JP5126630B2 - Control device for load drive system - Google Patents

Description

  The present invention relates to a control device for a load drive system in which an output voltage of a DC power supply is boosted or lowered to a command value by a converter and applied to a load.

  FIG. 23 is a configuration diagram of a system that boosts the output voltage of a DC power supply and applies it to a load. In the system shown in FIG. 23, a boost converter (hereinafter simply referred to as “converter”) 3 is provided between a DC power source 1 and a load 2. Converter 3 boosts output voltage V1 of DC power supply 1. The control device 4 controls the converter 3 so that the two transistors SwH and SwL constituting the converter 3 operate with opposite logics. Therefore, current (reactor current) IL flowing through reactor L included in converter 3 is rippled.

International Publication No. 2004/114511 Pamphlet

  During the operation of the converter 3 in the above system, a loss occurs in the reactor L and the transistors SwH and SwL. FIG. 24 is a graph showing an example of the loss characteristic of the converter 3 according to the secondary power. As shown in FIG. 24, the loss in the converter 3 increases according to the absolute value of the secondary power (load current Io × secondary voltage V2). Further, the loss increases as the step-up rate of converter 3 increases. Further, as shown in the graph of FIG. 24, the loss in the converter 3 occurs even when the output destination is no load. Therefore, if there is no load, the loss can be reduced by stopping the operation of the converter 3.

  If there is no load, the secondary voltage V2 does not change theoretically even if the operation of the converter 3 is stopped. However, when it is difficult to achieve a complete no-load state, such as when the load 2 is an electric motor, a minute load is generated. FIG. 25 shows (a) the load current Io, (b) the reactor current IL, and (c) the secondary voltage V2 when the operation of the converter 3 is stopped in a load state (minimal load state) in which power is slightly consumed. It is a graph which shows a change. As shown in FIG. 25, when the operation of the converter 3 is suspended while the load 2 is slightly consuming power, the switching control of the transistors SwH and SwL is not performed, and the reactor current IL becomes 0. The loss at is gone. However, due to power consumption in the load 2, the secondary voltage V2 gradually decreases to the output voltage (primary voltage) V1 of the DC power supply 1.

  Even if the operation of the converter 3 is suspended while the load 2 is slightly generating power, the secondary voltage V2 is not maintained at the voltage before the suspension. FIG. 26 shows changes in (a) the load current Io, (b) the reactor current IL, and (c) to (d) the secondary voltage V2 when the operation of the converter 3 is stopped in a load state where power generation is slightly continued. It is a graph. FIG. 26C shows a change in the secondary voltage V2 when the operation of the converter 3 is suspended while the transistor SwH is on and the transistor SwL is off. FIG. 26D shows a change in the secondary voltage V2 when the operation of the converter 3 is stopped while both the transistors SwH and SwL are off.

  When the operation of the converter 3 is stopped while the transistor SwH is on and the transistor SwL is off, the DC power source 1 and the load 2 are directly connected. Therefore, as shown in FIG. 26C, the secondary voltage V2 drops to the output voltage (primary voltage) V1 of the DC power supply 1. On the other hand, when both the transistors SwH and SwL are off and the operation of the converter 3 is stopped, the DC power supply 1 and the load 2 are connected via a diode. At this time, since the electric power generated in the load 2 continues to be stored in the capacitor C, the secondary voltage V2 rises from the voltage V0 at the time of operation suspension.

  As described above, when the operation of the converter 3 is suspended in the minimum load state, the secondary voltage V <b> 2 decreases or rises and moves away from the optimum efficiency operating point of the load 2. For this reason, it is not preferable to stop the operation of the converter 3. However, it is desirable to stop the operation of the converter 3 in terms of loss reduction.

  An object of the present invention is to provide a control device for a load drive system capable of holding the output voltage of the converter even when the operation of the converter is stopped in a minimal load state.

