JP5017918B2 - Power conversion device and power conversion method - Google Patents

Description

  The present invention relates to a power conversion device and a power conversion method for outputting an AC voltage by modulating an output of a DC power supply, and relates to a technique for suppressing the occurrence of problems caused by a change in carrier frequency.

  Conventionally, a current control device such as a current control stepping motor has a configuration in which the operation of the device is controlled by changing the duty ratio of a current waveform passed through the device, that is, by performing PWM (Pulse Width Modulation) modulation.

  In the case of such a PWM control device, it is known that switching noise of the control fundamental frequency and its harmonic frequency is generated because the drive current of the load is switched by the PWM modulation drive current pulse train.

  For example, when considering in-vehicle use, these switching noises may cause annoying noise from an in-vehicle radio mounted on the same vehicle, and there is a concern that the operation of other digital devices may be affected. The

  Here, as a method of reducing the switching noise, a PWM drive current pulse train (hereinafter referred to as a control clock) is subjected to frequency modulation with a sine wave having a frequency lower than the control clock frequency, thereby obtaining a desired frequency band. Discloses a stepping motor control device that attempts to reduce the influence on the in-vehicle device by diffusing the spectrum component of the noise (see, for example, Patent Document 1).

This stepping motor control device can execute a PWM pattern calculation by a CPU or the like, and can generate a complicated PWM pattern by using a digital timer or a digital comparator circuit.
JP-A-7-99795

  However, the conventional stepping motor control device is configured to execute a current sample, a control calculation, and the like in synchronization with the PWM generation period as shown in FIG. 11, and to reduce the above stepping noise, a PWM carrier wave is used. When current control is performed using a power conversion device whose frequency is periodically changed, there is a problem that the current calculation cycle changes according to the change of the carrier frequency.

  Regarding the control response characteristics of the current command in the conventional example, for example, FIG. 13 (a) shows a change in the current command, and FIG. 13 (b) shows the current response when the carrier frequency is maximum when the current command is input. FIG. 13 (c) shows the control response characteristics when the carrier wave frequency is minimum when the current command is input. If the carrier frequency value when the current command is input is different, the output is There is variation in the current response characteristics of the current.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a power conversion device and a power control method that suppress variations in current response characteristics of current commands.

To solve the problems described above, the power control apparatus and power control method according to the present invention, when the current command value is changed, the value of the carrier wave frequency, a constant value irrespective of the variation of the command value Change to

The power control device and the power control method according to the present invention control the carrier frequency so that the value of the carrier frequency when the current command value is input is changed to a constant value regardless of the change amount of the command value. Therefore, variation in current response characteristics of the current command can be suppressed.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  [Overall Configuration of Power Conversion Control Device] First, the power conversion control device according to the first embodiment of the present invention will be described with reference to FIG.

  As shown in FIG. 1, the power conversion control device 1 according to the first embodiment of the present invention mainly includes a current command generation unit 2, a current control unit 3, a PWM generation unit 4, and a power conversion unit 5. A carrier wave generation unit 6, a frequency variable unit 7, a current detection unit 8, a speed detection unit 9, a three-phase AC motor 10, and a control unit 11 that performs overall control of the power conversion control device 1 including these units. Prepare.

  [Details of Each Component] The current command generator 2 is detected from the speed command value, which is an instruction value (target value) of the rotational speed to the three-phase AC motor 6 input from the outside, and the three-phase AC motor 6. Based on the difference in rotation speed (detection value), a current command value is calculated by PID control and input to the current control unit.

  As shown in FIG. 2, the current control unit 3 is proportional to the calculation unit 31 that calculates the deviation between the current command value output from the current command generation unit 2 and the current value detected from the current detection unit 8 (P And a proportional control unit 32 that outputs a voltage command value by performing control). In this embodiment, as an example of the current control unit in FIG. 2, the proportional term of proportional control is described, but control is performed using the proportional terms of integral control (I control) and differential control (D control). You may do it.

  As shown in FIG. 3, the PWM generation unit 4 compares the voltage command output from the current control unit 3, a coordinate conversion unit 41 that performs coordinate conversion of the voltage command, and the magnitude relationship between the coordinate-converted value and the carrier wave. A comparator 42 is provided. The coordinate conversion unit 41 performs two-phase / three-phase coordinate conversion to convert the voltage command value supplied from the current control unit 3 from the d-axis coordinate and q-axis coordinate values to the U-phase, V-phase, and W-phase values. Is going. The comparator 42 outputs an ON / OFF signal to the power converter 5 according to the magnitude relationship between the voltage command value subjected to coordinate conversion and the carrier wave from the carrier wave generator 6.

