JP3214371B2 - Synchronous generator control system and hybrid electric vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a sensorless synchronous generator controlling system, which can respond to a high speed region for ahybrid electric vehicle. SOLUTION: A generation mode voltage phase calculating means 116 monitors a rise in zero-crossing point generation cycle of a voltage command, generated by a voltage command generating means 114 and obtains the phase information of the voltage. A generation mode magnetic pole position phase calculating means 117 obtains an induced voltage phase by adding a phase angle δ to the output of the generation mode voltage phase calculating means 116 and determines that a phase which crosses the induced voltage phase is a magnetic pole position phase. When the magnetic pole position phase is unknown, for example, at the time of the start-up, the phase of the induced voltage is detected by a voltage information detecting circuit 109 and then the magnetic pole position phase is detected using the information about the phase relation between the induced voltage and the magnetic pole position.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a synchronous generator system for converting kinetic energy into DC power using a synchronous generator.
The present invention relates to a sensorless synchronous generator control system that does not require a speed sensor.

[0002]

2. Description of the Related Art The simplest method of converting AC power generated by a generator into DC power is to use a rectifier circuit using a diode bridge and a step-up / down circuit for voltage adjustment. However, a power converter for driving a motor is often used for the above purpose. When a power converter is used, the charging current can be controlled according to the instantaneous value of the generator-generated voltage, so the conversion efficiency is high, and the synchronous generator is also characterized by higher efficiency than other types of generators. ,
In particular, it is being frequently used in application equipment that emphasizes efficiency, such as electric vehicles.

In order to use a synchronous machine, it is necessary to accurately detect the position of a magnetic pole of a rotor. So the encoder,
It is common to detect a magnetic pole position by attaching a rotation angle sensor such as a Hall element.

However, in recent years, a sensorless synchronous motor control system aiming at saving space and improving assemblability by omitting a rotation angle sensor has been announced. An example of this method is
IEEJ Industrial Application Division National Convention Announcement Number 120, "Position / Speed Sensorless Vector Control of Cylindrical PM Motor with Same Dimension Observer". This is to estimate position / velocity information using an observer and control the synchronous machine.

[0005]

In an electric vehicle, each component is required to be small, light, and inexpensive. Therefore, it is recommended that the synchronous generator be multipolar and have a high speed. This is because the use of expensive magnets is reduced due to the multipolarization, and the physique is reduced by using a high-speed rotation type for the same output. However, due to the multipolarization, the electrical angular velocity increases even at the same mechanical angular velocity. Therefore, increasing the number of poles and increasing the speed increases the frequency of the generated voltage of the synchronous generator. That is, the controller of the generator that performs the charge control requires high-speed calculation. Further, since the environment inside the electric vehicle is poor with respect to noise, a complicated estimation calculation may cause a cumulative error and make accurate estimation impossible.

The above-mentioned prior art uses an observer technique that requires a large amount of calculation and is difficult to perform at high speed. Therefore, when applied to an electric vehicle, there is a problem that it is impossible to cope with a high speed region.

It is an object of the present invention to provide a synchronous generator control system which is simple to realize high-speed processing in a sensorless synchronous generator system and is robust against disturbance.

[0008]

SUMMARY OF THE INVENTION The present invention provides a power storage means for storing electric energy generated by a synchronous generator, and converts AC power generated by the synchronous generator into DC power and supplies the DC power to the power storage means. In a synchronous generator system including a power converter and kinetic energy generation means for supplying kinetic energy to the synchronous generator, the power converter includes a current sensor for detecting a current of the synchronous generator, The controller of the converter includes magnetic pole position information calculating means for calculating magnetic pole position information of the synchronous generator, and the controller generates a voltage command of the power converter using the magnetic pole position information and an output signal of the current sensor. A voltage command generating means, wherein the magnetic pole position information calculating means is provided before the zero-cross point position information of the voltage command output from the voltage command generating means. Magnetic pole position information calculating means for calculating a magnetic pole position; andthe controller includes switching element control means for controlling an ON-OFF state of a switching element of the power converter using an output of the voltage command generating means. It is characterized by.

Preferably, the magnetic pole position information calculating means includes magnetic pole position information calculating means for calculating the magnetic pole position from zero-cross point position information of a voltage command output from the voltage command generating means. And

Preferably, the magnetic pole position information calculation means calculates a phase difference angle δ between an induced voltage phase angle generated by the synchronous generator and a voltage phase by using the torque command and the rotation speed as inputs. Calculation means, and the magnetic pole position information calculation means uses the phase induced by the phase difference angle δ obtained by the phase difference angle calculation means to generate the voltage phase.
The magnetic pole position information calculation means is a voltage phase angle.
The magnetic pole position information is characterized by using a phase orthogonal to the voltage phase angle .

Another aspect of the present invention is a power storage means for storing electric energy generated by a synchronous generator, and an electric power supplied to the power storage means by converting AC power generated by the synchronous generator into DC power. In a synchronous generator system including a converter and kinetic energy generating means for supplying kinetic energy to the synchronous generator, the power converter includes a current sensor for detecting a current of the synchronous generator, and the power converter the controller before the magnetic pole position information of the synchronous generator
Magnetic pole position information calculating means for calculating using a current value detected by the current sensor, the controller includes voltage command generating means for generating a voltage command for the power converter using the magnetic pole position information, The controller is provided with switching element control means for controlling an ON-OFF state of a switching element of the power converter using an output of the voltage command generating means.

