JP3455017B2 - Control device for permanent magnet synchronous motor for vehicle drive - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a permanent magnet synchronous motor for driving a vehicle.

[0002]

2. Description of the Related Art Conventionally, in controlling a permanent magnet synchronous motor for driving a vehicle, when performing a high speed operation in which an inverter output voltage is close to a maximum value, a counter electromotive voltage due to a permanent magnet exceeds a maximum inverter output voltage and a current is exceeded. To prevent the control from becoming unstable, a large amount of weakening magnetic flux current was applied with a margin in mind.

[0003]

However, if a large amount of weakening magnetic flux current continues to flow, the efficiency of the electric motor and the inverter decreases, which is not desirable. An object of the present invention is to provide a control device for a permanent magnet synchronous motor for driving a vehicle, which can achieve both stability and efficiency improvement of a current control system.

[0004]

In order to achieve the above object, the invention corresponding to claim 1 is a vehicle drive permanent magnet for controlling a vehicle drive permanent magnet synchronous motor by an inverter for converting DC power into AC power. In a control device for a synchronous motor, a rotation angular velocity calculation unit that calculates a rotation angular velocity by inputting a rotor phase of the vehicle driving permanent magnet synchronous motor, and a rotation angular velocity output from the rotation angular velocity calculation unit.
Input as the magnetic flux direction current feedforward command value
A magnetic flux direction current feedforward calculation unit for calculating
Voltage vector limit value that is the size limit value of the voltage vector
Based on the deviation between the
A magnetic flux direction current correction value calculation unit for calculating the direction current correction value,
Output from the magnetic flux direction current feedforward calculation unit
Magnetic flux direction current feedforward command value
Flux direction current correction value output from the calculation unit
Adder that outputs the magnetic flux direction current command value that is the sum of the positive value
And a magnetic flux direction current command output from the adding unit,
With the Luk command as input, the magnetic flux direction current command and torque current
The current command calculation unit that calculates the command and the current command calculation unit
The magnetic flux direction current command and the torque current command output from
As input, the magnetic flux direction voltage command and the torque direction voltage command
The output voltage feedforward calculator and the voltage feed
The magnetic flux direction voltage command and the torque direction voltage command from the feedforward calculation unit are input, and the polar coordinate conversion unit that calculates the magnitude of the voltage vector and the angle of the voltage vector and the magnitude of the voltage vector from the polar coordinate conversion unit are input. When the magnitude of the input voltage vector exceeds the maximum voltage that can be output by the inverter, the magnitude of the voltage vector is limited and the magnitude of the voltage vector is output as a new magnitude of the voltage vector. An actual torque calculation unit that calculates the actual torque value by inputting the magnetic flux direction voltage command, the torque direction voltage command, the actual torque current value, the actual magnetic flux direction current value, and the rotational angular velocity; The command and the actual torque value are input, and the torque angle correction value is calculated so that the actual torque value follows the torque command. Torque angle control unit, the size of the voltage vector output from the size limiting unit of the voltage vector, the angle of the voltage vector, the torque angle correction value, and the sum of the rotor phase as an input, Polyphase P
It is a control device for a permanent magnet synchronous motor for driving a vehicle, which has a PWM voltage generation unit that outputs a WM voltage command to the inverter.

According to the invention corresponding to claim 1, when the magnitude of the voltage vector exceeds the maximum value of the inverter output voltage, the magnitude of the voltage vector is fixed to suppress the weakening magnetic flux current to the necessary minimum. At the same time, the high-speed torque control performance required for idling control and the like can be secured by the torque angle control. The invention corresponding to claim 1
According to the magnetic flux current command calculation unit,
Deforward calculator, magnetic flux direction current correction value calculator,
Since it is composed of an adder, fine adjustment is not necessary.