  In order to solve the above-described problems and achieve the object, a control device for a load driving system according to claim 1 includes a DC power source (for example, storage battery 101 in the embodiment) and a plurality of loads (for example, A converter that increases or decreases a voltage to a command value when power is transferred between the motor 103A, the generator 103B, the first inverter 107A, and the second inverter 107B in the embodiment (for example, the embodiment) The control device (for example, the control device 100, 200, 300, 400 in the embodiment) of the load driving system including the converter 105) in each of the plurality of loads based on an external command A plurality of load drive control units (for example, inverter control units 100IA, 100IB, 200IA, 200IB in the embodiment) for controlling the converter, and the converter A switching control unit that performs switching control (for example, the PWM control unit 155 in the embodiment) and a load power deriving unit that derives total load power that is the sum of the load powers of the plurality of loads (for example, in the embodiment) Supply power calculation units 157A and 257A, regenerative power calculation units 157B and 257B, load power calculation units 357 and 457), and when the total load power is a value within a predetermined range across zero, the switching operation of the converter is performed. A switching operation control unit that instructs the switching control unit to suspend (for example, an operation suspend determination unit 159 in the embodiment), and when the total load power is a value within the predetermined range, the command value and the The command issued to any one of the plurality of load drive control units is corrected so that the absolute value of the deviation of the output voltage of the converter is reduced. Decree correcting unit (e.g., the correction torque calculation unit 163A in the embodiment, 163B) is characterized by comprising a, a.

  Furthermore, in the control device for a load drive system according to a second aspect of the present invention, the command correction unit includes a feedback control term based on a function using the command value and the output voltage of the converter as parameters (for example, in the embodiment). The output correction F / B term) and a feedforward control term that cancels the total load power (for example, the output correction F / F term in the embodiment) are used to correct the command. It is said.

  Furthermore, in the control device for a load drive system according to a third aspect of the present invention, the command is a torque command or an output command for each of the plurality of loads.

  Furthermore, in the control device for a load drive system according to claim 4, the converter includes two switching elements connected in series that are switched in reverse logic to each other (for example, the transistors SwH and SwL in the embodiment). And two diodes connected in parallel to each switching element, and a reactor (for example, reactor L in the embodiment) connected to a connection point of the two switching elements, and the total load power is When the value is within the predetermined range, the switching operation control unit instructs the switching control unit to suspend the switching operation of the converter by turning off both of the two switching elements. .

  Furthermore, in the control device for a load drive system according to claim 5, when the amount of change in the command value per unit time is less than a predetermined value, the switching operation control unit pauses the switching operation of the converter. The switching control unit is instructed, and the command correction unit is performed on any of the plurality of load drive control units so that an absolute value of a deviation between the command value and the output voltage of the converter is reduced. The command is corrected.

  Furthermore, in the control device for a load drive system according to claim 6, when the DC power source is a storage battery and the remaining capacity of the storage battery is equal to or greater than a predetermined value, the switching operation control unit is configured to perform the switching operation of the converter. The switching control unit is instructed to pause, and the command correction unit applies to any one of the plurality of load drive control units so that an absolute value of a deviation between the command value and the output voltage of the converter is reduced. It is characterized in that the issued command is corrected.

  Furthermore, the control device for a load drive system according to claim 7 includes the capacitor and a capacitor (for example, the capacitor C in the embodiment) connected in parallel to the converter and the plurality of loads. Each of the first rotary inductive load (for example, the electric motor 103A in the embodiment) and a first that converts the output voltage of the converter into an AC voltage and applies it to the first rotary inductive load. A pair of inverters (for example, the first inverter 107A in the embodiment) or a second rotary inductive load (for example, the generator 103B in the embodiment), and the second rotation Including a set of second inverters (for example, the second inverter 107B in the embodiment) that converts an AC voltage from a type inductive load into a DC voltage and applies the converted voltage to the converter. Correction amount of said Directive, the higher the first high rotational speed of the rotary inductive load or the second rotary inductive load, and is characterized in that as the capacitance of the capacitor is small small.

  Furthermore, in the control device for a load drive system according to an eighth aspect of the present invention, the command correction unit is configured such that when the output voltage of the converter falls below the command value, the first rotary inductive load or the The second rotary inductive load is driven in a direction to supply power to the converter, and when the output voltage of the converter exceeds the command value, the first rotary inductive load or the second rotary inductive load The command is corrected so that the rotary inductive load is driven in a direction of taking electric power from the converter.

