JP5049456B2 - Vehicle control device - Google Patents

Vehicle control device Download PDF

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JP5049456B2
JP5049456B2 JP2004143564A JP2004143564A JP5049456B2 JP 5049456 B2 JP5049456 B2 JP 5049456B2 JP 2004143564 A JP2004143564 A JP 2004143564A JP 2004143564 A JP2004143564 A JP 2004143564A JP 5049456 B2 JP5049456 B2 JP 5049456B2
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value
voltage
current
control
power storage
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JP2005328618A (en
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仁 田口
行生 門田
洋介 中沢
康直 関島
正幸 乾
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Toshiba Corp
Central Japan Railway Co
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Central Japan Railway Co
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/40—Electric propulsion with power supplied within the vehicle using propulsion power supplied by capacitors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/53—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells in combination with an external power supply, e.g. from overhead contact lines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
    • B60L58/15—Preventing overcharging
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • B60L7/14—Dynamic electric regenerative braking for vehicles propelled by ac motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L9/00—Electric propulsion with power supply external to the vehicle
    • B60L9/16—Electric propulsion with power supply external to the vehicle using ac induction motors
    • B60L9/18—Electric propulsion with power supply external to the vehicle using ac induction motors fed from dc supply lines
    • B60L9/22—Electric propulsion with power supply external to the vehicle using ac induction motors fed from dc supply lines polyphase motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/26—Rail vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2210/00—Converter types
    • B60L2210/10—DC to DC converters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2210/00—Converter types
    • B60L2210/40—DC to AC converters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/52—Drive Train control parameters related to converters
    • B60L2240/527—Voltage
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/52—Drive Train control parameters related to converters
    • B60L2240/529—Current
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/54—Drive Train control parameters related to batteries
    • B60L2240/547—Voltage
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/54—Drive Train control parameters related to batteries
    • B60L2240/549—Current
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Description

本発明は、例えば鉄道用車両などの車両に搭載される制御装置に関し、特に主電動機を駆動するインバータ装置の入力側に設けられた車両用制御装置に関する。   The present invention relates to a control device mounted on a vehicle such as a railway vehicle, and more particularly to a vehicle control device provided on the input side of an inverter device that drives a main motor.

従来、例えば鉄道用の車両の回生運転時には、軽負荷回生制御（例えば非特許文献１参照）もしくは回生負荷抵抗チョッパ制御装置（例えば非特許文献２参照）により、インバータ装置の入力側である直流側電圧が過電圧になるのを回避している。   Conventionally, at the time of regenerative operation of a railway vehicle, for example, a direct current side that is an input side of an inverter device by a light load regenerative control (for example, see Non-Patent Document 1) or a regenerative load resistance chopper control device (for example, Non-Patent Document 2). It avoids overvoltage.

前述した軽負荷回生制御とは、車両に搭載された主電動機の駆動を制御するためのインバータ装置の直流側電圧が所定値以上になった際に主電動機のトルクを絞ることで回生エネルギーを抑制する制御である。   The light load regenerative control described above suppresses regenerative energy by reducing the torque of the main motor when the DC side voltage of the inverter device for controlling the drive of the main motor mounted on the vehicle exceeds a predetermined value. It is control to do.

次に、従来の回生負荷抵抗チョッパ制御装置の構成例を図１４を参照して説明する。この装置では、架線７１から電圧を供給し、フィルタリアクトル７２とフィルタコンデンサ７３を介してインバータ装置７４が接続され、このインバータ装置７４内のスイッチング素子の制御により主電動機７５の回転数が制御される。また、インバータ装置７４と並列に回生負荷抵抗７６と回生負荷抵抗チョッパ７７が接続される。   Next, a configuration example of a conventional regenerative load resistance chopper control device will be described with reference to FIG. In this apparatus, a voltage is supplied from an overhead line 71, an inverter device 74 is connected via a filter reactor 72 and a filter capacitor 73, and the rotational speed of the main motor 75 is controlled by controlling switching elements in the inverter device 74. . A regenerative load resistor 76 and a regenerative load resistor chopper 77 are connected in parallel with the inverter device 74.

図１５は、図１４に示した回生負荷抵抗チョッパ７７を制御する制御部７８の構成例を示すブロック図である。
この制御部７８では、フィルタコンデンサ７３の電圧から、回生負荷抵抗チョッパ７７の動作開始電圧値を減算した値にゲイン部８１によるゲイン（定数Ｋ４）をかけた上で、ゲイン部８１からの出力値に対し上下限リミット処理部８２による上下限リミット処理を行なう。上下限リミット処理部８２の処理にかかる下限値は、回生負荷抵抗チョッパ７７が動作しないレベル（ゲートＯＦＦレベル）とし、上限値は回生負荷抵抗チョッパ７７のゲートが常時ＯＮしているレベル（ゲートＦＵＬＬ ＯＮレベル）とする。そして、上下限リミット処理部８２の出力信号を回生負荷抵抗チョッパ７７のゲート信号として用いて、回生負荷抵抗チョッパ７７のオンオフを制御することにより、回生負荷抵抗７６に流れる電流量を制御している。
新井静男、他４名，「直流電車の新軽負荷回生制御」，平成９年電気学会産業応用部門全国大会講演論文集，ｐ．２５９−２６３ 神田英樹、他２名，「インバータ制御車の電気ブレーキ制御方式」，第３３回 鉄道におけるサイバネティクス利用国内シンポジウム論文集，ｐ．２３１−２３４ FIG. 15 is a block diagram illustrating a configuration example of the control unit 78 that controls the regenerative load resistance chopper 77 illustrated in FIG. 14.
The control unit 78 multiplies the value obtained by subtracting the operation start voltage value of the regenerative load resistance chopper 77 from the voltage of the filter capacitor 73 and applies the gain (constant K4) by the gain unit 81, and then outputs the value from the gain unit 81. The upper / lower limit processing by the upper / lower limit processing unit 82 is performed. The lower limit value applied to the upper / lower limit processing unit 82 is a level at which the regenerative load resistance chopper 77 does not operate (gate OFF level), and the upper limit value is a level at which the gate of the regenerative load resistance chopper 77 is always ON (gate FULL). ON level). Then, the amount of current flowing through the regenerative load resistor 76 is controlled by controlling on / off of the regenerative load resistor chopper 77 using the output signal of the upper / lower limit processing unit 82 as the gate signal of the regenerative load resistor chopper 77. .
Shizuo Arai and 4 others, “New Light Load Regenerative Control of DC Trains”, Proceedings of 1997 Annual Conference of the Institute of Electrical Engineers of Japan, p. 259-263 Hideki Kanda and two others, “Electric brake control system for inverter controlled vehicles”, Proceedings of the 33rd National Symposium on the Use of Cybernetics in Railway 231-234

前述した回生負荷抵抗チョッパ制御装置では回生エネルギーを抵抗で消費していたので、回生エネルギーが有効活用されない。また、前述した軽負荷回生制御においては、回生運転時のインバータ直流側電圧が過電圧になるのを防ぐために回生エネルギーをインバータ制御により抑制して空気ブレーキを用いていたので、空気ブレーキ関係の消耗品が磨耗してしまう。   In the above-described regenerative load resistance chopper control device, regenerative energy is consumed by resistance, so that regenerative energy is not effectively utilized. In the light load regenerative control described above, air brakes are used because the regenerative energy is suppressed by inverter control to prevent the inverter DC side voltage from becoming overvoltage during regenerative operation. Will wear out.