Preferably, the controller of the power converter includes magnetic pole position information calculating means for calculating magnetic pole position information of the synchronous generator using zero cross point position information of the synchronous generator current. Features.

Preferably, the magnetic pole position information calculating means calculates a lead angle β between an induced voltage phase angle and a current phase generated by the synchronous generator by using the torque command and the rotation speed as inputs. comprising a calculating means, the magnetic pole position information computing means said with a phase delayed by the lead angle β obtained from the advance angle calculating means the current phase induction
The magnetic pole position information calculating means is an electromotive force phase angle.
The magnetic pole position information is characterized by using a phase orthogonal to the electromotive voltage phase angle .

Another aspect of the present invention is a power storage means for storing electric energy generated by a synchronous generator, and a power supply for converting the AC power generated by the synchronous generator into DC power and supplying the DC power to the power storage means. In a synchronous generator system including a converter and kinetic energy generating means for supplying kinetic energy to the synchronous generator, the power converter includes a current sensor for detecting a current of the synchronous generator, and the power converter The controller includes a voltage information detection circuit that detects terminal voltage of the synchronous generator to generate voltage information, and the controller includes a magnetic pole position information calculating unit that calculates magnetic pole position information of the synchronous generator from the voltage information. The controller comprises voltage command generating means for generating a voltage command for the power converter using the magnetic pole position information, the controller comprises Characterized in that a switching element control means for controlling the ON-OFF state of the switching elements of the power converter using the output of the pressure command generator.

Preferably, the voltage information detection circuit includes a low-pass filter, and a terminal voltage of the synchronous generator is input to the voltage information detection circuit via the low-pass filter, and a cut-off frequency of the low-pass filter Is set to be smaller than the maximum electrical angle rotation cycle of the synchronous generator.

Preferably, the magnetic pole position information calculating means includes a delay amount calculating means for calculating a delay amount λ due to the low-pass filter and the circuit operation with the rotation speed of the synchronous generator as an input, The calculation means includes delay compensation means for adding the delay amount λ obtained by the delay amount calculation means to the magnetic pole position phase to correct the magnetic pole position information.

Preferably, the voltage information detecting circuit outputs zero-cross point information of the voltage as the voltage information.

Preferably, the magnetic pole position information calculating means includes magnetic pole position information correcting means for correcting magnetic pole position information at voltage zero-cross point positions of all phases of the synchronous motor.

Preferably, the magnetic pole position information calculating means includes magnetic pole position information correcting means for correcting magnetic pole position information at current zero cross point positions of all phases of the synchronous motor.

Preferably, the controller includes a voltage information detecting circuit, and the controller performs magnetic pole position information calculation using the voltage information detecting circuit in a low speed rotation region and performs magnetic pole position information calculation in a high speed rotation region. A magnetic pole position information calculation switching means is provided.

Preferably, the magnetic pole position information calculating means masks the zero cross point position information output using mask section information 一定 of a constant electrical angle and a current detected voltage phase angle θV. Wherein the zero-crossing point position information masking means is 0 <θV ≦ ζ (ra
d) and when (π−ζ) ≦ θV ≦ (π + ζ) (rad), the output of the zero-cross point position information is masked, and the mask section information よ り is obtained from the electrical angle γ forming the stator slot of the synchronous generator. It is characterized by being large.

Preferably, the magnetic pole position information calculation means masks the zero cross point position information output using mask section information ζ of a constant electrical angle and a current detected current phase angle θi. Wherein the zero-crossing point position information masking means is 0 <θi ≦ ζ (ra
d) and when (π−ζ) ≦ θi ≦ (π + ζ) (rad), the output of the zero-cross point position information is masked, and the mask section information よ り is obtained from the electrical angle γ forming the stator slot of the synchronous generator. It is characterized by being large.

Preferably, the magnetic pole position information calculating means fetches the voltage command at a predetermined sampling time, and the magnetic pole position information calculating means determines that the sign of the previous voltage command is negative and the current voltage command is negative. Is positive, the magnetic pole position calculation means determines the information of the zero cross point position using ratio information between the absolute value of the previous voltage command and the absolute value of the current voltage command. It is characterized by correction. Preferably, the magnetic pole position information calculating means captures the current sensor information at regular sampling time intervals, and the magnetic pole position information calculating means has a negative sign of the previous current sensor information and the current sensor information of the current time. Is positive, the magnetic pole position calculation means determines the zero cross point position using the ratio information between the absolute value of the previous current sensor information and the absolute value of the current current sensor information. The information is corrected.

Preferably, the present invention is a hybrid electric vehicle equipped with at least one synchronous generator control system, wherein the hybrid electric vehicle has a kinetic energy control means for controlling a rotation speed or a generated torque of a kinetic energy generation means. It is characterized by having.

[0025]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 shows an embodiment in which the present invention is applied to an engine-motor hybrid electric vehicle. In this method, an electric vehicle is driven by an electric motor, and electric power is supplied to a power storage unit, which is an electric energy storage source of the electric motor, by using a generator. Hereinafter, components of the entire hybrid electric vehicle according to the present invention will be described.

Here, reference numeral 101 denotes kinetic energy generating means. In a hybrid electric vehicle, an internal combustion engine is usually used. Instead of the internal combustion engine, it is also possible to use an external combustion engine such as a gas turbine or a Stirling engine, or a kinetic energy storage means such as a flywheel.