  Furthermore, in the control device for a load drive system according to the ninth aspect of the invention, the command correction unit is configured to execute the command issued to the load with the smallest loss based on each loss information in the plurality of loads. It is characterized by correction.

  Furthermore, in the control apparatus for a load drive system according to the invention of claim 10, each of the plurality of loads includes a rotary inductive load (for example, the motor 103A and the generator 103B in the embodiment), and the loss The information is characterized in that the higher the rotational speed of the rotary inductive load, the larger the loss is set.

  Furthermore, in the vehicle of the invention according to claim 11, the load drive system control device according to any one of claims 1 to 10 (for example, the control devices 100, 200, 300, 400 in the embodiment). The plurality of loads are driven by an electric motor (for example, the electric motor 103A in the embodiment) as a driving source of the vehicle and an internal combustion engine (for example, the internal combustion engine 501 in the embodiment). When the vehicle is in a mode in which the vehicle travels by driving the electric motor only by the electric power generated by the electric generator (for example, the electric generator 103B in the embodiment) The switching operation control unit (for example, the operation stop determination unit 159 in the embodiment) includes the switching control unit so as to stop the switching operation of the converter. The command correction unit (for example, the correction torque calculation units 163A and 163B in the embodiment) that is instructed and included in the control device is performed on the load drive control unit that controls the operation of the generator It is characterized by correcting the command.

  According to the control device for the load drive system of the invention described in claims 1 to 10 and the vehicle of the invention described in claim 11, the output voltage of the converter can be maintained even when the operation of the converter is stopped in a minimum load state. . In addition, since the converter can be stopped in a minimal load state or a no-load state, loss in the converter can be reduced.

The figure which shows the system configuration | structure for driving the electric motor of 1st Embodiment. The block diagram which shows the internal structure of each inverter control part provided in the control apparatus 100 of 1st Embodiment. The block diagram which shows the internal structure of the converter control part 100C provided in the control apparatus 100 of 1st Embodiment. The figure which shows an example of the loss map which shows the size (loss amount) of the loss which occurs with load A flowchart showing the operation of the operation pause determination unit 159 The figure which shows the hysteresis at the time of the operation stop judgment part 159 judging the state of the load with respect to the converter 105 A flowchart showing the operation of the correction torque selection unit 161. A flowchart showing the operation of the correction torque calculators 163A and 163B Equivalent circuit of system when both transistors SwH and SwL of converter 105 are turned off Correction torque calculation units 163A and 163B that calculate the output correction command value Padj so that the absolute value of the deviation between the square of the voltage command V2c and the square of the voltage V2 decreases, and the square value of the voltage V2 according to the output correction command value Padj The figure which shows the feedback control system comprised from the plant 203A to output The correction torque calculation units 163A and 163B that calculate the output correction command value Padj so that the absolute value of the deviation between the voltage command V2c and the voltage V2 decreases, and the plant 203B that outputs the voltage V2 according to the output correction command value Padj Of the controlled feedback control system In the system of one embodiment, (a) total load power P21, (b) reactor current IL, and (c) changes in secondary voltage V2 when the operation of converter 105 is suspended in a minimal load state or no load state. Graph The block diagram which shows the internal structure of each inverter control part provided in the control apparatus 200 of 2nd Embodiment. The block diagram which shows the internal structure of the converter control part 200C provided in the control apparatus 200 of 2nd Embodiment. The figure which shows the system configuration | structure for driving the electric motor of 3rd Embodiment. The block diagram which shows the internal structure of the converter control part 300C provided in the control apparatus 300 of 3rd Embodiment. The figure which shows the system configuration for driving the electric motor of 4th Embodiment. The block diagram which shows the internal structure of the converter control part 400C provided in the control apparatus 400 of 4th Embodiment. Diagram showing system configuration including buck-boost converter The block diagram which shows the internal structure of HEV carrying the system of one Embodiment. In the HEV shown in FIG. 20, when the transmission of power from the internal combustion engine 501 to the transmission gear 503 is interrupted by the clutch 505, the converter 105 is in (a) normal operation and (b) normal operation suspension. Diagram showing power transfer In HEV shown in FIG. 20, when converter 105 is in a state where clutch 505 is connected, diagram showing power transfer when converter 105 is in (a) normal operation and (b) normal operation pause. Configuration diagram of a system that boosts the output voltage of a DC power supply and applies it to a load The graph which shows an example of the loss characteristic of the converter 3 according to secondary power The graph which shows the change of (a) load current Io, (b) reactor current IL, and (c) secondary voltage V2 when operation | movement of the converter 3 is stopped in the load state which continues consuming power slightly. A graph showing changes in (a) load current Io, (b) reactor current IL, and (c) to (d) secondary voltage V2 when the operation of converter 3 is stopped in a load state where power generation continues slightly.

