JP2011250616A - Motor drive device and motor driven vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a motor control technique that copes with the problem of mismatch between the switching timing of torque control and speed control and the connection separation timing of a clutch.SOLUTION: The motor drive device includes a torque controller which generates a first torque command in response to a host torque command, a speed controller which generates a second torque command in response to a host speed command and the rotor rotational speed of a three-phase motor, an inverter controller which controls an inverter in response to a select torque command selected from the first torque command or second torque command, and a clutch controller which switches a clutch between connection state and separation state. The select torque command is selected from the first torque command or second torque command corresponding to switching of the clutch. When the absolute value of rotational speed of a rotor exceeds a predetermined speed limit value, the torque controller generates the first torque command so that the absolute value of the first torque command becomes smaller that the absolute value of the host torque command.

Description

  The present invention relates to a motor drive device and a motor drive vehicle, and more particularly to a motor drive device and a motor drive vehicle in which a clutch is connected to a rotor of a three-phase motor and torque control and speed control are selectively performed.

  In motor-driven vehicles such as electric cars and hybrid cars, a multi-phase motor (typically a three-phase motor) is generally used as a power source for driving drive wheels. Specifically, control data (for example, torque command or speed command) is given to the inverter controller from a host controller that performs overall control of the entire vehicle, and the inverter controller responds to the control data to change the power transistor of the inverter. A control signal for controlling is generated. Thus, the current / voltage supplied from the inverter to the motor is controlled, and the motor is operated at a desired torque and speed.

  In the control of a motor used as a power source for driving the drive wheels, torque control and speed control are sometimes switched and used (see, for example, JP-A-7-59214). This is because the rotational speed of the motor is controlled when the gear of a transmission provided between the motor and the drive wheel is switched. During normal travel, a torque command is generated in response to the position (or displacement) of the accelerator pedal, and torque control is performed in response to the torque command. On the other hand, when the gear is switched, the torque control is switched to the speed control when the clutch is disengaged, and the speed control is performed to prevent the motor from running away. When the motor speed is controlled to match the clutch speed and the clutch is reconnected, the motor control is returned from the speed control to the torque control.

  In switching between torque control and speed control, it is desirable to reduce the shock at the time of switching. In Japanese Patent Laid-Open No. 7-59214, in a motor-driven vehicle, a shock is reduced by switching from speed control to torque control with a small difference between the value obtained by dividing the output shaft rotational speed by the gear ratio and the motor rotational speed. The technology to reduce is disclosed. Japanese Patent Application Laid-Open No. 7-31173 discloses a technique for eliminating a shock when switching between torque control and speed control regarding a mechanism for unwinding or winding sheets. In this technique, when torque control is performed, the rotational speed signal of the motor is set in the setting unit. When switching from torque control to speed control is performed, a value obtained by interpolating the speed control signal and the value set in the setting unit is finally used for speed control. On the other hand, when speed control is performed, a torque command generated by speed control is set in the setting unit. When switching from speed control to torque control is performed, a value obtained by interpolating the torque control signal and the value set in the setting unit is finally used for torque control.

  One problem is that the switching timing of torque control and speed control performed as electrical control does not necessarily match the connection / disengagement timing of the clutch that is a mechanical mechanism. For example, when the clutch is switched from the connected state to the disconnected state, the control may be switched from torque control to speed control even though the clutch is actually still connected. In such a case, the motor torque may increase excessively. When the clutch is switched from the separated state to the connected state, the control may be switched from speed control to torque control even though the clutch is actually still separated. In such a case, the motor rotation speed may increase excessively. The technique disclosed in the above patent document does not solve such a problem.

JP-A-7-59214 JP-A-7-31173

  Accordingly, an object of the present invention is to provide a motor control technique for dealing with the problem of inconsistency between the switching timing of torque control and speed control and the clutch connection / disconnection timing.