Reference numeral 102 denotes a synchronous generator, which inputs kinetic energy generated from the kinetic energy generating means 101 and generates AC power.

Numeral 103 denotes a power converter, and the synchronous generator 10
2 converts the AC power generated into DC power. The power converter 103 is realized by a bridge connection of a switching element and a flywheeling diode, and has the same configuration as a general inverter. In this figure, the synchronous generator 10
2 illustrates a configuration in the case where the number of phases of 2 is three. Since the configuration itself of the power converter 103 is publicly known, a detailed description is omitted.

Numeral 104 denotes a power storage means,
3 DC power output. Normally, a secondary battery such as a lead-acid battery or a nickel-based battery is used as the power storage unit 104.

Reference numeral 105 denotes a drive motor inverter.
Reference numeral 106 denotes a driving motor. In this figure, the driving motor 1
Reference numeral 06 is a drive motor inverter 1 as a component because it is assumed that an AC motor such as an induction motor or a synchronous motor is used.
05 is included. The drive motor inverter 105 converts the DC power stored in the power storage unit 104 into AC power and supplies AC power to the drive motor 106. The inverter control means for controlling the drive motor inverter 105 is not shown in the figure.

Reference numeral 107 denotes a controller for controlling the power converter 103. Controller 10 according to the invention
The feature of 7 is that the magnetic pole position information of the synchronous generator 102 is not required as an input, and the magnetic pole position information estimation calculation is very simple. This makes it possible to provide a controller that does not require a sensor occupied space such as a magnetic pole position sensor and an encoder, and that can easily cope with a high-speed region required for an electric vehicle. The detailed description of the controller 107 will be described later.

Reference numeral 108 denotes a current sensor, and the synchronous generator 1
02 is detected. The current information obtained by the current sensor 108 is output to the controller 107 and used as a magnetic pole position calculation and an input signal to a current control system.

Reference numeral 109 denotes a voltage information detection circuit. It detects the terminal voltage of the synchronous generator and generates voltage information.
In this drawing, it is assumed that the voltage information detection circuit 109 inputs a voltage between U and V and outputs TTL level information on the position of the zero cross point. Note that the input voltage information is not limited to the inter-phase voltage as shown in this figure. For example, there is no problem if the phase voltage between the neutral point of the synchronous generator 102 and the U phase is used. A circuit configuration diagram of the voltage information detection circuit 109 will be described later.

Reference numeral 110 denotes a general control means for the electric vehicle, which controls the operation of the entire vehicle. In this block diagram, the general control means 110 includes a kinetic energy control means 111 and a generator torque command generation means 112. The kinetic energy control means 111 acts on the kinetic energy generation means 101, and here defines the rotation speed of the synchronous generator 102. Generator torque command generation means 112 sends a target generated torque command τ * of synchronous generator 102 to controller 107. The generator speed command and the target generated torque command are calculated by the integrated control means 110 from the target generated power of the generator.
Generally, for simplicity, the generated torque command τ * is constant, and is often set to a pattern for generating a generator speed command proportional to the target generated power. Note that, for example, when the general control unit 110 creates an operation pattern by selecting the highest efficiency point of the synchronous generator 102, the kinetic energy control unit 1
11 may be configured to simultaneously generate a torque command.

Next, the components of the controller 107 will be described.

Numeral 113 denotes magnetic pole position information calculating means for calculating magnetic pole position information of the synchronous generator 102 from outputs of the current sensor 108 and the voltage information detecting circuit 109. Magnetic pole position information calculating unit 113 generates a magnetic pole position phase signal theta _E and the magnetic pole position phase velocity omega _r.

Reference numeral 114 denotes voltage command generation means for setting a voltage to be applied to the synchronous generator 102. The voltage command calculated by the voltage command generating means 114 is output to the switching element control means 115. In the configuration example of this figure, the voltage command generation means uses the vector control means for driving the motor as it is. When vector control means is used as voltage command generation means 114, generator torque command generation means 1
Since it is possible to easily switch between a power running operation, that is, an operation as a motor, and a regenerative operation, that is, an operation as a generator, depending on the sign of the generated torque signal of 12, the control software of the drive motor inverter 105 can be used as it is. This means that the development period can be shortened, which is very advantageous in production. Since vector control is a known technique, detailed description is omitted.

Reference numeral 115 denotes switching element control means for controlling the power converter 103 using the voltage command signal obtained from the voltage command generation means 114,
This is to adjust the voltage applied to. Generally, PWM control is used for the switching element control means. PW
Since the M control technique is publicly known, detailed description is omitted.

In this figure, magnetic pole position information calculation means 113
Is composed of power generation mode voltage phase calculation means 116, power generation mode magnetic pole position phase calculation means 117, standby mode induced voltage phase calculation means 118, standby mode magnetic pole position phase calculation means 119, mode changeover switch 120, and sampling correction means 121. Here, the power generation mode refers to the case where the magnitude of the torque command generated by the generator torque command generation means 112 is sufficiently large, and the standby mode refers to the case where the magnetic pole position phase information is obtained at startup or when step-out occurs. Refers to the status that has not been acquired. The sampling correction means 121 is provided when the present invention is realized by sampling control by the microcomputer, and has a function of correcting a shift of one sampling time generated between the actual magnetic pole position phase and the voltage command phase.

Hereinafter, the operation principle of the magnetic pole position detecting means according to the present invention will be described.