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

(First embodiment)
FIG. 1 is a diagram illustrating a system configuration for driving the electric motor according to the first embodiment. In the system shown in FIG. 1, a boost converter (hereinafter simply referred to as “converter”) 105 and a first inverter 107A are provided between a storage battery 101 and an electric motor (MOT) 103A. Further, a converter 105 and a second inverter 107B are provided between the storage battery 101 and a generator (GEN) 103B.

  Converter 105 steps up output voltage V1 of storage battery 101 or steps down the regenerative voltage from generator 103B. First inverter 107A converts output voltage V2 of converter 105 into a three-phase (U, V, W) alternating current. The second inverter 107B converts the regenerative voltage from the generator 103B into direct current.

  The system includes a voltage sensor 109 for detecting the output voltage V1 of the storage battery 101, a voltage sensor 111 for detecting the output voltage V2 of the converter 105, a u-phase current IuA flowing between the motor 103A and the first inverter 107A, and Current sensors 113uA and 113wA for detecting the w-phase current IwA, respectively, and current sensors 113uB and 113wB for detecting the u-phase current IuB and the w-phase current IwB flowing between the generator 103B and the second inverter 107B, respectively, are provided. ing. Further, a resolver 117A for detecting the electrical angle θA of the rotor of the electric motor 103A and a resolver 117B for detecting the electrical angle θB of the rotor of the generator 103B are provided. Signals indicating values detected by the voltage sensors 109 and 111, the current sensors 113uA, 113wA, 113uB, and 113wB and the resolvers 117A and 117B are sent to the control device 100. Further, voltage command V2c and torque command values TA and TB for converter 105 are also input to control device 100 from the outside.

  The control device 100 controls the converter 105, the first inverter 107A, and the second inverter 107B. As shown in FIG. 1, the control device 100 includes a control unit 100C of the converter 105 (hereinafter referred to as “converter control unit”), a control unit 100IA of the first inverter 107A (hereinafter referred to as “inverter control unit 100IA”), The control unit 100IB of the second inverter 107B (hereinafter referred to as “inverter control unit 100IB”).

  The inverter control unit 100IA performs PWM control of switching of the transistors constituting the first inverter 107A. In addition, the second inverter control unit 100IB performs PWM control of switching of the transistors constituting the second inverter 107B. FIG. 2 is a block diagram illustrating an internal configuration of each inverter control unit provided in the control device 100 according to the first embodiment. As shown in FIG. 2, the inverter control unit 100IA includes an angular velocity calculation unit 171A, a current command calculation unit 173A, a three-phase-dq conversion unit 175A, a current FB control unit 177A, and a dq-3 phase conversion unit 179A. PWM control unit 181A. Similarly to the inverter control unit 100IA, the inverter control unit 100IB includes an angular velocity calculation unit 171B, a current command calculation unit 173B, a three-phase-dq conversion unit 175B, a current FB control unit 177B, and a dq-3 phase conversion. Part 179B and PWM control part 181B.

  The first inverter control unit 100IA includes the torque command value TA, the detected value of the electrical angle θA of the rotor of the electric motor 103A, the u-phase current IuA and the w-phase current IwA output from the first inverter 107A. The detection value and the detection value of the output voltage V2 of the converter 105 are input. The second inverter control unit 100IB includes the torque command value TB, the detected value of the electrical angle θB of the rotor of the generator 103B, the u-phase current IuB and the w-phase current IwB input to the second inverter 107B. Each detection value and the detection value of the output voltage V2 of the converter 105 are input.