  As shown in FIG. 4, the power conversion unit 5 includes a DC power source 51, a capacitor 52, and six switching elements 53 as components. These switching elements are composed of semiconductor elements such as IGBTs (Insulated Gate Bipolar Transistors). The switching element 53 selects the positive or negative electrode of the DC power source composed of the DC power source 51 and the capacitor 52 according to the control of the comparator 42, and supplies the selected electrode to the U-phase, V-phase, and W-phase electrodes of the load motor 9. Supply.

  The carrier wave generator 6 outputs the carrier wave to the PWM generator 4.

  The frequency variable unit 7 determines an upper limit value, a lower limit value and a change width when changing the frequency of the carrier wave output from the carrier wave generating unit 6, and controls a change in the frequency of the carrier wave output from the carrier wave generating unit 6. .

  The current sensor 8 detects U-phase, V-phase, and W-phase current values supplied from the PWM generator 4 to the three-phase AC motor 10.

  The speed detector 9 detects the rotational speed of the three-phase AC motor 9 and inputs the detected rotational speed to the current command generator 2.

  The three-phase AC motor 10 generates a rotational force so as to realize a desired rotation speed input from the speed command value by the three-phase AC current generated by the power conversion unit 5.

  [Carrier Frequency Control Processing] Next, the carrier frequency control processing performed by the frequency variable unit 7 will be described with reference to the flowchart shown in FIG. As shown in FIGS. 6A and 6B, the carrier frequency (hereinafter referred to as carrier frequency) output from the carrier generation unit 6 is changed into a triangular wave shape, and one period is T. The carrier frequency is not limited to a triangular wave shape as long as it periodically changes, and may be, for example, a sine wave shape or a monotonically increasing one (sawtooth wave shape).

  Here, the cause of the variation in the current response characteristic with respect to the current command caused by changing the carrier frequency will be described with reference to FIG.

  FIG. 14 (b) shows the current response when the current command value is input when the carrier frequency changed to a triangular waveform is the minimum, and FIG. 14 (c) shows the triangular waveform. It shows the current response when a current command value is input when the carrier frequency is maximum.

  As shown in FIGS. 14B and 14C, the current command value is input along the reciprocal time of each carrier frequency.

  Since the input time differs depending on the value of the carrier frequency, if the value of the carrier frequency when the current command value is input is different, the current response characteristics with respect to the current command value will be different each time.

  Therefore, the power conversion control device according to the present invention can suppress variation in current response characteristics with respect to the current command value by controlling the change in the carrier frequency when the current command value is input to be constant. it can.

  Next, the frequency control processing of the carrier frequency will be described using the flowchart shown in FIG.

  In the process of step S0, the frequency variable unit 7 determines a variable upper limit value fmax and a variable lower limit value fmin of the carrier frequency, and determines how many frequency fluctuation ranges between the variable upper limit value fmax and the variable lower limit value fmin are to be divided. . Then, the frequency control process is advanced to the process of step S <b> 1 by inputting information related to the carrier frequency from the carrier generation unit 6 to the frequency variable unit 7.

  In the process of step S1, the frequency variable unit 7 has a maximum (peak) or minimum (valley) carrier frequency that is changing in a triangular shape based on information about the carrier frequency input from the carrier generation unit 9. It is determined whether or not. When the carrier frequency is the maximum value or the minimum value, the process proceeds to the next step S3. When the carrier frequency is not the maximum value or the minimum value, the frequency control processing is returned to step S0, and step S1 is performed until the carrier frequency becomes the maximum value or the minimum value. repeat.

  In step S2, the frequency variable unit 7 determines whether or not the current command value Iref input from the current command generation unit 2 has changed by a predetermined value A or more, and the current command value Iref has a predetermined value A. When the above change occurs, the frequency control process proceeds to step S9. When the current command value Iref does not change more than the predetermined value A, the frequency control process proceeds to step S3.