  In one aspect of the present invention, a motor driving device includes a three-phase motor, a clutch connected to a rotor of the three-phase motor, an inverter that supplies three-phase power to the three-phase motor, and an upper torque command given from the outside. Torque control means for generating a first torque command in response to the speed, a speed control means for generating a second torque command in response to an upper speed command given from the outside and the rotor rotational speed of the three-phase motor, Inverter control means for controlling the inverter in response to a selected torque command selected from either the torque command or the second torque command, and clutch control means for switching the clutch between the connected state and the separated state. The selected torque command is selected from either the first torque command or the second torque command in response to clutch switching. The torque control means generates the first torque command so that the absolute value of the first torque command is smaller than the absolute value of the upper torque command when the absolute value of the rotor rotational speed exceeds a predetermined speed limit value.

  In the motor drive device having such a configuration, even if torque control is performed with the clutch disengaged (that is, even if the first torque command is selected as the selected torque command), the rotor rotational speed is a predetermined speed limit value. Is exceeded, the first torque command is limited. Therefore, even if the first torque command is selected while the clutch is disengaged, an excessive increase in the rotor rotational speed can be prevented.

  In one embodiment, the torque control means generates the first torque command by subtracting the correction value from the upper torque command when the rotor rotational speed exceeds the speed limit value. At this time, the correction value increases as the rotor rotational speed increases when the rotor rotational speed exceeds the speed limit value. As a result, an appropriate first torque command, that is, a selected torque command can be generated according to the degree of excess of the rotor rotational speed.

  The speed limit value is preferably the same value as the absolute value of the upper speed command or a value determined depending on the upper speed command.

  Preferably, the speed control means generates the second torque command while limiting the absolute value of the second torque command to a predetermined torque upper limit value or less. In this case, even if the speed control is performed with the clutch connected (that is, even if the second torque command is selected as the selected torque command), an excessive increase in the selected torque command can be prevented.

  The torque upper limit value is preferably the same value as the absolute value of the upper torque command or a value determined depending on the upper torque command.

  In one embodiment, the motor driving device shifts to a torque mode in which the first torque command is selected in accordance with the switching to the clutch engaged state, and the second torque command in response to the switching to the clutch disengaged state. Move to the selected speed mode.

  Such a motor drive device is preferably applied to a motor-driven vehicle. In this case, it is preferable that the host controller generates a host torque command in response to the position of the accelerator pedal, and generates a host speed command according to the gear selected in the transmission.

  ADVANTAGE OF THE INVENTION According to this invention, the motor control technique for coping with the problem of inconsistency with the switching timing of torque control and speed control, and the connection / separation timing of a clutch is provided.

It is a block diagram which shows the structure of the motor drive vehicle 1 of one Embodiment of this invention. It is a functional block diagram which shows the aspect of the control calculation performed by the inverter controller in one Embodiment of this invention. It is a functional block diagram which shows the aspect of the torque command generation performed by the inverter controller in one Embodiment of this invention.

  FIG. 1 is a block diagram showing a configuration of a motor-driven vehicle 1 according to an embodiment of the present invention. In the present embodiment, the motor-driven vehicle 1 is configured as a parallel hybrid vehicle. More specifically, the motor-driven vehicle 1 includes an engine 2, a clutch 3, a three-phase motor / generator 4, a gear box 5, an inverter 6, and a battery 7. The engine 2 is coupled to the rotor of the three-phase motor / generator 4 via the clutch 3 and drives the three-phase motor / generator 4. The clutch 3 has a function of mechanically connecting or separating the engine 2 and the three-phase motor / generator 4.

  The rotor of the three-phase motor / generator 4 is further connected to the input shaft 5 a of the gear box 5. The gear box 5 includes a transmission gear, and connects the input shaft 5a (that is, the rotor of the three-phase motor / generator 4) and the output shaft 5b at a desired gear ratio. The output shaft 5b of the gear box 5 is coupled to the drive wheels via a differential gear (not shown).

  In the motor-driven vehicle 1 of the present embodiment configured as a parallel hybrid vehicle, the three-phase motor / generator 4 is commonly used for power generation and power generation. Specifically, the three-phase motor / generator 4 receives the supply of the three-phase power from the inverter 6 and drives the input shaft 5 a of the gear box 5. Further, the three-phase motor / generator 4 is driven by the engine 2 or the input shaft 5 a of the gear box 5 to generate three-phase power and supply it to the inverter 6.