これらの問題を解消するために、図１４に示した回生負荷抵抗７６に代えて、例えばコンデンサなどの蓄電装置および制御用チョッパ装置を設け、制御用チョッパ装置の動作により回生時に発生したエネルギーを蓄電装置に蓄えることが考えられる。しかしながら、力行時の制御用チョッパ装置の制御は電流値の大小にしたがって行なう必要があるのに対し、回生時の制御用チョッパ装置の制御は電圧値の大小にしたがって行なう必要があるので、単一の制御装置よる充放電の制御ができない。また、制御用チョッパ装置にて、インバータ装置７４の回生時に蓄電装置へ流れる電流を制御して電圧調整を行った場合、回生エネルギーの急変時においては電流制御が間に合わないので、インバータ装置７４の直流側電圧が過電圧になる恐れがある。   In order to solve these problems, instead of the regenerative load resistor 76 shown in FIG. 14, a power storage device such as a capacitor and a control chopper device are provided, and the energy generated during regeneration is stored by the operation of the control chopper device. It can be stored in the device. However, control of the control chopper device during power running must be performed according to the magnitude of the current value, whereas control of the control chopper device during regeneration must be performed according to the magnitude of the voltage value. The charge / discharge cannot be controlled by the control device. In addition, when the control chopper device controls the current flowing to the power storage device during regeneration of the inverter device 74 and adjusts the voltage, current control is not in time when the regenerative energy suddenly changes. The side voltage may become overvoltage.

さらに、蓄電装置に吸収できるエネルギーには限りがあるので、発生する回生エネルギーの吸収を常に行ないたい場合には、回生エネルギーが発生するごとに、予め吸収しておいたエネルギーを放出する必要がある。また、蓄電装置を所定の使用電圧範囲の上限値を超えた値または下限値未満の値で使用すると損傷の原因となる。これらの理由から、回生時に発生したエネルギーを適切に有効利用することは難しかった。   Furthermore, since there is a limit to the energy that can be absorbed by the power storage device, when it is desired to always absorb the regenerative energy that is generated, it is necessary to release the energy that has been absorbed in advance every time regenerative energy is generated. . Further, if the power storage device is used at a value exceeding the upper limit value of the predetermined operating voltage range or a value less than the lower limit value, it causes damage. For these reasons, it has been difficult to appropriately and effectively use the energy generated during regeneration.

そこで、本発明の目的は、回生時に発生したエネルギーを適切に有効利用することが可能になる車両用制御装置を提供することにある。   Therefore, an object of the present invention is to provide a vehicle control device that can appropriately and effectively use energy generated during regeneration.

すなわち、本発明に関わる車両用制御装置は、主電動機と、この主電動機の駆動を制御するインバータ装置と、このインバータ装置の直流側に接続された半導体スイッチング装置と、この半導体スイッチング装置に接続された蓄電装置と、前記インバータ装置の直流側電圧を検出する直流電圧検出手段と、前記インバータ装置の直流側への電流を検出する第１の電流検出手段と、前記蓄電装置の端子電圧を検出する蓄電電圧検出手段と、前記蓄電装置から前記半導体スイッチング装置に流れる電流を検出する第２の電流検出手段と、前記インバータ装置が力行制御を行なう際に、前記第１の電流検出手段により検出した電流値が所定のしきい値電流を超えた際に前記蓄電装置からの放電が開始するように前記半導体スイッチング装置を制御する放電開始制御を行ない、放電開始後に前記蓄電電圧検出手段により検出された電圧値が減少して前記蓄電装置が使用可能な電圧範囲内の所定の下限値より高い所定のしきい値電圧未満となった状態で、前記しきい値電圧の値から前記蓄電電圧検出手段により検出された電圧値を減算した値に第１のゲイン処理を行ない、この処理結果の値を前記蓄電装置の定格電流の値から減算し、この減算結果である電流値に対し、前記定格電流の値を上限値とした第１のリミット処理を行ない、一方で、前記第１の電流検出手段により検出した電流値から前記しきい値電流の値を減算した値に第２のゲイン処理を行なった値に対し、前記第１のリミット処理の結果である電流値を上限値とした第２のリミット処理を行ない、この処理結果の値を前記蓄電装置から前記半導体スイッチング装置に流れる電流の指令値とし、この指令値から前記第２の電流検出手段により検出した電流値を減算した値に対し、比例、積分を含む電流制御を行ない、この電流制御の出力値と所定のキャリア波の出力値との比較を行ない、この比較の結果、前記電流制御の出力値が前記キャリア波の出力値を上回ったときに前記半導体スイッチング装置のゲート信号を生成することにより、前記蓄電電圧検出手段により検出された電圧値が前記しきい値電圧未満となって減少するにつれて前記第１のゲイン処理の結果の値を上昇させて、この結果、前記第１のリミット処理の結果である電流値を減少させて、この減少の結果、前記指令値を減少させて、この減少の結果、前記蓄電装置から前記半導体スイッチング装置に流れる電流値が減少するように前記半導体スイッチング装置を制御する放電抑制制御を行ない、前記力行制御の際に前記蓄電電圧検出手段により検出した電圧値が前記下限値になった際に、前記第１のリミット処理の結果である電流値を０として、この結果、前記指令値を０にして、前記蓄電装置から前記半導体スイッチング装置に流れる電流値が０となるように前記半導体スイッチング装置を制御する放電停止制御を行なう放電制御手段と、前記インバータ装置が回生制御を行なう際に、前記直流電圧検出手段により検出した電圧値が所定の第１のしきい値電圧まで上昇した際に前記蓄電装置への充電が開始されるように前記半導体スイッチング装置を制御し、前記直流電圧検出手段により検出した電圧値が前記第１のしきい値電圧より低い第２のしきい値電圧まで下降した際に前記蓄電装置への充電が停止するように前記半導体スイッチング装置を制御することで前記蓄電装置への充電を制御する充電制御手段とを備えたことを特徴とする。 That is, a vehicle control device according to the present invention is connected to a main motor, an inverter device that controls driving of the main motor, a semiconductor switching device connected to the DC side of the inverter device, and the semiconductor switching device. A power storage device; a DC voltage detection means for detecting a DC side voltage of the inverter device; a first current detection means for detecting a current to the DC side of the inverter device; and a terminal voltage of the power storage device. when performing the storage voltage detecting means, a second current detecting means for detecting a current flowing from said power storage device to said semiconductor switching device, the inverter device for power running control, was detected by the first current detector current controls the semiconductor switching device so that the value is discharged from said power storage device when exceeding the predetermined threshold current is started Performs discharge start control, a predetermined high below a predetermined threshold voltage than the lower limit value in the voltage range of possible electric storage device voltage value detected is reduced is used by the stored voltage detecting means after the start discharge In this state, first gain processing is performed on a value obtained by subtracting the voltage value detected by the storage voltage detection means from the threshold voltage value, and the value of this processing result is the value of the rated current of the storage device. The first limit process is performed on the current value obtained as a result of the subtraction using the rated current value as the upper limit value. On the other hand, the current value detected by the first current detecting means The value obtained by performing the second gain process on the value obtained by subtracting the threshold current value is subjected to a second limit process with the current value as the result of the first limit process as the upper limit value. Value of the electricity storage A current command value flowing from the device to the semiconductor switching device and a current value detected by the second current detection means subtracted from the command value is subjected to current control including proportionality and integration. Is compared with the output value of the predetermined carrier wave, and as a result of the comparison, when the output value of the current control exceeds the output value of the carrier wave, the gate signal of the semiconductor switching device is generated. As a result, the value of the first gain process is increased as the voltage value detected by the storage voltage detecting means decreases below the threshold voltage, and as a result, the first limit is increased. The current value, which is the result of the process, is decreased, and as a result of the decrease, the command value is decreased. Current value performs the discharge suppression control for controlling the semiconductor switching device so as to reduce that, when the voltage detected by the stored voltage detecting means during the power running control becomes the lower limit value, the first Discharging for controlling the semiconductor switching device so that the current value which is the result of the limit processing of 0 is set to 0, and as a result, the command value is set to 0, and the current value flowing from the power storage device to the semiconductor switching device becomes 0 Discharge control means for performing stop control, and when the inverter device performs regenerative control, when the voltage value detected by the DC voltage detection means rises to a predetermined first threshold voltage, controls the semiconductor switching device so that the charging is started, the voltage value detected by the DC voltage detection means is lower than said first threshold voltage Characterized in that the charging of the power storage device when lowered to second threshold voltage and a charging control means for controlling the charging of the power storage device by controlling the semiconductor switching device to stop And