In a synchronous machine, in a steady state, the coordinate system is
It is known that when a magnetic pole position direction is set in a rotating coordinate system with a d-axis and a direction orthogonal to the d-axis is a q-axis, a schematic relationship as shown in FIG. 2 is established. Here, I is a U-phase current (the direction flowing into the generator is positive), V is a U-phase voltage, E is an induced voltage generated by the U-phase of the synchronous generator 102, and the direction of the induced voltage E is the direction of the magnetic pole. Matches.

The phase difference angle between the induced voltage E and the phase voltage V is δ,
Assuming that the angle formed by the phase current I and the phase voltage V is φ, the lead angle formed by the induced voltage E and the phase current I is β, and the q-axis impedance at a certain rotational speed is xq, the following relationship is established.

[0043]

(Equation 1)

[0044]

## EQU2 ## If the target generated torque, target rotation speed, and phase voltage V of the synchronous generator 102 are determined, the vector diagram of FIG. 2 is uniquely determined from the characteristics of the synchronous generator 102. Therefore, the advance angle β or the phase difference angle δ at this time is uniquely determined. Therefore U
Subtract the lead angle β from the phase current phase θIu, or
If the phase difference angle δ is added to the phase voltage phase θVu, the q-axis direction
D as a direction delayed by π / 2.
The phase angle in the axial direction, that is, the magnetic pole position can be obtained.

Since it is desirable for the synchronous generator 102 to operate at the highest efficiency, usually, a phase voltage V that generates the highest efficiency at each operating point is selected, and the advance angle β and the phase difference angle δ are tabulated. The information is used to determine the magnetic pole position phase. The reason for using the table here is to shorten the calculation time. Basically, the magnetic pole position phase detecting means according to the present invention detects the current phase or the voltage phase, and adds and subtracts the table information to determine the magnetic pole position phase. Therefore, the calculation can be performed very easily and at high speed.

As described above, if the current phase or the voltage phase can be obtained, the magnetic pole position can be easily obtained. In FIG. 1, the magnetic pole position phase angle is calculated from the phase of the voltage command. The reason why the voltage command is used as the original signal for the magnetic pole position phase angle calculation is that it can be used even when the torque command τ * is 0. When the torque command τ * is 0, the current is also 0, and the current phase cannot be detected. However, the voltage information can be obtained if the synchronous generator 102 is rotating.

On the other hand, the method of calculating the magnetic pole position phase angle using the current information has an advantage that it can be applied regardless of the method of the voltage command generating means 114. For example, even with a coarse control means in which the phase of the voltage command fluctuates by several tens of degrees every sampling, the magnetic pole position phase can be detected in real time from the current signal, so that it can be operated without any problem. A configuration example of the present invention using current information will be described later.

The power generation mode voltage phase calculation means 116 of FIG.
Detects the voltage phase and the phase angular velocity of the voltage, and the power generation mode magnetic pole phase calculation means 117 functions as phase difference angle calculation means for obtaining the phase difference angle δ by searching a table. FIG. 3 shows an outline of the operation of the power generation mode voltage phase calculation means 116.

The power generation mode voltage phase calculation means 116 takes in the U-phase voltage command value at every fixed sampling period, and detects the rising zero-cross point of the voltage waveform. Assuming that the time interval between the rising zero-cross point is T and the time from the occurrence of the latest rising zero-cross point to the present is t, the U-phase voltage phase angle θVu, the voltage phase angular velocity ω _I , the magnetic pole position phase angular velocity ω _r , and the mechanical angular velocity N It is expressed as the following equation.

[0050]

(Equation 3)

[0051]

(Equation 4)

[0052]

(Equation 5)

The time interval is determined by the FRC of the microcomputer.
(Free running counter) can be easily measured.

Here, it is assumed that the voltage phase angular velocity ω _I is equal to the magnetic pole position phase angular velocity ω _r , but this is an equation that holds in a steady state and is not accurate in a strict sense.
However, unlike the electric motor, the generator is usually used under the condition that there is no abrupt speed fluctuation, so that there is no practical problem at all.

[0055] In this way, the voltage phase angle θVu and the magnetic pole position phase velocity omega _r obtained is sent to the power generation mode pole position phase calculating unit 117, calculates the magnetic pole position phase θr by performing a correction calculation described in FIG. 2 I do.

Here, the configuration is such that the voltage phase angle θVu is obtained by using the rising zero cross point of the voltage command information, but this is because it is easy to realize. In addition to this, there are, for example, a method of setting the maximum value in one cycle of the voltage command information to 90 degrees and a method of using the differentiation and integration information of the voltage command information. However, all of them satisfy the gist of the present invention. Needless to say.

The calculation of the zero crossing point is usually realized by using a microcomputer, but generally, the voltage command signal is discrete information because it is calculated every fixed interruption time. FIG. 4 shows a method for accurately detecting the rising zero-cross point position from the discrete information. Sampling time is Ts,
The time of the previous sampling t _-, t ₀ the sampling time now, V the voltage value at the previous sampling _- and the current voltage value at the time of sampling and V0, the zero-crossing point occurrence time t _z is as follows Can be approximated.

[0058]

(Equation 6)

The above means makes it possible to accurately estimate the zero-crossing time, thereby improving the calculation accuracy of the magnetic pole position information.

The operation of the sampling correction means 121 when the present invention is realized using a microcomputer will be described below.

