JP2013062982A - Drive controller and drive control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a drive controller and a drive control method which improve controllability of a motor when switching among voltage control systems.SOLUTION: A drive controller comprises: a storage unit 37 storing a map that represents a boundary between a first region in which a first voltage command used for a drive control of a motor is generated by a first method and a second region in which a second voltage command used for the drive control is generated by a second method, by a rotation number of the motor and a torque command value; a voltage command generating unit which generates the first voltage command by the first method and generates the second voltage command by the second method when a working point of the motor determined by the rotation number and the torque command value is within a prescribed switching region including the boundary; and a drive control unit 30 by which the drive control of the motor is performed by the first voltage command when switching from the second method to the first method is needed, and by which the drive control of the motor is performed by the second voltage command when switching from the first method to the second method is needed.

Description

  The present invention relates to a drive control device that performs drive control of an electric motor.

  Conventionally, when a voltage command value exceeds V / 2 of an input voltage V of an inverter, there has been a motor control device that switches a voltage command value control method from a PWM control method to a rectangular wave control method (for example, Patent Documents). 1).

JP 2000-014159 A

By the way, in the conventional motor control device as described above, when the voltage command value exceeds V _H / 2 of the input voltage V _H of the inverter, the control method is switched with a delay of one control cycle. Therefore, even if the voltage command value exceeds V _H / 2 of the input voltage V _H of the inverter, there is a period in which the voltage command value is generated by the control method before switching.

  For this reason, there is a delay until the switching of the voltage control method is reflected in the voltage command value, such as deterioration of drivability due to generation of noise or vibration, increase in power consumption due to inefficient drive control, etc. A problem sometimes occurred. Such a problem has been caused by a decrease in controllability at the time of switching the voltage control method.

  Therefore, an object of the present invention is to provide a drive control device and a drive control method that improve the controllability of the electric motor when switching the voltage control method.

  A drive control device according to one aspect of the present invention includes a first region that generates a first voltage command used for drive control of an electric motor by a first method, and a second region that generates a second voltage command used for the drive control by a second method. A storage unit that stores a map that represents the boundary between the two regions by the rotational speed of the motor and a torque command value; and a predetermined switching in which the operating point of the motor determined by the rotational speed and the torque command value includes the boundary When in the region, the first voltage command is generated by the first method, the voltage command generation unit generates the second voltage command by the second method, and the second method to the first method. When switching is necessary, drive control of the motor is performed using the first voltage command, and when switching from the first method to the second method is necessary, the motor is controlled using the second voltage command. Including a drive control unit that performs drive control.

  A drive control method according to one aspect of the present invention includes a first region in which an operating point of the motor determined by a rotation speed and a torque command value of the motor generates a voltage command used for drive control of the motor by a first method, When the voltage command is within a predetermined switching region including a boundary with a second region generated by the second method, the voltage command is generated by the first method and the voltage command is generated by the second method. When it is necessary to switch from the first step to the first method in the first step, drive control of the electric motor is performed using the voltage command generated in the first method in the first step, and When switching from the first method to the second method is necessary, the method includes a second step of performing drive control of the electric motor using the voltage command generated by the second method in the first step.

  According to the present invention, it is possible to provide a drive control device and a drive control method that can improve the controllability of the electric motor when the voltage control method is switched.

It is a figure which shows the sine wave by the sine wave control mode, the over modulation control mode, and the rectangular wave control mode, an over modulation waveform, and a rectangular wave. (A) is a figure which shows the mode of a control command at the time of switching a control mode from a sine wave control mode to an overmodulation control mode in the drive control apparatus of a comparative example, (B) is a control delay. It is a figure which shows the mode of the change of the control command in the ideal state which does not arise. It is a figure which shows the drive system containing the electric motor driven by the drive control apparatus of embodiment. It is a figure which shows an example of the map for control mode setting for determining the control mode of the electric motor. It is a flowchart showing the switching process of the control mode by the drive control apparatus 30 of embodiment.

  Before describing an embodiment to which a drive control device and a drive control method of the present invention are applied, referring to FIGS. 1 and 2, a sine wave control mode, an overmodulation control mode by a drive control device of a comparative example, Problems that may occur when switching the rectangular wave control mode will be described.

  FIG. 1 is a diagram illustrating a sine waveform, an overmodulation waveform, and a rectangular wave in a sine wave control mode, an overmodulation control mode, and a rectangular wave control mode.

The drive control device generates a control command for a sine waveform, an overmodulation waveform, and a rectangular wave using a predetermined map based on the rotation speed of the electric motor and the torque command value. Here, _VH is an input voltage of the inverter, and the sine waveform, overmodulation waveform, and rectangular wave are all adjusted so that the amplitude falls within _VH .