To achieve the above object, the invention corresponding to claim 2 is an inverter for converting DC power into AC power.
A vehicle drive that controls a permanent magnet synchronous motor for driving the vehicle by
A controller for a dynamic permanent magnet synchronous motor, comprising:
Rotating the rotor phase of the drive permanent magnet synchronous motor as input
A rotation angular velocity calculation unit that calculates a rotation angular velocity, a magnetic flux direction current feedforward calculation unit that calculates a magnetic flux direction current feedforward command value by using the rotation angular velocity output from the rotation angular velocity calculation unit as an input, and the size of the voltage vector. limits the voltage vector limit is, on the basis of the deviation between the magnitude of the voltage vector, the flux direction current correction value calculator for calculating the magnetic flux direction current correction value is output from the magnetic flux direction current feedforward calculation unit that the magnetic flux direction current feedforward command value, an adder for output the magnetic <br/> flux direction current instruction is the sum of the magnetic flux direction current correction value outputted from the magnetic flux direction current correction value calculating unit, wherein Torque direction
The pressure command VqRef, the motor rotation angular velocity ωr, and
Flux direction current actual value Id and the torque current actual value Iq
With (VqRef-Rq.Iq) ÷ ωr- (L
d · Id) based on the estimated magnetic flux of the permanent magnet
The permanent magnet magnetic flux estimation unit and the magnetism output from the addition unit.
Bundle current command, torque command, and permanent magnet flux
Input the estimated value of the magnetic flux of the permanent magnet from the constant section, and
A current command calculation unit that obtains a current command and a torque current command,
And a magnetic flux direction current command output from the current command calculator
With the torque current command as an input, the magnetic flux direction voltage command and
Voltage feed forward that outputs torque direction voltage command
And the magnetic field from the voltage feedforward calculation unit.
With the bundle direction voltage command and the torque direction voltage command as input
Calculate the magnitude of the voltage vector and the angle of the voltage vector
And a voltage vector from the polar coordinate converter.
With the magnitude of the torque as input,
The size exceeds the maximum voltage that the inverter can output.
If the voltage vector is
Of the voltage vector output as the magnitude of the
Size limiter, the magnetic flux direction voltage command, the torque
Direction voltage command, torque current actual value, magnetic flux direction current actual
Input the actual value and the rotational angular velocity to obtain the actual torque value.
An actual torque calculation unit for calculating, the torque command, and the torque
When the actual torque value is input, the actual torque value is
Torr for calculating the torque angle correction value so as to follow the click command
Output from the angle controller and the voltage vector magnitude limiter.
The magnitude of the applied voltage vector and the voltage vector
Angle, torque angle correction value, and rotor phase sum
To the inverter as a multi-phase PWM voltage command
It is a control device for a permanent magnet synchronous motor for driving a vehicle , which has a PWM voltage generator for outputting .

According to the invention corresponding to claim 2, a permanent magnet is used.
Since the stone magnetic flux estimation unit is provided, the generation corresponding to claim 1
In addition to the function of light, control is possible even if the temperature of the permanent magnet changes.
It is possible.

