JP4735076B2 - Motor control device - Google Patents

Motor control device Download PDF

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JP4735076B2
JP4735076B2 JP2005186304A JP2005186304A JP4735076B2 JP 4735076 B2 JP4735076 B2 JP 4735076B2 JP 2005186304 A JP2005186304 A JP 2005186304A JP 2005186304 A JP2005186304 A JP 2005186304A JP 4735076 B2 JP4735076 B2 JP 4735076B2
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command value
motor
dq
axis current
current command
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JP2007006666A (en
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秀彦 杉田
和俊 永山
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日産自動車株式会社
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Description

  The present invention relates to a control device for a motor driven by an inverter.

  There is known a motor control device that converts AC power into DC power by a converter and supplies the DC power to an inverter, and drives the AC motor by the inverter (see, for example, Patent Document 1).

Prior art documents related to the invention of this application include the following.
Japanese Patent Laid-Open No. 06-281236

  However, since the conventional motor control device described above does not include a device such as a battery that sufficiently absorbs regenerative power, if the motor starts rotating in a reverse direction at a low speed, the motor rotates backward. For a moment, the inverter enters the regeneration mode to regenerate power. However, since a device that sufficiently absorbs regenerative power such as a battery is not provided, there is a problem that the DC power input side of the inverter, that is, the DC link becomes overvoltage.

  A map of the dq axis current command value for reverse rotation corresponding to the torque command value of the motor and the rotational speed, and a map of the dq axis current command value for reverse rotation in which the loss generated in the motor and the inverter is larger than the regenerative power of the motor. When the motor that is in reverse rotation is rotated in the forward direction, the dq axis current command value corresponding to the torque command value and the motor rotation speed is read from the reverse rotation dq axis current command value map during reverse rotation. Then, current control is performed by the inverter so that the dq-axis current of the motor matches the dq-axis current command value.

  ADVANTAGE OF THE INVENTION According to this invention, even if there is no apparatus which can absorb regenerative electric power, such as a battery, in DC power supply, the regenerative operation of a motor can be performed, without making the DC power supply side of an inverter overvoltage.

  An embodiment in which the motor control device of the present invention is applied to a vehicle drive motor will be described. The present invention is not limited to driving the vehicle, and can be applied to any motor as long as the motor is driven by an inverter not equipped with a sufficient regenerative power absorption source.

<< First Embodiment of the Invention >>
FIG. 1 is a diagram showing a configuration of an embodiment. In this embodiment, a four-wheel drive vehicle in which the front wheels 3a and 3b are driven by the engine 1 via the transmission 2 and the rear wheels 6a and 6b are driven by the motor 4 via the transmission 5 will be described as an example. To do.

  Although the motor 4 shows an example using a three-phase synchronous motor, an induction machine may be used. In the drive circuit of the motor 4, the generator 7 is a three-phase AC generator, which is driven by the engine 1 to generate three-phase AC power, performs constant voltage control so as to be a constant voltage, and supplies it to the converter 8. . The converter 8 converts the three-phase AC power into DC power and supplies it to the inverter 9. Note that the converter 8 does not have a function of converting the DC power of the inverter 8 back to AC power.

  The inverter 9 includes a voltage smoothing capacitor 9 a and a power conversion circuit 9 b, converts the DC power supplied from the converter 8 into three-phase AC power and supplies it to the motor 4. The voltage smoothing capacitor 9a of the inverter 9 smoothes the DC power supply voltage supplied from the converter 8, and does not have a capacity sufficient to absorb the regenerative power of the inverter 9. The motor drive circuit of this embodiment does not include a device such as a battery that can sufficiently absorb the regenerative energy from the motor 4, and cannot regenerate power. The inverter power conversion circuit 9b includes a switching element such as an IGBT.

The motor controller 11 adjusts the torque and rotational speed of the motor 4 by controlling the output voltage and output current of the three-phase AC power of the inverter 9. The vehicle controller 12 outputs a torque command value to control the engine 1 and outputs a torque command value T * to control the motor controller 11.

