JP2013106387A - Drive device and vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To suppress an increase of a voltage fluctuation of a drive voltage system where a step-up converter and an inverter are connected.SOLUTION: When a sine wave control method is not used as a method of controlling an inverter or a number of revolutions Nm of a motor is outside a resonance revolution number region (region between a number of revolutions N1 and a number of revolutions N2), a value Kpv1, Kiv1 at a normal time is set at a step-up gain Kpv, Kiv (S130 to S150). When the sine wave control method is used as the method of controlling the inverter and the number of revolutions Nm of the motor is inside the resonance revolution number region, a value Kpv2, Kiv2 that is smaller than the value Kpv1, Kiv1 at the normal time is set at the step-up gain Kpv, Kiv (S130, S140, and S160). A step-up converter is controlled by setting a voltage command VH* of a drive voltage system power line using the step-up gain Kpv, Kiv so that a difference between a voltage VH of the drive voltage system power line and a target voltage VHtag is cancelled out.

Description

  The present invention relates to a drive device and an automobile, and more specifically, a motor, an inverter that drives the motor, a battery, and a drive that boosts the power of a battery voltage system that has a reactor and is connected to the battery and that is connected to the inverter. The present invention relates to a drive device including a boost converter that can be supplied to a voltage system, a battery voltage system capacitor that smoothes the voltage of the battery voltage system, and a drive voltage system capacitor that smoothes the voltage of the drive voltage system.

  Conventionally, this type of drive device includes an AC motor, an inverter that drives the AC motor, a DC power supply, and a step-up / down converter that has a reactor and performs a voltage conversion operation with the DC power supply. In the control of the buck-boost converter so that (input voltage to the inverter) matches the voltage command value, the voltage command value is generated according to the driving force required for the AC motor, and the power fluctuation frequency of the AC motor and the DC Based on the relationship with the resonance frequency of the power supply including the power supply and the buck-boost converter, the voltage command value is corrected according to the power fluctuation frequency of the AC motor so that the system voltage does not exceed the input voltage limit value. What to do is proposed (for example, refer patent document 1). In this apparatus, such control prevents the system voltage from exceeding the input voltage limit value.

JP 2010-268626 A

  In the above-described drive device, it is possible to suppress the inverter input voltage from becoming an overvoltage in a resonance state that causes resonance in a power supply device including a DC power supply or a buck-boost converter, but depending on the responsiveness of the system voltage. May cause some fluctuations in system voltage.

  The drive device and the automobile of the present invention are mainly intended to suppress an increase in voltage fluctuation of a drive voltage system in which a boost converter and an inverter are connected.

  The drive device and the automobile of the present invention employ the following means in order to achieve the main object described above.

The first drive device of the present invention comprises:
A motor, an inverter for driving the motor, a battery, a boost converter capable of boosting power of a battery voltage system having a reactor and connected to the battery and supplying the power to the drive voltage system to which the inverter is connected; A battery voltage system capacitor for smoothing the voltage of the battery voltage system; a drive voltage system capacitor for smoothing the voltage of the drive voltage system; and a sine wave control system, an overmodulation control system, a rectangle so that torque is output from the motor A voltage command for the drive voltage system is set using a boost gain so that the difference between the target voltage of the drive voltage system and the voltage of the drive voltage system is canceled while controlling the inverter by one of the wave control methods A control device for controlling the step-up converter,
When the control method of the inverter is a sine wave control method and the rotation speed of the motor is in a resonance rotation speed region that causes resonance in a circuit including the boost converter, the control method of the inverter is sine wave control. A means for setting a voltage command for the drive voltage system using a step-up gain that is smaller than when the system is not used and when the rotational speed of the motor is outside the resonance rotational speed region;
This is the gist.

  In the first drive device of the present invention, when the inverter control method is the sine wave control method and the motor rotation speed is within the resonance rotation speed region that causes resonance in the circuit including the boost converter, the inverter control method is sine. The voltage command of the drive voltage system is set using a boosting gain that is smaller than when the wave control method is not used and when the motor speed is outside the resonance speed range. Thereby, it is possible to suppress an increase in voltage fluctuation of the drive voltage system. Of course, when the inverter control method is not a sine wave control method, or when the motor speed is outside the resonance speed range, the voltage response of the drive voltage system (responsiveness to changes in the target voltage) is made relatively high. be able to.

The second drive device of the present invention is:
A motor, an inverter for driving the motor, a battery, a boost converter capable of boosting power of a battery voltage system having a reactor and connected to the battery and supplying the power to the drive voltage system to which the inverter is connected; A battery voltage system capacitor for smoothing the voltage of the battery voltage system; a drive voltage system capacitor for smoothing the voltage of the drive voltage system; and a sine wave control system, an overmodulation control system, a rectangle so that torque is output from the motor A voltage command for the drive voltage system is set using a boost gain so that the difference between the target voltage of the drive voltage system and the voltage of the drive voltage system is canceled while controlling the inverter by one of the wave control methods A control device for controlling the step-up converter,
The control means includes a circuit in which an allowable upper limit voltage allowed for the drive voltage system is limited to a standard allowable upper limit voltage that is a standard value of the allowable upper limit voltage, and the voltage of the drive voltage system includes the boost converter. Is within a resonance voltage range that causes resonance, and is smaller than when the allowable upper limit voltage is not limited to the standard allowable upper limit voltage and when the voltage of the drive voltage system is outside the resonance voltage range. Means for setting a voltage command of the drive voltage system using a boost gain;
This is the gist.

  In the second drive device of the present invention, the allowable upper limit voltage allowed for the drive voltage system is limited to the standard allowable upper limit voltage which is the standard value of the allowable upper limit voltage, and the voltage of the drive voltage system Boost voltage gain is smaller when the upper limit voltage is not limited to the standard upper limit voltage and when the voltage of the drive voltage system is outside the resonance voltage range. Is used to set the voltage command for the drive voltage system. Thereby, it is possible to suppress an increase in voltage fluctuation of the drive voltage system. Of course, when the allowable upper limit voltage is not limited with respect to the standard allowable upper limit voltage, or when the driving voltage system voltage is outside the resonance voltage range, the driving voltage system voltage responsiveness (responsiveness to changes in the target voltage). Can be made relatively high.

  In the first or second driving apparatus of the present invention, when the voltage fluctuation of the driving voltage system is assumed to exceed an allowable range, the control unit may detect that the voltage fluctuation of the driving voltage system exceeds the allowable range. It can also be a means for controlling the inverter so that the output from the motor is limited compared to when it is not assumed. In this way, it is possible to further suppress an increase in voltage fluctuation of the drive voltage system.

  The automobile of the present invention is a driving device according to any one of the above-described embodiments, that is, a battery voltage system having a motor, an inverter that drives the motor, a battery, and a reactor, to which the battery is connected. A boost converter capable of boosting the power of the battery and supplying it to a drive voltage system to which the inverter is connected, a battery voltage system capacitor for smoothing the voltage of the battery voltage system, and a drive voltage system for smoothing the voltage of the drive voltage system The inverter is controlled by one of a sine wave control method, an overmodulation control method, and a rectangular wave control method so that torque is output from the capacitor and the motor, and the target voltage of the drive voltage system and the voltage of the drive voltage system A control means for controlling the boost converter by setting a voltage command of the drive voltage system using a boost gain so as to cancel the difference between Thus, when the control method of the inverter is a sine wave control method and the rotation speed of the motor is within a resonance rotation speed region that causes resonance in a circuit including the boost converter, the control method of the inverter is A driving device, which is a means for setting a voltage command of the driving voltage system using a boosting gain smaller than when the sine wave control method is not used and when the rotational speed of the motor is outside the resonance rotational speed region, or A motor, an inverter for driving the motor, a battery, a boost converter capable of boosting power of a battery voltage system having a reactor and connected to the battery and supplying the power to the drive voltage system to which the inverter is connected; A battery voltage capacitor for smoothing the voltage of the battery voltage system, a drive voltage capacitor for smoothing the voltage of the drive voltage system, and the motor The inverter is controlled by any one of a sine wave control method, an overmodulation control method, and a rectangular wave control method so that torque is output, and the difference between the target voltage of the drive voltage system and the voltage of the drive voltage system is canceled out. And a control means for controlling the boost converter by setting a voltage command of the drive voltage system using a boost gain, wherein the control means is an allowable upper limit allowed for the drive voltage system. When the voltage is limited to a standard allowable upper limit voltage that is a standard value of the allowable upper limit voltage and the voltage of the drive voltage system is within a resonance voltage range that causes resonance in the circuit including the boost converter, the allowable upper limit When the voltage is not limited with respect to the standard allowable upper limit voltage and when the voltage of the drive voltage system is out of the resonance voltage range, the boosting gain is small. The gist is to mount a drive device, which is a means for setting a voltage command of a drive voltage system, and to travel using the power from the motor.

