second electric motor (10 g) driven by a fuel engine;
A first inverter (19 m) for supplying power to the first motor (10 m);
A second inverter (19g) for supplying power to the second motor (10g);
When the inverter feeds electric power to the motor in order to power drive the first or second motor, the inverter discharges DC power, and the first or second motor receives electric power regeneratively output from the inverter and stores it. A secondary side capacitor (23) to which the first and second inverters are connected in common;
A primary power source (18, 22) including a battery (18) as a storage battery and a primary capacitor (22) connected in parallel thereto;
Step-up power supply means (41, 42, 45) for boosting the power of the primary side power source (18, 22) and feeding the secondary side capacitor, and the power of the secondary side capacitor for the primary side power source A converter (40) including regenerative power supply means (43) for reversely feeding to the power source;
A first motor that controls the output of the first inverter so that the output torque of the first motor is set to the output target torque based on the output target torque of the first motor, the rotation speed, and the voltage (Vuc) of the secondary capacitor. Control means (30m, 20m);
A second motor that controls the output of the second inverter so that the output torque of the second motor becomes the output target torque based on the output target torque of the second motor, the rotational speed, and the voltage (Vuc) of the secondary capacitor. Control means (30 g, 20 g);
Mode determining means for determining whether the power supply between the converter and the primary power source is the power running from the latter to the former or the reversal thereof (37 and 38 in FIG. 2, 21 to 23 in FIG. 4, FIG. 3a to 8a of FIG. 5 and 37 to 39 of FIG. 6, when the mode determination means determines that the power running, the first gain (kpf, kif) having a value corresponding to the capacitance of the secondary capacitor is set to When the regeneration is determined, the gain selection means (in FIGS. 3, 4, 5, and 7) selects the second gain (kpr, kir) corresponding to the capacity of the primary side capacitor and having a value smaller than the first gain. 7,7a-7c), the first target voltage (Vuc * m) of the secondary capacitor corresponding to the output target torque and rotation speed of the first motor is derived, and the output target torque and rotation speed of the second motor Deriving the second target voltage (Vuc * g) of the secondary capacitor corresponding to the above, and determining the target voltage to determine the higher of both target voltages as the target voltage (Vuc *) Based on the feedback control calculation using the stage (31, 32) and the selected gain, a voltage control signal for controlling the boosting and regeneration of the converter for generating the target voltage (Vuc *) is generated. Converter control means (30v) including means (MPU, 60); and
A hybrid drive device comprising: a driver (20v) for driving the boost power supply means and the regenerative power supply means of the converter in response to the voltage control signal.

  This can be mounted on, for example, an HEV to obtain the effects described in the above item (1).

  Other objects and features of the present invention will become apparent from the following description of embodiments with reference to the drawings.

  FIG. 1 shows an outline of the first embodiment of the present invention. In this embodiment, the electric motor 10m, which is a motor to be controlled, is a permanent magnet type synchronous motor that is mounted on a vehicle and rotationally drives wheels, and has a permanent magnet built in a rotor. Are U-phase, V-phase and W-phase three-phase coils 11-13. A voltage type inverter 19m supplies electric power of the battery 18 on the vehicle to the electric motor 10m. The rotor of the resolver 17m for detecting the magnetic pole position of the rotor is connected to the rotor of the electric motor 10m. The resolver 17m generates an analog voltage (rotation angle signal) SGθm that represents the rotation angle of the rotor, and supplies it to the motor control device 30m.

  A battery 18 that is a storage battery on the vehicle is connected to a primary-side capacitor 22 when the electrical component on the vehicle is turned on, and constitutes a primary-side power source together with the battery 18. Voltage sensor 21 provides a voltage detection signal Vdc representing the voltage of primary side capacitor 22 (the voltage of on-vehicle battery 18) to motor control devices 30m, g. In this embodiment, a voltage dividing resistor is used for the voltage sensor 21. One end of the reactor 41 of the converter 40 is connected to the positive electrode (+ line) of the primary power supply.

  The converter 40 further includes a step-up semiconductor switch 42 that is a step-up switching element that turns on and off between the other end of the reactor 41 and the negative electrode (−line) of the primary power supply, and the positive electrode of the secondary capacitor 23. There are a regenerative semiconductor switch 43 which is a regenerative switching element for turning on and off between the other ends, and diodes 44 and 45 connected in parallel to the respective semiconductor switches 42 and 43.

  When the step-up semiconductor switch 42 is turned on (conductive), a current flows from the primary power supply (18, 22) to the switch 42 via the reactor 41, whereby the reactor 41 is charged and the switch 42 is turned off (non-conductive). Is switched to the secondary capacitor 23 through the diode 45. That is, a voltage higher than that of the primary power supply is induced to charge the secondary capacitor 23. By repeatedly turning on and off the switch 42, the high-voltage charging of the secondary capacitor 23 continues. That is, the secondary side capacitor 23 is charged with a high voltage. If this ON / OFF is repeated at a constant cycle, the electric power stored in the reactor 41 increases according to the length of the ON period, so the ON time during the fixed cycle (ON duty: ON time ratio with respect to the fixed cycle) , Ie, by PWM control, the speed at which power is supplied from the primary power supplies 18 and 22 to the secondary capacitor 23 via the converter 40 (powering speed for powering) can be adjusted.

  When the regenerative semiconductor switch 43 is turned on (conductive), the power stored in the secondary capacitor 23 is supplied to the primary power sources 18 and 22 through the switch 43 and the reactor 41 (reverse power supply: regeneration). Also in this case, by adjusting the ON time of the switch 43 during a certain period, that is, by PWM control, the speed (regenerative power supply) from the secondary capacitor 23 to the primary power sources 18 and 22 via the converter 40 is achieved. Power supply speed) can be adjusted.