  When the three-phase motor / generator 4 operates as a motor, the inverter 6 converts the DC power received from the battery 7 into three-phase power and supplies the three-phase motor / generator 4 to the three-phase motor / generator 4. When the machine 4 operates as a generator, the generated three-phase power is converted into DC power and stored in the battery 7.

Control of the motor-driven vehicle 1 having such a configuration is performed using the inverter controller 11 and the host controller 14. The inverter controller 11 controls the inverter 6. Specifically, the current sensor 12 that measures the u-phase, v-phase, and w-phase currents Iu, Iv, and Iw supplied from the inverter 6 to the three-phase motor / generator 4 includes the inverter 6 and the three-phase motor / generator 4. And an encoder 13 that sequentially measures the rotor position θ of the three-phase motor / generator 4 is attached to the three-phase motor / generator 4. The inverter controller 11 turns on and off the power transistor of the inverter 6 in response to the u-phase, v-phase, and w-phase currents Iu, Iv, and Iw, the rotor position θ, and the rotor rotational speed ω calculated from the rotor position θ. A control signal S _PWM to be controlled is generated. The host controller 14 comprehensively controls the engine 2, the generator 3, the inverter controller 11, the gear box 5 and other various devices.

In this embodiment, the host controller 14 supplies a host torque command Tu ^* , host speed command ωu ^* , torque control speed limit value ω _LIM , speed control torque upper limit value T _MAX and mode switching command S _MODE to the inverter controller 11. . The upper torque command Tu ^* and the upper speed command ωu ^* are command values for specifying the torque T of the three-phase motor / generator 4 and the rotor rotational speed ω, respectively. The upper torque command Tu ^* is generated according to the position (or displacement) of the accelerator pedal 15. On the other hand, the upper speed command ωu ^* is generated according to the gear selection in the gear box 5. The torque control speed limit value ω _LIM is a value used to limit the rotor rotational speed ω when torque control is performed. The speed control torque upper limit value T _MAX is a value used to limit the torque when speed control is performed. A mode of using the torque control speed limit value ω _LIM and the speed control torque upper limit value T _MAX will be described in detail later. The mode switching command S _MODE is a command for instructing the inverter controller 11 whether to perform torque control or speed control. The host controller 14 generates a mode switching command S _MODE in accordance with the shift timing of the gear box 5 (more specifically, in accordance with the connection / disconnection timing of the clutch 3).

  In practice, various lower controllers other than the inverter controller 11 are used, but are not shown in FIG. In the present embodiment, the rectifier 4 is used. Instead, a power converter that converts AC to DC using a power transistor may be used. It should also be noted that the present invention is applicable to motor-driven vehicles other than parallel type hybrid vehicles.

  FIG. 2 is a control block diagram of the inverter controller 11. The inverter controller 11 performs the following control calculations: torque command generation 21, current command generation 22, current control 23, three-phase to two-phase conversion 24, two-phase to three-phase conversion 25, and PWM control 26.

In the torque command generation 21, finally, the upper torque command Tu ^* , the upper speed command ωu ^* , the torque control speed limit value ω _LIM , the speed control torque upper limit value T _MAX , and the rotor rotational speed ω are finally set to 3 A torque command T ^* used to control the phase motor / generator 4 is generated. Here, in the torque command generation 21, when torque control is performed, a torque command T ^* is generated according to the upper torque command Tu ^* (that is, according to the position of the accelerator pedal 15), and speed control is performed. In this case, a torque command T ^* is generated according to the upper speed command ωu ^* and the rotor rotational speed ω. The generation of the torque command T ^* in the torque command generation 21 will be described in detail later.

In the current command generation 22, a d-axis current command Id ^* and a q-axis current command Iq ^* are generated in response to the torque command T ^* . The d-axis current command Id ^* is normally set to 0, but when the field weakening control is performed, the d-axis current command Id ^* is set to a non-zero value. The q-axis current command Iq ^* is set to a value corresponding to the torque command T ^* , most simply a proportional value. However, those skilled in the art will understand that various methods can be used to calculate the d-axis current command Id ^* and the q-axis current command Iq ^* .