  In the drive control device of the comparative example, when the control mode is switched between the sine wave control mode, the overmodulation control mode, and the rectangular wave control mode, immediately after the control mode is switched, one control cycle before the control mode is switched. A voltage command generated by the control mode is used.

  This is because the generation of the voltage command in the control mode after the switching is performed in the next control cycle after the switching of the control mode. Therefore, immediately after the switching of the control mode, the sine before the switching of the control mode is performed. This is because the voltage command is generated by the wave control mode. That is, when the control mode is switched, a voltage command generated by the control mode before switching until one control cycle is used.

  Here, for example, consider a case where the control mode is switched from the sine wave control mode to the overmodulation control mode.

  FIG. 2A is a diagram illustrating a change in the control command when the control mode is switched from the sine wave control mode to the overmodulation control mode in the drive control device of the comparative example, and FIG. It is a figure which shows the mode of the change of the control command in the ideal state where the control delay does not arise.

  As shown in FIG. 2A, when the control mode is switched from the sine wave control mode to the overmodulation control mode, the first control cycle switched to the overmodulation control mode is the sine wave control before switching to the overmodulation control mode. The voltage command generated in the mode is used.

  This is because the generation of the voltage command in the overmodulation control mode is performed in the next control cycle after the control mode is switched. Therefore, when the control mode is switched, the voltage command is generated by the sine wave control mode before the control mode is switched. Is generated. That is, when the control mode is switched from the sine wave control mode to the overmodulation control mode, the voltage command generated by the sine wave control mode one control cycle before is used.

  For this reason, as shown in FIG. 2 (A), even if the control mode is switched from the sine wave control mode to the overmodulation control mode at time t1, the control command does not become time t2 after time t1. Does not switch to overmodulated wave.

  Therefore, during the time t1 to t2, the control mode is actually switched from the sine wave control mode to the overmodulation control mode, but the control command is not switched from the sine wave to the overmodulation wave, and there is a control delay. It is a state that has occurred.

  On the other hand, if the control command is switched from a sine wave to an overmodulated wave in an ideal state without causing a control delay simultaneously with the switching of the control mode, the control mode is a sine wave control as shown in FIG. At time t1 when the mode is switched to the overmodulation control mode, the control command is also switched from the sine wave to the overmodulation wave.

  As shown in FIG. 2B, the ideal control command switching cannot be realized by the drive control device of the comparative example, and actually, the control command switching is controlled as shown in FIG. There was a delay.

  Such a control delay occurs in the same manner when the control mode is switched from the overmodulation control mode to the sine wave control mode and when the control mode is switched between the overmodulation control mode and the rectangular wave control mode.

  As described above, the drive control device of the comparative example has a problem that the switching of the control command is delayed by one control cycle when the control mode is switched. Since the switching of the control command is delayed by one control cycle, the generation of the subsequent control command may remain affected.

  Therefore, in the embodiments described below, a drive control device and a drive control method that solve the above-described problems are provided.

  Embodiments to which the drive control device and the drive control method of the present invention are applied will be described below.

  FIG. 3 is a diagram illustrating a drive system including an electric motor driven by the drive control device of the embodiment.

  The drive system 100 includes an electric motor 10, a power supply circuit 20, a drive control device 30, an HVECU (Hybrid Vehicle Electronic Control Unit) 40, and a resolver 50, and is used, for example, for a hybrid vehicle.

  The electric motor 10 is a motor generator (MG) mounted on a vehicle, and functions as a motor when electric power is supplied from a battery 21 included in the power supply circuit 20, and is driven by an engine (not shown) or It is a three-phase synchronous rotating electrical machine that functions as a generator when braking a vehicle.

  Here, although the form which uses the motor generator which has the function of a motor and the function of a generator as one electric motor 10 is demonstrated, this is an illustration, Comprising: One rotary electric machine which has only the function of a motor One rotating electrical machine having only the function of a generator may be used. A plurality of motor generators may be used.

  When a plurality of motors / generators are used, any one of the electric motors 10 may be used as a generator for charging the battery 21, and any other electric motor 10 may be used as a drive motor that mainly generates power.

  The power supply circuit 20 includes a battery 21, a smoothing capacitor 22, a buck-boost converter 23, a smoothing capacitor 24, and an inverter 25.

  The battery 21 is a chargeable / dischargeable secondary battery. As the battery 21, for example, a lithium ion assembled battery or a nickel hydride assembled battery having a terminal voltage of about 200V to about 300V, or a capacitor can be used.

  Smoothing capacitor 22 is provided between battery 21 and buck-boost converter 23, and suppresses voltage fluctuation on the battery 21 side in power supply circuit 20.

  The step-up / down converter 23 includes a reactor and a plurality of switching elements, boosts the voltage on the battery 21 side in the power supply circuit 20 and outputs the boosted voltage to the inverter 25 side, and steps down the voltage on the inverter 25 side to reduce the voltage on the battery 21 side. Output to.