When the sampling correction means 121 does not exist, the magnetic pole position information calculating means fetches the voltage command at time t ₀ to calculate the magnetic pole position phase, and outputs the result at the next sampling time t ₁ to the voltage command generating means 114. Will be reflected in The electrical angular velocity i.e. the magnetic pole position phase velocity of the synchronous generator omega _r, when the sampling time and Tsp, phase shift amount by the sampling is expressed as Tsp × ω _r. Therefore, the sampling correction means 121 can be realized by adding the product of the sampling time and the magnetic pole position phase angular velocity to the magnetic pole position phase.

In FIG. 3, the means for obtaining the voltage phase angle θVu using only the U-phase voltage command has been described.
The voltage phase angle θVu may be obtained using the phase voltage command, and the magnetic pole position phase angle θr may be obtained using the voltage phase angle θVu. In order to further improve the detection accuracy of the voltage command phase angle,
All phase voltage command information can be used. The description is given below.

FIG. 5 shows a voltage waveform of the three-phase synchronous generator in the steady driving state. When the rising zero-cross point of the U-phase voltage waveform is defined as the reference position of the voltage phase angle, it can be seen that a rising zero-cross point or a falling zero-cross point occurs in each phase every 60 degrees as shown in the figure. That is, if voltage waveforms for three phases are input to the power generation mode voltage phase calculation means 116, the voltage phase angle θVu can be corrected every 60 degrees. For example, even if an error occurs between the actual voltage phase angle θVu * and the calculated voltage phase angle θVu ′ due to a speed fluctuation at a position of 30 °, it is possible to correct the calculated voltage phase angle θVu ′ at a position of 60 °. it can.

Since the voltage cycle can be detected in each phase every 120 degrees as shown in the figure, the current phase angular velocity ω _I
Can be updated to an accurate value every 120 degrees.

As described above, in the case of the three-phase synchronous generator, both the positional information accuracy and the speed information accuracy can be improved by using all the phase information. In the case of a three-phase synchronous generator as shown in FIG. 1 where no neutral point is connected, Vu + V
v + Vw = C: Ru sufficient der if can capture voltage of two phases the relationship is established in the (C constant).

Next, the operation in the standby mode will be described.

The means for detecting the magnetic pole position using the current phase as described above is used for the power converter 103 immediately after starting, for example.
When the is not operating, the current does not flow, so that the magnetic pole position cannot be calculated. In such a case, the magnetic pole position information is estimated using the voltage information detection circuit 109 in the standby mode.

FIG. 6 shows a circuit configuration diagram of the voltage information detection circuit 109. This detects the U-V induced voltage and sends it to the standby mode induced voltage phase detecting means 118 via the primary low-pass filter 131, the photocoupler 132, and the secondary low-pass filter 133. The primary-side low-pass filter 131 has a function of suppressing a voltage applied to the photocoupler 132 within a certain level, in addition to removing a high-frequency component of a power line by PWM. In an electric vehicle generator, the power generation requirement is very wide, from 0 to several tens of kW, so that the generator rotation speed also varies from 0 to several hundred rpm. At this time, the voltage generated by the generator changes from 0 to 300 V or more. Therefore, it is desirable to adopt a configuration in which the gain is increased when the voltage is low at low speed rotation and the gain is reduced when the voltage is high at high speed rotation, and the induced voltage is input to the photocoupler. The primary-side low-pass filter 131 can have the above-described characteristics by setting the cutoff frequency to be equal to or lower than the frequency corresponding to the maximum rotation speed of the generator, so that a substantially constant level voltage is applied to the photocoupler 132 over the entire use area. Can be applied.

In this circuit configuration, the photocoupler 132
When the induced voltage between -V is positive, it is at a low level, and when it is negative, it is at a high level. Therefore, if the delay of the primary side low-pass filter 131 is ignored, the falling position of the photocoupler output signal can be determined as the zero cross point.

The secondary low-pass filter 133 is a low-pass filter having a small time constant for removing signal line noise.

Hereinafter, a method of detecting the magnetic pole position phase in the standby mode will be described. FIG. 7 shows a voltage information detection circuit 1
FIG.

The detected U-V induced voltage is delayed by the primary low-pass filter 131. Further, since the photocoupler 132 does not emit light unless a certain current or more flows, a certain level of voltage is required to toggle the photocoupler output signal. The phase delay caused by the above cause is referred to as a delay due to the photocoupler sensitivity. Further, the phase is further delayed by the secondary side low-pass filter 133. The sum of the delay amounts due to these factors is defined as θ _lag .

In this figure, the point at which the induced voltage phase is 0 degree is defined as UV .
The position is set to be a position delayed by 30 degrees from the zero crossing point of the rising of the induced voltage. At this time, if the phase of the voltage information detection circuit 109 is θ _z and the induced voltage phase is θ _E , the following relational expression is established.

[0074]

(Equation 7)

The standby mode induced voltage phase calculation means 118 in FIG. 1 obtains the phase θ _z of the output signal of the voltage information detection circuit 109. The method of obtaining θ _z is almost the same as that of the power generation mode voltage phase calculation means 116, and the method shown in FIG. 3 can be used. The difference from the power generation mode voltage phase calculation means 116 is that a rising edge is detected instead of a rising zero cross point.

Standby mode induced voltage phase calculation means 1
The phase output and speed information 18 are sent to the standby mode magnetic pole position phase calculating means 119, and the induced voltage phase angle is calculated according to the equation shown in Expression 7, thereby calculating the magnetic pole position phase angle. Here, since θlag depends only on the rotation speed of the generator, a magnetic pole position phase can be easily obtained by preparing and searching a table of θlag with respect to the rotation speed in advance.