The vehicle controller 12 is connected to an accelerator sensor 13, a brake sensor 14, a shift sensor 15, a vehicle speed sensor 16, and the like. The accelerator sensor 13 detects the amount of depression of the accelerator pedal, and the brake sensor 14 detects the depression force of the brake pedal. The shift sensor 15 detects a shift position of an automatic transmission (not shown), and the vehicle speed sensor 16 detects a traveling speed (vehicle speed) of the vehicle. The vehicle controller 12 includes a microcomputer and its peripheral components (not shown), and calculates an engine torque command value and a motor torque command value T * based on detection signals from the sensors 13-16.

  The motor controller 11 includes a microcomputer and peripheral components (not shown) such as a memory and an A / D converter, and includes a current command value determination unit 11a, a current control unit 11b, and a 2/3 phase, which are configured by a microcomputer software form. A conversion unit 11c, a 3/2 phase conversion unit 11d, a magnetic pole position detection unit 11e, a rotation speed detection unit 11f, a current command value storage unit 11g, and the like are provided.

The current command value determination unit 11a uses the dq-axis current command value map (details will be described later) to determine the two-phase DC current command value of the motor 4 according to the motor torque command value T * and the motor rotational speed N, that is, the d-axis and q The shaft current command values id * and iq * are calculated.

The current control unit 11b follows the dq-axis voltage command values vd * and vq * for making the two-phase DC current of the motor 4, that is, the dq-axis actual currents id and iq coincide with the dq-axis current command values id * and iq * , respectively. Calculated by the formula.
vd * = Kpd · (id * −id) + Kid · ∫ (id * −id) dt,
vq * = Kpq · (iq * −iq) + Kiq · ∫ (iq * −iq) dt (1)
In the equation (1), Kpd and Kpq are proportional gains, and Kid and Kiq are integral gains.

The 2 / 3-phase converter 11c converts the dq-axis voltage command values vd * and vq * into three-phase AC voltage command values vu * , vv * and vw * based on the magnetic pole position θ of the motor 4 and supplies the inverter 9 Output. On the other hand, the 3 / 2-phase converter 11d converts the three-phase AC currents iu, iv, iw flowing in the motor 4 detected by the current sensors 17a, 17b, 17c based on the magnetic pole position θ of the motor 4 into the two-phase DC actual current id. , Iq and output to the current control unit 11b.

  The resolver 18 is connected to the motor 4 and detects the rotation of the motor 4. The magnetic pole position detection unit 11e detects the magnetic pole position θ of the motor 4 based on the motor rotation signal from the resolver 18, and the rotation speed detection unit 11f detects the rotation speed N of the motor 4 based on the motor rotation signal from the resolver 18. To do. The current command value map storage unit 11g is a non-volatile memory that stores a dq-axis current command value map to be described later.

  When a vehicle equipped with a motor control device configured as described above starts climbing by depressing the accelerator pedal from a state where it has stopped in the middle of the uphill, the vehicle is instantly switched from the brake pedal to the accelerator pedal. May begin to descend down the slope, causing the motor 4 to rotate slightly backward. At this time, since the reverse rotation of the motor 4 is braked, the inverter 9 enters the regeneration mode for a moment.

  However, as described above, since the motor drive circuit of this embodiment is not equipped with a device for absorbing regenerative power, both ends of the capacitor 9a of the inverter 9 are caused by power regeneration in the above driving condition. The voltage, that is, the voltage between the DC links 19a and 19b may increase and become an overvoltage. Therefore, in the first embodiment, the dq axis currents id and iq flowing through the motor 4 are controlled to prevent the power regeneration in the above-described traveling situation.

Prevention of power regeneration by controlling the dq-axis currents id and iq is performed by the current command value determination unit 11a of the motor controller 11. The current command value determination unit 11a includes a dedicated dq axis current command value map for driving the motor 4 that is rotating in the reverse direction to the forward rotation side, and reverse rotation is performed using this reverse dq axis current command value map. The dq axis current command values id * and iq * for driving the motor 4 in the forward direction are determined. The current command value determination unit 11a further includes a dq-axis current command value map for normal rotation, and a dq-axis current for driving the motor 4 during normal rotation using the dq-axis current command value map for normal rotation. The command values id * and iq * are determined.