本発明に係わる車両用制御装置では、インバータ装置が力行制御を行なう際は電流値が所定のしきい値電流を超えた場合に蓄電装置の放電が開始するように制御し、前記力行制御の際に蓄電装置の端子電圧が、当該蓄電装置に流れる電流が過電流状態とならない状態で当該蓄電装置が使用可能な電圧範囲内の所定の下限値になった場合に蓄電装置からの放電が停止するように制御し、回生制御を行なう際は電圧値の大小にしたがって蓄電装置の充電制御を行なうようにしたので、主電動機からの回生時に発生したエネルギーを適切に有効利用することができる。 In the vehicle control apparatus according to the present invention, when the inverter performs power running control controls such that the current value is discharge of the power storage device when it exceeds a predetermined threshold current is started, during the power running control When the terminal voltage of the power storage device becomes a predetermined lower limit within the voltage range in which the power storage device can be used in a state where the current flowing through the power storage device does not enter an overcurrent state, the discharge from the power storage device stops. Thus, when performing regenerative control, charging control of the power storage device is performed according to the magnitude of the voltage value, so that the energy generated during regeneration from the main motor can be appropriately and effectively utilized.

以下図面により本発明の実施形態について説明する。
図１は、本発明の実施形態にしたがった鉄道車両用制御装置の構成例を示すブロック図である。
この鉄道車両用制御装置では、直流電源１に対し、フィルタリアクトル２を介してインバータ装置４が接続されており、インバータ装置４の入力側にフィルタコンデンサ３が、インバータ装置４の出力側に主電動機５がそれぞれ接続される。 Embodiments of the present invention will be described below with reference to the drawings.
FIG. 1 is a block diagram illustrating a configuration example of a railway vehicle control device according to an embodiment of the present invention.
In this railway vehicle control device, an inverter device 4 is connected to a DC power source 1 via a filter reactor 2, a filter capacitor 3 is provided on the input side of the inverter device 4, and a main motor is provided on the output side of the inverter device 4. 5 are connected to each other.

また、フィルタコンデンサ３と並列に、半導体スイッチング装置であるチョッパ装置６が接続される。このチョッパ装置６は、第１のＩＧＢＴ６ａのエミッタと第２のＩＧＢＴ６ｂのコレクタが接続されてなる。第１のＩＧＢＴ６ａのコレクタは直流電源１の高電位側に接続され、第２のＩＧＢＴ６ｂのエミッタは直流電源１の低電位側に接続される。第２のＩＧＢＴ６ｂのコレクタとエミッタの間には、蓄電装置として電気二重層コンデンサ（ＥＤＬＣ）７が接続される。   A chopper device 6 that is a semiconductor switching device is connected in parallel with the filter capacitor 3. The chopper device 6 is formed by connecting the emitter of the first IGBT 6a and the collector of the second IGBT 6b. The collector of the first IGBT 6 a is connected to the high potential side of the DC power supply 1, and the emitter of the second IGBT 6 b is connected to the low potential side of the DC power supply 1. Between the collector and emitter of the second IGBT 6b, an electric double layer capacitor (EDLC) 7 is connected as a power storage device.

また、フィルタコンデンサ３の端子電圧（Ｖｄｃ）の値を検出する直流電圧検出部８、直流電源１から供給されてフィルタリアクトル２を流れる電流（Ｉｄｃ）の値を検出する直流電流検出部９、インバータ装置４への入力電流（Ｉｉｎｖ）の値を検出するインバータ電流検出部１０、ＥＤＬＣ７の端子電圧（Ｖｃｈ）の値を検出するＥＤＬＣ電圧検出部１１、および、ＥＤＬＣ７から第２のＩＧＢＴ６ｂのコレクタに出力される電流（Ｉｃｈ）の値を検出するＥＤＬＣ電流検出部１２がそれぞれ設けられる。また、チョッパ装置６には充放電制御装置１３が接続される。   The DC voltage detector 8 detects the value of the terminal voltage (Vdc) of the filter capacitor 3, the DC current detector 9 detects the value of the current (Idc) supplied from the DC power source 1 and flowing through the filter reactor 2, and an inverter. An inverter current detector 10 that detects the value of the input current (Iinv) to the device 4, an EDLC voltage detector 11 that detects the value of the terminal voltage (Vch) of the EDLC 7, and an output from the EDLC 7 to the collector of the second IGBT 6b EDLC current detectors 12 for detecting the value of the current (Ich) to be generated are provided. The charge / discharge control device 13 is connected to the chopper device 6.

図２は、図１に示した鉄道車両用制御装置の制御に係る各種パラメータ値を表にして示した図である。これらのパラメータについては順次説明する。
図３は、図１に示した充放電制御装置１３の構成例を示すブロック図である。
この充放電制御装置１３は、充電制御部２１、放電制御部２２および力行回生検出部２３を備える。力行回生検出部２３は、主電動機５、インバータ装置４が力行時にあるか回生時にあるかを検出する。充放電制御装置１３では、力行回生検出部２３による検出結果にしたがって、力行時は放電制御部２２からの制御信号が、回生時は充電制御部２１からの制御信号がチョッパ装置６に入力されるように、スイッチ２４が切り替えられるようになっている。 FIG. 2 is a table showing various parameter values related to the control of the railway vehicle control device shown in FIG. These parameters will be described sequentially.
FIG. 3 is a block diagram illustrating a configuration example of the charge / discharge control device 13 illustrated in FIG. 1.
The charge / discharge control device 13 includes a charge control unit 21, a discharge control unit 22, and a power regeneration detection unit 23. The power running regeneration detection unit 23 detects whether the main motor 5 and the inverter device 4 are in power running or in regeneration. In the charge / discharge control device 13, a control signal from the discharge control unit 22 is input to the chopper device 6 during powering, and a control signal from the charge control unit 21 is input during regeneration according to the detection result by the powering regeneration detection unit 23. Thus, the switch 24 can be switched.