  In the automobile of the present invention, since the drive device according to any one of the above-described aspects is mounted, the effect of the drive device of the present invention, for example, the effect of suppressing an increase in voltage fluctuation of the drive voltage system, etc. The same effect can be achieved.

It is a block diagram which shows the outline of a structure of the electric vehicle 20 carrying the drive device as 1st Example of this invention. 2 is a configuration diagram showing an outline of a configuration of an electric drive system including a motor 32. FIG. When the inverter 34 is controlled by any one of the sine wave control method, the overmodulation control method, and the rectangular wave control method, the torque command Tm * and the rotation speed Nm of the motor 32 and the control method of the inverter 34 (sine wave control method, overmodulation) It is explanatory drawing which shows an example of the approximate relationship with a control system and a rectangular wave control system). It is a flowchart which shows an example of the pressure | voltage rise control routine performed by the electronic control unit 50 of 1st Example. It is a flowchart which shows an example of the pressure | voltage rise control routine performed by the electronic control unit 50 of 2nd Example. FIG. 6 is an explanatory diagram showing an example of the relationship between the voltage VH of the drive voltage system power line 42, the maximum power Pm of the motor 32, and the inverse of the attenuation factor ζ of the boost converter 40. FIG. 11 is a configuration diagram showing an outline of a configuration of a hybrid vehicle 120 according to a modification. FIG. 11 is a configuration diagram showing an outline of a configuration of a hybrid vehicle 120 according to a modification. FIG. 11 is a configuration diagram showing an outline of a configuration of a hybrid vehicle 120 according to a modification.

  Next, the form for implementing this invention is demonstrated using an Example.

  FIG. 1 is a configuration diagram showing an outline of the configuration of an electric vehicle 20 equipped with a drive apparatus as a first embodiment of the present invention, and FIG. 2 is a configuration showing an outline of the configuration of an electric drive system including a motor 32. FIG. As shown in FIG. 1, the electric vehicle 20 of the first embodiment drives a motor 32 that can input and output power to a drive shaft 22 that is connected to drive wheels 26 a and 26 b via a differential gear 24, and drives the motor 32. For example, a battery 36 configured as a lithium ion secondary battery, a power line (hereinafter referred to as a drive voltage system power line) 42 to which the inverter 34 is connected, and a power line to which the battery 36 is connected ( The voltage VH of the drive voltage system power line 42 is adjusted and the power is exchanged between the drive voltage system power line 42 and the battery voltage system power line 44. A boost converter 40 and an electronic control unit 50 for controlling the entire vehicle are provided.

  The motor 32 is configured as a well-known synchronous generator motor including a rotor embedded with permanent magnets and a stator wound with a three-phase coil. As shown in FIG. 2, the inverter 34 includes transistors T11 to T16 as six switching elements, and six diodes D11 to D16 connected in parallel to the transistors T11 to T16 in the reverse direction. The transistors T11 to T16 are arranged in pairs so as to be on the source side and the sink side with respect to the positive and negative buses of the drive voltage system power line 42, and each of the connection points between the paired transistors. The three-phase coils (U-phase, V-phase, W-phase) of the motor 32 are connected to each other. Therefore, a rotating magnetic field can be formed in the three-phase coil and the motor 32 can be driven to rotate by adjusting the ratio of the on-time of the transistors T11 to T16 while the voltage is applied to the inverter 34. A smoothing capacitor 46 is connected to the positive and negative buses of the drive voltage system power line 42.

  As shown in FIG. 2, the boost converter 40 is configured as a boost converter including two transistors T31 and T32, two diodes D31 and D32 connected in parallel to the transistors T31 and T32 in the reverse direction, and a reactor 41. . The two transistors T31 and T32 are respectively connected to the positive bus of the drive voltage system power line 42, the negative bus of the drive voltage system power line 42 and the battery voltage system power line 44, and the connection point between the transistors T31 and T32. A reactor 41 is connected to the positive electrode bus of the battery voltage system power line 44. Therefore, by turning on and off the transistors T31 and T32, the power of the battery voltage system power line 44 is boosted and supplied to the drive voltage system power line 42, or the power of the drive voltage system power line 42 is lowered to reduce the battery voltage system. Or can be supplied to the power line 44. A smoothing capacitor 48 is connected to the positive and negative buses of the battery voltage system power line 44.

  The electronic control unit 50 is configured as a microprocessor centered on the CPU 52, and includes a ROM 54 that stores a processing program, a RAM 56 that temporarily stores data, and an input / output port (not shown) in addition to the CPU 52. . The electronic control unit 50 includes a rotational position θm of the rotor of the motor 32 from a rotational position detection sensor 32a that detects the rotational position of the rotor of the motor 32, and phase currents flowing in the V phase and W phase of the three-phase coil of the motor 32. The phase currents Iu and Iv from the current sensors 33U and 33V, the inter-terminal voltage Vb from the voltage sensor 37a attached between the terminals of the battery 36, and the charge from the current sensor 37b attached to the output terminal of the battery 36. Discharge current Ib, battery temperature Tb from temperature sensor 37c attached to battery 36, voltage of capacitor 46 from voltage sensor 46a attached between terminals of capacitor 46 (voltage of drive voltage system power line 42) VH, capacitor The voltage of the capacitor 48 from the voltage sensor 48a attached between the terminals of the 48 (battery voltage system power Voltage of the inverter 44) VL, reactor current IL from the current sensor 41a attached between the connection point between the transistors T31 and T32 of the boost converter 30 and the reactor 41 (transistors T31 and T32 from the battery voltage system power line 44 side). (When the flow to the connecting point side of each other is positive), the ignition signal from the ignition switch 60, the shift position SP from the shift position sensor 62 that detects the operation position of the shift lever 61, and the depression amount of the accelerator pedal 63 are detected. Accelerator opening degree Acc from the accelerator pedal position sensor 64, brake pedal position BP from the brake pedal position sensor 66 for detecting the depression amount of the brake pedal 65, vehicle speed V from the vehicle speed sensor 68, atmospheric pressure P from the atmospheric pressure sensor 69 out, the outside air temperature Tout from the outside air temperature sensor 70, and the like are input through the input port. From the electronic control unit 50, switching control signals to the transistors T11 to T16 of the inverter 34, switching control signals to the transistors T31 and T32 of the boost converter 40, and the like are output via an output port. The electronic control unit 50 calculates the electrical angle θe, rotational angular velocity ωm, and rotational speed Nm of the rotor of the motor 32 based on the rotational position θm of the rotor of the motor 32 detected by the rotational position detection sensor 32a, Based on the charge / discharge current Ib of the battery 36 detected by the sensor 37b, the storage ratio SOC, which is the ratio of the amount of power that can be discharged from the battery 36 at that time to the total capacity, is calculated, or the calculated storage ratio SOC and the battery temperature Based on Tb, input / output limits Win and Wout, which are the maximum allowable power that may charge / discharge the battery 36, are calculated.

  In the electric vehicle 20 of the first embodiment thus configured, the electronic control unit 50 sets the required torque Tr * to be output to the drive shaft 22 in accordance with the accelerator opening Acc and the vehicle speed V, and the battery 36 is turned on. The output limits Win and Wout are divided by the rotational speed Nm of the motor 32 to set torque limits Tmin and Tmax as upper and lower limits of the torque that may be output from the motor 32, and the required torque Tr * is set as the torque limits Tmin and Tmax. A torque command Tm * is set as a torque to be output from the motor 32 in a limited manner, and the transistors T11 to T16 of the inverter 34 are subjected to switching control so that the motor 32 is driven by the set torque command Tm *. Further, the target voltage VHtag of the drive voltage system power line 42 is set according to the torque command Tm * of the motor 32 and the rotation speed Nm of the motor 32, and based on the voltage VH of the drive voltage system power line 42 and the target voltage VHtag. Then, the voltage command VH * of the drive voltage system power line 42 is set, and the transistors T31 and T32 of the boost converter 40 are subjected to switching control so that the voltage VH of the drive voltage system power line 42 becomes the voltage command VH *.