As is clear from the following equation, there are a plurality of combinations of the d-axis current id and the q-axis current iq that realize the motor torque T at the motor rotation speed N.
T = P / 2 (φ · iq + (Ld−Lq) · id · iq) (2)
In the equation (2), P is the number of poles of the motor 4, φ is the magnetic flux, Ld and Lq are dq axis inductances, and id and iq are dq axis actual currents.

Among the combinations of dq axis currents id and iq that satisfy the formula (2), the dq axis currents id and iq that minimize the loss of the motor 4 and the inverter 9 or the motor current I1 = √ ((id 2 + iq 2 ) / 3) The dq-axis currents id and iq that minimize the value are mapped to the motor rotation speed N and the motor torque command value T * , and the dq-axis current command for forward rotation described above is stored in the current command value map storage unit 11g of the motor controller 11. Store as a value map.

FIG. 2 shows an example of a dq axis current command value map for forward rotation at a certain motor rotation speed N. In the figure, the horizontal axis represents the d-axis current id and the vertical axis represents the q-axis current iq as a percentage of the rated current. Further, “current limiting circle” in the figure represents the allowable current of the switching element of the inverter power conversion circuit 9b, and T0, T1,..., T7 represent representative values of motor torque. In this forward rotation dq-axis current command value map, dq-axis currents id and iq that minimize the motor current I1 among the dq-axis currents id and iq satisfying equation (2) are used as dq-axis current command values id * and iq *. Used as

  FIG. 3 is a diagram showing an operable region of the motor 4 when the forward rotation dq-axis current command value map is used on a two-dimensional plane of the motor rotation speed N and the motor torque T. Normally, the motor 4 performs a power running operation in the first quadrant ((1) in the figure) of the forward rotation where the rotational speed N is “+” and the torque T is “+”. However, as described above, when the occupant switches from the brake pedal to the accelerator pedal when the accelerator pedal is depressed from the state where the vehicle is stopped in the middle of the uphill, the vehicle begins to descend the hill. The motor 4 may rotate slightly backward. At this time, the motor 4 performs a regenerative operation in the second quadrant ((2) in the figure) of the reverse rotation of the rotation speed “−” and the positive torque of the torque T “+”.

  Since the motor drive circuit of this embodiment is not equipped with a device for absorbing regenerative power, basically the motor 4 cannot be regenerated in the second quadrant. However, in a region where the regenerative power is offset by the copper loss, mechanical loss, iron loss, etc. of the motor 4 and the loss of the switching element of the inverter 9, even if the regenerative operation is performed in the second quadrant, Since the DC links 19a and 19b are not regenerated, the voltage across the capacitor 9a, that is, the DC link voltage does not become an overvoltage.

  A region indicated by hatching in the second quadrant of FIG. 3 indicates a region where the motor 4 can be regeneratively operated using the forward dq-axis current command value map shown in FIG. The hatched area in the first quadrant is an area in which the motor 4 is powered by using the forward rotation dq axis current command value map. In the second quadrant, as the motor torque T increases, the current flowing through the motor 4 and the inverter 9 increases, and the loss generated in the motor 4 and the inverter 9 increases accordingly. Therefore, the regenerative operation is performed until the reverse rotation speed N is large. It is a possible characteristic.

However, in a driving situation where the accelerator pedal is depressed in the state of stopping on the uphill to start uphill, the regenerative operation is finally performed with a low reverse rotational speed N and a large torque command value T * . In the transient state, it passes through the “outlined” region in FIG. As a result, the regenerative power cannot be offset by losses such as copper loss of the motor 4, and power is regenerated in the DC links 19a and 19b, and the DC link voltage becomes an overvoltage.

  Therefore, in the first embodiment, during reverse rotation of the motor, a combination that increases the loss of the motor 4 and the inverter 9 is selected from the dq axis currents id and iq that realize the motor torque T of equation (2). 3 makes it possible to perform regenerative operation in the “outlined” region of FIG.