As described above, the configuration shown in FIG. 1 calculates the magnetic pole position information using the information of the voltage information detecting circuit 109 at the time of starting, and calculates the magnetic pole position information using the current information at the time of power generation. The mode switching switch 120 performs this switching.

As described above, if the voltage phase is known, the magnetic pole position phase is also known. Therefore, theoretically, if the standby mode induced voltage phase calculating means 118 and the standby mode magnetic pole position phase calculating means 119 are provided, the magnetic pole position phase is calculated. Computable. But the output of the voltage information detection circuit 109 can not be used with means there Figure 4 a digital signal, the amount differs accurate delay photocoupler sensitivity by parts theta _lag
Is difficult to obtain, and large components such as a transformer and an isolation amplifier are required to capture voltage information as an analog signal in a microcomputer. For the reasons described above, the voltage information detecting circuit 10 is used at the time of starting at a relatively low speed and with a small error due to delay.
The configuration shown in FIG. 1 that uses current information that enables accurate detection of the magnetic pole position phase during power generation is practical.

For the sake of simplicity, the output of the current sensor 108 has been assumed to have an ideal sine wave shape.
Actually, the actual current waveform is a signal on which a high frequency component is superimposed. Since the voltage command signal used in the magnetic pole position phase calculation is formed from such an actual current waveform on which a high frequency component is superimposed, the voltage command signal is also a signal on which a high frequency component is superimposed.
If a zero-cross point is detected using such a voltage command signal, chattering occurs, and an accurate voltage cycle cannot be detected. The reason why such high frequency components are superimposed is
The slot shape and the electrical noise of the synchronous generator.
Since the frequency of the electrical noise is sufficiently higher than the electrical angular frequency of the synchronous generator, it can be removed by a suitable low-pass filter without deteriorating the accuracy. However, the frequency of the high frequency component caused by the slot shape is as low as several times to several tens times the frequency of the original signal, and if the high frequency component is removed using a low-pass filter, the influence of the phase delay cannot be ignored.

Hereinafter, means for eliminating the influence of chattering caused by high frequency components caused by the slot shape will be described below.

FIG. 8 shows the cross-sectional shape of the stator of the synchronous machine. Since the synchronous machine generates an electromagnetic force between the winding coil and the rotor magnetic pole, it generates a current ripple at every mechanical angle α of the stator slot arrangement. When α is converted into the electrical angle γ for slot arrangement, γ = pα (p: number of pole pairs). As described above, since the current ripple is generated for each slot arrangement electrical angle γ, chattering caused by the slot shape can be removed by applying a detection mask for a time corresponding to the slot arrangement electrical angle γ after detecting the zero cross point. FIG. 9 shows the specific means.

FIG. 9A is an explanatory diagram of chattering removing means near a voltage phase of 0 degree. Here, the dotted line is the fundamental wave of the voltage, and the solid line is the actual voltage waveform. Here, after detecting the rising zero-cross point, a section zero-crossing detection signal transmission mask of ζ is applied. Here, ζ is an electrical angle, which is set to be larger than the slot arrangement electrical angle γ. Although ζ is an electrical angle for simplicity of explanation, it is completely equivalent even if it is regarded as time information. By using the zero-cross mask in this way, chattering near the voltage phase of 0 degree can be removed.

In this figure, a deviation occurs between the zero-cross detection position and the actual zero-cross position of the fundamental wave. This is easily corrected by performing an appropriate correction operation in the power generation mode magnetic pole position phase calculating means 117. it can. Note that the desired correction amount can be actually measured at the time of parameter matching of the synchronous generator 102, so that there is no inconvenience in mounting.

FIG. 9B is an explanatory view of the chattering removing means near the voltage phase of 180 degrees. Near 180 degrees, chattering can be removed by masking all the zero-cross point detection signals. Since the magnitude of the ripple current differs depending on the synchronous generator used, the number of chatterings changes, and the masking period differs for each system. However, at least the section corresponding to the electrical angle ± γ around the point of the current phase angle of 180 degrees is masked. There is a need.

The method of detecting the magnetic pole position from the voltage phase and the method of calculating the magnetic pole position information using the externally attached voltage information detection circuit have been described above. A method using a current command signal as another embodiment of the present invention will be described below.

FIG. 10 shows an example of the configuration of an engine-motor hybrid electric vehicle configured to calculate magnetic pole position information based on a current command signal. The difference from FIG. 1 is that the magnetic pole position information is detected from the phase of the current command.

In FIG. 10, the current information obtained from the current sensor 108 is input to the voltage command generation means 114, and the U-phase signal of the voltage command output of the voltage command generation means 114 is input to the magnetic pole position information calculation means 113. The current phase of the U-phase voltage command output is calculated by the power generation mode current phase calculation means 116 '. Power generation mode current phase calculation means 116 '
Performs the phase calculation in exactly the same way as the power generation mode voltage phase calculation means 116. Power generation mode current phase calculation means 11
The current phase output 6 'is sent to the power generation mode magnetic pole position phase calculating means 117'. Here, the power generation mode magnetic pole position phase calculation means 117 'is different from the configuration of FIG. 1 and functions as a lead angle calculation means. Specifically, the power generation mode magnetic pole position phase calculating means 117 'subtracts the advance angle β from the voltage phase angle as described with reference to FIG.