  In the three-phase to two-phase conversion 24, the d-axis current Id, q is obtained by performing the three-phase to two-phase conversion on the u-phase, v-phase, and w-phase currents Iu, Iv, and Iw measured by the current sensor 12. A shaft current Iq is calculated. In the three-phase to two-phase conversion 24, the rotor position θ measured by the encoder 13 is used. The calculated d-axis current Id and q-axis current Iq are supplied to the three-phase motor / generator 4.

In the current control 23, a d-axis voltage command Vd ^* and a q-axis voltage command Vq ^* are generated based on the d-axis current command Id ^* , the q-axis current command Iq ^* , the d-axis current Id, and the q-axis current Iq. In one embodiment, PI control is performed so as to reduce the difference between the d-axis current command Id ^* and the d-axis current Id to generate the d-axis voltage command Vd ^* , and the q-axis current command Iq ^* and the q-axis current Iq. PI control is performed so that the difference between the two is small, and the q-axis voltage command Vq ^* is generated.

In the two-phase / three-phase conversion 25, two-phase / three-phase conversion is performed on the d-axis voltage command Vd ^* and the q-axis voltage command Vq ^*, and the u-phase voltage command Vu ^* , the v-phase voltage command Vv ^*, and A w-phase voltage command Vw ^* is generated. In the two-phase to three-phase conversion 25, the rotor position θ measured by the encoder 13 is used.

The PWM control 26, u-phase voltage command ^Vu *, v PWM control based on the phase voltage command Vv ^* and the w-phase voltage command Vw ^* is performed, the control signal _{S PWM} to thereby control the on-off of the power transistors of the inverter 6 Is generated.

  Each operation described above may be realized by any of hardware, software, and a combination thereof.

FIG. 3 is a diagram for explaining in more detail the calculation executed by the inverter controller 11 in the torque command generation 21 in the present embodiment. In the present embodiment, the inverter controller 11 has two control modes: torque mode and speed mode, and switching between the torque mode and speed mode is a mode switching command given from the host controller 14 to the inverter controller 11. Performed in response to S _MODE . In the torque mode, a torque command T ^* is generated in accordance with the upper torque command Tu ^* , thereby performing torque control. Here, the torque command T ^* in the torque mode generally matches the upper torque command Tu ^* , but the amount of change is limited, and the absolute value of the rotor rotational speed ω is set to the torque control speed limit value ω _LIM . If it exceeds, it is corrected by the correction value ΔT. On the other hand, in the speed mode, the torque command T ^* is generated so that the difference between the upper speed command ωu ^* and the rotor rotational speed ω is small, and thus the speed control is performed. However, the absolute value of the torque command T ^* is limited to the speed control torque upper limit value T _MAX or less. More specifically, the torque command T ^* is generated as follows.

First, the inverter controller 11 generates a torque mode torque command Ttor ^* based on the upper torque command Tu ^* . In the calculation process of the torque mode torque command Ttor ^* , a variation limit process 31, a correction value calculation 32, and a subtraction process 33 are performed. In the change amount limit process 31, a process for limiting the change amount of the output value to a predetermined range is performed. The output value obtained by the change amount limit process 31 is hereinafter referred to as a change amount limit torque command Tu ^. More specifically, when the inverter controller 11 is set to the torque mode, the variation limit torque command Tu ^ follows the upper torque command Tu ^* under the condition that the variation amount is limited within a predetermined range. The value to be determined. In order to perform such processing, the value of the variation limit torque command Tu ^ output in the past is held in a predetermined storage area of the inverter controller 11. On the other hand, when the inverter controller 11 is set to the speed mode, the torque command T ^* is fetched and held in a predetermined storage area, and is output as a variation limiting torque command Tu ^. When the torque command T ^* is held in the speed mode, when the speed mode is switched to the torque mode, the change amount of the change amount limiting torque command Tu ^ is limited based on the held value. become. As will be described later, this is useful for reducing shock when switching between torque control and speed control.