力行回生検出部２３では、例えば図示しない運転用装置において、運転士により加速にかかる操作がなされて、これを示す制御信号が出力された際に、この信号を検出して力行時とみなし、減速にかかる操作がなされたことを示す制御信号が出力された際は、これを検出して回生時とみなす。つまり、力行時にあるか回生時にあるかによってチョッパ装置６の制御方法を切り替えている。   In the power regeneration detection unit 23, for example, when an operation for acceleration is performed by a driver in a driving device (not shown) and a control signal indicating this is output, this signal is detected and regarded as power running, and deceleration is performed. When a control signal indicating that the operation related to has been performed is output, this is detected and regarded as a regeneration time. That is, the control method of the chopper device 6 is switched depending on whether it is during power running or during regeneration.

次に、放電制御部２２による放電制御について説明する。図４は、図３に示した放電制御部２２の回路構成例を示すブロック図である。図５は、図４に示した構成の放電制御部２２による制御を行なった際の動作波形を示した図である。   Next, discharge control by the discharge control unit 22 will be described. FIG. 4 is a block diagram illustrating a circuit configuration example of the discharge control unit 22 illustrated in FIG. 3. FIG. 5 is a diagram showing operation waveforms when the control by the discharge control unit 22 having the configuration shown in FIG. 4 is performed.

この放電制御部２２では、まず直流電流検出部９で検出した直流電源供給電流（Ｉｄｃ）の値から直流電源供給電流リミット値（ＩｄｃＬ）の値を減算する。ＩｄｃＬの値は７［Ａ］である。そして、この減算した値に、ゲイン部３１によるゲイン（定数Ｋ１）処理を行ない、この値に対し、上下限リミット処理部３２による上下限リミット処理を行なう。この上下限リミット処理の上限値（ＬｉｍｉｔＵ）は５０［Ａ］（図２参照）であり、下限値（ＬｉｍｉｔＬ）は０［Ａ］である。ＬｉｍｉｔＵは、チョッパ装置６およびＥＤＬＣ７の定格電流の値である。   The discharge controller 22 first subtracts the value of the DC power supply current limit value (IdcL) from the value of the DC power supply current (Idc) detected by the DC current detector 9. The value of IdcL is 7 [A]. Then, a gain (constant K1) process by the gain unit 31 is performed on the subtracted value, and an upper / lower limit process by the upper / lower limit process unit 32 is performed on this value. The upper limit value (LimitU) of the upper and lower limit processing is 50 [A] (see FIG. 2), and the lower limit value (LimitL) is 0 [A]. LimitU is the value of the rated current of the chopper device 6 and the EDLC 7.

上下限リミット処理部３２から出力される値は、チョッパ装置６の電流指令値（Ｉｃｈ＊）となる。そしてこのＩｃｈ＊の値から、ＥＤＬＣ電流検出部１２で検出したＩｃｈの値を減算した上で、ＡＣＲ（電流制御部）３３にて、比例、積分を含む電流制御を行なう。そして、ＡＣＲ３３からの出力値とＣＡＲ（キャリア波生成部）３４からの出力値をＰＷＭ制御部３５にて比較する処理である三角波比較を行ない、この比較の結果、ＡＣＲ３３からの出力値がＣＡＲ３４からの出力値を上回ったときにチョッパ装置６の第１のＩＧＢＴ６ａのゲート信号を生成する。 The value output from the upper / lower limit processing unit 32 is the current command value (Ich * ) of the chopper device 6. Then, after subtracting the Ich value detected by the EDLC current detection unit 12 from the Ich * value, the ACR (current control unit) 33 performs current control including proportionality and integration. Then, a triangular wave comparison, which is a process of comparing the output value from the ACR 33 with the output value from the CAR (carrier wave generation unit) 34, is performed by the PWM control unit 35. As a result of this comparison, the output value from the ACR 33 is changed from the CAR 34. When the output value is exceeded, the gate signal of the first IGBT 6a of the chopper device 6 is generated.

具体的には、Ｉｄｃの値が７［Ａ］を超えるとＩｃｈ＊の値が正の値となり、ＰＷＭ制御部３５による処理を経てチョッパ装置６にゲート信号が供給されるようになる。これにより、チョッパ装置６がオン状態となり、ＥＤＬＣ７に予め蓄えられたエネルギーの放電が開始される。 Specifically, when the value of Idc exceeds 7 [A], the value of Ich * becomes a positive value, and the gate signal is supplied to the chopper device 6 through processing by the PWM control unit 35. Thereby, the chopper device 6 is turned on, and the discharge of energy stored in the EDLC 7 in advance is started.

図５のグラフで示されるように、力行時はＩｄｃおよびＩｉｎｖの値が徐々に上昇する。また、チョッパ装置６がオン状態となってＥＤＬＣ７からの放電が開始されると、Ｖｃｈの値が徐々に減少する一方で、Ｉｄｃの値は放電開始時から上昇しない。また、Ｉｉｎｖの値は、力行時に必要な電流値に達すると上昇しない。   As shown in the graph of FIG. 5, the values of Idc and Iinv gradually increase during powering. When the chopper device 6 is turned on and discharge from the EDLC 7 is started, the Vch value gradually decreases, while the Idc value does not increase from the start of discharge. Further, the value of Iinv does not increase when the current value necessary for powering is reached.

よって、主電動機５を駆動するためのエネルギーを架線（直流電源１に相当）からの電力に代えて確保することができる。なお、チョッパ装置６がオン状態になってもＥＤＬＣ７にエネルギーが充電されていない場合には、Ｉｉｎｖの値が力行時に必要な電流値に達するまでＩｄｃの値が上昇する。   Therefore, energy for driving the main motor 5 can be secured in place of the power from the overhead line (corresponding to the DC power supply 1). If the EDLC 7 is not charged with energy even when the chopper device 6 is turned on, the value of Idc increases until the value of Iinv reaches the current value required for powering.

次に、図３に示した充電制御部２１の回路構成例について、図６を参照して説明する。図７は、図６に示した構成の充電制御部２１による制御を行なった際の動作波形を示した図である。   Next, a circuit configuration example of the charging control unit 21 shown in FIG. 3 will be described with reference to FIG. FIG. 7 is a diagram showing operation waveforms when the control by the charging control unit 21 having the configuration shown in FIG. 6 is performed.

この充電制御部２１では、直流電圧検出部８により検出したＶｄｃの値をヒステリシスコンパレータ４１（図６参照）に入力し、その出力信号をチョッパ装置６の第１のＩＧＢＴ６ａのゲートに入力して第１のＩＧＢＴ６ａを制御する。また、第２のＩＧＢＴ６ｂは常にオフ状態にする。ヒステリシスコンパレータ４１の上限値（ＨｙｓＵ）は２８０［Ｖ］（図２参照）で、下限値（ＨｙｓＬ）は２７５［Ｖ］（図２参照）である。   In this charging control unit 21, the value of Vdc detected by the DC voltage detection unit 8 is input to the hysteresis comparator 41 (see FIG. 6), and the output signal is input to the gate of the first IGBT 6a of the chopper device 6 to be changed. 1 IGBT 6a is controlled. Further, the second IGBT 6b is always turned off. The upper limit value (HysU) of the hysteresis comparator 41 is 280 [V] (see FIG. 2), and the lower limit value (HysL) is 275 [V] (see FIG. 2).