  Reference numerals in parentheses in the following description are reference numerals assigned to the constituent elements of the inverter control unit 100IB corresponding to the respective constituent elements of the inverter control unit 100IA. The angular velocity calculation unit 171A (171B) differentiates the detected value of the electrical angle θA (θB) of the rotor of the electric motor 103A (generator 103B) with respect to time, thereby obtaining the electric angular velocity ωA of the rotor of the electric motor 103A (generator 103B). (ΩB) is calculated. The electrical angular velocity ωA (ωB) calculated by the angular velocity calculation unit 171A (171B) is input to the current command calculation unit 173A (173B). The current command calculation unit 173A (173B) includes the torque command value TA (TB) or the corrected torque command value TA ′ (TB ′), and the electrical angular velocity ωA (ωB) of the rotor of the motor 103A (generator 103B). Based on the command value Id_cA (Id_cB) of the current (hereinafter referred to as “d-axis current”) flowing through the d-axis armature (hereinafter referred to as “d-axis armature”) and the q-axis side armature (hereinafter referred to as “d-axis armature”) A command value Iq_cA (Iq_cB) of a current (hereinafter referred to as “q-axis current”) flowing through “q-axis armature”) is calculated.

  The three-phase-dq conversion unit 175A (175B) detects the detected values of the u-phase current IuA (IuB) and the w-phase current IwA (IwB) detected by the current sensors 113uA (113uB) and 113wA (113wB), and the motor 103A ( The three-phase-dq conversion is performed based on the detected value of the electrical angle θA (θB) of the rotor of the generator 103B) to detect the detected value Id_sA (Id_sB) of the d-axis current and the detected value Iq_sA (Iq_sB) of the q-axis current. ) Is calculated. The current FB control unit 177A (177B) includes a d-axis current command value Id_cA (Id_cB), a detected value Id_sA (Id_sB) deviation ΔIdA (ΔIdB), a q-axis current command value Iq_cA (Iq_cB), and a detected value Iq_sA (Iq_sB). ) Command value Vd_cA (Vd_cB) and terminal voltage of the q-axis armature (hereinafter “q”) so that the deviation ΔIqA (ΔIqB) of the A command value Vq_cA (Vq_cB) is determined.

  The dq-3 phase converter 179A (179B) includes a d-axis voltage command value Vd_cA (Vd_cB) and a q-axis voltage command value Vq_cA (Vq_cB) determined by the current FB controller 177A (177B), and the motor 103A ( Based on the detected value of the electrical angle θA (θB) of the rotor of the generator 103B), dq-3 phase conversion is performed, and each command of the three-phase voltages VuA (VuB), VvA (VvB), VwA (VwB) is performed. Deriving a value. The PWM control unit 181A (181B) uses the first command values of the three-phase voltages VuA (VuB), VvA (VvB), and VwA (VwB) derived by the dq-3 phase conversion unit 179A (179B) based on the first command values. PWM control is performed on the switching of the transistors constituting the inverter 107A (second inverter 107B).

  Converter control unit 100 </ b> C performs PWM control of switching of the transistors constituting converter 105. FIG. 3 is a block diagram illustrating an internal configuration of the converter control unit 100C provided in the control device 100 according to the first embodiment. As shown in FIG. 3, the converter control unit 100C includes an FF control unit 151, an FB control unit 153, a PWM control unit 155, a supplied power calculation unit 157A, a regenerative power calculation unit 157B, and an operation pause determination unit 159. And a correction torque selection unit 161 and correction torque calculation units 163A and 163B. The detected value of the output voltage V1 of the storage battery 101, the detected value of the output voltage V2 of the converter 105, and the voltage command V2c for the converter 105 are input to the converter control unit 100C.

  The FF controller 151 receives the voltage command V2c and the detected value of the output voltage V1 of the storage battery 101. The FF control unit 151 derives a duty (Duty_FF) for the converter 105 to boost the output voltage V1 to a value indicated by the voltage command V2c.