  In the process of step S3, the frequency variable unit 7 determines whether the carrier frequency change amount Δ is positive or negative. If the carrier frequency change amount Δ is negative, the frequency control process proceeds to step S6. If the carrier frequency change amount Δ is positive, the frequency control process proceeds to step S4.

  In the process of step S4, the frequency variable unit 7 determines whether the value of the carrier frequency is a variable upper limit fmax. If the carrier frequency has not reached the variable upper limit fmax, the frequency control process proceeds to step S8. If the carrier frequency has reached the variable upper limit fmax, the frequency control process proceeds to step S5. .

  In the process of step S5, the frequency variable unit 7 changes the change amount Δ of the carrier frequency so as to decrease the carrier frequency from the variable upper limit value fmax. When the carrier wave frequency variation Δ is changed, the frequency control process proceeds to the process of step S8.

  In step S6, the frequency variable unit 7 determines whether or not the value of the carrier frequency is the variable lower limit value fmin. If the carrier frequency does not reach the variable lower limit fmin, the frequency control process proceeds to step S8 without changing the change Δ, and if the carrier frequency is the variable lower limit fmin, the frequency variable unit 7 Then, the frequency control process proceeds to the process of step S7.

  In the process of step S7, the frequency variable unit 7 changes the change amount Δ of the carrier frequency so as to increase the carrier frequency from the variable lower limit fmin. When the carrier wave frequency variation Δ is changed, the frequency control process proceeds to the process of step S8.

  In the process of step S8, when the frequency variable unit 7 inputs a value obtained by adding the change amount Δ determined by the above process to the current carrier frequency to the triangular carrier generation unit 7 as the carrier frequency of the next period, the frequency variable unit 7 7 advances the frequency control process to the process of step S1.

  In step S9, the frequency variable unit 7 adjusts the carrier frequency to a specific frequency (here fmax). When the carrier frequency is adjusted to a specific frequency, the frequency control process proceeds to the process of step S10.

  In the process of step S10, the frequency variable unit 7 determines whether the carrier frequency change amount Δ is positive or negative. If the change amount Δ is negative, the frequency variable unit 7 advances the frequency control process to the process of step S11. If the change amount Δ is positive, the frequency variable unit 7 performs the frequency control process. The process proceeds to S1.

  In the process of step S11, the frequency variable unit 7 changes the change amount Δ of the carrier frequency so as to decrease the carrier frequency from the upper limit value fmax. When the change amount Δ of the carrier wave frequency is changed, the frequency variable unit 7 advances the frequency control process to the process of step S1.

  As is apparent from the above description, according to the power conversion control device according to the first embodiment of the present invention, as shown in FIGS. 7 and 8, the current command value input from the current command generation unit 2. When Iref changes, the carrier frequency input from the carrier generation unit 9 to the PWM generation unit 4 is changed to a specific frequency, so that the change in the carrier frequency after the specific frequency can be made uniform and the carrier frequency is changed. Variations in current response characteristics of the current command due to the current can be suppressed.

  [Overall Configuration of Control Device] Next, the configuration of the power conversion control device according to the second embodiment of the present invention will be described with reference to FIG.

  As shown in FIG. 9, the power conversion control device 1 according to the second embodiment of the present invention has a current command change rate detection unit 12 added to the power conversion control device 1 according to the first embodiment of the present invention. It becomes the composition.

  [Details of Each Component] The description of the parts overlapping with the power conversion control device 1 according to the first embodiment of the present invention is omitted, and here, the added current command change rate detector 12 will be described.

  The current command change rate detection unit 12 detects the change rate of the current command value and determines whether or not the change in the carrier frequency after the current command value is input is made constant according to the magnitude of the change rate of the current command. Therefore, it is possible to effectively prevent the occurrence of problems due to the carrier frequency according to the relative change in the current command value. Here, for example, the following expression is given as an arithmetic expression for the rate of change of the current command value.

  Iref is a current command value output from the current command generator 2, and n-1 is the previous current command value in the flowchart of FIG. FIG. 10 shows the change in the carrier frequency according to the rate of change in the current command value. FIG. 10A shows the time change of the current command value change rate, and FIG. 10B shows the time change of the carrier frequency.

  When the rate of change of the current command value is larger than the predetermined value, the carrier frequency is adjusted to the maximum, and when it is smaller than the predetermined value, the carrier frequency is not corrected to the maximum value. In FIG. 10, the maximum frequency is adjusted according to the change in the current command change rate, but it is also possible to make it constant at other frequencies.