In order to achieve the above object, the invention according to claim 3 provides a control device for a permanent magnet synchronous motor for driving a vehicle, which controls the permanent magnet synchronous motor for driving a vehicle by an inverter for converting DC power into AC power. a rotation angular velocity computation section that computes the rotation angular velocity rotor phase of the vehicle driving permanent magnet synchronous motor as an input, the rotation angle speed
Input the rotational angular velocity output from the degree calculator
Direction Flux direction for calculating current feedforward command value
Current feedforward calculator and voltage vector magnitude
The voltage vector limit value that is the limit value and the voltage vector
Calculate the magnetic flux direction current correction value based on the deviation from the size
Magnetic flux direction current correction value calculation unit
Current direction output from the feedforward calculator
Feed forward command value and the magnetic flux direction current correction value
The sum of the magnetic flux direction current correction value output from the calculator
From the adder that outputs the bundle direction current command value, and from the adder
With the magnetic flux direction current command output and the torque command as input
The current command to obtain the magnetic flux direction current command and the torque current.
And a magnetic flux direction signal output from the current command calculation unit.
Flow command and the torque current command as input,
Voltage feed-off that outputs pressure command and torque direction voltage command
Forward calculation unit and the voltage feedforward calculation unit
The magnetic flux direction voltage command and the torque direction voltage command from the input are input, and the polar coordinate conversion unit that calculates the magnitude of the voltage vector and the angle of the voltage vector, and the polar coordinate conversion unit.
When the size of the voltage vector is input and the size of the input voltage vector exceeds the maximum voltage that can be output by the inverter, the size of the voltage vector is limited and output as a new size of the voltage vector. The size limiter of the voltage vector, the actual magnetic flux direction current value,
The actual torque calculation unit that calculates the actual torque value by inputting the actual torque current value, the torque command, and the actual torque value by inputting the actual torque value so that the actual torque value follows the torque command. A torque angle control unit, a voltage vector size output from the voltage vector size limiting unit, an angle of the voltage vector output from the polar coordinate conversion unit, and the torque angle correction value,
A controller for a permanent magnet synchronous motor for driving a vehicle, comprising: a PWM voltage generator that outputs a multi-phase PWM voltage command to the inverter by using a sum of the rotor phase as an input.

According to the invention corresponding to claim 3,
The same effect as 1 can be obtained.

[0010]

[0011]

BEST MODE FOR CARRYING OUT THE INVENTION First Embodiment Hereinafter, an embodiment of the present invention will be described with reference to the drawings. The first embodiment will be described with reference to FIGS. In the first embodiment shown in FIG. 1, the control apparatus for a permanent magnet synchronous motor SM for driving a vehicle is the flux direction current finger Ryo演 calculation unit 11
A voltage command calculator 12, a polar coordinate converter 13, a voltage vector size limiter 14, and an actual torque calculator 15.
A torque angle control unit 16, a PWM voltage generation unit 17,
It is composed of a rotational angular velocity calculator 18. In FIG. 1, W is a DC overhead wire, PG is a pantograph, and INV is an inverter.

[0012] In the magnetic flux direction current finger Ryo演 calculation unit 11,
The electric motor angular velocity (electric motor rotational angular frequency) ωr described later is input, and the magnetic flux direction current command IdRef is output by the following calculation.

Now, let us say that the magnetic flux direction of the permanent magnet is the d-axis and the direction perpendicular thereto is the q-axis. IdRef is calculated by the following equation (1) according to the magnitude of the motor rotation angular frequency. When ωr ≧ ωr0, IdRef = {(ωr0−ωr) · Φf} ÷ (ωr · Ld) (1) When ωr <ωr0, IdRef = 0 where ωr0 is a constant angular frequency and Φf is a permanent magnet magnetic flux ,
Ld is the d-axis inductance.

The operation of the voltage command calculator 12 will be described with reference to FIG. The voltage command calculation unit 12 is a current command calculation unit 12
1 and a voltage feedforward calculation unit 122.

The current command calculation unit 121 outputs the magnetic flux direction current command value IdR output from the magnetic flux direction current command value calculation unit 11.
ef and the torque command value TorqRef are input and the following (2
) The magnetic flux direction current command IdRef1 and the torque current command IqRef are calculated and calculated and output.

IdRef1 = IdRef IqRef = TorqRef ÷ {Φf + (Ld−Lq) · IdRef1} (2) where Lq is output from the current command calculation unit 121 in the q-axis inductance voltage feedforward calculation unit 122. Magnetic flux direction current command IdR
ef1 and the torque current command IqRef are input, and the magnetic flux direction voltage command VdRef and the torque direction voltage command VqRef are as follows (3
), (4).

[0017]     VdRef = Rd-IdRef1-ωr-Lq-IqRef (3)     VqRef = Rq-IqRef + ωr- (Ld-IdRef1 + Φf)                                                               …(Four ) However, Rd is d-axis resistance and Rq is q-axis resistance.