具体的には、回生開始後にＶｄｃの値が２８０［Ｖ］未満の値から２８０［Ｖ］まで上昇する（図７参照）と、チョッパ装置６の第１のＩＧＢＴ６ａのゲートがオン状態となって、ＥＤＬＣ７への充電が開始される。   Specifically, when the value of Vdc rises from a value less than 280 [V] to 280 [V] after starting regeneration (see FIG. 7), the gate of the first IGBT 6a of the chopper device 6 is turned on. , Charging to the EDLC 7 is started.

図７に示したグラフでは、充電開始後のＶｄｃの値の軌跡は２８０［Ｖ］で一定となっているが、実際には、チョッパ装置６の第１のＩＧＢＴ６ａのゲートがオン状態となってＥＤＬＣ７への充電が開始されるとＶｄｃの値が減少し、この減少したＶｄｃの値がＨｙｓＬの値（２７５［Ｖ］）まで下降すると、第１のＩＧＢＴ６ａのゲートがオフ状態となってＥＤＬＣ７への充電が停止する。するとＶｄｃの値が再び上昇して、この値がＨｙｓＵの値（２８０［Ｖ］）となることでＩＧＢＴ６ａのゲートが再びオン状態となり、ＥＤＬＣ７への充電が再開される。以後はこれらの動作を繰り返す。   In the graph shown in FIG. 7, the locus of the Vdc value after the start of charging is constant at 280 [V], but in reality, the gate of the first IGBT 6 a of the chopper device 6 is turned on. When charging to the EDLC 7 is started, the value of Vdc decreases. When the decreased value of Vdc falls to the value of HysL (275 [V]), the gate of the first IGBT 6a is turned off and the signal is transferred to the EDLC 7. Charging stops. Then, the value of Vdc rises again, and when this value becomes the value of HysU (280 [V]), the gate of the IGBT 6a is turned on again, and charging to the EDLC 7 is resumed. Thereafter, these operations are repeated.

つまり、Ｖｄｃの値が所定の上限値または下限値となった場合にＥＤＬＣ７への充電のオンオフを制御するので、回生制御の際に回生エネルギーが急変してもインバータ装置４の直流側電圧が過電圧になることが回避できる。よって安全な回生制御が可能になる。以上説明したように、力行時には電流値の大小にしたがって放電制御を行ない、回生時には電圧値の大小にしたがって充電制御を行なうので、力行時と回生時においてそれぞれ適した制御を行なうことができる。   That is, when the value of Vdc reaches a predetermined upper limit value or lower limit value, on / off of charging to the EDLC 7 is controlled. Therefore, even if the regenerative energy changes suddenly during regenerative control, the DC side voltage of the inverter device 4 is overvoltage. Can be avoided. Therefore, safe regeneration control becomes possible. As described above, discharge control is performed according to the magnitude of the current value during power running, and charge control is performed according to the magnitude of the voltage value during regeneration, so that appropriate control can be performed during power running and regeneration.

次に、図４に示した構成の放電制御部２２の変形例について図８を参照して説明する。この変形例では、前述した放電制御に加え、放電によりＥＤＬＣ７の端子電圧が所定の使用電圧範囲（１００［Ｖ］〜２００［Ｖ］、図２参照）の下限値（１００［Ｖ］）未満になることを防ぐための放電抑制制御を行なうことができる。   Next, a modification of the discharge control unit 22 having the configuration shown in FIG. 4 will be described with reference to FIG. In this modified example, in addition to the above-described discharge control, the terminal voltage of the EDLC 7 is less than the lower limit value (100 [V]) of the predetermined operating voltage range (100 [V] to 200 [V], see FIG. 2) due to the discharge. It is possible to perform discharge suppression control to prevent this.

ＥＤＬＣ７の端子電圧を使用電圧範囲の下限値（１００［Ｖ］）以上とするのは、放電によりＥＤＬＣ７の電圧が一定の値を超えて減少するとＥＤＬＣ７に流れる電流が過電流状態となり、ＥＤＬＣ７の損傷の原因となるからである。   The reason why the terminal voltage of the EDLC 7 is set to be equal to or higher than the lower limit (100 [V]) of the operating voltage range is that when the voltage of the EDLC 7 decreases beyond a certain value due to discharge, the current flowing through the EDLC 7 becomes an overcurrent state. It is because it becomes the cause.

図９は、図８に示した構成の放電制御部２２による制御を行なった際の、ＶｃｈとＩｃｈの値の関係をグラフで示した図である。図１０は、図８に示した構成の放電制御部２２による制御を行なった際の動作波形を示した図である。   FIG. 9 is a graph showing the relationship between the values of Vch and Ich when control is performed by the discharge control unit 22 having the configuration shown in FIG. FIG. 10 is a diagram showing operation waveforms when the control by the discharge control unit 22 having the configuration shown in FIG. 8 is performed.

図８に示した構成の放電制御部２２では、前述した放電開始後において、Ｖｃｈの値の変化に応じて、上下限リミット処理部３２のＬｉｍｉｔＵ（図２参照）の値を変化させる。 The discharge control unit 22 having the configuration shown in FIG. 8 changes the value of LimitU (see FIG. 2) of the upper and lower limit processing unit 32 in accordance with the change in the value of Vch after the start of the above-described discharge.

放電制御部２２では、放電抑制開始電圧（ＶｃｈＬＬ）の値（１１０［Ｖ］、図２参照）から、ＥＤＬＣ電圧検出部１１により検出したＶｃｈの値を減算し、この値に対してゲイン部５１によるゲイン（定数Ｋ２）処理を行なう。そして、ゲイン部５１の出力値を初期ＬｉｍｉｔＵの値（５０［Ａ］、図２参照）から減算し、この減算により得られた値に対して上下限リミット処理部５２による上下限リミット処理を行なう。この上下限リミット処理における下限値は０［Ａ］で、上限値は５０［Ａ］である。そして、上下限リミット処理部５２からの出力値が、上下限リミット処理部３２におけるＬｉｍｉｔＵの値となる。   The discharge control unit 22 subtracts the value of Vch detected by the EDLC voltage detection unit 11 from the value of the discharge suppression start voltage (VchLL) (110 [V], see FIG. 2), and a gain unit 51 is subtracted from this value. The gain (constant K2) processing is performed. Then, the output value of the gain unit 51 is subtracted from the value of the initial LimitU (50 [A], see FIG. 2), and the upper and lower limit processing by the upper and lower limit processing unit 52 is performed on the value obtained by this subtraction. . The lower limit value in this upper / lower limit process is 0 [A], and the upper limit value is 50 [A]. Then, the output value from the upper / lower limit processing unit 52 becomes the value of LimitU in the upper / lower limit processing unit 32.

具体的には、放電によりＶｃｈの値が１１０［Ｖ］未満となると、ゲイン部５１からの出力値が正の値となる。そして、ゲイン部５１からの出力値の上昇にしたがって上下限リミット処理部３２のＬｉｍｉｔＵの値が減少するのでＩｃｈ＊の値が減少する。この構成例では、Ｖｃｈの値が減少して、ＥＤＬＣ７の使用電圧下限値である１００［Ｖ］となった際に上下限リミット処理部３２のＬｉｍｉｔＵの値が０［Ａ］となるように制御される。上下限リミット処理部３２のＬｉｍｉｔＵの値が０［Ａ］になるとＩｃｈ＊の値も０［Ａ］になるのでチョッパ装置６がオフ状態となる。よって、ＥＤＬＣ７の放電が停止する。 Specifically, when the value of Vch becomes less than 110 [V] due to discharge, the output value from the gain unit 51 becomes a positive value. Then, as the output value from the gain unit 51 increases, the value of LimitU of the upper / lower limit processing unit 32 decreases, so that the value of Ich * decreases. In this configuration example, control is performed so that the value of LimitU of the upper and lower limit processing unit 32 becomes 0 [A] when the value of Vch decreases and reaches 100 [V], which is the lower limit value of the working voltage of the EDLC 7. Is done. When the value of LimitU of the upper / lower limit processing unit 32 becomes 0 [A], the value of Ich * also becomes 0 [A], so the chopper device 6 is turned off. Therefore, the discharge of the EDLC 7 is stopped.