  The step-up / step-down converter 23 boosts, for example, a voltage of about 200 V to about 300 V on the battery 21 side to a high voltage of about 600 V, for example, using the energy storage action of the reactor. Further, when the electric power from the inverter 25 side is supplied as charging power to the battery 21 side, the step-up / down converter 23 steps down the voltage on the inverter 25 side and outputs it to the battery 21 side.

  The smoothing capacitor 24 is provided between the step-up / step-down converter 23 and the inverter 25 and suppresses voltage fluctuation on the inverter 25 side in the power supply circuit 20.

  The inverter 25 converts DC power into AC three-phase drive power and supplies it to the motor 10, and converts AC three-phase regenerative power regenerated by the motor 10 into DC power for charging the battery 21.

  The inverter 25 has two switching elements connected in series, and further includes three arms for each switching element, each having a diode connected in parallel. The midpoint of each arm is connected to the three-phase winding of the electric motor 10. Note that signals representing the voltage values of the input voltage and output voltage of the inverter 25 are input to the drive control device 30.

  The drive control device 30 is a device that performs drive control of the electric motor 10 by performing drive control of the inverter 25 of the power supply circuit 20.

  The drive control device 30 includes a main control unit 31, a sine wave control processing unit 32, an overmodulation control processing unit 33, a rectangular wave control processing unit 34, a mode determination processing unit 35, a switching region determination unit 36, and a memory 37.

  The main control unit 31 is a processing unit that supervises the control processing of the drive control device 30. When the mode determination processing unit 35 selects any one of the sine wave control processing unit 32, the overmodulation control processing unit 33, and the rectangular wave control processing unit 34, the main control unit 31 selects the selected control processing unit (32 to 32). The drive of the inverter 25 is controlled using the voltage command generated by any one of the 34.

  Further, the main control unit 31 simultaneously sends a voltage command to the sine wave control processing unit 32 and the overmodulation control processing unit 33 or the overmodulation control processing unit 33 and the rectangular wave control processing unit 34 under a certain condition. Is generated.

  The main control unit 31, the sine wave control processing unit 32, the overmodulation control processing unit 33, and the rectangular wave control processing unit 34 are examples of drive control units.

  The sine wave control processing unit 32 performs drive control of the electric motor 10 in the sine wave control mode. The sine wave control mode is a mode for generating a sine wave voltage command (PWM signal) with an amplitude equal to or smaller than the amplitude of the triangular wave in the pulse width modulation (PWM) control by comparing the sine wave and the triangular wave. .

  The overmodulation control processing unit 33 performs drive control of the electric motor 10 in the overmodulation control mode. The overmodulation control mode is a mode for generating a sinusoidal voltage command (PWM signal) with an amplitude exceeding the amplitude of the triangular wave.

  The rectangular wave control processing unit 34 performs drive control of the electric motor 10 in the rectangular wave control mode. The rectangular wave control mode is a mode for generating a rectangular wave voltage command having a voltage phase corresponding to the torque command value.

  In addition, the sine wave, the overmodulation wave, and the rectangular wave used in the sine wave control processing unit 32, the overmodulation control processing unit 33, and the rectangular wave control processing unit 34 are based on the rotational speed of the electric motor 10 and the torque command value. It is generated using a predetermined map.

  The mode determination processing unit 35 performs mode switching between the sine wave control mode and the overmodulation control mode or mode switching between the overmodulation control mode and the rectangular wave control mode according to the operating state of the electric motor 10. It is an example of the 1st determination part which determines whether it is required.

  As a criterion for switching the control mode, the modulation rate or the amplitude of the voltage command value corresponding to the modulation rate is used. The modulation factor is a ratio of the amplitude of the input voltage to the amplitude of the output voltage of the inverter 25.

  In the case of the PWM method based on the comparison between the sine wave and the triangular wave, the maximum modulation factor is 0.61, and the maximum modulation factor when the rectangular wave is used as the signal amplitude is 0.78. Therefore, the sine wave control mode is used when the modulation rate is 0.61 or less, the overmodulation control mode is used when the modulation rate is between 0.61 and 0.78, and the rectangular wave control mode is used when the modulation rate is 0.78. In this way, the control mode is switched.

  In the drive control device 30, when the mode determination processing unit 35 determines the control mode, the main control unit 31 causes the processing unit (any one of 32 to 34) in the determined control mode to generate a voltage command. The voltage command generated by the control mode processing unit (any one of 32-34) is input to the IGBT gate of the inverter 25 by the main control unit 31. As a result, drive control of the electric motor 10 is performed via the inverter 25 by the voltage command generated by the drive control device 30.

