JP2018133935A - インバータ装置および電動車両 - Google Patents
インバータ装置および電動車両 Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
- H02M7/5387—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
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- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
- H02M7/5387—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
- H02M7/53871—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current
- H02M7/53875—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current with analogue control of three-phase output
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
- H02M7/539—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters with automatic control of output wave form or frequency
- H02M7/5395—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters with automatic control of output wave form or frequency by pulse-width modulation
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- H—ELECTRICITY
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- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2210/00—Converter types
- B60L2210/10—DC to DC converters
- B60L2210/14—Boost converters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2210/00—Converter types
- B60L2210/40—DC to AC converters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60Y2200/91—Electric vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
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- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
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Abstract
【解決手段】モータ装置500において、インバータ装置100は、モータ出力要求に基づいて、直流電圧DCVを交流電圧に変換するためのPWMパルスを生成するPWM制御器145と、PWM制御器145で生成されたPWMパルスにより直流電圧DCVを交流電圧に変換してモータ300を駆動するインバータ回路110とを備える。PWM制御器145は、過変調領域において台形波を用いた台形波変調を行う際に、台形波の上辺における所定のタイミングでPWMパルスのパルス幅を変化させる。
【選択図】図1
Description
特許文献1には、インバータの出力電圧のゼロクロス点を中心に直線近似した角度区間にPWMパルスを生成して出力電圧誤差を最小限にする技術が記載されている。
本発明による電動車両は、モータ出力要求に基づいて、直流電圧を交流電圧に変換するためのPWMパルスを生成するPWMパルス生成部と、前記PWMパルス生成部で生成されたPWMパルスにより直流電圧を交流電圧に変換してモータを駆動するインバータ回路と、前記直流電圧を昇圧するDC/DCコンバータとを備え、前記PWMパルス生成部は、過変調領域において台形波を用いた台形波変調を行う際に、前記台形波の上辺における所定のタイミングで前記PWMパルスのパルス幅を前記DC/DCコンバータの出力電圧に基づいて変化させる。
なお、モータ装置500において、モータ300の回転速度を制御する場合には、モータ回転速度ωrを回転位置θの時間変化により演算し、上位制御器からの速度指令と一致するように電圧指令あるいは電流指令を作成する。また、モータ出力トルクを制御する場合には、モータ電流(Id,Iq)とモータトルクの関係式あるいはマップを用いて、電流指令(Id*、Iq*)を作成する。
図2(a)は変調信号波形とキャリア信号波形を示し、変調率が比較的低い変調信号(変調波1)と、正弦波変調できる最大の変調波(変調波2)と、正弦波変調を直線近似した台形状の変調波(変調波3)と、インバータ出力が最大となる矩形波状態となる変調波(変調波4)、および変調波信号と大小比較してPWMパルスを生成するキャリア信号とを示している。図2(b)は、変調波2のときのPWMパルス信号を示し、図2(c)は、変調波3のときのPWMパルス信号を示す。図2(c)では、電気角度30〜150度の区間でほぼ100%のPWMパルスが連続してオンである。図2(d)は、変調波4のPWMパルス信号を示し、このPWMパルス信号は、電気角度0〜180度全区間でオンである。
なお、変調波2のときを考えれば変調波のゼロクロスを中心に電気角度で±30度の角度区間を直線近似することができるが、飽和付近の電圧誤差を考慮すれば電気角度で±35度の角度区間とするのが好ましい。
H(θ’)=A・θ’ (1)
なお、|H(θ)|<|A・θ|となる条件で、0<θ<180であれば100%、180<θ<360であれば0%としてインバータ出力パルスを決定すれば良い。