In the polar coordinate conversion unit 13, the magnetic flux direction voltage command VdRef and the torque direction voltage command VqRef output from the voltage command calculation unit 12 are input, and the following calculation is performed.
The magnitude of the voltage vector | V | and the angle δ of the voltage vector with respect to the magnetic flux axis direction are output.

[0019]

[Equation 1]

In the voltage vector size limiting unit 14, the voltage vector size | V | output from the polar coordinate conversion unit 13 is input, and the new voltage vector size | V | Lim is obtained by the following conditional branching. And output.

(1) | V | ≧ | V | Ref, | V | Lim = | V | Ref (2) | V | <| V | Ref, | V | Lim = | V | Actual torque The calculation unit 15 outputs the magnetic flux direction voltage command VdRef and the torque direction voltage command VqR output from the voltage command calculation unit 12.
ef, actual magnetic flux direction current value Id and actual torque current value Iq
Then, the motor rotational angular velocity ωr output from the rotational angular velocity calculation unit 18 is input, and the actual torque value is calculated and output by the calculation of the following equation (7).

Torq = {VdRef · Id + VqRef · Iq} ÷ ωr (7) The torque angle control unit 16 controls the torque command value (actual torque) To.
The torque angle correction value Δθ is output by the proportional-plus-integral control represented by the following equation (8) using rqRef and the actual torque value Torq output from the actual torque calculation unit 15 as input.

[0023]       Δθ = {(Kp · s + Ki) × (TorqRef−Torq)} ÷ s                                                               … (8) However, s: differential operator Kp: proportional gain, Ki: integral gain.

The operation of the PWM voltage generator 17 will be described with reference to FIG. In the PWM voltage generator 17, the magnitude | V | Lim of the voltage vector output from the magnitude limiter 14 of the voltage vector, the torque angle correction value Δθ output from the torque angle controller 16, and the rotor phase. The voltage command Vu is input with θr and the inverter phase θ1 which is the sum of the three values of the voltage vector angle δ output from the polar coordinate conversion unit 13.
It outputs PWM, VvPWM, and VwPWM.

Here, a case where a permanent magnet synchronous motor is driven by using an NPC (neutral point clamp type) inverter will be described as an example. Using the input inverter phase θ1,
u, v, w Inverter phase θu, θv, θw
) To (11).

Θu = θ1 + π / 2 (9) θv = θ1 + π / 2-2π / 3 (10) θw = θ1 + π / 2-4π / 3 (11) Using the U-phase inverter phase θu, the following (12) ), The U-phase PWM voltage command VuPWM is output by the calculation of the equation (13).

VuPWM = + Vdc / 2 (0 ≦ θu <π) (12) VuPWM = −Vdc / 2 (π ≦ θu <2π) (13) Similarly, V phase PWM voltage command VvPWM, W phase voltage Command Vw
PWM is also output as shown in the following equations (14) to (17).

VvPWM = + Vdc / 2 (0 ≦ θv <π) (14) VvPWM = −Vdc / 2 (π ≦ θv <2π) (15) VwPWM = + Vdc / 2 (0 ≦ θw <π ) (16) VwPWM = -Vdc / 2 (π ≤ θw <2π) (17) In the rotational angular velocity calculation unit 18, the permanent magnet magnetic flux angle (rotor phase) θr detected by the sensor 19 is input. , The motor rotation angular velocity ω is calculated by the following equation (18).
Calculate and output r.

Ωr = s · θr (18) (s is a differential operator) According to the first embodiment described above, when the magnitude of the voltage vector exceeds the inverter output voltage maximum value, the voltage vector It is possible to suppress the weakening magnetic flux current to a necessary minimum by fixing the magnitude of the torque, and to secure the high-speed torque control performance required for the idling control and the like by the torque angle control.

<Second Embodiment> A second embodiment corresponding to the control device for a vehicle- driving permanent magnet synchronous motor of the present invention will be described with reference to FIG.