  The switching region determination unit 36 is a predetermined switching region in which the operating point of the motor 10 determined by the rotation speed of the motor 10 and the torque command value includes a boundary between the sine wave control mode and the overmodulation control mode, or overmodulation It is an example of the 2nd determination part which determines whether it exists in the inside of the predetermined switching area | region containing the boundary of control mode and rectangular wave control mode.

  A predetermined switching region including the boundary between the sine wave control mode and the overmodulation control mode and a predetermined switching region including the boundary between the overmodulation control mode and the rectangular wave control mode will be described later with reference to FIG.

  The memory 37 is an example of a storage unit that stores a map for the mode determination processing unit 35 to determine the control mode, and may be, for example, a ROM (Read Only Memory), a flash memory, or a hard disk.

  The map stored in the memory 37 divides the areas in which drive control is performed by the sine wave control mode, the overmodulation control mode, and the rectangular wave control mode according to the rotational speed of the electric motor 10 and the torque command. The boundary between the mode and the overmodulation control mode and the boundary between the overmodulation control mode and the rectangular wave control mode are included.

  The electric motor 10 is driven and controlled by any one of a sine wave control mode, an overmodulation control mode, and a rectangular wave control mode.

  Switching between the sine wave control mode, the overmodulation control mode, or the rectangular wave control mode is performed by the mode determination processing unit 35, and details thereof will be described later.

  The drive control device 30 as described above can also be configured by a control device suitable for mounting on a vehicle, for example, an ECU.

  Note that the sine wave control processing unit 32, the overmodulation control processing unit 33, the rectangular wave control processing unit 34, and the mode determination processing unit 35 of the drive control device 30 are realized by a computer executing software, for example. Some of the functions may be realized by hardware.

  The HVECU 40 is connected to a throttle position sensor and outputs a torque command value corresponding to the degree to which the vehicle driver steps on the throttle. The torque command value represents the torque required for the electric motor 10. The torque command value output by the HVECU 40 is input to the drive control device 30.

  The resolver 50 is an example of a rotation speed detection unit that detects the rotation speed of the rotation shaft of the electric motor 10. A signal representing the rotation speed of the electric motor 10 detected by the resolver 50 is input to the drive control device 30.

  FIG. 4 is a diagram illustrating an example of a control mode setting map for determining the control mode of the electric motor 10.

  The drive control device 30 uses a control mode setting map shown in FIG. In the control mode setting map, the control mode shifts in the order of sine wave control mode, overmodulation control mode, and rectangular wave control mode as the rotation speed and torque increase from a region where the rotation speed and torque command value are relatively small. It is stipulated.

  In the sine wave control mode, overmodulation control mode, and rectangular wave control mode, the sine wave control mode is an example of the first method in switching between the sine wave control mode and the overmodulation control mode. It is an example of a 2nd system. Therefore, in switching between the sine wave control mode and the overmodulation control mode, the voltage command generated in the sine wave control mode is an example of the first voltage command, and the voltage command generated in the overmodulation control mode is This is an example of a second voltage command.

  In switching between the overmodulation control mode and the rectangular wave control mode, the overmodulation control mode is an example of the first method, and the rectangular wave control mode is an example of the second method. Therefore, in switching between the overmodulation control mode and the rectangular wave control mode, the voltage command generated by the overmodulation control mode is an example of the first voltage command, and the voltage command generated by the rectangular wave control mode is This is an example of a second voltage command.

  The drive control device 30 switches the mode between the sine wave control mode and the overmodulation control mode or the overmodulation control mode and the rectangular wave control mode by the mode determination processing unit 35 according to the operating state of the electric motor 10. If it is determined that mode switching between the two is necessary, the mode is switched. By switching the mode, the generation of the voltage command is switched to any one of the sine wave control processing unit 32, the overmodulation control processing unit 33, and the rectangular wave control processing unit 34.

  The electric motor 10 is driven by a voltage command generated by the drive control device 30 in any one of the sine wave control mode, the overmodulation control mode, and the rectangular wave control mode.

  Here, the boundary between the region where the sine wave control mode is performed and the region where the overmodulation control mode is performed is defined as a boundary (1), and the boundary between the region where the overmodulation control mode is performed and the region where the rectangular wave control mode is performed is a boundary. (2).

  The control mode setting map of the drive control device 30 of the first embodiment includes switching areas 201 and 202 including the boundary (1) and switching areas 203 and 204 including the boundary (2).

  The control mode setting map has switching areas 205 and 206 including the boundary (2) and switching areas 207 and 208 including the boundary (2).

  The switching region 201 is a region having a certain width in the rotational speed direction with respect to the boundary (1) on the region side where the sine wave control mode is performed with respect to the boundary (1), as indicated by a broken line in FIG. . As an example, the width in the rotation speed direction is set to the maximum change width of the rotation speed in one control cycle of the sine wave control mode.

