JP2011193568A - Electric vehicle control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To reduce a delay in estimation of acceleration caused by the vibration of the γ-/δ-axis current of PMSM or the mechanical vibration. <P>SOLUTION: An electric vehicle control device includes: a sensorless vector control part 2A which has a positional error estimation part 31 that estimates a positional error of a rotor from the voltage command of an inverter 3 for driving PMSM4 and a current detected value and a phase estimation part 25A that calculates the positional estimate of the rotor from the positional error estimate and executes vector control based on a torque command and the rotor position estimate; an acceleration estimation part 32 which estimates the acceleration of PMSM4 based on the positional error estimate; and an idling skid control part 7A which estimates the idling state between wheels and rails based on the acceleration estimate generated by this acceleration estimation part 32 and generates an acceleration torque for adjusting the torque command. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to an electric vehicle control apparatus that drives a permanent magnet synchronous motor as a main motor of an electric vehicle at a variable speed by position / speed sensorless vector control.

As an electric vehicle control device that performs position / speed sensorless vector control of a permanent magnet synchronous motor, the prior art described in Patent Document 1 is known.
FIG. 3 is a block diagram of an electric vehicle control device configured based on this prior art.

In FIG. 3, the electric vehicle control device 1 includes a sensorless vector control unit 2 that executes vector control by inputting a torque command value for the permanent magnet synchronous motor 4, and a three-phase voltage generated by the sensorless vector control unit 2. An inverter unit 3 in which the semiconductor switching element is driven on and off by a PWM signal based on the command values v _ua ^* , v _va ^* , and v _wa ^* , and a permanent magnet synchronous motor (hereinafter also referred to as PMSM) whose rotation is controlled by the inverter unit 3 4), a current sensor 5 that detects and supplies the three-phase currents i _ua , i _va , i _wa supplied from the inverter unit 3 to the permanent magnet synchronous motor 4 to the sensorless vector control unit 2, and a differential calculation unit 6 The idling and sliding control unit 7 and the adder 8 are provided.

The sensorless vector control unit 2 calculates the γ and δ axes (the control axis in which the d axis parallel to the magnetic pole axis and the q axis orthogonal to the d axis are estimated in the control device) from the input torque command value. The current command generator 21 for generating i _γa ^* and i _δa ^* , the γ-axis current command value i _γa ^* , the δ-axis current command value i _δa ^*, and the γ-axis current detection value fed back from the current sensor 5 an ACR control unit 22 that performs PI (proportional / integral) control from i _γa and δ-axis current detection value i _δa to generate γ-axis voltage command value v _γa ^* and δ-axis voltage command value v _δa ^* , respectively; These γ-axis voltage command value v _γa ^* and δ-axis voltage command value v _δa ^* are coordinate-transformed according to the rotor position estimated value θ _# to obtain voltage command values v _ua ^* , v _va ^* , v _{wa for} each of the three phases. ^* and supplies to the inverter unit 3 coordinate converter 23 The current sensor 5 by the three-phase current of each phase detected value _{i ua,} i _va, a coordinate transformation unit 24 for coordinate transformation _{i wa} accordance position estimate theta _#, gamma-axis voltage value v _.gamma.a ^*, [delta] -axis voltage The command value v _δa ^* , the γ-axis current detection value i _γa , and the δ-axis current detection value i _δa are input to estimate the rotor position of the permanent magnet synchronous motor 4, and this position estimation value θ _# is converted into the coordinate conversion unit 23, And a phase estimator 25 to be supplied to each of 24.

Further, the differential calculation unit 6 differentiates the position estimation value θ _# output from the phase estimation unit 25 to generate a speed estimation value ω _# .
The idling / sliding control unit 7 determines that idling has occurred in the wheel of the electric vehicle when the rate of change (acceleration estimated value) of the input estimated speed value ω _# exceeds a certain value, and the torque adjustment signal ( (Acceleration torque or deceleration torque) is generated and output.
The adder 8 adjusts the torque command value input to the sensorless vector control unit 2 by adding the torque adjustment signal output from the idling / sliding control unit 7 to the torque command value.
With the configuration described above, it is possible to perform idling control of an electric vehicle without using a position sensor and a speed sensor.

JP 2008-86085 A (paragraphs [0024] to [0027], FIG. 3 etc.)