  In the first embodiment, the inverter 34 is controlled by the electronic control unit 50 by any one of a sine wave control method, an overmodulation control method, and a rectangular wave control method. Here, the sine wave control method is basically a pulse width modulation (PWM) control method that adjusts the ratio of the on-time of the transistors T11 to T16 by comparing the voltage command of the motor 32 and the triangular wave (carrier wave) voltage. Among these, the control system supplies a pseudo three-phase AC voltage obtained by converting a sinusoidal voltage command having an amplitude equal to or smaller than the amplitude of the triangular wave voltage to the motor 32. The overmodulation control method basically supplies the motor 32 with an overmodulation voltage method obtained by converting a sinusoidal voltage command having an amplitude larger than the amplitude of the triangular wave voltage in the pulse width modulation control method. Control method. Further, the rectangular wave control method is a control method for supplying a rectangular wave voltage to the motor 32. In the sine wave control method, the modulation rate (voltage utilization rate) Rm as a ratio of the amplitude of the sine wave voltage command to the voltage VH of the drive voltage system power line 42 is a value 0 to a value Rref1 (about 0.61). In the overmodulation control method, the modulation rate Rm is in the range of the value Rref1 (about 0.61) to the value Rref2 (about 0.78), and in the rectangular wave control method, the modulation rate Rm is the value Rref2 (about 0. 78) and becomes constant.

  FIG. 3 shows the torque command Tm * and the rotational speed Nm of the motor 32 and the control method of the inverter 34 (sinusoidal control) when the inverter 34 is controlled by any one of the sine wave control method, overmodulation control method, and rectangular wave control method. It is explanatory drawing which shows an example of the approximate relationship with a system, an overmodulation control system, a rectangular wave control system). In general, as shown in FIG. 3, the control method of the inverter 34 includes a sine wave control method, an overmodulation control method, a rectangular wave control method, in order from the side where the torque command Tm * of the motor 32 and the rotation speed Nm are small. To do. This is because the characteristics of the motor 32 and the inverter 34 are in the order of the rectangular wave control method, the overmodulation control method, and the sine wave control method. In consideration of the characteristic that the loss and the like become large, in the region of low rotation speed and low torque, the output response and controllability of the motor 32 are improved by controlling the inverter 34 by the sine wave control method, and the high rotation speed and high torque. This is because, in the region, a large output is enabled by controlling the inverter 34 by the rectangular wave control method, and switching loss of the inverter 34 is reduced. Hereinafter, the control of the inverter 34 in the sine wave control method, the overmodulation control method, and the rectangular wave control method will be described in order.

  In the sine wave control method, the electronic control unit 50 first sets the sum of the phase currents Iu, Iv, Iw flowing in the U-phase, V-phase, and W-phase of the three-phase coil of the motor 32 to a value 0, and the electrical angle θe of the motor 32. Is used to convert the phase currents Iu and Iv to d-axis and q-axis currents Id and Iq (three-phase to two-phase conversion), and the d-axis and q-axis currents based on the torque command Tm * of the motor 32. Commands Id * and Iq * are set. Here, the d-axis is the direction of the magnetic flux formed by the permanent magnet embedded in the rotor of the motor 32, and the q-axis is the electrical angle θe advanced by π / 2 in the positive rotation direction of the motor 32 with respect to the d-axis. It is an angled direction. Further, in the first embodiment, the d-axis and q-axis current commands Id * and Iq * are related to the relationship between the torque command Tm * of the motor 32 and the d-axis and q-axis current commands Id * and Iq *. The current command magnitude Ir (the square root of the sum of the square of the current command Id * and the square of the current command Iq *) for causing the motor 32 to output a torque corresponding to the torque command Tm * is near the minimum value. The torque command Tm * of the motor 32 is applied to the relationship between the torque command Tm * and the current commands Id * and Iq * (hereinafter, the line indicating this relationship is referred to as a current command line). .

  Subsequently, using the d-axis and q-axis currents Id and Iq and the current commands Id * and Iq *, the d-axis and q-axis voltage commands Vd * and Vq * are calculated by the following equations (1) and (2). To do. Here, the expressions (1) and (2) are relational expressions in current feedback control for canceling the difference between the d-axis and q-axis currents Id and Iq and the current commands Id * and Iq *. In equations (1) and (2), “Kp1” and “Kp2” are proportional term gains, and “Ki1” and “Ki2” are integral term gains.

Vd * = Kp1 ・ (Id * -Id) + Ki1 ・ Σ (Id * -Id) (1)
Vq * = Kp2 ・ (Iq * -Iq) + Ki2 ・ Σ (Iq * -Iq) (2)

  When the d-axis and q-axis voltage commands Vd * and Vq * are thus calculated, the d-axis and q-axis voltage commands Vd * and Vq * are converted into the U-phase of the three-phase coil of the motor 32 using the electrical angle θe of the motor 32. , V phase, and W phase to be applied to the voltage commands Vu *, Vv *, Vw * (2 phase-3 phase conversion), the coordinate converted voltage commands Vu *, Vv *, Vw * The transistors T11 to T16 are converted into PWM signals for switching, and the converted PWM signals are output to the inverter 34, whereby the transistors T11 to T16 of the inverter 34 are subjected to switching control. Here, as the amplitude of the sinusoidal voltage command used for the conversion of the PWM signal, the voltage command magnitude Vr (the square root of the sum of the square of the voltage command Vd * and the square of the voltage flow command Vq *) is used.

  When the inverter 34 is controlled by the sine wave control method, the square root of the sum of the square of the d-axis voltage command Vd * and the square of the q-axis voltage command Vq * is calculated as the voltage command magnitude Vr. The modulation rate (voltage utilization rate) Rm is calculated by dividing the voltage command magnitude Vr by the voltage VH of the drive voltage system power line 42, and the calculated modulation rate Rm becomes larger than a predetermined value Rref1 (about 0.61). The control system of the inverter 34 is switched from the sine wave control system to the overmodulation control system. Here, the predetermined value Rref1 corresponds to a value obtained by dividing the amplitude of the triangular wave (carrier wave) voltage at the time of generating the PWM signal by the voltage VH of the drive voltage system power line 42.

  In the overmodulation control method, the electronic control unit 50 first converts the phase currents Iu and Iv to d-axis and q-axis currents Id and Iq using the electrical angle θe of the motor 32 (three-phase to two-phase conversion). Then, the d-axis and q-axis currents Id and Iq obtained by the coordinate conversion are subjected to an annealing process to calculate the currents Idmo and Iqmo after the annealing. Subsequently, d-axis and q-axis current commands Id * and Iq * are set based on the torque command Tm * of the motor 32 as in the sine wave control method. The d-axis and q-axis currents Idmo and Iqmo, the current commands Id * and Iq *, and the rotational angular velocity ωm of the motor 32 are used to calculate the d-axis and q-axis by the following equations (3) and (4). Voltage commands Vd * and Vq * are calculated. Here, the expressions (3) and (4) are relationships in current feedback control for canceling out the difference between the d-axis and q-axis smoothed currents Idmo and Iqmo and the current commands Id * and Iq *. In equations (3) and (4), “Ld” and “Lq” are inductances of the d-axis and q-axis, respectively, “φ” is an induced voltage coefficient, and “Kp3” and “Kp4” Is the gain of the proportional term, and “Ki3” and “Ki4” are the gains of the integral term.

Vd * =-ωm ・ Lq ・ Iq * + Kp3 ・ (Iq * -Iqmo) + Ki3 ・ Σ (Iq * -Iqmo) (3)
Vq * =-ωm ・ Ld ・ Id * + ωm ・ φ + Kp4 ・ (Id * -Idmo) + Ki4 ・ Σ (Id * -Idmo) (4)

  When the d-axis and q-axis voltage commands Vd * and Vq * are calculated in this way, the calculated d-axis and q-axis voltage commands Vd * and Vq * are subjected to an annealing process, and the annealed voltage commands Vdmo * and Vqmo *. And the square root of the sum of the square of the calculated d-axis smoothed voltage command Vdmo * and the square of the q-axis smoothed voltage command Vqmo * is calculated as the voltage command magnitude Vr, and the d-axis Using the post-annealing voltage command Vdmo * and the q-axis post-annealing voltage flow command Vqmo *, the direction of the q-axis of the vector having the components of the d-axis voltage command Vd * and the q-axis voltage command Vq * A voltage command angle θvr as an angle with respect to is calculated. Then, linear correction processing is performed on the voltage command magnitude Vr to set the linear corrected voltage command Vrmo. In the overmodulation control method, when generating the PWM signal, the amplitude of the sinusoidal voltage command (voltage command magnitude Vr) is larger than the amplitude of the triangular wave voltage, so that the voltage applied to the motor 32 does not become substantially sinusoidal. Based on this fact, the linear correction process causes the voltage applied to the motor 32 to increase approximately linearly in accordance with the increase of the voltage command magnitude Vr in the range of values (VH · Rref1 to VH · Rref2). Therefore, the voltage command magnitude Vr is corrected. In the first embodiment, this linear correction processing is performed between a voltage command magnitude Vr determined to apply a voltage corresponding to the voltage command magnitude Vr to the motor 32 and a voltage command magnitude Vrmo after linear correction. The relationship is set by applying the voltage command magnitude Vr.