In the correction value calculation 32, the correction value ΔT is calculated based on the rotor rotational speed ω and the torque control speed limit value ω _LIM (> 0). The correction value ΔT takes a positive value that increases as the rotor rotational speed ω increases when the rotor rotational speed ω is larger than the torque control speed limit value ω _LIM , and the rotor rotational speed ω is smaller than −ω _LIM. In this case, a negative value that decreases as the rotor rotational speed ω decreases is taken. Here, the negative rotor rotational speed ω means a case where the three-phase motor / generator 4 rotates reversely, such as when the motor-driven vehicle 1 travels backward. On the other hand, when the absolute value of the rotor rotational speed ω is smaller than the torque control speed limit value ω _LIM , the correction value ΔT is zero. In one embodiment, the correction value ΔT is determined by the following equation:
ΔT = 0 (for−ω _LIM ≦ ω ≦ ω _LIM ), (1a)
ΔT = k (ω−ω _LIM ), (for ω> ω _LIM ), (1b)
ΔT = k (ω + ω _LIM ), (for ω <−ω _LIM ). ... (1c)
Here, k is a positive proportionality constant.

In the subtraction process 33, the torque mode torque command Ttor ^* is calculated by subtracting the correction value ΔT from the torque command Tu ^.

In parallel, inverter controller 11 generates speed mode torque command Tsp ^* in response to upper speed command ωu ^* and rotor rotational speed ω. Specifically, in the calculation process of the speed mode torque command Tsp ^* , a change amount limit process 34, a subtraction process 35, a speed PI control process 36, and an upper limit value limit process 37 are performed.

In the change amount limit process 34, a process for limiting the change amount of the output value to a predetermined range is performed. Hereinafter, the output value obtained by the change amount limit process 34 is referred to as a change amount limit speed command ωu ^. More specifically, when the inverter controller 11 is set to the speed mode, the change amount limit speed command ωu ^ follows the upper speed command ωu ^* under the condition that the change amount is limited within a predetermined range. The value to be determined. On the other hand, when the inverter controller 11 is set to the torque mode, the rotor rotational speed ω (actually measured value) is captured and held in a predetermined storage area, and is output as a variation limit speed command ωu ^. When the torque mode is switched to the speed mode by holding the rotor rotational speed ω (actually measured value) in the torque mode, the change amount of the change rate limiting speed command ωu ^ is based on the held value. Will be limited. As will be described later, this is useful for reducing shock when switching between torque control and speed control.

  In the subtraction process 35, the difference between the change amount limiting speed command ωu ^ and the rotor rotational speed ω is calculated.

In the speed PI control 36, PI control is performed based on the difference Δω between the change amount limiting speed command ωu ^ and the rotor rotational speed ω. In particular, the speed mode, [Delta] [omega the product of the proportional gain K _P, and the integral value of the product of the [Delta] [omega and integral gain K _I is calculated. The integral value is held in a predetermined storage area of the inverter controller 11. Further, the sum obtained by adding the product of Δω and proportional gain K _P and the integrated value is output as PI control torque command T _PI ^* . On the other hand, when the torque mode is set, the torque command T ^* is fetched and held in the storage area instead of the integral value.

In the upper limit limiting process 37, a process for limiting the magnitude of the output value to the speed control torque upper limit T _MAX (> 0) or less is performed. The output value obtained by the upper limit limiting process 37 is the speed mode torque command Tsp ^* . Specifically, when the absolute value of PI control torque command T _PI ^* is smaller than speed control torque upper limit value T _MAX , speed mode torque command Tsp ^* is set to the same value as PI control torque command T _PI ^*. . On the other hand, when the PI control torque command T _PI ^* exceeds the speed control torque upper limit value T _MAX , the speed mode torque command Tsp ^* is fixed to the speed control torque upper limit value T _MAX and the PI control torque command T _PI ^* is set to −T. If it is less than _MAX , the speed mode torque command Tsp ^* is fixed to -T _MAX .

The torque command T ^* finally used for controlling the three-phase motor / generator 4 is selected from the torque mode torque command Ttor ^* and the speed mode torque command Tsp ^* generated as described above. Specifically, when the inverter controller 11 is set to the torque mode, the torque mode torque command Ttor ^* is selected as the torque command T ^* , and when the inverter controller 11 is set to the speed mode, the speed mode torque is selected. Command Tsp ^* is selected as torque command T ^* .