Specifically, dq axis currents id and iq are selected so that the copper loss of the motor 4 is larger than the regenerative power. In the first embodiment, only the copper loss of the motor 4 is considered for easy understanding, but mechanical loss, iron loss, inverter 9 loss, and the like may be considered together. When the electrical angular velocity of the motor 4 is represented by ω (= N · π / 30), the regenerative power of the motor 4 is represented by (ω · T). Further, when the armature resistance of the motor 4 is represented by R and the effective current is represented by I1 (= √ ((id 2 + iq 2 ) / 3), the copper loss of the motor 4 is represented by (3 · R · I 1 2 ). Therefore, from the combinations of dq axis currents id and iq satisfying the equation (2),
| Ω · T | <3 · R · I1 2 (3)
Dq axis currents id and iq satisfying the above are selected.

Equations (2) and (3) are both established for each step of the predetermined rotational speed in the entire range of the motor rotational speed N and for each predetermined step of the torque in the entire range of the motor torque command value T *. Dq-axis currents id and iq that minimize the motor current I1 are obtained, and a reverse dq-axis current command value map is set.

  FIG. 4 shows an example of a dq axis current command value map for reverse rotation at a certain motor rotation speed N. In FIG. 4, the hatched area represents a range of dq-axis current that causes overvoltage when power regeneration is performed on the DC links 19 a and 19 b on the inverter input side. In the steady state, the motor torques T0, T1,..., T7 realized by the dq axis currents id and iq satisfying both equations (2) and (3) are outside the regenerative region in the figure, and the regenerative power is Since all are offset by the copper loss of the motor 4, the DC links 19a and 19b do not become overvoltage.

However, in a transient state where the motor torque command value changes from T0 to T4, the dq axis current command values id * and iq * change from 0 to −30% and from 0 to 55%, respectively, as shown in FIG. . When the dq-axis current control response by the current control unit 11b is designed to be substantially the same for the d-axis and the q-axis, the motor torque T does not change along the outside of the regeneration region of T0 → T1 → T3 → T4. Above, it changes by drawing a substantially linear locus from T0 to T4. This locus is close to the locus at the minimum motor current indicated by the broken line, and enters the regeneration region in a transient state where the motor torque command value changes.

In the first embodiment, in order to prevent a DC link overvoltage due to power regeneration from occurring even in a transient state, equations (2) and (3) are established and the motor current I1 is set to a minimum. In the dq-axis current command value map for each motor rotation speed N, the maximum value idmax (N (x)) of the d-axis current | id | is obtained, and the following equation is added to the equations (2) and (3): dq axis currents id and iq are selected.
id = -idmax (N (x)) (4)

Dq for which all of the equations (2) to (4) are established for each step of the predetermined rotation speed in the entire range of the motor rotation speed N and for each predetermined step of the torque in the entire range of the motor torque command value T *. The shaft currents id and iq are obtained and a reverse dq axis current command value map is set and stored in the current command value map storage unit 11g of the motor controller 11.

FIG. 5 shows a map example of a certain motor rotation speed N in the reverse rotation dq-axis current command value map that satisfies the conditions of the expressions (2) to (4). At this motor rotational speed N, the d-axis current | id | becomes maximum when id = −50% of the motor torque T7. At this rotational speed N, the d-axis current id is fixed at −50%. In this way, even if the motor torque command value T * changes within the range of T0 to T7 at the motor rotation speed N, the dq axis currents id and iq change along the locus shown in the figure, and the steady state is of course. In addition, even in the transient state, the regenerative region indicated by hatching is not entered, and a DC link overvoltage due to power regeneration does not occur.

FIG. 6 is a flowchart showing a dq-axis current command value id * , iq * determination program of the current command value determination unit 11a. The microcomputer of the motor controller 11 repeatedly executes this current command value determination program while an ignition switch (not shown) of the vehicle is on.

In step 1, a motor torque command value T * is input from the vehicle controller 12, and a motor rotation speed N is input from the rotation speed detector 11f. In subsequent step 2, it is determined whether or not the motor rotation speed N is positive, that is, whether or not the motor 4 is rotating forward. When it is determined that the motor rotation speed N is positive and the motor 4 is rotating forward, the routine proceeds to step 3 where the dq-axis current command value map for forward rotation stored in the current command value map storage unit 11g (FIG. 2). The dq axis currents id and iq corresponding to the torque command value T * and the motor rotational speed N are subjected to a table calculation, and these are determined as dq axis current command values id * and iq * .