  When the d-axis and q-axis linearly corrected voltage command Vrmo is calculated in this way, the calculated linear-corrected voltage command magnitude Vrmo and the voltage command angle θvr are used to calculate the d-axis and q-axis linearly corrected voltage command Vdmo2 *, Vqmo2 * is calculated, and d-axis and q-axis linearly corrected voltage commands Vdmo2 * and Vqmo2 * are applied to the U-phase, V-phase, and W-phase of the three-phase coil of the motor 32 using the electrical angle θe of the motor 32. Coordinate conversion (two-phase to three-phase conversion) into power voltage commands Vu *, Vv *, and Vw *, and switching the transistors T11 to T16 of the inverter 34 using the voltage commands Vu *, Vv *, and Vw * that have been subjected to coordinate conversion By converting the PWM signal into a PWM signal and outputting the converted PWM signal to the inverter 34, the transistors T11 to T16 of the inverter 34 are subjected to switching control. Here, in the overmodulation control method, the voltage command magnitude Vrmo after linear correction is used as the amplitude of the sinusoidal voltage command used for the conversion of the PWM signal.

  In the overmodulation control method, as described above, the d-axis and q-axis currents Id and Iq are subjected to the annealing process to calculate the post-annealing currents Idmo and Iqmo, and the calculated post-annealing currents Idmo and Iqmo are calculated. The d-axis and q-axis voltage commands Vd * and Vq * are calculated using the calculated d-axis and q-axis voltage commands Vd * and Vq *, and the annealed voltage commands Vdmo * and Vqmo are applied. By calculating * and using it for controlling the inverter 34, the harmonic component can be attenuated more appropriately and the inverter 34 can be controlled. The above-described sine wave control method has higher controllability and output response than the overmodulation control method, so that the d-axis and q-axis currents Id and Iq and the d-axis and q-axis voltage commands Vd * and Vq * are used for controlling the inverter 34 without being annealed.

  When the inverter 34 is controlled by the overmodulation control method, the modulation factor Rm is calculated by dividing the voltage command magnitude Vr (value before the linear correction process) by the voltage VH of the drive voltage system power line 42, When the calculated modulation factor Rm becomes equal to or less than a value (Rref1-α) obtained by subtracting the predetermined value α from the above-described value Rref1 (about 0.61), the control method of the inverter 34 is changed from the overmodulation control method to the sine wave control method. When the modulation rate Rm becomes equal to or greater than the predetermined value Rref2 (about 0.78), the control method of the inverter 34 is switched from the overmodulation control method to the rectangular wave control method. Here, the predetermined value α is for giving hysteresis so that switching between the sine wave control method and the overmodulation control method does not occur frequently. The predetermined value Rref2 corresponds to the maximum modulation rate when the inverter 34 is controlled by the overmodulation control method.

  In the rectangular wave control method, the electronic control unit 50 first converts the phase currents Iu and Iv to d-axis and q-axis currents Id and Iq using the electrical angle θe of the motor 32 (three-phase to two-phase conversion). Then, the d-axis and q-axis currents Id, Iq obtained by the coordinate conversion are subjected to annealing to calculate post-annealing currents Idmo, Iqmo, and the calculated d-axis, q-axis post-annealing currents Idmo, Based on Iqmo, an estimated torque Tmest estimated to be output from the motor 32 is set. Here, in the first embodiment, the estimated torque Tmest is based on the relationship between the d-axis and q-axis smoothed currents Idmo, Iqmo and the estimated torque Tmest, which are determined in advance through experiments and analysis, and the like. The currents Idmo and Iqmo after annealing are applied and set.

  When the estimated torque Tmest is thus set, the voltage phase command θp * is calculated by the following equation (5) using the estimated torque Tmest of the motor 32 and the torque command Tm *, and a rectangular wave voltage based on the calculated voltage phase command θp *. Is output to the transistors T11 to T16 of the inverter 34 so that the transistors T11 to T16 are switched. Here, the voltage phase command θp * is a phase command corresponding to the voltage command angle θvr in the sine wave control method or the overmodulation control method. Expression (5) is a relational expression in torque feedback control for canceling the difference between the estimated torque Tmest of the motor 32 and the torque command Tm *. In Expression (5), “Kp5” is proportional. Is the gain of the term, and “Ki5” is the gain of the integral term.

   θp * = Kp5 ・ (Tm * -Tmest) + Ki5 ・ Σ (Tm * -Tmest) (5)

  When the inverter 34 is controlled by the rectangular wave control method, the d-axis and q-axis smoothed currents Idmo and Iqmo reach the switching line for switching the control method of the inverter 34 from the rectangular wave control method to the overmodulation control method. Sometimes, the control method of the inverter 34 is switched from the rectangular wave control method to the overmodulation control method. This is because, in the rectangular wave control method, the inverter 34 is controlled by adjusting the voltage phase command θp *, so that the modulation rate Rm is constant, and it cannot be determined whether or not to switch to overmodulation control with the modulation rate Rm. based on. When the inverter 34 is controlled by rectangular wave control, the d-axis current Id is often larger in the −d-axis direction than the current command line due to the field weakening. Therefore, in the first embodiment, in order to suppress frequent switching between the overmodulation modulation control method and the rectangular wave control method, the switching line is determined so that the magnitude of the d-axis current Id is smaller than the current command line. It was supposed to be.

  The control method of the inverter 34 has been described above. Next, the operation of the electric vehicle 20 of the first embodiment configured as described above, particularly the operation when adjusting the voltage VH of the drive voltage system power line 42 will be described. FIG. 4 is a flowchart showing an example of a boost control routine executed by the electronic control unit 50 of the first embodiment. This routine is repeatedly executed every predetermined time (for example, every several msec).

  When the boost control routine is executed, first, the CPU 52 of the electronic control unit 50 first determines the torque command Tm * and the rotation speed Nm of the motor 32, the control method of the inverter 34, the voltage of the drive voltage system power line 42 from the voltage sensor 46a. Data necessary for control, such as VH, atmospheric pressure sensor 69, atmospheric pressure Pout, and outside air temperature sensor 70, are input (step S100).

  When the data is input in this way, the allowable upper limit voltage VHlim allowed for the drive voltage system power line 42 is set based on the input atmospheric pressure Pout and the outside air temperature Tout (step S110). Here, the allowable upper limit voltage VHlim is based on a value (hereinafter referred to as a standard allowable upper limit voltage VHlimset) when the atmospheric pressure Pout is a standard pressure Pset (for example, 1 atm) and the outside air temperature Tout is a standard temperature Tset (for example, 25 ° C.). As described above, the atmospheric pressure Pout is equal to or higher than the pressure P1 (for example, 0.8 atmospheric pressure, 0.85 atmospheric pressure, 0.9 atmospheric pressure, etc.) lower than the standard pressure Pset, and the outside air temperature Tout is lower than the standard temperature Tset (for example, 50 When the atmospheric pressure Pout is lower than the pressure P1 or when the outside air temperature Tout is lower than the temperature T1, the lower the atmospheric pressure Pout is, the lower the standard allowable upper limit voltage is. The standard allowable upper limit voltage VHlim tends to be lower than VHlimset and the outside temperature Tout is lower. And it shall be set to tend to be lower than the et. This is based on the reason that the withstand pressure of the elements of the boost converter 40 decreases as the atmospheric pressure Pout and the outside air temperature Tout are lower.

  Subsequently, the target voltage VHtag of the drive voltage system power line 42 is set based on the torque command Tm * and the rotation speed Nm of the motor 32 and the allowable upper limit voltage VHlim of the drive voltage system power line 42 (step S120). Here, the target voltage VHtag of the drive voltage system power line 42 includes a drive voltage VHtmp that can drive the motor 32 at a target drive point consisting of the torque command Tm * of the motor 32 and the rotation speed Nm, and the drive voltage system power line 42. The smaller one of the allowable upper limit voltages VHlim is set. In the first embodiment, the driving voltage VHtmp is a resonance rotation speed region (rotation speed N1 to rotation speed N2) in which the rotation speed Nm of the motor 32 causes resonance in a circuit including the boost converter 40, the capacitor 46, and the capacitor 48. ) Is set so that the inverter 34 is controlled by a sine wave control method or an overmodulation control method. This is because if the inverter 34 is controlled by the rectangular wave control method when the rotation speed Nm of the motor 32 is within the resonance rotation speed region (rotation speed N1 to rotation speed N2), the fluctuation of the voltage VH of the drive voltage system power line 42 is excessive. It is based on the reason that it is thought that it is easy to become big. Here, the rotational speed N1 and the rotational speed N2 can be determined according to the inductance L of the reactor 41, the capacitances Ch and Cl of the capacitors 46 and 48, and the like. For example, 900 rpm, 1000 rpm, 1100 rpm, or the like can be used as the rotation speed N1, and 1900 rpm, 2000 rpm, 2100 rpm, or the like can be used as the rotation speed N2. The rotation speed N1 and the rotation speed N2 are not limited to those using fixed values. For example, the relationship between the voltage VH of the drive voltage system power line 42 and the voltage VL of the battery voltage system power line 44 ( The voltage VL of the battery voltage system power line 44 may be set using a relationship that decreases as the value obtained by dividing the voltage VL of the battery voltage system power line 44 by the voltage VH of the drive voltage system power line 42 increases.