In the above-described prior art, the γ and δ axis currents may vibrate due to the influence of the current detection error by the current sensor 5 and the short-circuit prevention time (dead time) of the inverter unit 3, and the mechanical system of the motor 4 vibrates. There is also a case. When the γ and δ axis currents and the mechanical system vibrate in this way, the position estimation value θ _# by the phase estimation unit 25 and the speed estimation value ω _# by the differential calculation unit 6 vibrate, and the speed estimation value ω _# The estimated acceleration value obtained by differentiation also vibrates.

When the estimated acceleration value vibrates, there is a possibility that the idling / sliding control unit 7 may erroneously detect idling. In order to prevent this, it is necessary to take measures for vibration reduction such as passing the estimated acceleration value through a filter in the idling / sliding control unit 7, but if such measures for vibration reduction are taken, the acceleration estimation is delayed. There is a problem that a delay occurs in the idling control.
SUMMARY OF THE INVENTION An object of the present invention is to provide an electric vehicle control apparatus that can reduce the delay in acceleration estimation due to the γ and δ axis currents and the vibration of the mechanical system, and hence the idle sliding control delay.

In order to solve the above-mentioned problem, an invention according to claim 1 is an electric vehicle control device that drives a permanent magnet synchronous motor as a main motor of an electric vehicle at a variable speed by position / speed sensorless control.
Position error estimating means for estimating a position error between a rotor position true value and a rotor position estimated value of the motor from a voltage command value of an inverter unit that drives the motor and a current detection value of the motor; and the position Phase estimation means for calculating the rotor position estimated value from an estimated value of error, and sensorless vector control means for executing vector control based on the torque command value of the electric motor and the rotor position estimated value;
Acceleration estimating means for estimating the acceleration of the electric motor based on the estimated value of the position error;
An idle running control means for estimating an idling state between the wheel and the rail based on the acceleration estimated value generated by the acceleration estimating means and generating an acceleration / deceleration torque for adjusting the torque command value. It is a thing.

  According to a second aspect of the present invention, in the electric vehicle control device according to the first aspect, the acceleration estimating means includes a term proportional to the position error estimated value and a differential value of the term proportional to the position error estimated value. Are added to calculate the estimated acceleration value.

  According to a third aspect of the present invention, in the electric vehicle control device according to the first or second aspect, the acceleration estimation unit is a first vibration reduction countermeasure unit that reduces a vibration component of a term proportional to the position error estimated value. And the output of the second vibration reduction countermeasure means for reducing the vibration component of the differential value of the term proportional to the position error estimated value, and the outputs of the first and second vibration reduction countermeasure means to add the acceleration estimated value. Adding means for calculating.

  The invention according to claim 4 is the electric vehicle control device according to any one of claims 1 to 3, further comprising voltage detection means for detecting each phase voltage on the output side of the inverter unit, and the voltage detection means. Is used in place of the voltage command value of the inverter unit.

In the present invention, the acceleration is estimated by adding the term proportional to the position error estimated value between the rotor position true value and the rotor position estimated value of the motor and the differential value of the term proportional to the position error estimated value. is doing. Therefore, even when the position error estimated value vibrates due to vibrations of the γ and δ axis currents and the mechanical system, a filter is applied to the term proportional to the position error estimated value and the differential value of the term proportional to the position error estimated value. Can be used to take different vibration reduction measures, and by adding the results, an appropriate acceleration estimated value can be obtained.
Therefore, compared with the case of taking the vibration reduction countermeasure based on the acceleration estimated value obtained by differentiating the speed estimated value as in the prior art, the delay in the vibration reduction countermeasure section can be reduced, the acceleration estimation delay, and thus It becomes possible to reduce the delay of idling control.

It is a block diagram which shows the structure of 1st Embodiment of this invention. It is a block diagram which shows the structure of the phase estimation part in FIG. 1, and an acceleration estimation part. It is a block diagram which shows the structure of the electric vehicle control apparatus based on a prior art.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a block diagram showing the configuration of the present embodiment. Components having the same functions as those of the conventional components shown in FIG. 3 are denoted by the same reference numerals. Below, it demonstrates centering on a different part from FIG.