The control apparatus 1 for a vehicle driving permanent magnet synchronous motor in a second embodiment, the magnetic flux direction current finger Ryo演 calculation unit 11, a voltage command calculation unit 12, a polar coordinate conversion section 13,
Voltage vector magnitude limiting unit 14 and actual torque calculation unit 1
5, the torque angle control unit 16, and the PWM voltage generation unit 17
And a rotational angular velocity calculation unit 18.

The magnetic flux direction current command calculation unit 11 is composed of a magnetic flux direction current feedforward calculation unit 111 and a magnetic flux direction current correction value calculation unit 112. The magnetic flux direction current feedforward calculation unit 111 is provided from the rotational angular velocity calculation unit 18. The motor rotation angular velocity ω r is input, and the magnetic flux direction current feedforward command value IdRef FF is calculated and output. The magnetic flux direction current correction value calculation unit 112 calculates a magnetic flux direction current correction value by inputting the command value | V | Lim of the voltage vector magnitude and the magnitude of the voltage vector | V | output from the polar coordinate conversion unit 13. Output. And IdRef FF
And a magnetic flux direction current correction value sum IdRef is output from the magnetic flux direction current command calculation unit 11.

Specifically, the motor rotational angular velocity ω r, the voltage vector magnitude | V | Lim output from the voltage vector magnitude limiter 14, and the voltage vector magnitude output from the polar coordinate converter 13. Using | V | and as inputs, the magnetic flux direction current command value IdRef is obtained and calculated by the following equation (19).

When ωr ≧ ωr0, IdRef = {(ωr0−ωr) · Φf} ÷ (ωr · Ld) + ΔIdRef (19) When ωr <ωr0, IdRef = ΔIdRef However, ωr0 is a constant angular frequency, Φf Is the magnetic flux of the permanent magnet,
Ld is the d-axis inductance.

However, ΔIdRef is obtained by the following equation (20). ΔIdRef = {Kpd · s · Kid} × (| V | Lim− | V |) ÷ s (20) where s is a differential operator, Kpd: proportional gain, Kid: integral gain.

The operation of other components is the same as that of the first embodiment. According to the second embodiment described above, the magnetic flux direction current command calculation unit 11 includes the magnetic flux direction current feedforward calculation unit 111 , the magnetic flux direction current correction value calculation unit 112, and the addition unit. No need for fine adjustment.

<Third Embodiment> A third embodiment corresponding to the control device for a vehicle driving permanent magnet synchronous motor of the present invention will be described with reference to FIGS. 5 and 6.

As shown in FIG. 5, the controller 1 of the permanent magnet synchronous motor for driving a vehicle according to the third embodiment has a magnetic flux direction.
A counter current finger Ryo演 calculation unit 11, a voltage command calculation unit 12, a polar coordinate conversion section 13, a size restriction portion 14 of the voltage vector,
Actual torque calculation unit 15, torque angle control unit 16, PWM
It is composed of a voltage generator 17, a rotational angular velocity calculator 18, and a permanent magnet magnetic flux estimator 21.

In the permanent magnet magnetic flux estimator 21, FIG.
As shown in, the torque direction voltage command VqRef output from the voltage command calculator 12, the motor rotation angular velocity ωr, the magnetic flux direction current actual value Id, and the torque current actual value Iq are input, and the following calculation is performed. Therefore, the estimated value of the magnetic flux of the permanent magnet Φf-H
And output.

Φf−H = (VqRef−Rq · Iq) ÷ ω
r− (Ld · Id) (21) The current command calculation unit 121 and the voltage feedforward calculation unit 122, which are components of the voltage command calculation unit 12, have a permanent magnet magnetic flux Φf output from the permanent magnet magnetic flux estimation unit 21. Using H, each operates as follows.

[0041] In current calculation unit 121, the magnetic flux direction current instruction value IdRef outputted from the magnetic flux direction current finger Ryo演 calculation unit 11, the torque command value TorqRef, permanent magnetic flux output from the permanent magnet flux estimator 21 Estimated value Φf-H
Is input, and the magnetic flux direction current command IdRe is calculated by the following calculation.
f 1 and torque current command IqRef are calculated and output.