  The voltage-type inverter 19m includes six switching transistors Tr1 to Tr6. The transistors Tr1 to Tr6 are turned on (conducted) by each of a series of six drive signals generated in parallel by the drive circuit 20m, so that the secondary operation is performed. The DC voltage of the side capacitor 23 (the output voltage of the converter 40, that is, the secondary side voltage) is converted into a triple AC voltage having a phase difference of 2π / 3, that is, a three-phase AC voltage. (U phase, V phase, W phase) applied to each of the stator coils 11-13. Thereby, each phase current iUm, iVm, iWm flows in each of the stator coils 11-13 of the electric motor 10m, and the rotor of the electric motor 10m rotates. In order to increase the power supply capability for on / off driving (switching) of the transistors Tr1 to Tr6 by the PWM pulse and suppress the voltage surge, the secondary output line of the converter 40, which is the input line of the inverter 19m, A large-capacity secondary capacitor 23 is connected.

  On the other hand, the primary side capacitor 22 constituting the primary side power source is a small and low-cost capacitor having a small capacity, and the capacity of the primary side capacitor 22 is considerably smaller than the capacity of the secondary side capacitor 23. .

  Current sensors 14m to 16m using Hall ICs are attached to the power supply lines connected to the stator coils 11 to 13 of the electric motor 10m, and detect the phase currents iUm, iVm and iWm, respectively, and detect current detection signals ( Analog voltage) is generated and applied to the motor controller 30m.

  In this embodiment, the motor control device 30m is an electronic control device mainly composed of a microcomputer (hereinafter referred to as a microcomputer) MPU. The microcomputer MPU, a drive circuit 20m, current sensors 14m to 16m, a resolver 17m, and a primary side. It includes an interface (signal processing circuit) (not shown) between the voltage sensor 21, the secondary side voltage sensor 24 and the primary side current sensor 25, and further includes a microcomputer and a main vehicle control system (not shown) on the vehicle. An interface (communication circuit) (not shown) with the controller is also included. The secondary side voltage sensor 24 detects the secondary side voltage Vuc (secondary side capacitor 23) and supplies a voltage signal Vuc representing it to the motor control devices 30m and 30g.

  Based on the rotation angle signal SGθm provided by the resolver 17m, the microcomputer in the motor control device 30m calculates the rotation angle (magnetic pole position) θm and the rotation speed (angular speed) ωm of the rotor of the electric motor 10m.

  To be precise, the rotation angle of the rotor of the electric motor 10m and the magnetic pole position are not the same, but they are in a proportional relationship, and the proportionality coefficient is determined by the number of magnetic poles p of the electric motor 10m. Further, although the rotational speed and the angular speed are not the same, both are in a proportional relationship, and the proportionality coefficient is determined by the number of magnetic poles p of the electric motor 10m. In this document, the rotation angle θm means the magnetic pole position. The rotational speed ωm means an angular speed, but sometimes means a rotational speed.

  The microcomputer of the motor control device 30m is a vector control calculation on a known dq axis model in which the d axis is taken in the direction of the magnetic pole pair in the rotor of the electric motor 10m and the q axis is taken in the direction perpendicular to the d axis. , Feedback control is performed. Therefore, the microcomputer digitally converts and reads the current detection signals iUm, iVm, and iWm of the current sensors 14m to 16m, and uses a three-phase / two-phase conversion, which is a known fixed / rotational coordinate conversion, in a current feedback calculation. The three-phase current values iUm, iVm, iWm on the fixed coordinates are converted into the two-phase current values idm, iqm on the d-axis and the q-axis on the rotation coordinates.

A main controller of the vehicle travel control system (not shown) supplies the motor target torque TM ^* m to the microcomputer of the motor control device 30m. The main controller calculates a vehicle required torque TO ^* m based on the vehicle speed and accelerator opening of the vehicle, generates a motor target torque TM ^* corresponding to the vehicle required torque TO ^* m, and To give. The microcomputer outputs the rotation speed ωrpm of the electric motor 10m to the main controller.

The microcomputer of the motor control device 30m reads the limit torque TM ^* mmax corresponding to the secondary voltage Vuc and the rotational speed ωm from the limit torque table (lookup table) by the torque command limit calculation, and the motor given by the main controller When the target torque TM ^* m is greater than the TM ^* mmax, determines the TM ^* mmax the target torque T ^* m. When TM ^* mmax or less, the motor target torque TM ^* m given by the main controller is set as the target torque T ^* m. The motor target torque T ^* m generated by adding such a restriction is given to the high efficiency torque curve table.

In the limit torque table, each value of the voltage Vuc and the speed ωm within the range of the secondary side voltage Vuc and the rotational speed ωm is used as an address, and the maximum torque that can be generated in the electric motor 10m by the values. This is a memory area written as the limit torque TM ^* mmax, and in this embodiment means one memory area of a RAM (not shown) in the microcomputer. The limit torque TM ^* mmax is larger as the secondary side voltage Vuc is higher, and is smaller as the secondary side voltage Vuc is lower. Further, the lower the rotation speed ωm, the larger the value, and the smaller the higher the rotation speed ωm.

The microcomputer has a nonvolatile memory in which the limit torque table data TM ^* mmax is written, and the microcomputer initializes itself and the motor drive system shown in FIG. 1 when an operating voltage is applied to the microcomputer. Then, the data is read from the nonvolatile memory and written to the RAM. There are a plurality of other similar look-up tables in the microcomputer, which will be described later. These, like the limit torque table, also mean a memory area on the RAM in which the reference data in the nonvolatile memory is written.