放電抑制制御が開始されると、図１０のグラフに示すようにＶｄｃの値が減少する。また、放電抑制制御によりＩｃｈの値が徐々に減少すると、その減少した分だけＩｄｃの値が徐々に上昇する。つまり、Ｉｉｎｖの値は放電抑制制御が開始されても変化せず、放電停止時におけるＩｄｃの値はＩｉｎｖの値と同じになり、Ｉｃｈの値が０となる。以上述べたように、Ｖｃｈの値がＥＤＬＣ７の使用電圧範囲の下限値（１００［Ｖ］）を下回った状態での放電がなされなくなるため、ＥＤＬＣ７を安全に使用することができる。   When the discharge suppression control is started, the value of Vdc decreases as shown in the graph of FIG. Further, when the value of Ich is gradually decreased by the discharge suppression control, the value of Idc is gradually increased by the decreased amount. That is, the value of Iinv does not change even when the discharge suppression control is started, the value of Idc when the discharge is stopped is the same as the value of Iinv, and the value of Ich is 0. As described above, since discharge is not performed in a state where the value of Vch falls below the lower limit value (100 [V]) of the working voltage range of EDLC 7, EDLC 7 can be used safely.

次に、図６に示した構成の充電制御部２１の変形例について図１１を参照して説明する。この変形例では、前述した充電制御に加え、充電によりＥＤＬＣ７の端子電圧が所定の使用電圧範囲の上限値（２００［Ｖ］、図２参照）を超えることを防ぐための充電抑制制御を行なうことができる。   Next, a modification of the charge control unit 21 having the configuration shown in FIG. 6 will be described with reference to FIG. In this modification, in addition to the above-described charging control, charging suppression control is performed to prevent the terminal voltage of the EDLC 7 from exceeding the upper limit value (200 [V], see FIG. 2) of the predetermined operating voltage range due to charging. Can do.

図１２は、図１１に示した構成の充電制御部２１による制御を行なった際のＶｃｈの値とＨｙｓＵ（図２参照）の値の関係をグラフで示した図である。図１３は、図１１に示した構成の充電制御部２１による制御を行なった際の動作波形を示した図である。   FIG. 12 is a graph showing the relationship between the value of Vch and the value of HysU (see FIG. 2) when the control by the charging control unit 21 having the configuration shown in FIG. 11 is performed. FIG. 13 is a diagram showing operation waveforms when the control by the charging control unit 21 having the configuration shown in FIG. 11 is performed.

図１１に示した構成の充電制御部２１では、前述した充電制御の開始後において、Ｖｃｈの値の変化に応じてヒステリシスコンパレータ４１のＨｙｓＵ（図２参照）の値を変化させる。充電制御部２１では、ＥＤＬＣ電圧検出部１１により検出したＶｃｈの値から充電抑制開始電圧（ＶｃｈＵＬ）の値（１９０［Ｖ］、図２参照）を減算した値に対してゲイン部６１によるゲイン（定数Ｋ３）処理を行なう。そしてゲイン部６１による出力値に対して下限値リミット処理部６２による下限値リミット処理を行なう。この下限値リミット処理における下限値は０［Ａ］である。   The charge control unit 21 having the configuration shown in FIG. 11 changes the value of HysU (see FIG. 2) of the hysteresis comparator 41 in accordance with the change in the value of Vch after the start of the above-described charge control. In the charging control unit 21, the gain (61 [V], see FIG. 2) of the charging suppression start voltage (VchUL) is subtracted from the Vch value detected by the EDLC voltage detecting unit 11 with a gain ( Constant K3) Perform processing. Then, the lower limit limit processing by the lower limit limit processing unit 62 is performed on the output value from the gain unit 61. The lower limit value in the lower limit process is 0 [A].

そして、下限値リミット処理部６２からの出力値に、初期のＨｙｓＵの値（２８０［Ｖ］、図２参照）の値を加算した値がヒステリシスコンパレータ４１のＨｙｓＵの値となる。ＨｙｓＵの値が２８０［Ｖ］を超えて徐々に上昇すると、チョッパ装置６の第１のＩＧＢＴ６ａのゲートがオフ状態からオン状態に切り替わる際の電圧値が徐々に上昇することになるので、回生時に発生するエネルギーが一定である場合には、Ｖｄｃの平均値の増加とともにＩｉｎｖの値が減少する。Ｉｉｎｖの値は、充電時におけるＩｃｈの値と同じなので、ＥＤＬＣ７への充電が徐々に抑制されることになる。   A value obtained by adding the initial HysU value (280 [V], see FIG. 2) to the output value from the lower limit limit processing unit 62 is the HysU value of the hysteresis comparator 41. When the value of HysU gradually increases beyond 280 [V], the voltage value when the gate of the first IGBT 6a of the chopper device 6 is switched from the off state to the on state gradually increases. When the generated energy is constant, the value of Iinv decreases as the average value of Vdc increases. Since the value of Iinv is the same as the value of Ich at the time of charging, charging to the EDLC 7 is gradually suppressed.

図１３に示したグラフでは、充電抑制開始後において、Ｖｄｃの値が２８０［Ｖ］を超えて直線的に上昇しているが、実際には、ＥＤＬＣ７への充電が開始されるとＶｄｃの値はＨｙｓＬの値（２７５［Ｖ］）となるまで減少して、ＨｙｓＬの値となった際にＥＤＬＣ７への充電が停止し、Ｖｄｃの値はＨｙｓＵの値となるまで再び上昇する。つまりＶｄｃの値は、Ｖｃｈの値の上昇にともなって上昇した値であるＨｙｓＵの値とＨｙｓＬの値（２７５［Ｖ］）との間での変化を繰り返す。   In the graph shown in FIG. 13, the value of Vdc increases linearly beyond 280 [V] after the start of charging suppression, but in reality, the value of Vdc increases when charging to EDLC 7 is started. Decreases to the value of HysL (275 [V]). When the value of HysL is reached, charging to the EDLC 7 is stopped, and the value of Vdc increases again until it reaches the value of HysU. That is, the value of Vdc repeats a change between the value of HysU and the value of HysL (275 [V]), which are increased as the value of Vch increases.

具体的には、回生制御によりＶｃｈの値が増加してＶｃｈＵＬの値（１９０［Ｖ］）を超えると、ゲイン部６１からの出力値が正の値となり、ヒステリシスコンパレータ４１のＨｙｓＵの値が増加する。この構成例では、Ｖｃｈの値が使用電圧上限値（２００［Ｖ］）に達した際にＨｙｓＵの値が３１０［Ｖ］になるように制御される（図１２参照）。   Specifically, when the value of Vch increases due to regenerative control and exceeds the value of VchUL (190 [V]), the output value from the gain unit 61 becomes a positive value, and the value of HysU of the hysteresis comparator 41 increases. To do. In this configuration example, when the value of Vch reaches the use voltage upper limit (200 [V]), the HysU value is controlled to be 310 [V] (see FIG. 12).