On the other hand, when it is determined in step 2 that the motor rotation speed N is negative and the motor 4 is rotating in reverse, the process proceeds to step 4 where the dq-axis current command value for reverse rotation stored in the current command value map storage unit 11g. Using the map (see FIG. 5), the torque command value T * and the dq axis currents id and iq corresponding to the motor rotation speed N are subjected to a table calculation and determined as dq axis current command values id * and iq * . It should be noted that accurate dq-axis current command values id * and iq * are obtained by interpolation for the intermediate value of the increments of the motor rotation speed N and the motor torque command value T * .

FIG. 7 is a diagram illustrating a motor operation region according to the first embodiment. The hatched area in the figure indicates the operable range. In the first embodiment, when the motor 4 in reverse rotation is driven forward, the reverse dq axis current command value map in which the dq axis currents id and iq satisfying the equations (2) to (4) are selected is displayed. Since the dq axis current command values id * and iq * are determined by using the dq axis current command value map for normal rotation, the drivable range in the second quadrant when the motor 4 being rotated in the forward direction is driven forward using the forward rotation dq axis current command value map (FIG. 3 Compared to the reference), the area in which the DC link can be operated without being overvoltage is expanded.

  Thus, according to the first embodiment, a map of the dq-axis current command value for reverse rotation corresponding to the torque command value and the rotation speed of the motor, the loss generated in the motor and the inverter is the regenerative power of the motor. When the reverse rotation dq-axis current command value map is stored in advance and the motor being rotated in the forward direction is rotated forward, the torque command value and the motor rotation speed are calculated from the reverse rotation dq-axis current command value map. Dq-axis current command value corresponding to, and the inverter controls the current so that the dq-axis current of the motor matches the dq-axis current command value, so that the DC power supply can absorb regenerative power such as a battery Even if there is no, the regenerative operation of the motor can be performed without overvoltage on the DC power supply side (DC link) of the inverter.

  Further, according to the first embodiment, for each rotation speed of the motor, the dq for reverse rotation in which the maximum absolute value of the d-axis current command value within the change range of the torque command value is set as the d-axis current command value. Since the shaft current command value map is used, the DC power supply side (DC link) of the inverter is set to overvoltage without installing a device that can absorb regenerative power such as a battery even in a transient state where the torque command value changes. The motor can be regenerated without having to

  Furthermore, according to the first embodiment, the forward rotation dq axis current command value is a map of the forward rotation dq axis current command value according to the motor torque command value and the rotation speed, and the forward rotation dq axis current is minimized. A map of the command value or the dq-axis current command value for forward rotation that minimizes the three-phase AC current flowing to the motor is stored, and the torque command value and rotation from the dq-axis current command value map for forward rotation during motor forward rotation The dq-axis current command value corresponding to the speed is read, and current control is performed by the inverter so that the dq-axis current of the motor matches the dq-axis current command value. In this case, it is possible to smoothly change the rotation direction of the motor from reverse rotation to normal rotation by generating torque in a certain direction.

  Furthermore, according to the first embodiment, an AC generator (generator 7) and a rectifier (converter 8) that are mounted on a hybrid vehicle that uses an engine and a motor as a travel drive source and are driven by the engine, according to the first embodiment. Since the DC power supply is supplied from the inverter, the regenerative operation of the motor can be performed without overvoltage on the DC power supply side (DC link) of the inverter without installing equipment that can absorb regenerative power such as a battery. The vehicle can start smoothly when the vehicle starts on a slope.

<< Second Embodiment of the Invention >>
A second embodiment in which the loss during reverse rotation is reduced as compared with the first embodiment described above will be described. The configuration of the second embodiment is the same as the configuration shown in FIG.

In the second embodiment, the dq axis current command value map for reverse rotation used when the motor being rotated in the forward direction is driven in the forward direction has a dq axis as the motor torque command value T * increases at each motor rotation speed N. A map is set so that the absolute values of the currents id and iq increase.