  The FB control unit 153 has a value indicating a deviation ΔV2 (= V2c−V2) between the voltage command V2c and the output voltage V2, a detected value of the output voltage V1 of the storage battery 101, and a duty (Duty_FF) derived by the FF control unit 151. Entered. The FB control unit 153 derives a value (Duty_FB) for correcting the duty (Duty_FF) derived by the FF control unit 151 based on the deviation ΔV2 and the output voltage V1 of the storage battery 101.

  The PWM control unit 155 performs PWM switching of the transistors constituting the converter 105 based on the duty (Duty_FF) obtained by correcting the duty (Duty_FF) derived by the FF control unit 151 with the duty (Duty_FB) derived by the FB control unit 153. Control. However, the PWM control unit 155 determines whether or not to perform PWM control in accordance with an instruction from an operation suspension determination unit 159 described later. When converter 105 is instructed to suspend normal operation, PWM control unit 155 turns off both transistors SwH and SwL constituting converter 105.

The supply power calculation unit 157A includes a d-axis voltage command value Vd_cA and a q-axis voltage command value Vq_cA determined by the current FB control unit 177A of the inverter control unit 100IA, and a d-axis calculated by the three-phase-dq conversion unit 175A. The detected current value Id_sA and the detected q-axis current value Iq_sA are input. Supply power calculation unit 157A calculates supply power P21A from equation (1) shown below. The supplied power P21A is a value that does not include the power consumed by the first inverter 107A. However, the supplied power calculation unit 157A may store the efficiency characteristics of the first inverter 107A as a map and correct the supplied power P21A using the power consumed by the first inverter 107A obtained from the map. .
P21A = Vd_cA × Id_sA + Vq_cA × Iq_sA (1)

Instead of the d-axis current detection value Id_sA and the q-axis current detection value Iq_sA, the d-axis current command value Id_cA and the q-axis current command value Iq_cA calculated by the current command calculation unit 173A of the inverter control unit 100IA are used. You may input into the supplied electric power calculating part 157A. In this case, the expression used when the supply power calculation unit 157A calculates the supply power P21A is the following expression (2).
P21A = Vd_cA × Id_cA + Vq_cA × Iq_cA (2)

The regenerative power calculation unit 157B includes the d-axis voltage command value Vd_cB and the q-axis voltage command value Vq_cB determined by the current FB control unit 177B of the inverter control unit 100IB, and the d-axis calculated by the three-phase-dq conversion unit 175B. The detected current value Id_sB and the detected q-axis current value Iq_sB are input. The regenerative power calculation unit 157B calculates regenerative power P21B from the following equation (3). The regenerative power P21B is a value that does not include the power consumed by the second inverter 107B. However, the regenerative power calculation unit 157B may store the efficiency characteristics of the second inverter 107B as a map and correct the regenerative power P21B using the power consumed by the second inverter 107B obtained from the map. .
P21B = Vd_cB × Id_sB + Vq_cB × Iq_sB (3)

Instead of the detected value Id_sB of the d-axis current and the detected value Iq_sB of the q-axis current, the command value Id_cB of the d-axis current and the command value Iq_cB of the q-axis current calculated by the current command calculating unit 173B of the inverter control unit 100IB are used. You may input into the regeneration electric power calculating part 157B. In this case, the formula used when the regenerative power calculation unit 157B calculates the regenerative power P21B is the following formula (4).
P21B = Vd_cB × Id_cB + Vq_cB × Iq_cB (4)

  The operation suspension determination unit 159 includes information indicating the total load power P21 which is the sum of the supply power P21A calculated by the supply power calculation unit 157A and the regenerative power P21B calculated by the regenerative power calculation unit 157B, a boost command V2c, a storage battery Information indicating the remaining capacity of 101 and a command from a controller (not shown) that comprehensively manages the system shown in FIG. 1 are input. Based on the input information, the operation stop determination unit 159 instructs the PWM control unit 155 to stop the normal operation (switching operation) of the converter 105 according to the flowchart of FIG. Judge whether to allow or not. Note that PWM control section 155 instructed to suspend normal operation of converter 105 turns off both transistors SwH and SwL of converter 105.