Ｖｃｈの値がＥＤＬＣ７の使用電圧上限値である２００［Ｖ］となって、Ｖｄｃの値がインバータの軽負荷回生制御開始レベル（３００[Ｖ]）となった場合には、インバータ装置４は軽負荷回生制御を開始し、Ｖｄｃの値が３００［Ｖ］一定となるように制御する。このときのＶｄｃの値はＨｙｓＵの値（３１０［Ｖ］）より小さい値なので、チョッパ装置６はオフ状態である。よって、車両の減速制御を継続して行なうことができる。以上説明したように、Ｖｃｈの値がＥＤＬＣ７の所定の使用電圧範囲上限値を上回った状態での充電がなされなくなるため、ＥＤＬＣ７を安全に使用することができる。   When the value of Vch becomes 200 [V] which is the upper limit value of the working voltage of EDLC 7 and the value of Vdc becomes the light load regenerative control start level (300 [V]) of the inverter, the inverter device 4 is light. Load regeneration control is started, and control is performed so that the value of Vdc is constant at 300 [V]. Since the value of Vdc at this time is smaller than the value of HysU (310 [V]), the chopper device 6 is in the off state. Therefore, the deceleration control of the vehicle can be continuously performed. As described above, since charging is not performed in a state where the value of Vch exceeds the upper limit value of the predetermined operating voltage range of EDLC 7, EDLC 7 can be used safely.

なお、この発明は、前記実施形態そのままに限定されるものではなく、実施段階ではその要旨を逸脱しない範囲で構成要素を変形して具体化できる。また、前記実施形態に開示されている複数の構成要素の適宜な組み合せにより種々の発明を形成できる。例えば、実施形態に示される全構成要素から幾つかの構成要素を削除してもよい。更に、異なる実施形態に亘る構成要素を適宜組み合せてもよい。   Note that the present invention is not limited to the above-described embodiment as it is, and can be embodied by modifying the constituent elements without departing from the scope of the invention in the implementation stage. Moreover, various inventions can be formed by appropriately combining a plurality of constituent elements disclosed in the embodiment. For example, some components may be deleted from all the components shown in the embodiment. Furthermore, you may combine suitably the component covering different embodiment.

本発明の実施形態にしたがった鉄道車両用制御装置の構成例を示すブロック図。The block diagram which shows the structural example of the control apparatus for rail vehicles according to embodiment of this invention. 図１に示した鉄道車両用制御装置の制御に係る各種パラメータ値を表にして示した図。FIG. 2 is a table showing various parameter values related to control of the railway vehicle control device shown in FIG. 1. 図１に示した充放電制御装置の構成例を示すブロック図。The block diagram which shows the structural example of the charging / discharging control apparatus shown in FIG. 図３に示した放電制御部の構成例を示すブロック図。The block diagram which shows the structural example of the discharge control part shown in FIG. 図４に示した構成の放電制御部による制御を行なった際の動作波形を示した図。The figure which showed the operation | movement waveform at the time of performing control by the discharge control part of the structure shown in FIG. 図３に示した充電制御部の回路構成例を示すブロック図。The block diagram which shows the circuit structural example of the charge control part shown in FIG. 図６に示した構成の充電制御部による制御を行なった際の動作波形を示した図。The figure which showed the operation | movement waveform at the time of performing control by the charge control part of the structure shown in FIG. 図４に示した構成の放電制御部の変形例を示すブロック図。The block diagram which shows the modification of the discharge control part of the structure shown in FIG. 図８に示した構成の放電制御部による制御を行なった際の、ＶｃｈとＩｃｈの関係をグラフで示した図。The figure which showed the relationship between Vch and Ich by the graph at the time of performing control by the discharge control part of the structure shown in FIG. 図８に示した構成の放電制御部による制御を行なった際の動作波形を示した図。The figure which showed the operation | movement waveform at the time of performing control by the discharge control part of the structure shown in FIG. 図６に示した構成の充電制御部の変形例を示すブロック図。The block diagram which shows the modification of the charge control part of the structure shown in FIG. 図１１に示した構成の充電制御部による制御を行なった際の、ＶｃｈとＨｙｓＵの関係をグラフで示した図。The figure which showed the relationship between Vch and HysU at the time of performing control by the charge control part of the structure shown in FIG. 図１１に示した構成の充電制御部による制御を行なった際の動作波形を示した図。The figure which showed the operation | movement waveform at the time of performing control by the charge control part of the structure shown in FIG. 従来の回生負荷抵抗チョッパ制御装置の構成例を示すブロック図。The block diagram which shows the structural example of the conventional regenerative load resistance chopper control apparatus. 図１４に示した回生負荷抵抗チョッパを制御する制御部の構成例を示すブロック図。The block diagram which shows the structural example of the control part which controls the regenerative load resistance chopper shown in FIG.

符号の説明Explanation of symbols

１…直流電源、２…フィルタリアクトル、３…フィルタコンデンサ、４…インバータ装置、５…主電動機、６…チョッパ装置、７…電気二重層コンデンサ（ＥＤＬＣ）、８…直流電圧検出部、９…直流電流検出部、１０…インバータ電流検出部、１１…ＥＤＬＣ電圧検出部、１２…ＥＤＬＣ電流検出部、１３…充放電制御装置、２１…充電制御部、２２…放電制御部、２３…力行回生検出部、３１…ゲイン部、３２…上下限リミット処理部、３３…ＡＣＲ（電流制御部）、３４…ＣＡＲ（キャリア波生成部）、３５…ＰＷＭ制御部、４１…ヒステリシスコンパレータ、５１…ゲイン部、５２…上下限リミット処理部、６１…ゲイン部、６２…下限リミット処理部。   DESCRIPTION OF SYMBOLS 1 ... DC power supply, 2 ... Filter reactor, 3 ... Filter capacitor, 4 ... Inverter device, 5 ... Main motor, 6 ... Chopper device, 7 ... Electric double layer capacitor (EDLC), 8 ... DC voltage detection part, 9 ... DC Current detection unit, 10 ... inverter current detection unit, 11 ... EDLC voltage detection unit, 12 ... EDLC current detection unit, 13 ... charge / discharge control device, 21 ... charge control unit, 22 ... discharge control unit, 23 ... power regeneration detection unit , 31 ... gain section, 32 ... upper and lower limit processing section, 33 ... ACR (current control section), 34 ... CAR (carrier wave generation section), 35 ... PWM control section, 41 ... hysteresis comparator, 51 ... gain section, 52 ... upper / lower limit processing unit, 61 ... gain unit, 62 ... lower limit processing unit.