Specifically, the condition of the following expression is added to the condition of the above expressions (2) and (3). When the motor torque command value T * increases as T0, T1, T2,... At a certain motor rotation speed N,
id (Tx + 1) ≦ id (Tx), id ≦ 0,
iq (Tx + 1) ≧ iq (Tx), iq ≧ 0 (5)
That is, for id, a map is created in which the d-axis current id decreases (the absolute value of the d-axis current id increases) as the torque command value T * increases. On the other hand, for iq, a map is created in which the q-axis current iq increases (the absolute value of the q-axis current iq increases) as the torque command value T * increases.

FIG. 8 shows an example of the dq axis current command value map for reverse rotation at a certain motor rotation speed N. When the motor torque command value T * increases in order of increments of T0, T1, T2, T3, T4, T5, and T7, the DC link voltage enters the regenerative region (region indicated by hatching in the figure) where it becomes an overvoltage. While avoiding, the d-axis current id is monotonously decreased, the q-axis current iq is monotonously increased, and dq-axis currents id and iq satisfying the torque command values T1 to T7 are selected, and the dq-axis current command value id * , Let iq * .

However, the dq-axis current command values id * and iq * are determined by selecting the dq-axis currents id and iq that satisfy the conditions of the expressions (2), (3), and (5), and the dq-axis current control response is expressed as the d-axis. When the q-axis is designed to be substantially the same, there is a possibility that the DC link voltage becomes an overvoltage by entering the regeneration region in the transient state. Therefore, in the second embodiment, when the motor torque command value T * increases, the d-axis current id is raised before the q-axis current iq, and then the q-axis current iq is raised. When the torque command value T * decreases, a control method is employed in which the d-axis current id is raised after the q-axis current iq is raised before the d-axis current id.

  FIG. 9 is a flowchart showing a current control program according to the second embodiment. The current command value determination unit 11a and the current control unit 11b of the motor controller 11 repeatedly execute this current control program while an ignition switch (not shown) of the vehicle is on.

In step 11, the motor torque command value T * is input from the vehicle controller 12, and the motor rotation speed N is input from the rotation speed detector 11f. The current input values of the motor torque command value T * and the motor rotation speed N are Tn * and Nn, and the previous input values are Tn-1 * and Nn-1.

In subsequent step 12, it is determined whether or not the motor rotation speed Nn is positive, that is, whether or not the motor 4 is rotating forward. When it is determined that the motor rotation speed Nn is positive and the motor 4 is rotating forward, the routine proceeds to step 13 where the forward rotation dq-axis current command value map (FIG. 2) is stored in the current command value map storage unit 11g. The dq axis currents id and iq corresponding to the current torque command value Tn * and the motor rotational speed Nn are calculated by table, and these are determined as dq axis current command values id * and iq * , and the dq axis Current control is performed so that the currents id and iq match the command values id * and iq * .

On the other hand, if it is determined in step 12 that the motor rotational speed Nn is negative and the motor 4 is rotating in reverse, the process proceeds to step 14 where the reverse dq-axis current command value stored in the current command value map storage unit 11g. Using the map (see FIG. 8), the current torque command value Tn * and the dq-axis currents id and iq corresponding to the motor rotation speed Nn are tabulated and determined as dq-axis current command values id * and iq * . To do.

Next, in step 15, the current torque command value Tn * and the previous torque command value Tn-1 * are compared to determine whether or not the torque command value T * has increased. If the current torque command value Tn * is equal to or increased from the previous value, the process proceeds to step 16 where current control is performed so that the d-axis current id matches the command value id * determined in step 14. Continued d-axis current id confirms whether the host vehicle has reached to the command value id * at step 17, the process proceeds to step 18 If substantially equal to the d-axis current id is command value id *. In step 18, the current is controlled so that the q-axis current iq matches the command value iq * determined in step 14.

On the other hand, if the current torque command value Tn * is smaller than the previous value and decreases in step 15, the process proceeds to step 19, where the current is set so that the q-axis current iq first matches the command value iq * determined in step 14. Control. Continued q-axis current iq confirms whether the host vehicle has reached the command value iq * in the step 20, the process proceeds to step 21 If substantially equal to the q-axis current iq is command value iq *. In step 21, current control is performed so that the d-axis current id matches the command value id * determined in step 14.