The first high-efficiency torque curve table A, which is one look-up table, includes various items for generating each target torque T ^* m at each motor speed associated with the motor speed ωm and the motor target torque T ^* m. A d-axis current value id is written.

The output torque of the electric motor is determined corresponding to each value of the d-axis current id and the q-axis current iq, but id for outputting the same torque for one rotation speed value, that is, at the same motor rotation speed. , Iq are innumerable and are on a constant torque curve. On the constant torque curve, there is a combination of id and iq with the highest power usage efficiency (lowest power consumption), which is the high efficiency torque point. A curve connecting high efficiency torque points on a plurality of torque curves is a high efficiency torque curve and exists for each rotation speed. By energizing the electric motor 10m with the d-axis current id and the q-axis current iq at the position of the given motor target torque T ^* m on the high efficiency torque curve addressed to the rotation speed of the motor as a target current value, The electric motor 10m outputs the target torque T ^* m, and the power use efficiency of the motor energization is high.

  In this embodiment, the high-efficiency torque curve is divided into two systems: a first high-efficiency torque curve A representing the d-axis value and a second high-efficiency torque curve B representing the q-axis value. The high-efficiency torque curve A is a pair of the one applied to the power running region and the one applied to the regeneration region, and both represent the d-axis target current with respect to the motor rotation speed and the target torque.

The first high-efficiency torque curve table A is a memory area in which a d-axis target current for generating the target torque with the minimum power consumption, which is addressed to the target torque T ^* m, is written, and the power running table A1 for power running And a pair of regeneration table A2 for regeneration. Whether to use the table for power running or regeneration is determined according to the determination result by determining whether the table is power running or regeneration based on the rotational speed ωm of the electric motor and the target torque T ^* m to be given.

However, as the rotational speed ωm of the electric motor 10m increases, the counter electromotive force generated in the stator coils 11-13 increases, and the terminal voltage of the coils 11-13 increases. Accordingly, it becomes difficult to supply a target current from the inverter 19m to the coils 11 to 13, and a target torque output cannot be obtained. In this case, on the constant torque curve of the given motor target torque T ^* m, by reducing Δid, Δiq, d-axis current id and q-axis current iq along the curve, the power usage efficiency is reduced. The target torque T ^* m can be output. This is called field weakening control. The d-axis field weakening current Δid is generated by field adjustment allowance calculation, calculates a d-axis current command, and calculates a q-axis current command. The calculation of the d-axis field weakening current Δid will be described later.

That is, in calculating the d-axis current command, the microcomputer calculates the d-axis field weakening field from the d-axis current value id read from the first high efficiency torque curve table A corresponding to the target torque T ^* m determined by the torque command limit. Subtract the current Δid to calculate the d-axis target current id ^* :
id ^* = − id−Δid (1)

  In calculating the q-axis current command, the second high-efficiency torque curve table B is used. The second high-efficiency torque curve table B further includes a second high-efficiency torque curve B representing the q-axis value of the high-efficiency torque curve, and a d-axis field weakening current Δid and a pair of q-axis field weakening current Δiq. The data is corrected to a curve representing the subtracted q-axis target current, and the data of the corrected second high efficiency torque curve B is stored.

The second high-efficiency torque curve table B is a d-axis target current for generating the target torque with the lowest power consumption, which is addressed to the target torque T ^* m and the d-axis field weakening current Δid, that is, the corrected first axis 2 is a memory area in which the target current value of the high efficiency torque curve B is written, and this is also composed of a pair of a power running table B1 for power running and a regeneration table B2 for regeneration. Whether to use powering or regenerative power is determined based on the determination result by determining whether it is powering or regenerating based on the rotational speed ωm of the electric motor and the target torque T ^* m.

In calculating the q-axis current command, the q-axis target current iq ^* addressed to the target torque T ^* m and the d-axis field weakening current Δid is read from the second high-efficiency torque curve table B and used as the q-axis current command. .

The microcomputer of the motor control device 30m calculates the current deviation δid between the d-axis target current id ^* and the d-axis current id and the current deviation δiq between the q-axis target current iq ^* and the q-axis current iq by output calculation. Based on the current deviations δid and δiq, proportional control and integral control (PI calculation of feedback control) are performed. That is, the voltage drop Vzdp representing the voltage command value of the proportional component and the voltage drop Vzdi representing the voltage command value of the integral component are calculated based on the current deviation δid, and the voltage drops Vzdp and Vzdi are added to obtain the voltage drop Vzd.
Vzd = Vzdp + Vzdi (2)
Is calculated. The output calculation 37 reads the rotational speed ω and the q-axis current iq, and the induced voltage ed induced by the q-axis current iq based on the rotational speed ω, the q-axis current iq, and the q-axis inductance Lq.
ed = ωm · Lq · iq (3)
And the induced voltage ed is subtracted from the voltage drop Vzd to obtain a d-axis voltage command value vd ^* as an output voltage ^.
vd ^* = Vzd-ed
= Vzd-ωm · Lq · iq (4)
Is calculated. Further, the output calculation 37 calculates a voltage drop Vzqp representing the voltage command value of the proportional component and a voltage drop Vzqi representing the voltage command value for the integral term based on the current deviation δiq, and adds the voltage drops Vzqp and Vzqi. , Voltage drop Vzq
Vzq = Vzqp + Vzqi
Is calculated. Further, the output calculation 37 is based on the rotational speed ω, the counter electromotive voltage constant MIf, the d-axis current id, and the inductance Ld on the d-axis, and the induced voltage eq induced by the d-axis current id.
eq = ωm (Mif + Ld · id) (5)
And the induced voltage eq is added to the voltage drop Vzq, and the q-axis voltage command value vq ^* as the output voltage is calculated ^.
vq ^* = Vzq + eq
= Vzq + ωm (Mif + Ld · id) (6)
Is calculated.