  In this way, since a predetermined change in the command value is detected and it is determined whether to change the carrier frequency according to the change amount, the frequency of changing the carrier frequency to a specific value may be reduced. it can.

  [Overall Configuration of Power Conversion Control Device] Next, the configuration of a power conversion control device according to the third embodiment of the present invention will be described with reference to FIG.

  As shown in FIG. 11, in the power conversion control device 1 according to the third embodiment of the present invention, the frequency variable unit 7 of the power conversion control device 1 according to the first embodiment of the present invention has a periodic frequency variable. The configuration is replaced with the portion 13.

  [Details of Each Component] The description of the same part as the power conversion control device 1 according to the third embodiment of the present invention is omitted, and here, the periodic frequency variable unit 13 will be described.

  The periodic frequency variable unit 13 can easily vary and predict the carrier frequency by changing the carrier frequency to a periodic shape, for example, a triangular wave shape or a sine wave shape. The frequency can be changed.

  As mentioned above, although the embodiment to which the invention made by the present inventor is applied has been described, the present invention is not limited by the description and the drawings that form part of the disclosure of the present invention according to this embodiment. That is, it should be added that other embodiments, examples, operation techniques, and the like made by those skilled in the art based on the above embodiments are all included in the scope of the present invention.

It is a block diagram of the power conversion control apparatus which concerns on Example 1 of this invention. It is a block diagram of the power conversion control apparatus which concerns on Example 1 of this invention. It is a block diagram of the power conversion control apparatus which concerns on Example 1 of this invention. It is a block diagram of the power conversion control apparatus which concerns on Example 1 of this invention. It is a flowchart figure of the frequency control process of the carrier frequency which the power conversion control apparatus which concerns on Example 1 of this invention performs. It is a figure when changing a carrier wave frequency in the shape of a triangular wave or a sine wave. It is a figure which shows the relationship between the electric current command value and the carrier wave frequency changed to sinusoidal shape. It is a figure which shows the relationship between an electric current command value and the carrier wave frequency changed to the triangular wave form. It is a block diagram of the power conversion control apparatus which concerns on Example 2 of this invention. It is a figure which shows the relationship between the change rate of an electric current command value, and the carrier wave frequency changed to the triangular wave form. It is a block diagram of the power conversion control apparatus which concerns on Example 3 of this invention. It is a block diagram of the current control stepping motor concerning a prior art. It is a figure which shows the dispersion | variation in the transient response resulting from the difference in the carrier frequency at the time of an electric current command value being input. It is an example which shows the difference in the transient response by the change of a carrier frequency.

Explanation of symbols

1: Power conversion control device 2: Current command generation unit 3: Current control unit 31: Calculation unit 32: Proportional control unit 4: PWM generation unit 41: Coordinate conversion unit 42: Comparator 5: Power conversion unit 51: DC power supply 52 : Capacitor 53: Switching element 6: Carrier generation unit 7: Frequency variable control unit 8: Current sensor 9: Speed detection unit 10: Three-phase AC motor 11: Control unit 12: Current command change rate detection unit 13: Periodic frequency variable Part

Claims (4)

Command value output means for outputting a command value so as to obtain a desired output voltage;
Carrier wave generating means for generating a carrier wave whose frequency changes according to a predetermined rule;
Carrier frequency control means for changing the frequency of the carrier wave to a constant frequency regardless of the amount of change in the command value when the command value changes ,
Control signal generating means for comparing the command value with the carrier wave and generating a control signal based on the comparison result;
Power output means operating based on the control signal;
The power converter characterized by having. The power conversion device according to claim 1 ,
The predetermined rule is to change the carrier frequency so as to monotonously decrease or monotonously increase. The power conversion device according to claim 1 ,
The predetermined rule is that the carrier frequency is changed to a triangular wave shape or a sine wave shape. Outputting a command value to obtain a desired output voltage;
Generating a carrier wave of varying frequency according to a predetermined rule;
Changing the frequency of the carrier wave to a constant frequency regardless of the amount of change in the command value when the command value changes ;
Comparing the command value with the carrier wave, and generating a control signal based on the comparison result;
Outputting power based on the control signal;
A power conversion method comprising:

Images