In the configuration of FIG. 10, the means for improving the accuracy of detecting the position of the zero-cross point described in FIG. 4, the means for improving the phase accuracy described in FIG. 5, and the means for preventing chattering described in FIG. 9 can be used as they are.

[0089]

According to the present invention, the magnetic pole position information necessary for the operation of the synchronous generator can be obtained by a simple calculation from the current waveform or the voltage information. Therefore, a position sensor such as an encoder is not required, and a small synchronous generator control system is constructed. Furthermore, since the magnetic pole position can be detected by a simpler calculation than the conventional position sensorless synchronous machine control method, it can be operated even in a high speed rotation range. Such a feature is particularly suitable for an application such as an electric vehicle which has a limited mounting space and requires an operation in a high-speed rotation range.

[Brief description of the drawings]

FIG. 1 is an embodiment in which the present invention is applied to an engine-motor hybrid electric vehicle.

FIG. 2 is a vector diagram in a steady state of the synchronous machine.

FIG. 3 is an explanatory diagram of an operation outline of a voltage phase calculating means.

FIG. 4 is an explanatory diagram of a method for accurately detecting a zero-cross point position from discrete information.

FIG. 5 is a voltage waveform of a three-phase synchronous generator.

FIG. 6 is a circuit configuration diagram of a voltage information detection circuit.

FIG. 7 is an operation explanatory diagram of the voltage information detection circuit.

FIG. 8 is a diagram showing a cross-sectional shape of a stator of the synchronous machine.

FIG. 9 is an explanatory diagram of chattering removing means.

FIG. 10 is a configuration example of an engine-motor hybrid electric vehicle configured to calculate magnetic pole position information from a current signal.

[Explanation of symbols]

101: Kinetic energy generating means, 102: Synchronous generator, 103: Power converter, 104: Power storage means, 105 ...
Drive motor inverter, 106 ... drive motor, 10
7: controller, 108: current sensor, 109: voltage information detecting means, 113: magnetic pole position information calculating means, 114
... voltage command generation means, 115 ... switching element control means, 116 ... power generation mode voltage phase calculation means, 116 '...
Power generation mode current phase calculation means, 117 (117 '): power generation mode magnetic pole position phase calculation means, 118: standby mode induced voltage phase calculation means, 119: standby mode magnetic pole position phase calculation means, 120: mode changeover switch.

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI H02M 7/155 H02M 7/155 C 7/48 7/48 E (72) Inventor Noriyoshi Sasawa Odaiba, Hitachinaka-shi, Ibaraki 2520 Hitachi, Ltd. Automotive Equipment Division (72) Inventor Sanshiro Ohara Hitachinaka, Ibaraki Pref. Address Hitachi, Ltd. Automotive Equipment Division (56) References JP-A-9-163507 (JP, A) JP-A-52-140828 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB Name) H02P 9/00-9/48 B60L 11/00-11/18 B60K 6/02 H02J 7/00 H02M 7/155 H02M 7/48

Claims (18)