図3(a)は、台形波状の変調波(U相分)、すなわち図2(a)の変調波3を示している。図3(b)は、図3(a)の変調波を用いた台形波変調により生成されるPWMパルス(U相分)を示している。図3(c)は、図3(a)の変調波における7次高調波(U相分)を示している。図3(d)は、図3(a)の変調波における台形上辺部分に重畳して生成される電圧調整パルス(U相分)を示している。図3(e)は、図3(b)のPWMパルスに図3(d)の電圧調整パルスを重畳した三相各相のインバータ出力のPWMパルスを示している。
なお、図3(c)では、30〜150度の角度区間に対応する上辺部分での電圧調整パルスの位相θp1、θp2のみを示しているが、210〜330度の角度区間に対応する上辺部分での電圧調整パルスの位相についても同様である。また、7次高調波に限らず、他の次数の高調波に応じたタイミングで電圧調整パルスを生成してもよい。その場合は、台形波の上辺部分において、位相θp1、θp2とは異なるタイミングで電圧調整パルスが生成されることになる。
図4(A)、(B)ともに、モータが一定速度で回転しているときの一例であり、一定のPWMキャリア周期の間にモータが回転した時の角度変化幅Δθがほぼ一定であり、この角度変化幅△θがキャリア周期と同等である。また、変調波をゼロクロス近傍で直線近似した区間において、PWMパルスが2〜3パルス発生する場合を示す。
従来では、過変調モードにおいて、変調波がduty100%となるハイレベル値及びduty0%となるローレベル値との遷移区間に、duty50%となるミドルレベル値を設けてPWMパルスを出力していた。このようにすることで、変調波の傾斜が急峻な場合に生じるPWMキャリアとの交差が不連続になって(図7参照)パルス成分が消失する現象を防止していた。しかしながら、この方式ではインバータ出力電圧のゼロクロス付近でduty50%とするため、その間の平均電圧は0Vになり、インバータ出力が低下してしまうという課題がある。
図4(A),(B)において、θ2=θ5とすれば、変調波のゼロクロスを中心に負側電圧と正側電圧の大きさを平衡にできる。また、変調波のゼロクロス付近において、θc−θa=θb−θcに調整してパルスエッジを発生できるため、インバータ出力の位相誤差を低減できる。更に、PWMパルスは変調波に応じた大きさを正確に発生できるため、インバータ出力の低下も防止できる。
このように、PWM制御器145は、出力電圧のゼロクロス点θcを中心に直線近似した角度区間θa〜θbにおいて、PWMパルスのオンパルスとオフパルスの面積を積分した値が等しくなるようにPWMパルスを生成する。
以上説明した実施形態では、インバータ運転状態に応じてタイマ比較値をシフトさせることにより台形変調波とキャリア信号間の位相差分量に基いて、台形変調波の上辺部分において所定のタイミングで電圧調整パルスを生成することで、PWMパルスのパルス幅を変化させることができる。なお、この方式以外でPWMパルスのパルス幅を変化させてもよい。
(1)本発明のインバータ装置100は、モータ出力要求に基づいて、直流電圧を交流電圧に変換するためのPWMパルスを生成するPWMパルス生成部、すなわちPWM制御器145と、PWM制御器145で生成されたPWMパルスにより直流電圧を交流電圧に変換してモータ300を駆動するインバータ回路110とを備える。PWM制御器145は、過変調領域において台形波を用いた台形波変調を行う際に、台形波の上辺における所定のタイミングでPWMパルスのパルス幅を変化させる。このようにしたので、正弦波変調と台形波変調との電圧誤差を調整し、インバータ装置100の運転状態によって生じる出力電圧や位相の誤差を低減できる。その結果、モータを高速回転まで安定して制御することができる。
110…インバータ回路
120…電流制御器
130…回転位置検出器
140…ドライブ信号生成器
145…PWM制御器
160…dq電流変換器
170…電流フィルタ
180…電流検出部
200…バッテリ
300…モータ
320…回転位置センサ
500…モータ装置
600…電動車両
Claims (6)
- モータ出力要求に基づいて、直流電圧を交流電圧に変換するためのPWMパルスを生成するPWMパルス生成部と、
前記PWMパルス生成部で生成されたPWMパルスにより直流電圧を交流電圧に変換してモータを駆動するインバータ回路とを備え、
前記PWMパルス生成部は、過変調領域において台形波を用いた台形波変調を行う際に、前記台形波の上辺における所定のタイミングで前記PWMパルスのパルス幅を変化させるインバータ装置。 - 請求項1に記載のインバータ装置において、
前記PWMパルス生成部は、前記交流電圧の周波数に対して非同期のキャリア周波数を有するキャリア信号を用いた非同期PWMにより、前記PWMパルスを生成するインバータ装置。 - 請求項2に記載のインバータ装置において、
前記PWMパルス生成部は、
前記キャリア信号に基づくタイミングで前記PWMパルスを生成し、
前記PWMパルスの生成タイミングとは異なるタイミングで、前記PWMパルスのパルス幅を変化させるための電圧調整パルスを生成するインバータ装置。 - 請求項3に記載のインバータ装置において、
前記PWMパルス生成部は、前記台形波の所定次数の高調波に応じたタイミングで前記電圧調整パルスを生成するインバータ装置。 - 請求項2から請求項4までのいずれか一項に記載のインバータ装置において、
前記PWMパルス生成部は、前記台形波のゼロクロス点を中心に直線近似した角度区間において、前記キャリア信号に基づくタイミングとは異なるタイミングで、前記PWMパルスを生成するインバータ装置。 - モータ出力要求に基づいて、直流電圧を交流電圧に変換するためのPWMパルスを生成するPWMパルス生成部と、
前記PWMパルス生成部で生成されたPWMパルスにより直流電圧を交流電圧に変換してモータを駆動するインバータ回路と、
前記直流電圧を昇圧するDC/DCコンバータとを備え、
前記PWMパルス生成部は、過変調領域において台形波を用いた台形波変調を行う際に、前記台形波の上辺における所定のタイミングで前記PWMパルスのパルス幅を前記DC/DCコンバータの出力電圧に基づいて変化させる電動車両。
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