  The corrected torque selection unit 161 includes torque command values TA ′ and TB ′ corrected by the converter control unit 100C, the electrical angular speed ωA of the rotor of the motor 103A, the electrical angular speed ωB of the rotor of the generator 103B, and the converter 105 A voltage command V2c is input. When the operation suspension determination unit 159 permits torque correction, the correction torque selection unit 161 selects which of the torque command TA for the motor 103A and the torque command TB for the generator 103B is to be corrected according to the flowchart of FIG. .

  The correction torque selection unit 161 has a large loss generated in the electric motor 103A and / or the first inverter 107A corresponding to the electric angular velocity ω and the torque T of the electric motor 103A set for each voltage command V2c in a predetermined range. Loss indicating the magnitude (loss amount), and the loss indicating the magnitude (loss amount) of the loss generated in the generator 103B and / or the second inverter 107B corresponding to the electrical angular velocity ω and the torque T of the generator 103B. The torque command to be corrected is selected using the map. FIG. 4 shows an example of the loss map. As shown in the loss map in FIG. 4, the larger the electric speed ω, the larger the loss amount.

  The correction torque selection unit 161 includes a correction torque calculation unit according to the magnitude relationship between the loss amount LA in the electric motor 103A and / or the first inverter 107A and the loss amount LB in the generator 103B and / or the second inverter 107B. 163A and correction torque calculation unit 163B are each instructed to enable / disable torque correction.

  The correction torque calculation unit 163A receives a boost command V2c for the converter 105, a detected value of the output voltage V2 of the converter 105, an electrical angular velocity ωA of the rotor of the motor 103A, and a torque correction permission / prohibition instruction from the correction torque selection unit 161. Entered. Correction torque calculation unit 163A calculates torque correction command value TadjA for correcting torque command TA for inverter control unit 100IA so that the absolute value of deviation ΔV2 between voltage command V2c and output voltage V2 decreases.

  The correction torque calculation unit 163B has a boost command V2c for the converter 105, a detected value of the output voltage V2 of the converter 105, an electrical angular velocity ωB of the rotor of the generator 103B, and a torque correction permission / prohibition command from the correction torque selection unit 161. Is entered. Correction torque calculation unit 163B calculates torque correction command value TadjB for correcting torque command TB for inverter control unit 100IB so that the absolute value of deviation ΔV2 between voltage command V2c and output voltage V2 decreases.

  When torque commands TA and TB are corrected by torque correction command value Tadj calculated when output voltage V2 of converter 105 falls below boost command V2c, motor 103A or generator 103B supplies power to converter 105. When the torque commands TA and TB are corrected by the torque correction command values TadjA and TadjB calculated when the output voltage V2 of the converter 105 exceeds the boost command V2c, the motor 103A or the generator 103B It drives in the direction which takes out electric power from converter 105.

  FIG. 5 is a flowchart showing the operation of the operation pause determination unit 159. As shown in FIG. 5, the operation pause determination unit 159 determines whether or not the command from the controller is a drive request for the electric motor 103A (step S105), and if it is the drive request, the process proceeds to step S103 and must be a drive request. If so, the process proceeds to step S111. In step S103, the operation suspension determination unit 159 determines whether or not the remaining capacity of the storage battery 101 is equal to or greater than a predetermined value. If the remaining capacity is equal to or greater than the predetermined value, the process proceeds to step S105. .

  In step S105, the operation suspension determination unit 159 determines whether there is no change in the boost command V2c based on whether or not the amount of change in the boost command V2c per unit time is less than a predetermined value. The determination by the operation suspension determination unit 159 may be made based on whether or not the boost command V2c is the same as the previous value. The operation pause determination unit 159 determines that there is no change in the boost command V2c if the change amount is less than the predetermined value, and proceeds to step S107. If the change amount is equal to or greater than the predetermined value, the operation pause determination unit 159 determines that the boost command V2c has changed. Proceed to

  In step S107, the operation suspension determination unit 159 determines whether or not the total load power P21 is a value within a predetermined range across zero. In the determination in step S107, as shown in FIG. 6, the total load power P21 is obtained using four predetermined values (Th1, Th2, Th3, Th4; Th4 ≦ Th3 ≦ 0 ≦ Th2 ≦ Th1) having different values. Hysteresis may be provided in comparison with. When the total load power P21 is a value within the predetermined range, the operation suspension determination unit 159 determines that the load on the converter 105 is the minimal load state or the no load state, and proceeds to step S109. On the other hand, when the total load power P21 is a value outside the predetermined range, the converter 105 proceeds to the transformation operation step S111 in order to perform a normal operation.