IdRef 1 = IdRef (22) IqRef = TorqRef ÷ {Φf−H + (Ld−Lq) · IdRef 1} (23) where Ld is the d-axis inductance and Lq is the q-axis inductance.

In the voltage feedforward calculation unit 122, the magnetic flux direction current command IdRef output from the current command calculation unit 121, the torque current command IqRef, and the permanent magnet magnetic flux estimation value Φ output from the permanent magnet magnetic flux estimation unit 21.
Using fH as an input, the magnetic flux direction voltage command VdRef and the torque direction voltage command VqRef are obtained by the following calculations.

VdRef = Rd.IdRef 1-.omega.r.Lq.IqRef (24) VqRef = Rq.IqRef + .omega.r. It is a resistor, and the operation of other components is the same as that of the first embodiment.

According to the third embodiment described above, since the permanent magnet magnetic flux estimating section 21 is provided, in addition to the operation of the first embodiment, control is possible even if the temperature of the permanent magnet changes. Is.

<Fourth Embodiment> A fourth embodiment of the control device for a vehicle drive permanent magnet synchronous motor of the present invention will be described with reference to FIG.

The magnetic flux direction current finger Ryo演 calculation unit 11, a voltage command calculation unit 12, a polar coordinate conversion section 13, a size restriction portion 14 of the voltage vector, the actual torque calculation section 15, a torque angle control unit 16 , PWM voltage generator 17.

The actual torque calculating unit 15 inputs the actual torque current value Iq and the actual magnetic flux direction current value Id, and estimates and outputs the actual torque Torq by the following calculation.

[0049] The Torq = p {Φf + (Ld -Lq) · Id} · Iq ... (26) (p is motor pole pairs) flux current finger Ryo演 calculation unit 11, a voltage command calculation unit 12, the polar coordinate conversion section 13 and a voltage vector size limiting unit 14
The operations of the torque angle control unit 16 and the PWM voltage generation unit 17 are the same as in the first embodiment. According to the above-described fourth embodiment, the same operational effect as that of the first embodiment can be obtained.

[0050]

According to the control device for a permanent magnet synchronous motor for driving a vehicle of the present invention, current control is performed while minimizing the weakening magnetic flux current even when performing high speed operation in which the inverter output voltage is close to the maximum value. You can prevent the system from becoming unstable.

[Brief description of drawings]

FIG. 1 is a functional block diagram for explaining an overall configuration of a first embodiment of a control device for a permanent magnet synchronous motor for driving a vehicle of the present invention.

FIG. 2 is a diagram illustrating a configuration of a voltage command calculation unit in FIG.

FIG. 3 is a diagram for explaining the operation of the PWM voltage generator of FIG.

FIG. 4 is a diagram illustrating the operation of a magnetic flux direction current command calculation unit according to the second embodiment of the present invention.

FIG. 5 is a functional block diagram for explaining the overall configuration of a third embodiment of the control device for a vehicle-driving permanent magnet synchronous motor of the present invention.

FIG. 6 is a view for explaining the operation of a permanent magnet magnetic flux estimator in the third embodiment.

FIG. 7 is a functional block diagram for explaining the overall configuration of a fourth embodiment of the control device for a vehicle-driving permanent magnet synchronous motor of the present invention.

[Explanation of symbols]

SM ... Vehicle drive permanent magnet synchronous motor, 11 ... Magnetic flux direction current command calculation unit, 12 ... Voltage command calculation unit, 13 ... Polar coordinate converter, 14 ... Voltage vector magnitude limiting section, 15 ... Actual torque calculation unit, 16 ... Torque angle control unit, 17 ... PWM voltage generator, 18 ... Rotational angular velocity calculator W ... DC overhead line, PG ... pantograph, INV ... Inverter.