  The switching region 202 is a region having a certain width in the direction of the torque command value with respect to the boundary (1) on the region side where the sine wave control mode is performed with respect to the boundary (1), as indicated by a one-dot chain line in FIG. It is. For example, the width in the torque command value direction is set to the maximum change width of the torque command value in one control cycle of the sine wave control mode.

  When the operating point of the electric motor 10 determined by the rotation speed of the electric motor 10 and the torque command value is inside the switching region 201 and the switching region 202, the control mode can be switched from the sine wave control mode to the overmodulation control mode. There is sex. For this reason, the switching area determination unit 36 determines whether or not the operating point is inside the area 201 and the area 202.

  The switching region 203 is a region having a constant width in the rotational speed direction with respect to the boundary (1) on the region side where the overmodulation control mode is performed with respect to the boundary (1), as indicated by a broken line in FIG. . For example, the width in the rotation speed direction is set to the maximum change width of the rotation speed in one control cycle of the overmodulation control mode.

  The switching region 204 is a region having a certain width in the direction of the torque command value with respect to the boundary (1) on the side of the region where the overmodulation control mode is performed with respect to the boundary (1), as indicated by a dashed line in FIG. It is. For example, the width in the torque command value direction is set to the maximum change width of the torque command value in one control cycle of the overmodulation control mode.

  When the operating point of the motor 10 determined by the rotation speed of the motor 10 and the torque command value is inside the switching region 203 and the switching region 204, the control mode can be switched from the overmodulation control mode to the sine wave control mode. There is sex. For this reason, the switching area determination unit 36 determines whether or not the operating point is inside the area 203 and the area 204.

  As described above, the switching region including the boundary (1) includes the switching regions 201 and 202 on the region side where the sine wave control mode is performed with respect to the boundary (1) and the region where the overmodulation control mode is performed with respect to the boundary (1). Side switching areas 203 and 204.

  Here, since the control cycle in the sine wave control mode is longer than the control cycle in the overmodulation control mode, the width in the rotation speed direction of the switching region 201 and the width in the torque command value direction of the switching region 202 are respectively It is set wider than the width in the rotational speed direction 203 and the width in the torque command value direction in the switching region 204.

  As shown by a broken line in FIG. 4, the switching region 205 is a region having a constant width in the rotational speed direction with respect to the boundary (2) on the region side where the overmodulation control mode is performed from the boundary (2). . For example, the width in the rotation speed direction is set to the maximum change width of the rotation speed in one control cycle of the overmodulation control mode.

  The switching region 206 is a region having a certain width in the direction of the torque command value with respect to the boundary (2) on the side of the region where the overmodulation control mode is performed with respect to the boundary (2), as indicated by a dashed line in FIG. It is. For example, the width in the torque command value direction is set to the maximum change width of the torque command value in one control cycle of the overmodulation control mode.

  When the operating point of the electric motor 10 determined by the rotation speed of the electric motor 10 and the torque command value is inside the switching area 205 and the switching area 206, the control mode can be switched from the overmodulation control mode to the rectangular wave control mode. There is sex. For this reason, the switching area determination unit 36 determines whether or not the operating point is inside the area 205 and the area 206.

  As shown by a broken line in FIG. 4, the switching region 207 is a region having a certain width in the rotational speed direction with respect to the boundary (2) on the region side where the rectangular wave control mode is performed from the boundary (2). . As an example, the width in the rotation speed direction is set to the maximum change width of the rotation speed in one control cycle of the rectangular wave control mode.

  The switching area 208 is an area having a certain width in the direction of the torque command value with respect to the boundary (2) on the side of the area where the rectangular wave control mode is performed with respect to the boundary (2), as indicated by a dashed line in FIG. It is. For example, the width in the torque command value direction is set to the maximum change width of the torque command value in one control cycle of the rectangular wave control mode.

  When the operating point of the electric motor 10 determined by the rotational speed of the electric motor 10 and the torque command value is inside the switching area 207 and the switching area 208, the control mode can be switched from the rectangular wave control mode to the overmodulation control mode. There is sex. Therefore, the switching area determination unit 36 determines whether or not the operating point is inside the area 207 and the area 208.

  Here, since the control cycle is constant in the sine wave control mode and the overmodulation control mode, the width in the rotation speed direction of the regions 201, 203, and 205 and the width in the torque command value direction of the regions 202, 204, and 206 are It is constant.

  On the other hand, in the rectangular wave control, the control cycle increases as the rotational speed increases. Therefore, both the width of the region 207 in the rotational speed direction and the width of the region 208 in the torque command value direction both increase in rotational speed. It narrows according to.

  As described above, the switching region including the boundary (2) includes the switching regions 205 and 206 on the region side where the overmodulation control mode is performed from the boundary (2), and the region where the rectangular wave control mode is performed from the boundary (2). Side switching areas 207 and 208.