Next, the target voltages vd ^* and vq ^* on the rotation coordinates are converted into the target voltages VU ^* and VV ^* on the fixed coordinates according to the two-phase / three-phase conversion in the two-phase / three-phase conversion which is the rotation / fixed coordinate conversion ^. , VW ^* and sent to the PWM pulse generator 50. The PWM pulse generator 50 converts the three-phase target voltages VU ^* , VV ^* , and VW ^* into PWM pulses MUm, MVm, and MWm for outputting the respective voltage values, and the drive circuit shown in FIG. Output to 20m. The drive circuit 20m generates six series of drive signals in parallel based on the PWM pulses MUm, MVm, and MWm, and turns on / off each of the transistors Tr1 to Tr6 of the voltage type inverter 19m with the series of drive signals. . Thereby, VU ^* , VV ^* and VW ^* are applied to each of the stator coils 11 to 13 of the electric motor 10m, and the phase currents iUm, iVm and IWm flow.

The microcomputer of the motor control device 30m further calculates a voltage saturation index m that is a parameter for field weakening control. That is, based on the d-axis voltage command value vd ^* and the q-axis voltage command value vq ^* , the voltage saturation determination index mi is used as a value representing the degree of voltage saturation.
mi = √ (vd ^{* 2} + vq ^{* 2} ) / Vuc (7)
Is sent to the subtractor 58. The subtractor 58 determines a threshold value representing the maximum output voltage of the inverter 19m from the voltage saturation determination index mi, as a comparison value Vmax.
Vmax = k · Vuc (8)
The voltage saturation calculation value ΔV by subtracting the constant kv
ΔV = mi−kv (9)
And field adjustment allowance is calculated.

  In the calculation of the field adjustment allowance, when ΔV is integrated and the integrated value ΣΔV takes a positive value, the integrated value ΣΔV is multiplied by a proportional constant to calculate a d-axis field weakening current Δid for performing field weakening control. When the voltage saturation calculation value ΔV or the integrated value ΣΔV takes a value less than or equal to zero, the adjustment value Δid and the integrated value ΣΔV are set to zero. The adjustment value Δid is used in the calculation of the d-axis current command and the q-axis current command. The control function of the motor control device 30m that controls the operation of the electric motor 10m that rotationally drives the wheel has been described above.

  On the other hand, the electric motor 10g that is rotationally driven by the on-vehicle engine is sometimes called a generator or a generator. In this embodiment, the electric motor 10g is an electric motor (power running) that starts and drives the engine when the engine is started. There is a generator (regeneration) that is driven by the engine to generate electricity when the engine is started. The function and operation of the motor control device 30g that controls the power running and regeneration of the electric motor 10g are the same as those of the motor control device 30m, and the configuration and operation of the inverter 19g that supplies power to the electric motor 10g are the same as those of the inverter 19m. It is.

When starting the engine, a positive target torque TM ^* g is given from a main controller (not shown), and the motor control device 30g performs the same control operation as the above-described control operation of the motor control device 30m. When the engine starts and its output torque rises, the main controller switches the target torque TM ^* g to a negative value for power generation (regeneration). As a result, the motor control device 30g controls the inverter 19g so that the output torque of the electric motor 10g becomes a negative target torque (engine target load). This content (output control calculation) is also the same as the above-described output control calculation of the motor control device 30m.

As described above, the secondary side voltage Vuc (the voltage of the secondary side capacitor 23), which is the output voltage of the converter 40, is used for the torque command limit calculation in the motor control devices 30m and 30g, and the field weakening current Δid. , Δiq are also used for calculation. The secondary side voltage Vuc corresponds to the target torque TM ^* m, TM ^* g and the rotational speed below the maximum value of the secondary side voltage achievable with the power capacity of the primary side power supplies 18 and 22, and the target torque. It is preferable that the secondary side voltage Vuc is adjusted to be high when it is large and high when the rotational speed is high. The converter control device 30v executes the adjustment of the secondary side voltage Vuc.

  FIG. 2 shows a functional configuration of the converter control device 30v. In this embodiment, the converter control device 30v is also an electronic control device mainly composed of the microcomputer MPU, which includes the microcomputer MPU, an interface (signal processing circuit) not shown, and a PWM pulse generator 60, and further includes the microcomputer, Also included is an interface (communication circuit) (not shown) with a main controller of a vehicle travel control system (not shown) on the vehicle.

The “first target voltage calculation” 31 shown in FIG. 2 is associated with a combination of each value of the target torque of the electric motor 10m and the rotational speed ωm, and is used to use the inverter 19m with high efficiency and high control accuracy. The first look-up table storing the target voltage is used as a main body and assigned to the combination of the target torque TM ^* m given from the main controller of the vehicle travel control system and the rotational speed ωm given by the motor control device 30m. The target voltage is read from the first look-up table and is set as the first target voltage Vuc * m. The “second target voltage calculation” 32 stores a target voltage for using the inverter 19g with high efficiency and high control accuracy in association with a combination of each value of the target torque and the rotational speed ωg of the electric motor 10g. Based on the second lookup table, the target voltage assigned to the combination of the target torque TM ^* g given from the main controller and the rotational speed ωg calculated and given by the motor control device 30g is obtained from the second lookup table. Read out to obtain the second target voltage Vuc * g. Then, the “comparison” 33 determines a higher value of the first target voltage Vuc * m and the second target voltage Vuc * g as the target voltage Vuc *. Then, a subtraction 34 calculates a deviation “Vuc * −Vuc” of the actual voltage Vuc from the target voltage Vuc *. The actual voltage Vuc is a detection voltage of the secondary voltage sensor 24.