The torque control speed limit value ω _LIM and the speed control torque upper limit value T _MAX used in the above control are values given from the host controller 14 and can be generated in various ways. However, the torque control speed limit value ω _LIM is generated as a value having a specific correspondence with the upper speed command ωu ^* . For example, torque control speed limit value omega _LIM may be the absolute value and the same values of the upper speed command? U ^*, or a value which is determined depending on the higher velocity command? U ^*. Further, the speed control torque upper limit value T _MAX is generated as a value having a specific correspondence with the upper torque command Tu ^* . For example, the speed control torque upper limit T _MAX may be the absolute value and the same value of the upper torque command Tu ^*, or a value which is determined depending on the upper torque command Tu ^*.

Hereinafter, switching of the connection state / separation state of the clutch 3 in the gear box 5 and generation of the torque command T ^{* in} the torque mode and the speed mode in the present embodiment will be described more specifically.
During normal operation (that is, when the clutch 3 is in a connected state), the upper torque command Tu ^* is generated according to the position of the accelerator pedal 15, and the inverter controller 11 is set to the torque mode to perform torque control. Done. Specifically, the variation limit process 31 is performed on the upper torque command Tu ^* to calculate the variation limit torque command Tu ^, and the correction value ΔT is subtracted from the variation limit torque command Tu ^. Torque mode torque command Ttor ^* , that is, torque command T ^* is calculated.

On the other hand, when the clutch 3 is disengaged, such as when the gear is switched in the gear box 5, the upper speed command ωu ^* is generated according to the gear selection of the gear box 5, and the inverter controller 11 is set to the speed mode. It is set and speed control is performed. Thereby, the rotor rotational speed ω of the three-phase motor / generator 4 is matched with the rotational speed of the input shaft of the gear box 5. Specifically, the change amount limit process 34 is performed on the upper speed command ωu ^* to calculate the change amount limit speed command ωu ^, and the difference between the change amount limit speed command ωu ^ and the rotor rotational speed ω is calculated. Thus, PI control is performed and a PI control torque command _TPI ^* is generated. The PI control torque command _{T PI} upper limit limiting process 37 is performed on the ^* in the speed mode torque command Tsp ^*, i.e., the torque command ^{T *} is calculated.

  Here, in the inverter controller 11 of the present embodiment, the occurrence of shock at the time of switching between the torque mode and the speed mode is effectively prevented by the operation described below.

First, by generating a torque mode torque command Ttor ^* by correcting the upper torque command Tu ^* with a correction value ΔT, an excessive increase in the rotor rotational speed ω is caused when switching from the speed mode to the torque mode. Prevents and reduces shock. Specifically, when the control is switched from the speed mode to the torque mode, the operation of the clutch 3 that is a mechanical mechanism is delayed, and the control may be shifted to the torque mode in a state where the clutch 3 is disengaged. If torque control is performed with the clutch 3 disengaged, the rotor rotational speed ω may increase excessively, and an excessive increase in the rotor rotational speed ω is felt as a shock to the driver. However, in the present embodiment, when the absolute value of the rotor rotational speed ω is larger than the torque control speed limit value ω _LIM (> 0), correction is performed, so that the rotor rotational speed ω is excessive in the torque mode. The absolute value of the torque command T ^* is suppressed (so as to be smaller than the absolute value of the upper torque command Tu ^* ). This effectively reduces the shock when switching from the speed mode to the torque mode. At this time, in the present embodiment, the correction value ΔT is generated depending on the rotor rotational speed ω (see the above formulas (1b) and (1c)), so that the rotor rotational speed ω is excessive. Accordingly, an appropriate torque control torque command Ttor ^* , that is, a torque command T ^* can be generated.