  Here, a mode in which the width in the rotation speed direction of the areas 201, 203, 205, and 207 is set to the maximum change width in one control cycle will be described. However, the rotation speed direction of the areas 201, 203, 205, and 207 is described. The width of is not limited to such a width.

  For example, the width in the rotation speed direction of the areas 201, 203, 205, and 207 may be set to a width obtained by multiplying the maximum change width in one control cycle by a coefficient (a coefficient larger than 1 or a coefficient smaller than 1). .

  In such a case, the width in the rotation speed direction of the regions 201, 203, 205, and 207 is a value corresponding to the maximum change width in one control cycle.

  Further, a mode in which the width in the torque command value direction of the areas 202, 204, 206, and 208 is set to the maximum change width in one control cycle will be described. The width is not limited to such a width.

  For example, the width in the torque command value direction of the regions 202, 204, 206, and 208 may be set to a width obtained by multiplying the maximum change width in one control cycle by a coefficient (a coefficient larger than 1 or a coefficient smaller than 1). Good.

  In such a case, the width in the torque command value direction of the regions 202, 204, 206, and 208 is a value corresponding to the maximum change width in one control cycle.

  The widths of the areas 201, 203, 205, and 207 and the areas 202, 204, 206, and 208 may be set to values obtained through simulations or values obtained through experiments, for example, values other than those described above. Also good.

  Next, control mode switching processing by the drive control device 30 according to the embodiment will be described with reference to the flowchart of FIG.

  FIG. 5 is a flowchart illustrating control mode switching processing by the drive control device 30 according to the embodiment.

  When the operation of the vehicle equipped with the drive control device 30 of the embodiment is started, the main control unit 31 of the drive control device 30 starts processing (start).

  The drive control device 30 determines whether or not the operating point is in any one of the switching areas 201 to 204 (step S1). Specifically, the process of step S <b> 1 is executed by the switching area determination unit 36. Switching region determination unit 36 determines whether or not the operating point determined by the current rotation speed of motor 10 and the torque command value is within switching regions 201 to 204 included in the control mode setting map stored in memory 37. Determine whether.

  The main control unit 31 causes the sine wave control processing unit 32 and the overmodulation control processing unit 33 to generate a voltage command when the switching region determination unit 36 determines that the operating point is within the switching regions 201 to 204. (Step S2). Thereby, the voltage command by both the sine wave control mode and the overmodulation control mode is generated. When the process of step S2 ends, the main control unit 31 causes the mode determination processing unit 35 to execute the process of step S3.

  The mode determination processing unit 35 determines whether or not there is a mode change (step S3). When the control in the sine wave control mode is performed, the mode determination processing unit 35 determines that there is switching to the overmodulation control mode if the modulation rate is between 0.61 and 0.78. In addition, when the control in the overmodulation control mode is performed, the mode determination processing unit 35 determines that there is a switch to the sine wave control mode if the modulation rate is 0.61 or less.

  Note that the mode determination processing unit 35 performs modulation when the control is performed in the sine wave control mode, when the modulation factor is 0.61 or less, and when control is performed in the overmodulation control mode. When the rate is between 0.61 and 0.78, it is determined that there is no mode switching.

  If it is determined in step S3 that there is a mode switch, the main control unit 31 determines whether the determination result by the mode determination processing unit 35 is the switch to the sine wave control mode or the overmodulation control mode. It is determined whether it is switching (step S4).

  When determining that the determination result by the mode determination processing unit 35 is switching to the sine wave control mode, the main control unit 31 selects the voltage command generated by the sine wave control processing unit 32 in step S2 (step S5). ).

  On the other hand, when the main control unit 31 determines that the determination result by the mode determination processing unit 35 is switching to the overmodulation control mode, the main control unit 31 selects the voltage command generated by the overmodulation control processing unit 33 in step S2 ( Step S6).

  Next, the main control unit 31 outputs the voltage command selected in step S5 or S6 from the drive control device 30 to the gate of the IGBT of the inverter 25 (step S7).

  As a result, when the electric motor 10 is driven in the sine wave control mode before one control cycle, the driving is switched to the overmodulation control mode by the voltage command output in step S7.

  On the other hand, when the electric motor 10 has been driven in the overmodulation control mode before one control cycle, it is switched to driving in the sine wave control mode according to the voltage command output in step S7.

  Next, the main control unit 31 determines whether or not to end the process (step S8). The end of the process is performed when the operation of the vehicle equipped with the drive control device 30 of the present embodiment ends. For example, the main control unit 31 performs the process when the ignition switch is turned off. Exit.

  On the other hand, if it is determined that the process is not terminated, the main control unit 31 returns the flow to step S1. This is because the mode switching is continuously monitored.