First, in the electric vehicle control apparatus 1A shown in FIG. 1, a position error estimation unit 31, a phase estimation unit 25A, and an acceleration estimation unit 32 are used instead of the phase estimation unit 25, the differential calculation unit 6 and the idling sliding control unit 7 in FIG. And an idling control unit 7A. Here, the position error estimation unit 31 includes the γ-axis voltage command value v _γa ^* and the δ-axis voltage command value v _δa ^* from the ACR control unit 22, and the γ-axis current detection values i _γa and δ from the coordinate conversion unit 24. The position error of the PMSM4 rotor (position error between the rotor position true value and the rotor position estimated value) is estimated using the detected shaft current value i _δa, and the phase estimation unit 25A obtains the position error estimated value (Δθ ) to produce a position estimate theta _# and velocity estimates omega _# from _#. The estimated speed value ω _# is input to the position error estimating unit 31. Moreover, the acceleration estimation part 32 is comprised so that an acceleration may be estimated based on position error estimated value ((DELTA) (theta)) _# .
Further, the idling / sliding control unit 7A determines that idling has occurred in the wheel of the electric vehicle when the estimated acceleration value α _# input from the acceleration estimating unit 32 exceeds a certain value, and determines a torque adjustment signal (acceleration torque). (Or deceleration torque) is generated and output to the adder 8.
In this embodiment, a sensorless vector control unit 2A is configured by the current command generation unit 21, the ACR control unit 22, the coordinate conversion units 23 and 24, the position error estimation unit 31, and the phase estimation unit 25A.

In the above configuration, the position error estimation unit 31 estimates the rotor position error as follows, for example.
The rotational angular velocity of the estimated coordinates γ and δ is ω _# (electrical angle), the γ-axis is above the phase angle of θ _# (electrical angle) from the u-phase axis, and Δθ from the d-axis parallel to the magnetic pole of the magnet It is assumed that it is delayed by (electrical angle). The voltage equation of the permanent magnet synchronous motor 4 in the γ and δ coordinates is expressed as Equation 1.

In Equation 1, if PL _γ i _γa = PL _{γ δS} i _δa = PL _γδS i _γa = PL _δ i _δa = 0, the voltage equation of the electric motor 4 becomes as shown in Equation 2.

The position error estimation unit 31 calculates and outputs a position error estimated value (Δθ) _# of the electric motor 4 according to Expression 3 based on Expression 2.

Other methods may be used for estimating the position error.
Although not shown, each voltage on the output side of the inverter unit 3 is detected by a voltage sensor and converted into γ and δ-axis voltages, and the detected γ and δ-axis voltage values are converted to γ, δ in Equation 3. The shaft voltage command values v _γa ^* and v _δa ^* may be used instead.

FIG. 2 is a block diagram showing the configuration of the phase estimation unit 25A and the acceleration estimation unit 32 in FIG.
As shown in FIG. 2, the phase estimation unit 25 </ b> A includes multipliers 41 and 42, an adder 44, and integrators 43 and 45. That is, a signal obtained by multiplying the position error estimated value (Δθ) _# by the gain K _p by the multiplier 41 and a signal obtained by multiplying the position error estimated value (Δθ) _# by the multiplier 42 by the gain K _i are integrated by the integrator 43. and a signal obtained by adding by the adder 44, the result outputs as a velocity estimate omega _# a, the estimated speed value omega _# is integrated by the integrator 45 outputs a rotor position estimate theta _#.
The calculation contents of the phase estimation unit 25A described above are as shown in Equations 4 and 5. In these mathematical expressions, s is a Laplace operator.

As shown in FIG. 2, the acceleration estimation unit 32 includes multipliers 51 and 52, a differentiator 53, first and second vibration reduction countermeasure units 54 and 55, and an adder 56.
First, a signal obtained by multiplying the position error estimated value (Δθ) _# by the integral gain K _i is input to the first vibration reduction countermeasure unit 54 by the multiplier 52. On the other hand, a signal obtained by differentiating the signal obtained by multiplying the position error estimated value (Δθ) _# by the proportional gain K _p by the multiplier 51 using the differentiator 53 is input to the second vibration reduction countermeasure unit 55. Then, by adding the output signals of the first and second vibration reduction countermeasure units 54 and 55 by the adder 56, the estimated acceleration value α _# is calculated.