Second, by limiting the absolute value of the torque command T ^* in the speed mode to the speed control torque upper limit value T _MAX (> 0) or less, the torque command T ^* is excessive when switching from the torque mode to the speed mode. Prevent the increase and reduce the shock. Specifically, when the control is switched from the torque mode to the speed mode, the operation of the clutch 3 that is a mechanical mechanism is delayed, and the control may be shifted to the speed mode with the clutch 3 connected. In this case, if the speed control is performed with the clutch 3 connected, the torque command T ^* may increase excessively, which is felt as a shock to the driver. However, in the present embodiment, the absolute value of the torque command T ^* is limited to the speed control torque upper limit value T _MAX or less in the speed mode. This effectively reduces the shock when switching from the torque mode to the speed mode.

Third, in the speed mode, the torque command T ^* is fed back to the change amount limit process 31 and held. The torque command T ^* is fed back and held in the change amount limit process 31 and used as a reference for restricting the change amount when switching from the speed mode to the torque mode. A sudden change in the torque command T ^* is prevented. This is effective for reducing shock.

Fourth, in the torque mode, the rotor rotational speed ω is fed back to the variation limit process 34 and held. The torque command T ^* is fed back and held in the change amount limit process 34 and used as a reference for restricting the change amount when switching from the torque mode to the speed mode. A sudden change in the torque command T ^* is prevented. This is effective for reducing shock.

Fifth, during the torque mode, the torque command T ^* is fed back to the speed PI control 36 and held as an integral value in the speed PI control 36. This prevents a sudden change in the PI control torque command _TPI ^* , that is, a sudden change in the torque command T ^* when switching from the torque mode to the speed mode. This is effective for reducing shock.

  As described above, the motor-driven vehicle 1 of the present embodiment can effectively reduce a shock when switching between torque control and speed control.

  Although the embodiments of the present invention are specifically described above, the present invention is not limited to the above-described embodiments, and the embodiments of the present invention are various modifications obvious to those skilled in the art. Can be made. For example, the above describes five methods for reducing shock when switching between torque control and speed control, but all of them must be employed when actually implementing the present invention. Should not be interpreted. Only a part of the above five methods may be employed. Moreover, although the embodiment of the motor-driven vehicle is described above, the present invention provides various motor drive devices in which a clutch is connected to the rotor of the three-phase motor and torque control and speed control are selectively performed. It is applicable to.

1: Motor-driven vehicle 2: Engine 3: Clutch 4: Three-phase motor / generator 5: Gear box 6: Inverter 7: Battery 11: Inverter controller 12: Current sensor 13: Encoder 14: Host controller 15: Accelerator pedal 21: Torque command generation 22: Current command generation 23: Current control 24: Three-phase to two-phase conversion 25: Two-phase to three-phase conversion 26: PWM control 31: Change amount limit process 32: Correction value calculation 33: Subtraction process 34: Change Amount limit processing 35: Subtraction processing 36: Speed PI control 37: Upper limit limiting processing

Claims (16)