  In the embodiment of the present invention, in a steady operation state, inverters 19m and 19g to which two electric motors 10m and 10g are connected are connected to one converter 40, and electric power is generated (regenerated) by one electric motor 10g. On the other hand, power is consumed (powered) by the other motor 10m. Accordingly, when looking at the motors 10m and 10g from the converter 40, one motor 10m is in a power running operation, the other motor 10g is in a regenerative operation, and whether each of the motors 10m and 10g is a power running operation or a regenerative operation, the converter 40 is on the primary side. The power source (18, 22) does not uniquely correspond to power running (power consumption) or regeneration (power feeding). Therefore, in the embodiment of the present invention, the converter control device 30v determines that the power feeding between the converter 40 and the primary power source (18, 22) is the power feeding from the latter to the former, and vice versa. If there is, it is determined as “regeneration”. That is, converter control device 30v considers electric motors 10m (inverter 19m) and 10g (inverter 19g) as a group, and determines whether the operation mode is “powering” or “regeneration” as a whole group. This is common to all of the first embodiment and other embodiments described later.

  In the first embodiment, the average value iuca of the detected current value of the secondary current sensor 25 and the detected current values for the past several times is calculated by “average” 37, and the average value iuca is calculated by “comparison” 38. Is binarized to a low level L (power running) if it is 0 or more, and to a high level H (regeneration) if it is less than 0. In this case, that the average value iuca is 0 or more means power supply (powering) from the secondary capacitor 23 to the inverter 19m or 19g, and that the average value iuca is less than 0 is 2 from the inverter 19m or 19g. This means power supply (regeneration) to the next capacitor 23. If the result of the “comparison” 38 is L (power running), the selection switch 56 selects the P term first gain kpf for power running, and the selection switch 57 selects the I term first gain for power running. However, when it is H (regeneration), the selection switch 56 selects the P term second gain kpr for regeneration, and the selection switch 57 selects the I term second gain for regeneration.

  The values of the first gains kpf and kif for power running are large values according to the relatively large capacitance of the secondary side capacitor 23, but the second gains for regeneration kpr and kir are: Since the capacity of the primary side capacitor 22 is relatively small and much smaller than the capacity of the secondary side capacitor 23, the value is small.

The deviation “Vuc * −Vuc” is given to the “PI calculation” 50, and when the “PI calculation” 50 is the PI control value L (power running),
kpf · (Vuc * −Vuc) + kif · Σ (Vuc * −Vuc) (10)
And when H (regenerative)
kpr · (Vuc * −Vuc) + kir · Σ (Vuc * −Vuc) (11)
And calculate. When “addition” 35 is L (power running) obtained by adding the voltage ratio Vdc / Vuc * calculated by “division” 36 to this PI control value,
Pvc = kpf · (Vuc * −Vuc) + kif · Σ (Vuc * −Vuc) + Vdc / Vuc * (12)
When H (regenerative)
Pvc = kpr · (Vuc * −Vuc) + kir · Σ (Vuc * −Vuc) + Vdc / Vuc * (13)
Is generated and provided to the PWM pulse generator 60. The PWM pulse generator 60 converts the control signal Pvc into PWM pulses Pvf and Pvr that drive the semiconductor switches 42 and 43 of the converter 40 on and off, and outputs them to the drive circuit 20v. The drive circuit 20v turns on and off the semiconductor switches 42 and 43 based on the signals Pvf and Pvr.

  As a result, the semiconductor switches 42 and 43 of the converter are turned on and off by the PWM pulse so that the voltage (secondary voltage) of the secondary capacitor 23 becomes the target value Vuc *. These power running semiconductor switch 42 and regenerative semiconductor switch 43 are complementarily switched so that the latter is off during the former on-period and the latter is on during the former off-period.

  In addition to the CPU, the microcomputer MPU shown in FIG. 2 includes a RAM, a ROM, and a flash memory for recording data and various programs, and the program stored in the ROM or the flash memory. , The reference data and the lookup table are written in the RAM, and input processing, calculation and output processing shown in FIG. 2 surrounded by a two-dot chain line block are performed based on the program.

FIG. 3 shows an outline of the converter control VMC executed by the microcomputer MPU (CPU thereof) based on the program. When the operating voltage is applied, the microcomputer MPU initializes itself, the PWM pulse generator 60, and the drive circuit 20v, and sets the standby state. Then, it waits for a motor drive start instruction from a main controller of the vehicle travel control system (not shown) or the motor control devices 30m and 30g. When the motor drive start instruction is given, the microcomputer MPU sets the initial value of the converter control in the internal register by the “start process” (step 1), and the input signal or data by the “input read” (step 2). Is read. That is, the first target torque TM ^* m and the second target torque TM ^* g given by the main controller are read, and the rotational speeds ωm and ωg given by the motor control devices 30m and 30g and the sensors 21, 24 and 25 are detected. The battery voltage Vdc, the secondary side voltage Vuc, and the primary side current iuc are read by digital conversion.

  In the following, the word “step” is omitted, and only the step number is written in parentheses.

Next, the microcomputer MPU reads the first target voltage Vuc * m assigned to the read combination of the first target torque TM ^* m and the rotation speed ωm from the first lookup table (3), The second target voltage Vuc * g assigned to the combination of the target torque TM ^* g and the rotational speed ωg is read from the second lookup table (4). These functions are shown as “first target voltage calculation” 31 and “second target voltage calculation” 32 in FIG. Next, the microcomputer MPU determines the higher one of the first target voltage Vuc * m and the second target voltage Vuc * g as the target voltage Vuc * (5). Then, an average value iuca of the primary side current iuc with the detected values of the past several times is calculated (6).