  Then, it is determined whether or not the control method of the inverter 34 is a sine wave control method (step S130), and whether the rotational speed Nm of the motor 32 is within the resonance rotational speed range (the rotational speed N1 to the rotational speed N2 range). It is determined whether or not (step S140).

  When the control method of the inverter 34 is not the sine wave control method in step S130, or when the rotational speed Nm of the motor 32 is outside the resonance rotational speed range (rotational speed N1 to rotational speed N2) in step S140, the drive voltage system power Normal values Kpv1 and Kiv1 are set to the boosting gains Kpv and Kiv used for setting the voltage command VH * of the line 42 (step S150), and the set boosting gains Kpv and Kiv and the voltage VH of the drive voltage system power line 42 are set. The voltage command VH * of the drive voltage system power line 42 is set by the following equation (6) using the target voltage VHtag (step S170), and the transistors T31 and T32 of the boost converter 40 are set using the set voltage command VH *. Switching control is performed (step S180), and this routine is terminated. Here, as the normal values Kpv1 and Kiv1, a relatively large value is used in order to increase the responsiveness of the voltage VH of the drive voltage system power line 42 (followability to the change of the target voltage VHtag). .

  VH * = Kpv ・ (VHtag-VH) + Kiv ・ ∫ (VHtag-VH) dt (6)

  In steps S130 and S140, when the control method of the inverter 34 is a sine wave control method and the rotation speed Nm of the motor 32 is in the resonance rotation speed region (region of the rotation speed N1 to the rotation speed N2), the boosting gains Kpv and Kiv are normally set. The values Kpv2 and Kiv2 smaller than the hourly values Kpv1 and Kiv1 are set (step S160), and the above formula (6) is used by using the set boost gains Kpv and Kiv, the voltage VH of the drive voltage system power line 42 and the target voltage VHtag. ) To set the voltage command VH * of the drive voltage system power line 42 (step S170), and perform switching control of the transistors T31 and T32 of the boost converter 40 using the set voltage command VH * (step S180). End the routine.

  Here, the reason why the boosting gains Kpv and Kiv are set according to the control method of the inverter 34 and the rotation speed Nm of the motor 32 will be described. First, as a result of experiments and analysis, the voltage VH of the drive voltage system power line 42 varies according to the resonant rotational speed when the rotational speed Nm of the motor 32 is within the resonant rotational speed range (rotational speed N1 to rotational speed N2). Compared to when out of the region, it tends to be larger, and the larger the output of the motor 32, the larger the output, and the overmodulation control method when the inverter 34 is controlled by the sine wave control method (when the output response of the motor 32 is high). Thus, it is found that it is likely to increase as the response of the voltage VH of the drive voltage system power line 42 (following ability with respect to a change in the target voltage VHtag) increases. In the first embodiment, as described above, when the rotation speed Nm of the motor 32 is within the resonance rotation speed region (rotation speed N1 to rotation speed N2), the inverter 34 is controlled by a sine wave control method or an overmodulation control method. The driving voltage VHtag is set so as to achieve this. Therefore, in the embodiment, when the control method of the inverter 34 is not the sine wave control method or when the rotational speed Nm of the motor 32 is outside the resonance rotational speed range, the normal values (relatively large values) Kpv1 and Kiv1 are boosted. The voltage command VH * of the drive voltage system power line 42 is set so as to cancel the difference between the voltage VH of the drive voltage system power line 42 and the target voltage VHtag using the gains Kpv and Kiv, and the boost converter 40 is controlled. When the control system 34 is a sine wave control system and the rotational speed Nm of the motor 32 is in the resonance rotational speed region, the drive voltage system is used by using values Kpv2, Kiv2 smaller than the normal values Kpv1, Kiv1 as boost gains Kpv, Kiv. The power of the drive voltage system power line 42 is so canceled that the difference between the voltage VH of the power line 42 and the target voltage VHtag is cancelled. It was used to control the boost converter 40 to set the command VH *. Thereby, in the former, the responsiveness of the voltage VH of the drive voltage system power line 42 can be increased, and in the latter, the fluctuation of the voltage VH of the drive voltage system power line 42 can be suppressed from increasing. Note that when the sign of the reactor current IL flowing through the reactor L of the boost converter 40 is reversed, a surge voltage acts on the drive voltage system power line 42. The magnitude of the surge voltage is determined by experiments, analysis, and the like. It has been found that when the controllability of the motor is low, it tends to increase, and as the output gradient of the motor 32 increases, it tends to increase. For this reason, it is considered that when the control method of the inverter 34 is a rectangular wave control method and the torque of the motor 32 changes suddenly and the sign of the reactor current IL is reversed, the inverter 34 tends to increase. On the other hand, in the first embodiment, as described above, when the control method of the inverter 34 is not a sine wave control method, or when the rotational speed Nm of the motor 32 is outside the resonance rotational speed region, the value Kpv1 at the normal time is used. , Kiv1 as the boost gains Kpv and Kiv, the voltage command VH * of the drive voltage system power line 42 is set so that the difference between the voltage VH of the drive voltage system power line 42 and the target voltage VHtag is canceled, and the boost converter 40 is set. By controlling, it is possible to suppress a large surge voltage from acting on the drive voltage system power line 42 when the sign of the reactor current IL is reversed, and voltage fluctuation of the drive voltage system power line 42 caused by the surge voltage can be suppressed. Can be suppressed.

  According to the electric vehicle 20 of the first embodiment described above, when the control method of the inverter 34 is not a sine wave control method, or when the rotational speed Nm of the motor 32 is outside the resonance rotational speed region, the normal value (comparison) The voltage command VH * of the drive voltage system power line 42 is set so that the difference between the voltage VH of the drive voltage system power line 42 and the target voltage VHtag is canceled using the Kpv1, Kiv1 as the boost gains Kpv, Kiv. The boost converter 40 is controlled, and when the control method of the inverter 34 is a sine wave control method and the rotational speed Nm of the motor 32 is in the resonance rotational speed region, values Kpv2 and Kiv2 smaller than the normal values Kpv1 and Kiv1 are boosted gains. Used as Kpv and Kiv so that the difference between the voltage VH of the drive voltage system power line 42 and the target voltage VHtag is canceled out Since controlling the pressure circuit power boost converter 40 to set the voltage command VH * line 42, it is possible to prevent the change of the voltage VH of the driving voltage system power lines 42 is increased. Of course, when the control method of the inverter 34 is not the sine wave control method, or when the rotational speed Nm of the motor 32 is outside the resonance rotational speed region, the responsiveness of the voltage VH of the drive voltage system power line 42 can be increased.

  Next, an electric vehicle 20B as a second embodiment of the present invention will be described. The electric vehicle 20B of the second embodiment has the same hardware configuration as the electric vehicle 20 of the first embodiment described with reference to FIG. Therefore, in order to avoid redundant description, detailed description of the hardware configuration of the electric vehicle 20B of the second embodiment is omitted.

  In the electric vehicle 20B of the second embodiment, the electronic control unit 50 executes the boost control routine of FIG. 5 instead of the boost control routine of FIG. This routine is repeatedly executed every predetermined time (for example, every several msec), similarly to the boost control routine of FIG.

  When the boost control routine of FIG. 5 is executed, the CPU 52 of the electronic control unit 50 firstly, similarly to the boost control routine of FIG. 4, the torque command Tm * of the motor 32, the rotational speed Nm, the control method of the inverter 34, Data necessary for control such as the voltage VH, the atmospheric pressure Pout, and the outside air temperature Tout of the driving voltage system power line 42 are input (step S200), and the driving voltage system power line 42 is based on the input atmospheric pressure Pout and outside air temperature Tout. Is set (step S210), and the drive voltage system power line 42 is set based on the torque command Tm * of the motor 32, the rotation speed Nm, and the allowable upper limit voltage VHlim of the drive voltage system power line 42. Target voltage VHtag is set (step S220).