(57) [Claims] A power storage means for storing electric energy generated by the synchronous generator; a power converter for converting AC power generated by the synchronous generator into DC power and supplying the DC power to the power storage means; A synchronous generator system comprising kinetic energy generating means for supplying kinetic energy to the machine, wherein the power converter includes a current sensor for detecting a current of the synchronous generator, and a controller of the power converter includes the synchronous generator. Magnetic pole position information calculating means for calculating magnetic pole position information, the controller includes voltage command generating means for generating a voltage command for the power converter using the magnetic pole position information and an output signal of the current sensor, The magnetic pole position information calculating means calculates the magnetic pole position from the zero cross point position information of the voltage command output from the voltage command generating means. Switching power control means for controlling the ON / OFF state of the switching element of the power converter using the output of the voltage command generating means. Machine control system. 2. The apparatus according to claim 1, wherein said magnetic pole position information calculating means includes magnetic pole position information calculating means for calculating said magnetic pole position from zero cross point position information of a voltage command output from said voltage command generating means. Features a synchronous generator control system. 3. The phase difference according to claim 1, wherein said magnetic pole position information calculating means calculates a phase difference angle δ between an induced voltage phase angle generated by said synchronous generator and a voltage phase by inputting said torque command and said rotation speed. Angle calculating means, wherein the magnetic pole position information calculating means calculates the induced electromotive force by using a phase obtained by advancing the voltage phase by a phase difference angle δ obtained by the phase difference angle calculating means.
And the magnetic pole position information calculating means outputs
A synchronous generator control system, wherein the magnetic pole position information is set as a phase orthogonal to a pressure phase angle . 4. A power storage means for storing electric energy generated by the synchronous generator, a power converter for converting AC power generated by the synchronous generator into DC power and supplying the DC power to the power storage means, A synchronous generator system comprising kinetic energy generating means for supplying kinetic energy to the machine, wherein the power converter includes a current sensor for detecting a current of the synchronous generator, and a controller of the power converter includes the synchronous generator. Magnetic pole position information was detected by the current sensor
A magnetic pole position information calculating means for calculating using the current value ;
The controller includes voltage command generation means for generating a voltage command for the power converter using the magnetic pole position information,
A synchronous generator control system, comprising: a switching element control unit that controls an ON-OFF state of a switching element of the power converter using an output of the voltage command generation unit. 5. A magnetic pole position information calculating means according to claim 4, wherein said controller of said power converter has magnetic pole position information calculating means for calculating magnetic pole position information of said synchronous generator using zero-cross point position information of said synchronous generator current. A synchronous generator control system. 6. The magnetic pole position information calculating means according to claim 4, wherein said magnetic pole position information calculating means calculates a lead angle β between an induced voltage phase angle generated by said synchronous generator and a current phase by inputting said torque command and said rotation speed. comprising a square calculating unit, the magnetic pole position information computation means the induced with a phase delayed by the lead angle β obtained from the advance angle calculating means said voltage phase
The magnetic pole position information calculation means is a voltage phase angle.
A synchronous generator control system, wherein the magnetic pole position information is set as a phase orthogonal to a voltage phase angle . 7. A power storage means for storing electric energy generated by the synchronous generator, a power converter for converting AC power generated by the synchronous generator into DC power and supplying the DC power to the power storage means, A synchronous generator system comprising kinetic energy generating means for supplying kinetic energy to the machine, wherein the power converter includes a current sensor for detecting a current of the synchronous generator, and a controller of the power converter includes the synchronous generator. A voltage information detection circuit that detects terminal voltage of the synchronous generator to generate voltage information, the controller includes magnetic pole position information calculating means for calculating magnetic pole position information of the synchronous generator from the voltage information, and the controller includes the magnetic pole Voltage command generating means for generating a voltage command for the power converter using the position information; and the controller outputs the voltage command from the voltage command generating means. And a switching element control means for controlling the ON / OFF state of the switching element of the power converter using a force. 8. The voltage information detection circuit according to claim 7, wherein the voltage information detection circuit includes a low-pass filter, and a terminal voltage of the synchronous generator is input to the voltage information detection circuit via the low-pass filter, and a cut-off of the low-pass filter is provided. A synchronous generator control system, wherein the frequency is set to be smaller than the maximum electrical angle rotation period of the synchronous generator. 9. The magnetic pole position information calculating means according to claim 8, wherein said magnetic pole position information calculating means includes a delay amount calculating means for calculating a delay amount λ due to said low-pass filter and circuit operation with a rotation speed of said synchronous generator as an input. A synchronous generator control system, characterized in that the information calculation means includes a delay compensation means for adding the delay amount λ obtained by the delay amount calculation means to the magnetic pole position phase to correct the magnetic pole position information. 10. A synchronous generator control system according to claim 9, wherein said voltage information detection circuit outputs voltage zero-cross point information as voltage information. 11. The method according to claim 2, wherein
The synchronous generator control system according to claim 1, wherein said magnetic pole position information calculating means includes magnetic pole position information correcting means for correcting magnetic pole position information at voltage zero cross point positions of all phases of said synchronous motor. 12. The synchronous motor according to claim 5, wherein said magnetic pole position information calculating means includes magnetic pole position information correcting means for correcting magnetic pole position information at current zero cross point positions of all phases of said synchronous motor. Generator control system. 13. The controller according to claim 1, wherein the controller includes a voltage information detecting circuit, and the controller performs magnetic pole position information calculation using the voltage information detecting circuit in a low speed rotation region and performs a magnetic pole position information calculation in a high speed rotation region. A synchronous generator control system comprising: magnetic pole position information calculation switching means for performing magnetic pole position information calculation. 14. The zero cross point position information mask according to claim 5, wherein said magnetic pole position information calculation means masks said zero cross point position information output using mask section information 一定 of a constant electrical angle and a current detected voltage phase angle θV. Means for masking the zero-crossing point position information, wherein 0 <θV ≦ ζ (ra
d) and when (π−ζ) ≦ θV ≦ (π + ζ) (rad), the output of the zero-cross point position information is masked, and the mask section information よ り is obtained from the electrical angle γ forming the stator slot of the synchronous generator. A synchronous generator control system characterized by being large. 15. The zero cross point position information mask according to claim 5, wherein said magnetic pole position information calculating means masks said zero cross point position information output using mask section information 一定 of a constant electrical angle and a current detected current phase angle θi. Means for masking the zero-crossing point position information, wherein 0 <θi ≦ ζ (ra
d) and when (π−ζ) ≦ θi ≦ (π + ζ) (rad), the output of the zero-cross point position information is masked, and the mask section information よ り is obtained from the electrical angle γ forming the stator slot of the synchronous generator. A synchronous generator control system characterized by being large. 16. The magnetic pole position information calculating means according to claim 2, wherein said magnetic pole position information calculating means fetches said voltage command at predetermined sampling times, and said magnetic pole position information calculating means has a negative sign of a previous voltage command and said current voltage command. When the sign of the command is positive, it is determined that the zero-cross point is present, and the magnetic pole position calculating means uses the ratio information between the absolute value of the previous voltage command and the absolute value of the current voltage command to obtain information on the zero-cross point position. A synchronous generator control system, wherein 17. The magnetic pole position information calculating means according to claim 5, wherein said magnetic pole position information calculating means fetches said current sensor information at every fixed sampling time, and said magnetic pole position information calculating means has a previous sign of said current sensor information and When the sign of the current sensor information is positive, it is determined that the current point is a zero crossing point, and the magnetic pole position calculating means uses the ratio information between the absolute value of the previous current sensor information and the absolute value of the current current sensor information. A synchronous generator control system for correcting information of a zero crossing point position. 18. The method according to claim 1, wherein
A hybrid electric vehicle equipped with at least one synchronous generator control system, wherein the hybrid electric vehicle includes kinetic energy control means for controlling a rotation speed or generated torque of a kinetic energy generation means. Car.