  Next, the microcomputer MPU proceeds to “PI gain selection” 7 and selects the first gain kpf of the P term as the gain of the proportional P term when the average value iuca of the primary side current is 0 or more (powering). The first gain kif of the I term is selected as the gain of the integral I term (8, 9). When the average value iuca of the primary side current is less than 0 (regeneration), the second gain kpr of the P term is selected as the gain of the proportional P term, and the second gain kir of the I term is selected as the gain of the integral I term. Select (8, 10). These functions are indicated by switches 56 and 57 in the PI calculation 50 in FIG. When the average value iuca is 0 or more (powering), the control output Pvc is calculated by the calculation represented by the above expression (12), and when the average value iuca is less than 0 (regeneration), the calculation represented by the above expression (13). Calculate (11) and output to the PWM pulse generator 60 (12). Then, after waiting for the next repetitive processing timing (13), the process proceeds to "input reading" (2) again. Then, the above-described “input reading” (2) and subsequent processes are executed. If there is a stop instruction from the main controller while waiting for the next repetitive processing timing, the microcomputer MPU restrains the semiconductor switches 42 and 43 of the converter 40 to be turned off and stops the control of the converter 40 ( 14, 15).

  The above-described secondary side capacitor 23 has a relatively large capacity so as to sufficiently supply power necessary for the power running operation of the motor and to store large regenerative power. In accordance with this capacity, the feedback gain for regeneration (first gain: P-term gain kpf and I-term gain kif) is largely determined. Thereby, there is no delay in feedback control due to the large capacity of the secondary capacitor 23. If the feedback gain for regeneration is excessively small with respect to the capacity of the secondary capacitor 23, the secondary voltage Vuc overshoots the target voltage Vuc * greatly exceeding the target voltage Vuc * due to a delay in feedback control. Undershoot that is considerably less than * is likely to occur, but the secondary voltage control of this embodiment does not cause such a problem.

  Further, in order to make the on-vehicle equipment compact and reduce the equipment cost, the primary side capacitor 22 is small and low in cost, has a small capacity, and is considerably smaller than the capacity of the secondary side capacitor 23. . If feedback control is performed using the first gain during power running even during regeneration, the error feedback amount (PI calculation value) becomes excessive with respect to the capacity of the primary side capacitor 22, so that the primary side capacitor 22 becomes a converter. The instantaneous regenerative power returned from 40 cannot be quickly absorbed, and ripples or spikes are generated in the primary current. However, according to the secondary voltage control of this embodiment, such a problem does not occur. That is, since the second gain that is the feedback gain at the time of regeneration is a small value corresponding to the capacity of the primary side capacitor 22, the error feedback amount (PI calculation value) is small, and the instantaneous regenerative power returned from the converter 40 is Since it is small, the primary side capacitor 22 is sufficiently absorbed. That is, no current spike or current ripple occurs on the primary side.

  The hardware of the second embodiment is the same as that of the first embodiment described above, but in the second embodiment, the contents of the PI gain selection 7 of the converter control VMC executed by the microcomputer MPU of the converter control device 40. There is a change.

  FIG. 4 shows the contents of “PI gain selection” 7a of the second embodiment. In this embodiment, when the average value iuca of the primary current is calculated in step 6, the microcomputer MPU calculates the secondary power Wuc = iuca × Vuc. Vuc is a secondary side voltage detected by the secondary side voltage sensor 25. Next, the microcomputer MPU has a secondary side power Wuc of 5 kw or more of an upper limit value (power running side boundary) of a small range area centering on a boundary Wuc = 0 defined as an intermediate area between switching between power running and regeneration. As in the first embodiment, the first gain kpf of the P term is selected as the gain of the proportional P term, and the first gain kif of the I term is selected as the gain of the integral I term (22, 9). When the secondary power Wuc is equal to or lower than the lower limit value (regeneration side boundary) of the intermediate region −5 kw, the second gain kpr of the P term is selected as the gain of the proportional P term, as in the first embodiment, The second gain ki of the I term is selected as the gain of the integral I term (23, 10).

If the secondary power Wuc is within the intermediate region (greater than -5 kw and less than 5 kw), the third gain kpa of the P term is selected as the gain of the proportional P term, and the gain of the I term is selected as the gain of the integral I term. Three gain kia is selected (23, 24). Second gain <third gain <second gain. That is,
kpr <kpa <kpf
kir <kia <kif
It is. Other processes in the second embodiment are the same as those in the first embodiment. In the second embodiment,
kpa = (kpr + kpf) / 2
kia = (kir + kif) / 2
The kpa is calculated by linear interpolation using the upper and lower limit values 5 kw and −5 kw, the calculated power wuc and the first gain and the second gain applied to the upper and lower regions of the intermediate region. You can also As a result, the change in the control gain in the switching region between power running and regeneration becomes smoother. Therefore, such a linear interpolation is used when the intermediate region is set to be relatively wide.

  The hardware of the third embodiment is the same as that of the first embodiment described above, but in the third embodiment, the target voltage calculation 3 to PI of the converter control VMC executed by the microcomputer MPU of the converter control device 40 is performed. There is a change in the process up to gain selection 7.