Front page continuation (72) Inventor Yosuke Nakazawa 1 Toshiba Town, Fuchu City, Tokyo Inside Toshiba Fuchu Factory (56) References JP-A-8-126400 (JP, A) JP-A-1-231677 (JP , A) JP-A-5-30774 (JP, A) JP-A-4-101691 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) H02P 5/408-5/412 H02P 7/628-7/632 H02P 21/00 H02P 6/00-6/24 B60L 1/00-3/12 B60L 7/00-13/00 B60L 15/00-15/42

Claims (3)

(57) [Claims] 1. A controller for a vehicle drive permanent magnet synchronous motor for controlling a vehicle drive permanent magnet synchronous motor by an inverter for converting DC power into AC power, wherein a rotor phase of the vehicle drive permanent magnet synchronous motor is controlled. A rotation angular velocity calculation unit that calculates a rotation angular velocity as an input, and a rotation angular velocity output from the rotation angular velocity calculation unit are input.
Calculate the magnetic flux direction current feedforward command value as
Magnetic flux direction current feedforward calculation unit and voltage vector limit value that is the size limit value of voltage vector
Based on the deviation between the
Output from the magnetic flux direction current correction value calculation unit that calculates the direction current correction value and the magnetic flux direction current feedforward calculation unit.
Magnetic flux direction current feedforward command value
Flux direction current correction value output from the calculation unit
Adder that outputs the magnetic flux direction current command value that is the sum of the positive value
And the magnetic flux direction current command output from the adding unit, and the torque
Flux direction current command and torque current command with command as input
A current command calculation unit for obtaining a command, and a magnetic flux direction current command output from the current command calculation unit
With the torque current command as an input, the magnetic flux direction voltage command and
Voltage feed forward that outputs torque direction voltage command
A calculation unit, a polar coordinate conversion unit that calculates the magnitude of the voltage vector and the angle of the voltage vector by inputting the magnetic flux direction voltage command and the torque direction voltage command from the voltage feedforward calculation unit , and the voltage vector from the polar coordinate conversion unit. When the magnitude of the input voltage vector exceeds the maximum voltage that can be output by the inverter, the voltage output by limiting the magnitude of the voltage vector as a new magnitude of the voltage vector. A vector size limiting unit, the magnetic flux direction voltage command, the torque direction voltage command,
A torque current actual value, a magnetic flux direction current actual value, and an actual torque calculation unit that calculates the actual torque value by inputting the rotational angular velocity, the torque command, and the actual torque value by inputting the actual torque value. A torque angle control unit that calculates a torque angle correction value so as to follow the torque command, the magnitude of the voltage vector output from the magnitude limit unit of the voltage vector, the angle of the voltage vector, and the torque angle correction. A control device for a permanent magnet synchronous motor for driving a vehicle, comprising: a PWM voltage generation unit that inputs a sum of a value and the rotor phase and outputs a multi-phase PWM voltage command to the inverter. 2. Inverter for converting DC power into AC power
Vehicle that controls a permanent magnet synchronous motor for driving the vehicle
In a controller for a drive permanent magnet synchronous motor, the rotor phase of the vehicle drive permanent magnet synchronous motor is input.
Input the rotational angular velocity calculation unit that calculates the rotational angular velocity, and the rotational angular velocity output from the rotational angular velocity calculation unit
Calculate the magnetic flux direction current feedforward command value as
The flux direction current feedforward calculation unit for, the voltage vector limit the magnitude limit of voltage vectors, on the basis of the deviation between the magnitude of the voltage vector, flux direction current correction which calculates a magnetic flux direction current correction value A magnetic flux direction that is the sum of a value calculation unit, a magnetic flux direction current feedforward command value output from the magnetic flux direction current feedforward calculation unit, and a magnetic flux direction current correction value output from the magnetic flux direction current correction value calculation unit an adder for output the current command, and the torque direction voltage instruction VqRef, the motor rotation angle
The velocity ω r, the actual flux direction current value Id, and the torque
The actual current value Iq is used as an input and is based on (VqRef−Rq · Iq) ÷ ωr− (Ld · Id).
Permanent magnet magnetic flux that is calculated and output