  As described above, according to the second embodiment, the dq axis increases as the torque command value increases in the reverse dq axis current command value in which the loss generated in the motor and the inverter is larger than the regenerative power of the motor. A map of a dq-axis current command value in which the absolute value of the current command value increases is stored, and when current control is performed according to the dq-axis current command value determined with reference to this dq-axis current command value map, the torque is When the command value increases, the d-axis current is matched with the d-axis current command value, and then the q-axis current is matched with the q-axis current command value. When the torque command value decreases, the q-axis current is changed to the q-axis. Since the d-axis current is matched with the d-axis current command value after being matched with the current command value, a device that can absorb regenerative power such as a battery is not installed even in a transient state where the torque command value changes. , Invar In addition, the regenerative operation of the motor can be performed without overvoltage on the DC power supply side (DC link) of the motor, and the motor current that achieves the torque command value is smaller than that in the first embodiment, so that the regenerative operation can be performed. Loss of motor and inverter during operation can be reduced.

  The correspondence between the constituent elements of the claims and the constituent elements of the embodiment is as follows. That is, the generator 7 and the converter 8 are DC power supplies, the resolver 18 and the rotation speed detection unit 11f are rotation speed detection means, the current command value determination part 11a is current command value determination means, and the current sensors 17a to 17c are current detection means. The 3 / 2-phase converter 11d is the current converter, the current controller 11b is the current controller, the 2 / 3-phase converter 11c is the voltage converter, and the current command value map storage 11g is the storage. Constitute. The above description is merely an example, and when interpreting the invention, the correspondence between the items described in the above embodiment and the items described in the claims is not limited or restricted.

It is a figure which shows the structure of one embodiment. It is a figure which shows an example of the dq axis | shaft electric current command value map for forward rotation. It is a figure which shows the area | region which can drive the motor at the time of using the dq axis | shaft current command value map for forward rotation. It is a figure which shows an example of the dq axis | shaft current command value map for reverse rotation. It is a figure which shows an example of the dq axis | shaft current command value map for reverse rotation. It is a flowchart which shows the dq-axis current command value determination program of 1st Embodiment. It is a figure which shows the driving | operation area | region of the motor by 1st Embodiment. It is a figure which shows an example of the dq axis | shaft current command value map for reverse rotation. It is a flowchart which shows the current control program of 2nd Embodiment.

Explanation of symbols

4 Motor 7 Generator 8 Converter 9 Inverter 9a Voltage smoothing capacitor 9b Power conversion circuit 11 Motor controller 11a Current command value determination unit 11b Current control unit 11c 2/3 phase conversion unit 11d 3/2 phase conversion unit 11e Magnetic pole position detection unit 11f Rotational speed detection unit 11g Current command value map storage unit 12 Vehicle controllers 17a, 17b, 17c Current sensor 18 Resolver 19a, 19b DC link

Claims (5)