Claims (3)

主電動機と、
この主電動機の駆動を制御するインバータ装置と、
このインバータ装置の直流側に接続された半導体スイッチング装置と、
この半導体スイッチング装置に接続された蓄電装置と、
前記インバータ装置の直流側電圧を検出する直流電圧検出手段と、
前記インバータ装置の直流側への電流を検出する第１の電流検出手段と、
前記蓄電装置の端子電圧を検出する蓄電電圧検出手段と、
前記蓄電装置から前記半導体スイッチング装置に流れる電流を検出する第２の電流検出手段と、
前記インバータ装置が力行制御を行なう際に、前記第１の電流検出手段により検出した電流値が所定のしきい値電流を超えた際に前記蓄電装置からの放電が開始するように前記半導体スイッチング装置を制御する放電開始制御を行ない、放電開始後に前記蓄電電圧検出手段により検出された電圧値が減少して前記蓄電装置が使用可能な電圧範囲内の所定の下限値より高い所定のしきい値電圧未満となった状態で、前記しきい値電圧の値から前記蓄電電圧検出手段により検出された電圧値を減算した値に第１のゲイン処理を行ない、この処理結果の値を前記蓄電装置の定格電流の値から減算し、この減算結果である電流値に対し、前記定格電流の値を上限値とした第１のリミット処理を行ない、一方で、前記第１の電流検出手段により検出した電流値から前記しきい値電流の値を減算した値に第２のゲイン処理を行なった値に対し、前記第１のリミット処理の結果である電流値を上限値とした第２のリミット処理を行ない、この処理結果の値を前記蓄電装置から前記半導体スイッチング装置に流れる電流の指令値とし、この指令値から前記第２の電流検出手段により検出した電流値を減算した値に対し、比例、積分を含む電流制御を行ない、この電流制御の出力値と所定のキャリア波の出力値との比較を行ない、この比較の結果、前記電流制御の出力値が前記キャリア波の出力値を上回ったときに前記半導体スイッチング装置のゲート信号を生成することにより、前記蓄電電圧検出手段により検出された電圧値が前記しきい値電圧未満となって減少するにつれて前記第１のゲイン処理の結果の値を上昇させて、この結果、前記第１のリミット処理の結果である電流値を減少させて、この減少の結果、前記指令値を減少させて、この減少の結果、前記蓄電装置から前記半導体スイッチング装置に流れる電流値が減少するように前記半導体スイッチング装置を制御する放電抑制制御を行ない、前記力行制御の際に前記蓄電電圧検出手段により検出した電圧値が前記下限値になった際に、前記第１のリミット処理の結果である電流値を０として、この結果、前記指令値を０にして、前記蓄電装置から前記半導体スイッチング装置に流れる電流値が０となるように前記半導体スイッチング装置を制御する放電停止制御を行なう放電制御手段と、
前記インバータ装置が回生制御を行なう際に、前記直流電圧検出手段により検出した電圧値が所定の第１のしきい値電圧まで上昇した際に前記蓄電装置への充電が開始されるように前記半導体スイッチング装置を制御し、前記直流電圧検出手段により検出した電圧値が前記第１のしきい値電圧より低い第２のしきい値電圧まで下降した際に前記蓄電装置への充電が停止するように前記半導体スイッチング装置を制御することで前記蓄電装置への充電を制御する充電制御手段と
を備えたことを特徴とする車両用制御装置。 A main motor,
An inverter device for controlling the drive of the main motor;
A semiconductor switching device connected to the DC side of the inverter device;
A power storage device connected to the semiconductor switching device;
DC voltage detecting means for detecting a DC side voltage of the inverter device;
First current detection means for detecting a current to the DC side of the inverter device;
A storage voltage detecting means for detecting a terminal voltage of the power storage device;
Second current detection means for detecting a current flowing from the power storage device to the semiconductor switching device;
When the inverter device performs power running control, the semiconductor switching device is configured to start discharging from the power storage device when the current value detected by the first current detection means exceeds a predetermined threshold current. performs discharge start control for controlling said power storage voltage higher predetermined threshold voltage than a predetermined lower limit value of the power storage device is within a usable voltage range the voltage value detected is reduced by the detection means after the start discharge In a state in which the value is less than the threshold voltage value, a first gain process is performed on a value obtained by subtracting the voltage value detected by the storage voltage detection means from the threshold voltage value. Subtracting from the current value, the first current limit value is used as the upper limit value for the current value obtained as a result of the subtraction, while the first current detecting means detects the current value. A second limit process in which the current value, which is the result of the first limit process, is set to the upper limit value for the value obtained by performing the second gain process on the value obtained by subtracting the threshold current value from the current value. The value of this processing result is used as a command value for the current flowing from the power storage device to the semiconductor switching device, and the value obtained by subtracting the current value detected by the second current detection means from the command value is proportional and integral. When the current control output value exceeds the carrier wave output value as a result of the comparison, the current control output value is compared with the output value of the predetermined carrier wave. By generating the gate signal of the semiconductor switching device, the first gain processing is performed as the voltage value detected by the storage voltage detection means decreases below the threshold voltage. As a result, the current value as a result of the first limit process is decreased, and as a result of the decrease, the command value is decreased. It performs discharge suppression control current flowing through the semiconductor switching device controls the semiconductor switching device so as to reduce, when the voltage detected by the stored voltage detecting means during the power running control becomes the lower limit value In addition, the current value that is the result of the first limit processing is set to 0, and as a result, the command value is set to 0, and the current value that flows from the power storage device to the semiconductor switching device becomes 0. Discharge control means for performing discharge stop control for controlling the apparatus;
When the inverter device performs regenerative control , the semiconductor device is configured to start charging the power storage device when the voltage value detected by the DC voltage detecting means rises to a predetermined first threshold voltage. Controlling the switching device so that charging of the power storage device is stopped when the voltage value detected by the DC voltage detecting means drops to a second threshold voltage lower than the first threshold voltage. A vehicle control device comprising: charge control means for controlling charging of the power storage device by controlling the semiconductor switching device. 前記充電制御手段は、
前記回生制御の際に前記蓄電電圧検出手段により検出された電圧値が前記蓄電装置の使用可能な電圧範囲内の所定の上限値となった際に、前記蓄電装置への充電が停止するように前記半導体スイッチング装置を制御する充電停止手段を有する
ことを特徴とする請求項１に記載の車両用制御装置。 The charge control means includes
The charging of the power storage device is stopped when the voltage value detected by the power storage voltage detection means during the regeneration control reaches a predetermined upper limit value within the usable voltage range of the power storage device. The vehicle control device according to claim 1 , further comprising a charging stop unit that controls the semiconductor switching device. 前記充電制御手段は、
前記回生制御の際に前記蓄電電圧検出手段により検出された電圧値が増加して前記蓄電装置の使用可能な電圧範囲内の所定の上限値より低い所定のしきい値電圧を超えた際に、前記検出された電圧値と前記所定の上限値より低い所定のしきい値電圧との差分の大小に応じて、前記蓄電装置に流れる電流値が減少するように前記半導体スイッチング装置を制御する充電抑制手段と、
前記蓄電電圧検出手段により検出された電圧値が前記所定の上限値より低い所定のしきい値電圧からさらに増加して前記上限値となった際に、前記蓄電装置に流れる電流値が０となるように前記半導体スイッチング装置を制御する充電停止手段と
を有することを特徴とする請求項１に記載の車両用制御装置。 The charge control means includes
When the voltage value detected by the storage voltage detection means during the regeneration control increases and exceeds a predetermined threshold voltage lower than a predetermined upper limit value within a usable voltage range of the power storage device, Charge suppression for controlling the semiconductor switching device such that the value of the current flowing through the power storage device decreases according to the difference between the detected voltage value and a predetermined threshold voltage lower than the predetermined upper limit value Means,
When the voltage value detected by the storage voltage detection means further increases from a predetermined threshold voltage lower than the predetermined upper limit value and reaches the upper limit value , the current value flowing through the power storage device becomes zero. the vehicle control device according to claim 1, characterized in that said and a charge stopping means for controlling the semiconductor switching device so.
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