  Subsequently, by subtracting the allowable upper limit voltage VHlim from the standard allowable upper limit voltage VHlimset of the drive voltage system power line 42, a voltage limiting amount α as a limiting amount of the allowable upper limit voltage VHlim with respect to the standard allowable upper limit voltage VHlimset is calculated (step S225). ), The calculated voltage limit amount α is compared with the threshold value αref (step S230). Here, the threshold value αref is used to determine whether or not the allowable upper limit voltage VHlim of the drive voltage system power line 42 is limited with respect to the standard allowable upper limit voltage VHlimset. For example, the value 0 is used. Or an upper limit value (a value slightly larger than the value 0) in a range in which the allowable upper limit voltage VHlim can be regarded as being hardly limited with respect to the standard allowable upper limit voltage VHlimset can be used.

  When the voltage limit amount α is equal to or less than the threshold value αref, normal values Kpv1 and Kiv1 are set to the boost gains Kpv and Kiv used for setting the voltage command VH * of the drive voltage system power line 42 (step S250), and the set boost is set. The voltage command VH * of the drive voltage system power line 42 is set by the above equation (6) using the gains Kpv, Kiv, the voltage VH of the drive voltage system power line 42, and the target voltage VHtag (step S270). Switching control of transistors T31 and T32 of boost converter 40 is performed using voltage command VH * (step S280), and this routine is terminated. With such control, when the voltage limit amount α is equal to or less than the threshold value αref (for example, when the value is 0), the responsiveness of the voltage VH of the drive voltage system power line 42 can be increased.

  When the voltage limit amount α is larger than the threshold value αref in step S230, the voltage VH of the drive voltage system power line 42 causes a resonance voltage region (voltages VH1 to VH1) that causes resonance in the circuit including the boost converter 40, the capacitor 46, and the capacitor 48. It is determined whether or not it is within the voltage VH2 region (step S240). Here, as the voltage VH1, for example, 370V, 380V, 390V, or the like can be used, and as the voltage VH2, for example, 420V, 430V, 440V, or the like can be used.

  When the voltage VH of the drive voltage system power line 42 is outside the resonance voltage range (the range of the voltage VH1 to the voltage VH2), the normal values Kpv1 and Kiv1 are set to the boost gains Kpv and Kiv (step S250), and the set boost is set. The voltage command VH * of the drive voltage system power line 42 is set by the above equation (6) using the gains Kpv, Kiv, the voltage VH of the drive voltage system power line 42, and the target voltage VHtag (step S270). Switching control of transistors T31 and T32 of boost converter 40 is performed using voltage command VH * (step S280), and this routine is terminated.

  When the voltage VH of the drive voltage system power line 42 is in the resonance voltage region (voltage VH1 to voltage VH2) in step S240, the boost gains Kpv and Kiv are set to values Kpv2 and Kiv2 smaller than the normal values Kpv1 and Kiv1. (Step S260), using the set boost gains Kpv and Kiv, the voltage VH of the drive voltage system power line 42, and the target voltage VHtag, the voltage command VH * of the drive voltage system power line 42 is obtained by the above equation (6). Setting (step S270), switching control of the transistors T31 and T32 of the boost converter 40 is performed using the set voltage command VH * (step S280), and this routine ends.

  Here, the reason why the boost gains Kpv and Kiv are set according to the voltage VH of the drive voltage system power line 42 when the voltage limit amount α is larger than the threshold value αref will be described. FIG. 6 is an explanatory diagram showing an example of the relationship between the voltage VH of the drive voltage system power line 42, the maximum power Pm of the motor 32, and the reciprocal of the attenuation factor ζ of the boost converter 40. The maximum power Pm of the motor 32 is the maximum power that can be output from the motor 32 when the voltage VH of the drive voltage system power line 42 has each value. Specifically, the rotational speed Nm of the motor 32 is in the above-described resonance rotational speed range. This is the maximum power that can be output from the motor 32 within the range of the rotation speed N1 to the rotation speed N2. Further, the attenuation rate ζ of the boost converter 40 means the ease of attenuation of voltage fluctuations (fluctuation due to surge voltage etc.) of the drive voltage system power line 42, and the resistance Rb of the battery 36 and the drive voltage system power line. 42, voltage VL of battery voltage system power line 44, inductance L of reactor 41 of boost converter 40, capacitances Ch and Cl of capacitors 46 and 48, and the like. As shown in the figure by experiment and analysis, the maximum power Pm of the motor 32 becomes maximum when the voltage VH of the drive voltage system power line 42 is in the vicinity of the predetermined voltage VH3, and the higher the voltage VH of the drive voltage system power line 42 is, the higher the voltage VH is. It has been found that the reciprocal (difficult to attenuate) of the attenuation rate ζ of the boost converter 40 becomes small. Further, through experiments and analyzes, the voltage fluctuation of the drive voltage system power line 42 tends to increase as the maximum power Pm of the motor 32 increases, and increases as the reciprocal of the attenuation factor ζ of the boost converter 40 increases. It has been found that the maximum power Pm of the motor 32 has a greater influence on the voltage fluctuation of the drive voltage system power line 42 than the reciprocal of the attenuation factor ζ of the boost converter 40. Therefore, in the embodiment, when the voltage VH of the drive voltage system power line 42 is outside the resonance voltage region (the region of the voltage VH1 to the voltage VH2) including the predetermined voltage VH3, normal values (relatively large values) Kpv1, Kiv1 Are used as boost gains Kpv and Kiv to set the voltage command VH * of the drive voltage system power line 42 and control the boost converter 40 so that the difference between the voltage VH of the drive voltage system power line 42 and the target voltage VHtag is canceled. When the voltage VH of the drive voltage system power line 42 is in the resonance voltage range, the values Kpv2 and Kiv2 smaller than the normal values Kpv1 and Kiv1 are used as the boost gains Kpv and Kiv, and the voltage VH of the drive voltage system power line 42 and The voltage command VH * of the drive voltage system power line 42 is set and increased so that the difference from the target voltage VHtag is cancelled. It was used to control the converter 40. Thereby, in the former, the responsiveness of the voltage VH of the drive voltage system power line 42 can be increased, and in the latter, the fluctuation of the voltage VH of the drive voltage system power line 42 can be suppressed from increasing. In the second embodiment, when the voltage limiting amount α is equal to or less than the threshold value αref, that is, when the atmospheric pressure Pout and the outside air temperature Tout are close to the standard pressure Pset and the standard temperature Tset, respectively, the allowable upper limit of the drive voltage system power line 42. Since the voltage VHlim is relatively high in the vicinity of the standard allowable upper limit voltage VHlimset, the normal values Kpv1, Kiv1 are used as the boost gains Kpv, Kiv in order to increase the response of the voltage VH of the drive voltage system power line 42. It was.

  According to the electric vehicle 20B of the second embodiment described above, when the voltage limit amount α as the limit amount of the allowable upper limit voltage VHlim with respect to the standard allowable upper limit voltage VHlimset is equal to or less than the threshold value αref, or the voltage of the drive voltage system power line 42 When VH is outside the resonance voltage region (voltage VH1 to voltage VH2 region), the normal value (relatively large values) Kpv1 and Kiv1 are used as the boost gains Kpv and Kiv, and the voltage VH of the drive voltage system power line 42 The voltage command VH * of the drive voltage system power line 42 is set so as to cancel the difference from the target voltage VHtag, and the boost converter 40 is controlled. The voltage limit amount α is larger than the threshold value αref and the voltage VH of the drive voltage system power line 42 is set. Is within the resonance voltage range, values Kpv2 and Kiv2 smaller than normal values Kpv1 and Kiv1 The boost converter 40 is controlled by setting the voltage command VH * of the drive voltage system power line 42 so that the difference between the voltage VH of the drive voltage system power line 42 and the target voltage VHtag is canceled using Kpv and Kiv. An increase in voltage VH of voltage system power line 42 can be suppressed. Of course, when the voltage limit α is equal to or less than the threshold value αref or when the voltage VH of the drive voltage system power line 42 is outside the resonance voltage region, the responsiveness of the voltage VH of the drive voltage system power line 42 can be increased.