A three-phase motor,
A clutch connected to the rotor of the three-phase motor;
An inverter for supplying three-phase power to the three-phase motor;
Torque control means for generating a first torque command in response to an upper torque command given from outside;
Speed control means for generating a second torque command in response to an external speed command given from outside and the rotor speed of the three-phase motor;
Inverter control means for controlling the inverter in response to a selected torque command selected from either the first torque command or the second torque command;
Clutch control means for switching the clutch between a connected state and a separated state;
And
The selected torque command is selected from either the first torque command or the second torque command in response to switching of the clutch,
When the absolute value of the rotor rotational speed exceeds a predetermined speed limit value, the torque control means is configured so that the absolute value of the first torque command is smaller than the absolute value of the upper torque command. Generate motor drive device. The motor driving device according to claim 1,
The torque control means generates the first torque command by subtracting a correction value from the upper torque command when the rotor rotational speed exceeds the speed limit value;
The correction value increases as the rotor rotational speed increases when the rotor rotational speed exceeds the speed limit value. The motor drive device according to claim 1 or 2,
The speed limit value is the same value as the absolute value of the upper speed command or a value determined depending on the upper speed command. The motor drive device according to any one of claims 1 to 3,
The speed control means generates the second torque command while limiting the absolute value of the second torque command to a predetermined torque upper limit value or less. The motor drive device according to claim 4,
The torque upper limit value is the same value as the absolute value of the upper torque command or a value determined depending on the upper torque command. The motor drive device according to any one of claims 1 to 5,
Transition to the torque mode in which the first torque command is selected in accordance with the switching of the clutch to the connected state,
A motor drive device that shifts to a speed mode in which the second torque command is selected in accordance with the switching of the clutch to the disengaged state. A three-phase motor,
A clutch connected to the rotor of the three-phase motor;
An inverter for supplying three-phase power to the three-phase motor;
Torque control means for generating a first torque command in response to an upper torque command given from outside;
Speed control means for generating a second torque command in response to an external speed command given from outside and the rotor speed of the three-phase motor;
Inverter control means for controlling the inverter in response to a selected torque command selected from either the first torque command or the second torque command;
Clutch control means for switching the clutch between a connected state and a disconnected state;
The selected torque command is selected from either the first torque command or the second torque command in response to switching of the clutch,
The speed control means generates the second torque command while limiting the absolute value of the second torque command to a predetermined torque upper limit value or less. The motor drive device according to any one of claims 1 to 7,
The torque control means generates a change amount limiting torque command following the upper torque command while limiting the amount of change, and generates the first torque command in response to the change amount limiting torque command; and ,
The torque control means holds the selected torque command in a storage area while the second torque command is selected as the selected torque command, and the selected torque command is changed from the second torque command to the first torque command. A motor drive device that generates the change amount limiting torque command with reference to the value of the selected torque command held in the storage area when switched to. The motor driving device according to any one of claims 1 to 8,
The speed control means generates a change amount limiting speed command following the upper speed command while limiting the amount of change, and generates the second torque command in response to the change amount limiting speed command; and ,
While the first torque command is selected as the selected torque command, the torque control means holds the measured value of the rotor rotational speed in a storage area, and the selected torque command is changed from the first torque command to the first torque command. A motor driving device that generates the change amount limiting speed command with reference to the actual measurement value held in the storage area when the torque command is switched to two. The motor drive device according to any one of claims 1 to 9,
The speed control means generates the second torque command by PI control in response to the upper speed command and the rotor speed of the three-phase motor,
While the first torque command is selected as the selected torque command, the selected torque command is held as an integral value of the PI control. A three-phase motor,
A transmission comprising an input shaft connected to the rotor of the three-phase motor, and a clutch;
Drive wheels mechanically coupled to the output shaft of the transmission;
An inverter for driving the three-phase motor;
An accelerator pedal,
An upper controller that generates an upper torque command in response to the position of the accelerator pedal, and that generates an upper speed command in accordance with a gear selected in the transmission;
Torque control means for generating a first torque command in response to the upper torque command;
Speed control means for generating a second torque command in response to the upper speed command and the rotor rotational speed of the three-phase motor;
Inverter control means for controlling the inverter in response to a selected torque command selected from either the first torque command or the second torque command;
Clutch control means for switching the clutch between a connected state and a separated state;
And
The selected torque command is selected from either the first torque command or the second torque command in response to switching of the clutch,
When the absolute value of the rotor rotational speed exceeds a predetermined speed limit value, the torque control means is configured so that the absolute value of the first torque command is smaller than the absolute value of the upper torque command. Generate motor driven vehicle. The motor-driven vehicle according to claim 11,
The torque control means generates the first torque command by subtracting a correction value from the upper torque command when the rotor rotational speed exceeds the speed limit value;
The correction value increases with an increase in the rotor rotational speed when the rotor rotational speed exceeds the speed limit value. The motor-driven vehicle according to claim 11 or 12,
The speed limit value is the same value as the absolute value of the upper speed command or a value determined depending on the upper speed command. A motor-driven vehicle according to any one of claims 11 to 13,
The speed control means generates the second torque command while limiting the absolute value of the second torque command to a predetermined torque upper limit value or less. The motor-driven vehicle according to claim 14,
The torque upper limit value is the same value as the absolute value of the upper torque command or a value determined depending on the upper torque command. A motor-driven vehicle according to any one of claims 11 to 15,
Transition to the torque mode in which the first torque command is selected in accordance with the switching of the clutch to the connected state,
A motor-driven vehicle that shifts to a speed mode in which the second torque command is selected in accordance with the switching of the clutch to the disengaged state.

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