Estimator, magnetic flux direction current command output from the adder, torque
Command and the permanent magnet flux estimation from the permanent magnet flux estimation unit.
Magnetic flux direction current command and torque current command with constant value as input
And a magnetic flux direction current command output from the current command calculation unit
With the torque current command as an input, the magnetic flux direction voltage command and
Voltage feed forward that outputs torque direction voltage command
Voltage in the magnetic flux direction from the calculation unit and the voltage feedforward calculation unit
Input the command and the torque direction voltage command, and input the voltage vector.
Polar coordinates that calculate the magnitude of the cutler and the angle of the voltage vector
The input of the conversion unit and the magnitude of the voltage vector from the polar coordinate conversion unit
Then, the magnitude of the input voltage vector is
If the maximum voltage that can be output by the
Limit the magnitude of the vector to the new magnitude of the voltage vector
As a size limiter of the voltage vector to be output, the magnetic flux direction voltage command, the torque direction voltage command,
Torque current actual value, magnetic flux direction current actual value, and the rotation
Actual torque that calculates actual torque value by inputting angular velocity
Using the calculation unit, the torque command, and the actual torque value as input,
Note that the actual torque value is adjusted so that it follows the torque command.
Torque angle control unit that calculates the correction angle of the torque and the voltage vector output from the voltage vector magnitude limiting unit.
And the angle of the voltage vector and the torque
With the sum of the Luke angle correction value and the rotor phase as input,
PWM for outputting a multi-phase PWM voltage command to the inverter
A controller for a vehicle drive permanent magnet synchronous motor having a voltage generator . 3. A vehicle drive permanent magnet synchronous motor control device for controlling a vehicle drive permanent magnet synchronous motor by an inverter for converting DC power into AC power, wherein a rotor phase of the vehicle drive permanent magnet synchronous motor is controlled. A rotation angular velocity calculation unit that calculates a rotation angular velocity as an input, and a rotation angular velocity output from the rotation angular velocity calculation unit are input.
Calculate the magnetic flux direction current feedforward command value as
Magnetic flux direction current feedforward calculation unit and voltage vector limit value that is the size limit value of voltage vector
Based on the deviation between the
Output from the magnetic flux direction current correction value calculation unit that calculates the direction current correction value and the magnetic flux direction current feedforward calculation unit.
Magnetic flux direction current feedforward command value
Flux direction current correction value output from the calculation unit
Adder that outputs the magnetic flux direction current command value that is the sum of the positive value
And the magnetic flux direction current command output from the adding unit, and the torque
Flux direction current command and torque current command with command as input
And a magnetic flux direction current command output from the current command calculation unit
With the torque current command as an input, the magnetic flux direction voltage command and
Voltage feed forward that outputs torque direction voltage command
A calculation unit, a polar coordinate conversion unit that calculates the magnitude of the voltage vector and the angle of the voltage vector by inputting the magnetic flux direction voltage command and the torque direction voltage command from the voltage feedforward calculation unit , and the voltage from the polar coordinate conversion unit. Enter the magnitude of the vector
Then, when the magnitude of the input voltage vector exceeds the maximum voltage that can be output by the inverter, the magnitude of the voltage vector that limits the magnitude of the voltage vector and outputs as the new magnitude of the voltage vector. Input the limiter, the actual magnetic flux direction value, and the actual torque current value.
Then, an actual torque calculation unit that calculates the actual torque value, the torque command, and the torque angle that calculates the torque angle correction value so that the actual torque value follows the torque command by inputting the actual torque value. The control unit, the magnitude of the voltage vector output from the voltage vector magnitude limiting unit, the angle of the voltage vector output from the polar coordinate conversion unit, the torque angle correction value, and the sum of the rotor phase. And a PWM voltage generator that outputs a multi-phase PWM voltage command to the inverter as input, a controller for a permanent magnet synchronous motor for driving a vehicle.