  In the electric vehicle 20 of the first embodiment, when the control system of the inverter 34 is not a sine wave control system, or when the rotational speed Nm of the motor 32 is outside the resonance rotational speed range (rotational speed N1 to rotational speed N2), it is normal. Values Kpv1 and Kiv1 are set to boost gains Kpv and Kiv, and when the control method of the inverter 34 is a sine wave control method and the rotational speed Nm of the motor 32 is in the resonance rotational speed region, the values are smaller than the normal values Kpv1 and Kiv1. Assume that Kpv2 and Kiv2 are set to boost gains Kpv and Kiv. In the electric vehicle 20B of the second embodiment, the voltage VH of the drive voltage system power line 42 is set to the resonance voltage region ( Outside the range of voltage VH1 to voltage VH2, the normal values Kpv1 and Kiv1 are set to the boost gains Kpv and Kiv, and the voltage limiting amount α is When the voltage VH of the drive voltage system power line 42 is larger than the value αref and is in the resonance voltage region, the values Kpv2 and Kiv2 smaller than the normal values Kpv1 and Kiv1 are set as the boost gains Kpv and Kiv. It may be used. Specifically, in the first condition in which the control method of the inverter 34 is a sine wave control method and the rotation speed Nm of the motor 32 is in the resonance rotation speed region, the voltage limit amount α is larger than the threshold value αref and the drive voltage system power line 42 When neither the second condition that the voltage VH is within the resonance voltage range is satisfied, the normal values Kpv1 and Kiv1 are set to the boost gains Kpv and Kiv, and at least one of the first condition and the second condition is satisfied When the value is set, the values Kpv2 and Kiv2 smaller than the normal values Kpv1 and Kiv1 may be set as the boost gains Kpv and Kiv. When at least one of the first condition and the second condition is not satisfied The normal values Kpv1 and Kiv1 are set to the boost gains Kpv and Kiv, and when both the first condition and the second condition are satisfied, the normal value Kpv The values Kpv2 and Kiv2 smaller than 1, Kiv1 may be set as the boost gains Kpv and Kiv.

  In the electric vehicle 20 of the first embodiment, when the control method of the inverter 34 is a sine wave control method and the rotational speed Nm of the motor 32 is within the resonance rotational speed region, the values Kpv2, Kiv2 smaller than the normal values Kpv1, Kiv1 are boosted. It is assumed that the gains Kpv and Kiv are set. In the electric vehicle 20B of the second embodiment, when the voltage limit amount α is larger than the threshold value αref and the voltage VH of the drive voltage system power line 42 is in the resonance voltage region, the normal value Kpv1 , Kiv1 are set to the boost gains Kpv, Kiv, but in addition to one or both of them, when the voltage fluctuation of the drive voltage system power line 42 is assumed to exceed the allowable range Compared to when the voltage fluctuation of the drive voltage system power line 42 is assumed not to exceed the allowable range, the output from the motor 32 Specifically, the inverter 34 may be controlled so that a torque smaller than the torque command Tm * is output from the motor 32 so that the force is limited. For example, when both the first condition and the second condition described above are satisfied, the output from the motor 32 is limited on the assumption that the voltage fluctuation of the drive voltage system power line 42 exceeds the allowable range. It is good also as what controls the inverter 34. As described above, the voltage fluctuation of the drive voltage system power line 42 tends to increase as the output of the motor 32 increases. Therefore, such control further suppresses the voltage fluctuation of the drive voltage system power line 42 from increasing. Can do.

  In the first embodiment and the second embodiment, the present invention is applied to the electric vehicles 20 and 20B including the motor 32 that can input and output power to the drive shaft 22 connected to the drive wheels 26a and 26b. For example, as illustrated in the hybrid vehicle 120 of the modified example of FIG. 7, an engine 122 and a motor 124 connected to the drive shaft 22 via the planetary gear mechanism 126, and a motor 32 capable of inputting and outputting power to the drive shaft 22. It is good also as what applies to the hybrid vehicle 120 provided with these. Further, as illustrated in the hybrid vehicle 220 of the modified example of FIG. 8, an inner rotor 232 connected to the crankshaft of the engine 122 and an outer rotor 234 connected to the drive shaft 22 connected to the drive wheels 26a and 26b, It is also possible to include a counter-rotor motor 230 that transmits a part of the power from the engine 122 to the drive shaft 22 and converts the remaining power into electric power. Further, as illustrated in the hybrid vehicle 320 of the modification of FIG. 9, the motor 32 is attached to the drive shaft 22 via the transmission 330 and the engine 122 is connected to the rotation shaft of the motor 32 via the clutch 329. The hybrid vehicle 320 outputs the power from the engine 122 to the drive shaft 22 via the rotation shaft of the motor 32 and the transmission 330 and outputs the power from the motor 32 to the drive shaft 22 via the transmission 330. It may be applied. When the present invention is applied to these hybrid vehicles 120, 220, and 320, the same processing as that of the electric vehicles 20 and 20B of the first and second embodiments is executed, so that the first and second embodiments are executed. The same effect as the example can be achieved.

  In hybrid vehicle 120, motor 124 and motor 32 are normally driven in different driving states (rotation speed, torque), and in hybrid vehicle 220, rotor motor 230 and motor 32 are normally driven in different driving states. As a result, the sign of the current IL flowing through the reactor 41 of the boost converter 40 may be inverted depending on the driving state of the two motors. As described above, the surge voltage applied to the drive voltage system power line 42 in response to the reversal of the sign of the reactor current IL of the boost converter 40 is, in particular, the control method of the inverter 34 is a rectangular wave control method, and the torque of the motor 32 is It is considered that it is likely to increase when the sign of the reactor current IL is reversed due to a sudden change. On the other hand, like the electric vehicle 20 of the first embodiment, when the control method of the inverter 34 is not a sine wave control method, or when the rotational speed Nm of the motor 32 is outside the resonance rotational speed region, the value at the normal time is used. The voltage converter VH * of the drive voltage system power line 42 is set by using Kpv1, Kiv1 as the boost gains Kpv, Kiv so as to cancel the difference between the voltage VH of the drive voltage system power line 42 and the target voltage VHtag. By controlling this, it is possible to suppress a large surge voltage from acting on the drive voltage system power line 42 when the sign of the reactor current IL is inverted, and voltage fluctuations in the drive voltage system power line 42 caused by the surge voltage Can be suppressed.

  In the embodiment, the present invention is applied to an automobile, but may be a vehicle other than the automobile (for example, a train) or a drive device.

  The correspondence between the main elements of the embodiment and the main elements of the invention described in the column of means for solving the problems will be described. As the relationship between the first and second embodiments and the corresponding first and second driving devices of the present invention, the motor 32 corresponds to a “motor”, the inverter 34 corresponds to an “inverter”, The battery 36 corresponds to a “battery”, the boost converter 40 corresponds to a “boost converter”, the capacitor 48 corresponds to a “battery voltage system capacitor”, and the capacitor 46 corresponds to a “drive voltage system capacitor”.

  In the relationship between the first embodiment and the first driving device of the present invention, when the control method of the inverter 34 is not a sine wave control method, or when the rotational speed Nm of the motor 32 is outside the resonance rotational speed region, Using the values Kpv1 and Kiv1 as the boost gains Kpv and Kiv, the voltage command VH * of the drive voltage system power line 42 is set so as to cancel the difference between the voltage VH of the drive voltage system power line 42 and the target voltage VHtag. 40, when the control method of the inverter 34 is a sine wave control method and the rotational speed Nm of the motor 32 is in the resonance rotational speed region, values Kpv2, Kiv2 smaller than the normal values Kpv1, Kiv1 are boosted gains Kpv, Kiv. The drive voltage system power line 4 is used so that the difference between the voltage VH of the drive voltage system power line 42 and the target voltage VHtag is canceled out. Controlling the step-up converter 40 to set the voltage command VH *, the electronic control unit 50 executing the step-up control routine of Fig. 4 corresponds to a "control unit".

  In the relationship between the second embodiment and the second drive device of the present invention, when the voltage limit amount α as the limit amount of the allowable upper limit voltage VHlim with respect to the standard allowable upper limit voltage VHlimset is less than or equal to the threshold value αref, the drive voltage system power line When the voltage VH of 42 is outside the resonance voltage region (the region of the voltage VH1 to the voltage VH2), the normal values Kpv1 and Kiv1 are used as the boost gains Kpv and Kiv, and the voltage VH of the drive voltage system power line 42 and the target voltage VHtag. The voltage command VH * of the drive voltage system power line 42 is set so as to cancel the difference between the boost voltage 40 and the boost converter 40 is controlled. The voltage limit amount α is larger than the threshold value αref, and the voltage VH of the drive voltage system power line 42 is the resonance voltage. When in the region, the values Kpv2, Kiv2 smaller than the normal values Kpv1, Kiv1 are set as the boost gains Kpv, Kiv. 5 is used to control the boost converter 40 by setting the voltage command VH * of the drive voltage system power line 42 so that the difference between the voltage VH of the drive voltage system power line 42 and the target voltage VHtag is cancelled. The electronic control unit 50 that executes the process corresponds to “control means”.