  1. An inverter that converts the DC power of the DC power source into AC power according to the three-phase AC voltage command value and supplies the AC power to the three-phase AC motor;
    A rotational speed detecting means for detecting the rotational speed of the motor;
    Current command value determining means for determining a dq-axis current command value based on the torque command value of the motor and the rotational speed;
    Current detecting means for detecting a three-phase alternating current flowing through the motor;
    Current converting means for converting the three-phase alternating current into dq-axis current;
    Current control means for calculating a dq-axis voltage command value for making the dq-axis current coincide with the dq-axis current command value;
    A motor control device comprising: a voltage conversion means for converting the dq-axis voltage command value into the three-phase AC voltage command value;
    Comprising storage means for storing map of reverse rotation dq-axis current command value corresponding to the rotational speed and torque command value of said motor,
    When the current command value determining means rotates the motor that is rotating in the normal direction, the dq axis current command value corresponding to the torque command value and the rotation speed from the reverse dq axis current command value map during the reverse rotation. Read
    The dq axis current command value for reverse rotation of the map is
    Among the combinations of dq-axis current command values that realize the torque command value at the rotational speed,
    The motor control device characterized by satisfying the condition that the loss generated in the motor and the inverter is larger than the regenerative power of the motor and the current of the motor is minimized .
  2. An inverter that converts the DC power of the DC power source into AC power according to the three-phase AC voltage command value and supplies the AC power to the three-phase AC motor;
    A rotational speed detecting means for detecting the rotational speed of the motor;
    Current command value determining means for determining a dq-axis current command value based on the torque command value of the motor and the rotational speed;
    Current detecting means for detecting a three-phase alternating current flowing through the motor;
    Current converting means for converting the three-phase alternating current into dq-axis current;
    Current control means for calculating a dq-axis voltage command value for making the dq-axis current coincide with the dq-axis current command value;
    A motor control device comprising: a voltage conversion means for converting the dq-axis voltage command value into the three-phase AC voltage command value;
    It is a map of the dq axis current command value for reverse rotation according to the torque command value and the rotation speed of the motor.
    And storing means for storing a map of a reverse dq axis current command value in which a loss generated in the motor and the inverter is larger than the regenerative power of the motor,
    The current command value determining means is configured to rotate the motor during reverse rotation in the forward direction.
    A dq-axis current command value corresponding to the torque command value and the rotation speed is read from a reverse dq-axis current command value map;
    The reversing dq-axis current command value in which the maximum absolute value of the d-axis current command value within the change range of the torque command value is set as the d-axis current command value for each rotation speed of the motor. A motor control device characterized in that a map is stored.
  3. An inverter that converts the DC power of the DC power source into AC power according to the three-phase AC voltage command value and supplies the AC power to the three-phase AC motor;
    A rotational speed detecting means for detecting the rotational speed of the motor;
    Current command value determining means for determining a dq-axis current command value based on the torque command value of the motor and the rotational speed;
    Current detecting means for detecting a three-phase alternating current flowing through the motor;
    Current converting means for converting the three-phase alternating current into dq-axis current;
    Current control means for calculating a dq-axis voltage command value for making the dq-axis current coincide with the dq-axis current command value;
    A motor control device comprising: a voltage conversion means for converting the dq-axis voltage command value into the three-phase AC voltage command value;
    It is a map of the dq axis current command value for reverse rotation according to the torque command value and the rotation speed of the motor.
    And storing means for storing a map of a reverse dq axis current command value in which a loss generated in the motor and the inverter is larger than the regenerative power of the motor,
    The current command value determining means is configured to rotate the motor during reverse rotation in the forward direction.
    A dq-axis current command value corresponding to the torque command value and the rotation speed is read from a reverse dq-axis current command value map;
    The storage means includes a dq-axis current command value as the torque command value increases in a reverse dq-axis current command value in which a loss generated in the motor and the inverter is greater than the regenerative power of the motor. A map of the dq axis current command value in which the absolute value of is increased,
    When the current command means performs the current control according to the dq axis current command value determined by referring to the dq axis current command value map by the current command value determination means, the torque command value increases. When the d-axis current is matched with the d-axis current command value, the q-axis current is matched with the q-axis current command value, and the q-axis current is reduced when the torque command value decreases. A motor control device, wherein the d-axis current is matched with the d-axis current command value after being matched with a current command value.
  4. In the motor control device according to any one of claims 1 to 3,
    The storage means is a map of a normal rotation dq-axis current command value corresponding to a torque command value of the motor and a rotation speed, and a normal rotation dq-axis current command value that minimizes the loss of the motor and the inverter, Alternatively, a map of the dq axis current command value for forward rotation that minimizes the three-phase alternating current flowing through the motor is stored,
    The current command value determining means reads a dq axis current command value corresponding to the torque command value and the rotation speed from the forward rotation dq axis current command value map when the motor is rotating forward. Control device.
  5.   The motor control device according to any one of claims 1 to 4 is mounted on a hybrid vehicle using an engine and a motor as a travel drive source, and the DC power is supplied from an AC generator and a rectifier driven by the engine. A motor control device characterized by that.
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JP6234869B2 (en) * 2014-03-31 2017-11-22 住友重機械工業株式会社 Injection molding machine
JP6104225B2 (en) * 2014-11-14 2017-03-29 三菱電機株式会社 Rotating electric machine control device and engine control system equipped with rotating electric machine controlled by the control device

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