  The main control unit 31 also returns the flow to step S1 even when it is determined in step S3 that there is no mode switching. This is because the mode switching is continuously monitored.

  If it is determined in step S1 that the operating point is not within the switching areas 201 to 204, the main control unit 31 advances the flow to step S9.

  The drive control device 30 determines whether or not the operating point is in any one of the switching areas 205 to 208 (step S9). Specifically, the process of step S9 is executed by the switching area determination unit 36. Switching region determination unit 36 determines whether or not the operating point determined by the current rotation speed of motor 10 and the torque command value is within switching regions 205 to 208 included in the control mode setting map stored in memory 37. Determine whether.

  When the switching region determination unit 36 determines that the operating point is within the switching regions 205 to 208, the main control unit 31 causes the overmodulation control processing unit 33 and the rectangular wave control processing unit 34 to generate a voltage command. (Step S10). Thereby, the voltage command by both the overmodulation control mode and the rectangular wave control mode is generated. When the process of step S10 ends, the main control unit 31 causes the mode determination processing unit 35 to execute the process of step S11.

  The mode determination processing unit 35 determines whether or not there is a mode change (step S11). When the control in the overmodulation control mode is performed, the mode determination processing unit 35 determines that there is switching to the rectangular wave control mode if the modulation rate is 0.78 or more. In addition, when the control in the rectangular wave control mode is performed, the mode determination processing unit 35 determines that there is a switch to the overmodulation control mode if the modulation rate is between 0.61 and 0.78. To do.

  Note that the mode determination processing unit 35 performs the control in the case where the modulation factor is between 0.61 and 0.78 and the control in the rectangular wave control mode when the control is performed in the overmodulation control mode. If the modulation rate is 0.78 or more, it is determined that there is no mode switching.

  In step S11, when it is determined that there is a mode switch, the main control unit 31 determines whether the determination result by the mode determination processing unit 35 is the switch to the overmodulation control mode, or to the rectangular wave control mode. It is determined whether it is switching (step S12).

  When determining that the determination result by the mode determination processing unit 35 is switching to the overmodulation control mode, the main control unit 31 selects the voltage command generated by the overmodulation control processing unit 33 in step S10 (step S13). ).

  On the other hand, when the main control unit 31 determines that the determination result by the mode determination processing unit 35 is switching to the rectangular wave control mode, the main control unit 31 selects the voltage command generated by the rectangular wave control processing unit 34 in step S10 ( Step S14).

  Next, the main control unit 31 outputs the voltage command selected in step S13 or S14 from the drive control device 30 to the gate of the IGBT of the inverter 25 (step S7).

  As a result, when the electric motor 10 is driven in the overmodulation control mode before one control cycle, the driving is switched to the driving in the rectangular wave control mode by the voltage command output in step S7.

  On the other hand, when the electric motor 10 is driven in the rectangular wave control mode before one control cycle, the driving is switched to the overmodulation control mode in accordance with the voltage command output in step S7.

  Next, the main control unit 31 executes the process of step S8.

  In step S9, if the switching area determination unit 36 determines that the operating point is not in any of the switching areas 205 to 208, the main control unit 31 advances the flow to step S15. In this case, the operating point does not exist in any of the switching areas 201 to 204 and 205 to 208, and it is not assumed that the mode is switched.

  The main control unit 31 calculates a voltage command in the control mode before one control cycle (step S15). If the control mode before one control cycle is the sine wave control mode, the main control unit 31 causes the sine wave control processing unit 32 to calculate a voltage command. If the control mode before one control cycle is the overmodulation control mode, the main control unit 31 causes the overmodulation control processing unit 33 to calculate a voltage command. If the control mode before one control cycle is the rectangular wave control mode, the main control unit 31 causes the rectangular wave control processing unit 34 to calculate a voltage command.

  In step S15, the voltage command is calculated in the control mode before one control cycle because the control mode before the one control cycle is the same as the control mode in the current control cycle. This is because the voltage command may be calculated by

  If it is determined in step S11 that the control mode is not switched, the main control unit 31 returns the flow to step S1.

  Thus, a series of processing ends.

  According to the drive control device 30 of the present embodiment, when there is a possibility of switching the control mode, both the voltage command in the current control mode and the voltage command in the control mode that may be switched are both. Both are generated (steps S2 and S10).

  For this reason, when the control mode is switched, the drive control of the electric motor 10 can be performed using the voltage command calculated in advance (in step S2 or S10) in the control mode after switching.

  Therefore, as in the prior art, immediately after the control mode is switched, the electric motor 10 is not driven using the voltage command calculated by the control mode one control cycle before the control mode is switched.

  In other words, by calculating in advance the voltage command in the control mode after switching the control mode before switching the control mode, when the control mode is switched, it is calculated by the control mode one control cycle before. The controllability of the electric motor 10 can be improved without using a voltage command.