  Here, the “motor” is limited to the motor 32 configured as a synchronous generator motor (so-called embedded magnet type synchronous generator motor) including a rotor embedded with a permanent magnet and a stator wound with a three-phase coil. Any type of motor, such as a synchronous generator motor (so-called surface magnet type synchronous generator motor) having a rotor with a permanent magnet attached to the surface and a stator wound with a three-phase coil, is not used. I do not care. The “inverter” is not limited to the inverter 34 and may be any type of inverter as long as it drives a motor. The “battery” is not limited to the battery 36 configured as a lithium ion secondary battery, and may be any type of battery such as a nickel hydride secondary battery, a nickel cadmium secondary battery, or a lead storage battery. Absent. The “boost converter” is not limited to the boost converter 40, and can boost the power of a battery voltage system having a reactor and connected to a battery and supply the boosted power to a drive voltage system connected to an inverter. It does not matter as long as there is any. The “battery voltage system capacitor” is not limited to the capacitor 48 and may be any battery as long as it smooths the voltage of the battery voltage system. The “driving voltage system capacitor” is not limited to the capacitor 46, and any capacitor that smoothes the voltage of the driving voltage system may be used.

  As the “control means” in the first drive device of the present invention, when the control method of the inverter 34 is not the sine wave control method, or when the rotational speed Nm of the motor 32 is outside the resonance rotational speed range, the normal value Kpv1 , Kiv1 as the boost gains Kpv and Kiv, the voltage command VH * of the drive voltage system power line 42 is set so that the difference between the voltage VH of the drive voltage system power line 42 and the target voltage VHtag is canceled, and the boost converter 40 is set. When the control method of the inverter 34 is a sine wave control method and the rotational speed Nm of the motor 32 is in the resonance rotational speed region, the values Kpv2, Kiv2 smaller than the normal values Kpv1, Kiv1 are used as the boost gains Kpv, Kiv. Thus, the drive voltage system power line is set so that the difference between the voltage VH of the drive voltage system power line 42 and the target voltage VHtag is cancelled. It is not limited to the one that controls the boost converter 40 by setting the voltage command VH * of 42, and is any one of a sine wave control method, an overmodulation control method, and a rectangular wave control method so that torque is output from the motor. Inverter control method, and the boost voltage is set using the boost gain to control the boost converter so that the difference between the target voltage of the drive voltage system and the drive voltage system voltage is canceled out. Is the sine wave control method and the motor rotation speed is in the resonance rotation speed region that causes resonance in the circuit including the boost converter, the inverter control method is not the sine wave control method, and the motor rotation speed is in the resonance rotation speed region. As long as the voltage command of the drive voltage system is set by using a small boost gain as compared with the time outside, it may be anything.

  As the “control means” in the second driving device of the present invention, when the voltage limiting amount α as the limiting amount of the allowable upper limit voltage VHlim with respect to the standard allowable upper limit voltage VHlimset is less than or equal to the threshold value αref, When the voltage VH is outside the resonance voltage range (the range of the voltage VH1 to the voltage VH2), the normal values Kpv1 and Kiv1 are used as the boost gains Kpv and Kiv, and the voltage VH of the drive voltage system power line 42 and the target voltage VHtag The voltage command VH * of the drive voltage system power line 42 is set so as to cancel the difference, and the boost converter 40 is controlled. The voltage limit amount α is larger than the threshold value αref, and the voltage VH of the drive voltage system power line 42 is within the resonance voltage region. , Values Kpv2, Kiv2 smaller than normal values Kpv1, Kiv1 are boosted gains Kpv, Kiv. The voltage converter VH * of the drive voltage system power line 42 is set to control the boost converter 40 so that the difference between the voltage VH of the drive voltage system power line 42 and the target voltage VHtag is canceled. Instead of controlling the inverter with a sine wave control method, overmodulation control method, or rectangular wave control method so that torque is output from the motor, the difference between the target voltage of the drive voltage system and the voltage of the drive voltage system The boost voltage is used to set the drive voltage system voltage command to control the boost converter so that the allowable upper limit voltage allowed for the drive voltage system is the standard value of the allowable upper limit voltage. If the drive voltage system voltage is within the resonance voltage range that causes resonance in the circuit including the boost converter, the allowable upper limit voltage is As long as the voltage command of the drive voltage system is set by using a small boost gain as compared with the case where the voltage is not limited and when the voltage of the drive voltage system is out of the resonance voltage range, any method can be used.

  The correspondence between the main elements of the embodiment and the main elements of the invention described in the column of means for solving the problem is the same as that of the embodiment described in the column of means for solving the problem. Therefore, the elements of the invention described in the column of means for solving the problems are not limited. That is, the interpretation of the invention described in the column of means for solving the problems should be made based on the description of the column, and the examples are those of the invention described in the column of means for solving the problems. It is only a specific example.

  As mentioned above, although the form for implementing this invention was demonstrated using the Example, this invention is not limited at all to such an Example, In the range which does not deviate from the summary of this invention, it is with various forms. Of course, it can be implemented.

  The present invention can be used in the manufacturing industry of driving devices and automobiles.

  20 electric vehicle, 22 drive shaft, 24 differential gear, 26a, 26b drive wheel, 32 motor, 32a rotational position detection sensor, 33U, 33V current sensor, 34 inverter, 36 battery, 37a voltage sensor, 37b current sensor, 37c temperature sensor , 40 Boost converter, 42 Drive voltage system power line, 44 Battery voltage system power line, 46, 48 Capacitor, 46a, 48a Voltage sensor, 50 Electronic control unit, 52 CPU, 54 ROM, 56 RAM, 60 Ignition switch, 61 shift Lever, 62 Shift position sensor, 63 Accelerator pedal, 64 Accelerator pedal position sensor, 65 Brake pedal, 66 Brake pedal position sensor, 68 Vehicle speed sensor, 120, 220, 320 Hybrid car, 122 engine, 124 motor, 126 planetary gear mechanism, 230 rotor motor, 232 inner rotor, 234 outer rotor, 329 clutch, 330 transmission, D11-D16, D31, D32 diode, L reactor, T11-T16, T31, T32 transistors.

Claims (4)

A motor, an inverter for driving the motor, a battery, a boost converter capable of boosting power of a battery voltage system having a reactor and connected to the battery and supplying the power to the drive voltage system to which the inverter is connected; A battery voltage system capacitor for smoothing the voltage of the battery voltage system; a drive voltage system capacitor for smoothing the voltage of the drive voltage system; and a sine wave control system, an overmodulation control system, a rectangle so that torque is output from the motor A voltage command for the drive voltage system is set using a boost gain so that the difference between the target voltage of the drive voltage system and the voltage of the drive voltage system is canceled while controlling the inverter by one of the wave control methods A control device for controlling the step-up converter,
When the control method of the inverter is a sine wave control method and the rotation speed of the motor is in a resonance rotation speed region that causes resonance in a circuit including the boost converter, the control method of the inverter is sine wave control. Means for setting the voltage command of the drive voltage system using a boosting gain that is smaller than when the system is not used and when the rotational speed of the motor is outside the resonance rotational speed range;
Drive device. A motor, an inverter for driving the motor, a battery, a boost converter capable of boosting power of a battery voltage system having a reactor and connected to the battery and supplying the power to the drive voltage system to which the inverter is connected; A battery voltage system capacitor for smoothing the voltage of the battery voltage system; a drive voltage system capacitor for smoothing the voltage of the drive voltage system; and a sine wave control system, an overmodulation control system, a rectangle so that torque is output from the motor A voltage command for the drive voltage system is set using a boost gain so that the difference between the target voltage of the drive voltage system and the voltage of the drive voltage system is canceled while controlling the inverter by one of the wave control methods A control device for controlling the step-up converter,
The control means includes a circuit in which an allowable upper limit voltage allowed for the drive voltage system is limited to a standard allowable upper limit voltage that is a standard value of the allowable upper limit voltage, and the voltage of the drive voltage system includes the boost converter. Is within a resonance voltage range that causes resonance, and is smaller than when the allowable upper limit voltage is not limited to the standard allowable upper limit voltage and when the voltage of the drive voltage system is outside the resonance voltage range. Means for setting a voltage command of the drive voltage system using a boost gain;
Drive device. The drive device according to claim 1 or 2,
When the voltage fluctuation of the drive voltage system is assumed to exceed the allowable range, the control means outputs the output from the motor as compared to when the voltage fluctuation of the drive voltage system is not assumed to exceed the allowable range. Means for controlling the inverter to be limited,
Drive device.   An automobile mounted with the drive device according to any one of claims 1 to 3 and traveling using power from the motor.

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