  FIG. 5 shows the contents of “first target voltage calculation” 3a to “PI gain selection” 7b in the third embodiment. In this embodiment, when the first target voltage Vuc * m is calculated, the first estimated power Wma (+ is power running / − is regenerated) assigned to the combination of the target torque and the rotation speed of the electric motor 10 m is looked up. Read from the up table (3a). Similarly, when the second target voltage Vuc * g is calculated, the second estimated power Wga (+ is power running / − is regenerated) assigned to the combination of the target torque and the rotation speed of the electric motor 10g is obtained from the lookup table. Read (3b). Then, the process proceeds to “PI gain selection” 7b via “target voltage determination” 5, where the positive (power running) and negative (regeneration) of the sum Wma + Wga of the first estimated power Wma and the second estimated power Wga are positive. In the case of (powering), the first gain kpf of the P term is selected as the gain of the proportional P term, and the first gain kif of the I term is selected as the gain of the integral I term (8a), as in the first embodiment. 9). If negative (regenerative), the second gain kpf of the P term is selected as the gain of the proportional P term, and the second gain kif of the I term is selected as the gain of the integral I term (8a, 10).

  Other processes in the third embodiment are the same as those in the first embodiment. In the third embodiment, similarly to the second embodiment, a small range area centered on the boundary Wma + Wga = 0 between switching between power running and regeneration is defined as an intermediate area, and linear interpolation calculation is performed in the intermediate area. It is also possible to calculate the third gain and perform feedback control on the secondary side voltage based on the third gain. This also applies to the first embodiment described above.

  The hardware of the fourth embodiment is the same as that of the first embodiment described above, but the microcomputer MPU of the fourth embodiment shows the voltage change of the primary power supplies 18 and 22, that is, the change of the primary voltage. Monitoring is performed to determine that the change in the primary side voltage is negative (voltage decrease) and that the change is positive (voltage increase) and regeneration.

  FIG. 6 shows a functional configuration of the microcomputer MPU of the fourth embodiment. In “average” 37, an average value Vdca between the primary side voltage Vdc detected by the voltage sensor 21 and the detected values of the past several times is calculated, and a change amount dV = Vdcap−Vdca of the primary side voltage Vdc is calculated. Vdcap is an average value calculated last time. When dV is positive, the primary side voltage Vdc is decreasing (powering), and when negative, it is increasing (regenerating). In “Comparison” 38, a low level L (power running) signal is generated when dV is 0 or more, and a high level H (regeneration) power running / regeneration determination signal is generated when dV is less than 0. Other functional configurations are the same as those of the first embodiment shown in FIG.

  FIG. 7 shows processing from “average value calculation of primary voltage” 6 a to “PI gain selection” 7 c next to “target voltage determination” 5 of the fourth embodiment. When the target secondary voltage Vuc * is calculated in “target voltage determination” 5, the microcomputer MPU calculates the average value Vdca of the primary side voltage Vdc as described above (6a), calculates the change amount dV, and this time The average value Vdca is stored as the previous average value Vdcap (31). Next, the process proceeds to “PI gain selection” 7c, and when the amount of change dV is positive (powering) corresponding to positive (powering) and negative (regeneration), as in the first embodiment, the proportional P term The first gain kpf of the P term is selected as the gain, and the first gain kif of the I term is selected as the gain of the integral I term (8b, 9). If it is negative (regenerative), the second gain kpf of the P term is selected as the gain of the proportional P term, and the second gain kif of the I term is selected as the gain of the integral I term (8b, 10).

  Other processes in the fourth embodiment are the same as those in the first embodiment. In the fourth embodiment, similarly to the second embodiment, a small range area centered on the boundary dV = 0 between switching between power running and regeneration is defined as an intermediate area, and the intermediate area is determined by linear interpolation. It is also possible to calculate the third gain and perform feedback control on the secondary side voltage based on the third gain.

  In any of the first to fourth embodiments described above, in the case of an EV vehicle, since the electric motor 10g, the inverter 19g, and the motor control device 30g are not present, the determination of power running or regeneration by the converter control device 30v is omitted. Thus, the motor control device 30m may determine whether the motor 10m is powering or not from the motor control device 30m to the converter control device 30v. That is, the determination result of power running or regeneration at the motor control device 30m may be used by the converter control device 30v.

It is a block diagram which shows the outline of a structure of 1st Example of this invention. It is a block diagram which shows the outline | summary of the function structure of the converter control apparatus 30v shown in FIG. It is a flowchart which shows the outline | summary of converter control of the microcomputer MPU shown in FIG. It is a flowchart which shows the content of the "PI gain selection" 7a of 2nd Example. It is a flowchart which shows the outline | summary of the related process for performing "PI gain selection" 7b of 3rd Example, and this. It is a block diagram which shows the outline | summary of the function structure of the converter control apparatus 30va of 4th Example. It is a flowchart which shows the outline | summary of the related process for performing "PI gain selection" 7c of the microcomputer MPU shown in FIG. 6, and this.

Explanation of symbols

10m, 10g: Electric motors 11-13: Three-phase stator coils 14m-16m: Current sensors 17m, 17g: Resolver 18: Battery on vehicle 21: Primary side voltage sensor 22: Primary side capacitor 23: Secondary side Capacitor 24: Secondary side voltage sensor 25: Primary side current sensor 34: Subtraction 35: Addition 41: Reactor 42: Switching element (for boosting)
43: Switching element (for step-down)
44, 45: Diode 51: P term gain multiplication for power running 52: P term gain multiplication for regeneration 53: Integration 54: I term gain multiplication for power running 55: I term gain multiplication for regeneration 56, 57: Selection 58: Addition ωm, ωg: rotational speed Vdc: primary side voltage (battery voltage)
Vuc: Secondary side voltage (boost voltage)

Claims (11)