  Thereby, it is possible to suppress the occurrence of problems such as a decrease in drivability such as generation or increase of noise or vibration of the electric motor 10 and an increase in power consumption due to inefficient drive control. The drive control apparatus 30 which improved the controllability of the electric motor 10 can be provided.

  In the above description, the mode in which the three control modes of the sine wave control mode, the overmodulation control mode, and the rectangular wave control mode are switched has been described. However, the drive control apparatus and the drive control method according to the present embodiment are applicable to the case where only two of these control modes are used and the two control modes are switched.

  Moreover, the form which switches three control modes, a sine wave control mode, an overmodulation control mode, and a rectangular wave control mode was demonstrated. However, the drive control device and the drive control method of the present embodiment can be applied to control modes other than the sine wave control mode, the overmodulation control mode, and the rectangular wave control mode.

  Although the drive control device and the drive control method of the present embodiment have been described above for use in a hybrid vehicle (HV vehicle), the drive control device of the present embodiment is used in an electric vehicle (Electric Vehicle). You can also.

  The drive control device and the drive control method according to the exemplary embodiments of the present invention have been described above, but the present invention is not limited to the specifically disclosed embodiments, and Various modifications and changes can be made without departing from the scope.

DESCRIPTION OF SYMBOLS 100 Drive system 10 Electric motor 20 Power supply circuit 30 Drive control apparatus 40 HVECU
DESCRIPTION OF SYMBOLS 50 Resolver 21 Battery 22 Smoothing capacitor 23 Buck-boost converter 24 Smoothing capacitor 25 Inverter 31 Main control part 32 Sine wave control processing part 33 Overmodulation control processing part 34 Rectangular wave control processing part 35 Mode determination processing part 36 Switching area | region determination part 37 Memory 201, 202, 203, 204, 205, 206, 207, 208 area

Claims (9)

The boundary between the first region for generating the first voltage command used for drive control of the motor by the first method and the second region for generating the second voltage command used for drive control by the second method is the rotational speed of the motor. And a storage unit for storing a map represented by the torque command value;
When the operating point of the electric motor determined by the rotation speed and the torque command value is within a predetermined switching region including the boundary, the first voltage command is generated by the first method and the second method is used. A voltage command generator for generating a second voltage command;
When it is necessary to switch from the second method to the first method, drive control of the motor is performed using the first voltage command, and when switching from the first method to the second method is necessary. A drive control unit that performs drive control of the electric motor using the second voltage command. The first method is a method of generating the first voltage command by a sine wave control method, and the second method is a method of generating the second voltage command by an overmodulation control method,
The switching area is composed of a first switching area in the first area and a second switching area in the second area,
The first width of the first region in the rotational speed direction and the second width of the torque command value direction are respectively the third width of the second region in the rotational speed direction and the fourth width of the torque command value direction. The drive control device according to claim 1, which is wider.   The first width is a width set according to a maximum change width of the rotation speed in one control cycle of the sine wave control method, and the second width is the width of the sine wave control method in one control cycle. The drive control device according to claim 2, wherein the drive control device has a width set in accordance with a maximum change width of the torque command value.   The third width is a width set according to a maximum change width of the rotation speed in one control cycle of the overmodulation control method, and the fourth width is the width of the overmodulation control method in one control cycle. The drive control device according to claim 2, wherein the drive control device has a width set in accordance with a maximum change width of the torque command value. The first method is a method of generating the first voltage command by an overmodulation control method, and the second method is a method of generating the second voltage command by a rectangular wave control method,
The drive control device according to claim 1, wherein the switching area includes a first switching area in the first area and a second switching area in the second area.   The first width is a width set according to a maximum change width of the rotation speed in one control cycle of the overmodulation control method, and the second width is the width of the overmodulation control method in one control cycle. The drive control device according to claim 5, wherein the drive control device has a width set in accordance with a maximum change width of the torque command value.   The third width is a width set according to a maximum change width of the rotation speed in one control cycle of the rectangular wave control method, and the fourth width is the width of the rectangular wave control method in one control cycle. The drive control device according to claim 6, wherein the drive control device has a width set in accordance with a maximum change width of the torque command value.   The drive control device according to claim 7, wherein the third width and the fourth width are narrower on the high speed side than on the low speed side. The operating point of the motor determined by the rotational speed of the motor and the torque command value is a first region in which a voltage command used for driving control of the motor is generated by the first method, and a second region in which the voltage command is generated by the second method. A first step of generating a voltage command by the first method and a voltage command by the second method when within a predetermined switching region including a boundary with the two regions;
When switching from the second method to the first method is necessary, drive control of the electric motor is performed using the voltage command generated by the first method in the first step, and the first method to the And a second step of performing drive control of the electric motor using a voltage command generated by the second method in the first step when switching to the second method is necessary.

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