Here, if the first vibration reduction countermeasure unit 54 is configured by a low-pass filter having a time constant T _a and the second vibration reduction countermeasure unit 55 is configured by a low-pass filter having a time constant T _b , the acceleration estimated value α _# is expressed by a mathematical formula. Represented by 6. The gains K _p and K _i in Expression 6 are the same as those in Expression 4.

Without the first and second vibration reduction countermeasures 54 and 55 (that is, T _a = T _b = 0), Formula 6 becomes Formula 7, and the speed estimated value ω _# of Formula 4 described above is differentiated. It will be the same. That is, in this embodiment, the acceleration estimated value α _# can be calculated without differentiating the speed estimated value ω _# .

When the γ and δ axis currents and the mechanical system vibrate, the position error estimated value (Δθ) _# vibrates accordingly. When the position error estimated value (Δθ) _# vibrates, the output of the multiplier 52 and the output of the differentiator 53 vibrate in FIG.
In this case, in the present embodiment, a signal subjected to the vibration reduction measures to term proportional to the position error estimate ([Delta] [theta]) _#, vibration reduction measures on the differential value of the term proportional to the position error estimate ([Delta] [theta]) _# The estimated acceleration value α _# is calculated by adding the applied signals, and different vibration reduction measures can be taken depending on the time constants of the filters in the first and second vibration reduction countermeasure units 54 and 55. it can.
Therefore, as shown in FIG. 3, the estimated acceleration value is calculated by differentiating the estimated speed value, and the delay in the vibration reduction countermeasure unit is reduced as compared with the case where the vibration reduction countermeasure is taken according to the estimated acceleration value. Is possible.

Further, if it is allowed to allow the calculation to be slightly complicated as compared with the equation 6 by the acceleration estimation unit 32 described above, the equation (8) is used by using the velocity estimation value ω _# obtained by the phase estimation unit 25A of FIG. The acceleration estimated value α _# may be obtained.

  Note that the first and second vibration reduction countermeasures 54 and 55 are not necessarily required, and either one of the vibration reduction countermeasures may be provided.

DESCRIPTION OF SYMBOLS 1A: Electric vehicle control apparatus 2A: Sensorless vector control part 3: Inverter part 4: Permanent magnet synchronous motor 5: Current sensor 7A: Idling sliding control part 8: Adder 21: Current command generation part 22: ACR control part 23, 24 : Coordinate conversion unit 25A: phase estimation unit 31: position error estimation unit 32: acceleration estimation unit 41, 42: multiplier 43, 45: integrator 44: adder 51, 52: multiplier 53: differentiator 54, 55: Vibration reduction countermeasure part 56: Adder

Claims (4)

In an electric vehicle control device that drives a permanent magnet synchronous motor as a main motor of an electric vehicle at a variable speed by position / speed sensorless control,
Position error estimating means for estimating a position error between a rotor position true value and a rotor position estimated value of the motor from a voltage command value of an inverter unit that drives the motor and a current detection value of the motor; and the position Phase estimation means for calculating the rotor position estimated value from an estimated value of error, and sensorless vector control means for executing vector control based on the torque command value of the electric motor and the rotor position estimated value;
Acceleration estimating means for estimating the acceleration of the electric motor based on the estimated value of the position error;
An idle running control means for estimating an idling state between the wheel and the rail based on the acceleration estimated value generated by the acceleration estimating means, and generating an acceleration / deceleration torque for adjusting the torque command value;
An electric vehicle control device comprising: In the electric vehicle control device according to claim 1,
The acceleration estimation means includes
An electric vehicle control apparatus that calculates the acceleration estimated value by adding a term proportional to the position error estimated value and a differential value of the term proportional to the position error estimated value. In the electric vehicle control device according to claim 1 or 2,
The acceleration estimation means includes
First vibration reduction countermeasure means for reducing a vibration component of a term proportional to the position error estimated value; and second vibration reduction countermeasure means for reducing a vibration component of a differential value of a term proportional to the position error estimated value; An electric vehicle control device comprising: adding means for adding the outputs of the first and second vibration reduction countermeasure means to calculate the acceleration estimated value. In the electric vehicle control device according to any one of claims 1 to 3,
An electric vehicle control device comprising voltage detection means for detecting each phase voltage on the output side of the inverter section, and using a voltage detection value by the voltage detection means instead of the voltage command value of the inverter section.

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