Inverter that supplies power to the motor:
A secondary capacitor connected to the input side of the inverter;
A primary power source including a power storage means and a primary side capacitor connected in parallel to the power storage means and having a smaller capacity than the secondary side capacitor;
A converter including boosting power feeding means for boosting the power of the primary side power supply and feeding the secondary side capacitor, and regenerative power feeding means for feeding back the power of the secondary side capacitor to the primary side power supply;
Motor control means for controlling the output of the inverter so that the output torque of the motor becomes the output target torque based on the output target torque of the motor, the rotational speed, and the voltage of the secondary capacitor;
Mode determining means for determining whether the power feeding between the converter and the primary power source is power running from the latter to the former or vice versa, and when the mode judging means determines power running, A gain selection means for selecting a second gain having a value corresponding to the capacity of the primary side capacitor when the first gain having a value corresponding to the capacity of the secondary side capacitor is determined to be regenerative, the output target torque, Target voltage determining means for deriving a target voltage of the secondary capacitor corresponding to the rotation speed, and boosting of the converter to obtain the target voltage based on a feedback control calculation using the selected gain Converter control means comprising: and means for generating a voltage control signal for controlling regeneration; and
A motor control device comprising: a driver that drives the boost power supply means and the regenerative power supply means of the converter in response to the voltage control signal.   The motor control device according to claim 1, wherein the capacity of the secondary side capacitor is larger than the capacity of the primary side capacitor, and the second gain is smaller than the first gain.   The converter includes a reactor having one end connected to a positive electrode of a primary power supply, a switching element for boosting that turns on and off between the other end of the reactor and the negative electrode of the primary power supply, a positive electrode of a secondary capacitor, A switching element for regenerative switching between the other end and each diode connected in parallel to each element; a voltage control signal generated by the converter control means turns on the switching element for boosting; The motor control device according to claim 1, comprising: a boosting PWM pulse that is turned off and a regenerative PWM pulse that turns on and off the regenerative switching element.   2. The motor control according to claim 1, wherein the mode determination means determines “power running” when the direction of the current flowing between the power storage means and the converter is from the former to the latter, and “regeneration” when the direction is opposite; apparatus.   2. The motor control device according to claim 1, wherein the mode determination means determines “powering” when power supply between the power storage means and the converter is from the former to the latter, and “regeneration” when the power is reversed; 2. .   The mode determination means is “intermediate” when the power supply between the power storage means and the converter is within a predetermined small range including 0, and “power running” when the power is not within the predetermined small range and the latter is from the former. If the latter is the former, it is determined that the regeneration is “regenerative”; and the gain selecting means selects a third gain that is smaller than the first gain and larger than the second gain when in the “intermediate”; Item 3. The motor control device according to Item 2.   The mode determination means determines "power running" when the motor output target torque or the power of the motor estimated from the output torque and the rotational speed is power running power, and "regeneration" when the power is regenerative power; The electric motor control apparatus according to 1.   The motor control device according to claim 1, wherein the mode determination means determines “powering” when the voltage change of the primary power supply is decreasing, and “regeneration” when the voltage change is opposite;   The inverter includes a first inverter that feeds power to the first motor and a second inverter that feeds power to the second motor; the motor control means includes first motor control means and second inverter that control the output of the first inverter. A second motor control means for controlling the output; and the target voltage determination means corresponds to the first target voltage corresponding to the output target torque and the rotational speed of the first motor and the output target torque and the rotational speed of the second motor. The motor control device according to any one of claims 1 to 8, wherein a second target voltage is derived, and a higher target voltage is set as a target voltage of the secondary capacitor.   A drive device comprising: the motor control device according to any one of claims 1 to 8; and the motor that is powered by the inverter of the motor control device and that drives a wheel. A first electric motor for driving the wheels;
A second electric motor driven by a fuel engine;
A first inverter for supplying power to the first motor;
A second inverter for supplying power to the second motor;
When the inverter feeds electric power to the motor in order to power drive the first or second motor, the inverter discharges DC power, and the first or second motor receives electric power regeneratively output from the inverter and stores it. A secondary capacitor to which the first and second inverters are connected in common;
A primary power supply including a battery as a storage battery and a primary capacitor connected in parallel to the battery;
A converter including boosting power feeding means for boosting the power of the primary side power supply and feeding the secondary side capacitor, and regenerative power feeding means for feeding back the power of the secondary side capacitor to the primary side power supply;
First motor control means for controlling the output of the first inverter so that the output torque of the first motor becomes the output target torque based on the output target torque of the first motor, the rotational speed, and the voltage of the secondary capacitor;
Second motor control means for controlling the output of the second inverter so that the output torque of the second motor becomes the output target torque based on the output target torque of the second motor, the rotational speed and the voltage of the secondary capacitor;
Mode determining means for determining whether the power feeding between the converter and the primary power source is power running from the latter to the former or vice versa, and when the mode judging means determines power running, A gain selecting means for selecting a second gain having a value smaller than the first gain corresponding to the capacity of the primary side capacitor when the first gain having a value corresponding to the capacity of the secondary side capacitor is determined to be regenerative. The first target voltage of the secondary side capacitor corresponding to the output target torque and the rotational speed of the first motor is derived, and the second side of the secondary capacitor corresponding to the output target torque and the rotational speed of the second motor is derived. Two target voltages are derived, based on target voltage determining means for determining the higher of both target voltages as the target voltage, and feedback control calculation using the selected gain, Because of, converter control means including means, for generating a voltage control signal for controlling the boosting and regenerative of said converter; and,
A hybrid drive apparatus comprising: a driver that drives the boost power supply means and the regenerative power supply means of the converter in response to the voltage control signal.

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