  In step S109, the operation stop determination unit 159 instructs the PWM control unit 155 to stop the normal operation of the converter 105, and instructs the correction torque selection unit 161 to permit torque correction. On the other hand, in step S111, operation pause determination unit 159 instructs PWM control unit 155 to perform normal operation of converter 105, and instructs correction torque selection unit 161 to prohibit torque correction.

  FIG. 7 is a flowchart showing the operation of the correction torque selection unit 161. As illustrated in FIG. 7, the correction torque selection unit 161 determines whether torque correction permission is instructed from the operation suspension determination unit 159 (step S <b> 201). When torque correction permission is instructed, the process proceeds to step S205, and when torque correction prohibition is instructed, the process proceeds to step S203. In step S203, the correction torque selection unit 161 instructs both the correction torque calculation units 163A and 163B to prohibit the correction torque.

  In step S205, the correction torque selection unit 161 uses the loss map indicating the loss amount in the electric motor 103A and / or the first inverter 107A, the torque command value TA ′, the electric angular velocity ωA of the rotor of the electric motor 103A, and the like. The amount of loss LA corresponding to the voltage command V2c is derived. Next, in step S207, the correction torque selection unit 161 uses the loss map indicating the loss amount in the generator 103B and / or the second inverter 107B, and the torque command value TB ′ and the rotor of the generator 103B. The amount of loss LB corresponding to the electrical angular velocity ωB and the voltage command V2c is derived.

  In step S209, the loss amount LA and the loss amount LB are compared. If the loss amount LA is equal to or less than the loss amount LB, the process proceeds to step S211. If the loss amount LA is greater than the loss amount LB, the process proceeds to step S213. In step S211, the correction torque selection unit 161 instructs the correction torque calculation unit 163A to permit correction torque, and instructs the correction torque calculation unit 163B to prohibit torque correction. On the other hand, in step S213, the correction torque selection unit 161 instructs the correction torque calculation unit 163A to prohibit the correction torque, and instructs the correction torque calculation unit 163B to permit torque correction.

  FIG. 8 is a flowchart showing the operation of the correction torque calculation units 163A and 163B. As shown in FIG. 8, the correction torque calculation units 163A and 163B determine whether or not the instruction input from the operation pause determination unit 159 is torque correction permission (step S301), and when the instruction is torque correction permission, The process proceeds to step S302, and if torque correction is prohibited, the process proceeds to step S307. In step S302, the correction torque calculation units 163A and 163B calculate an output correction F / F term. The output correction F / F term is an inverse sign value of the total load power input to the operation suspension determination unit 159. That is, in this embodiment, output correction F / F term = −P21. Next, the correction torque calculation units 163A and 163B calculate the output correction F / B term so that the absolute value of the deviation ΔV2 between the voltage command V2c and the output voltage V2 decreases (step S303). Next, the correction torque calculation units 163A and 163B calculate the sum of the output correction F / F term and the output correction F / B term as the output correction command value Padj (step S304).

  As described above, when torque correction is permitted, the transistors SwH and SwL of the converter 105 are both turned off. At this time, the load (inverter 107 and motor 103A) for converter 105 and storage battery 101 are not electrically connected. Therefore, the equivalent circuit at this time in the configuration in which the control device 100 is removed from the system shown in FIG. 1 is represented by a parallel connection of the capacitor C and the load 201, as shown in FIG.

According to FIG. 9, the load power P at the load 201 is expressed by the following equation (5).

When Expression (3) is expressed using the Laplace operator s, Expression (6) shown below is obtained.

  As described above, the equation representing the load power P when the transistors SwH and SwL of the converter 105 are both turned off includes the capacitance of the capacitor C. Therefore, if the correction torque calculation units 163A and 163B calculate the output correction command value Padj that eliminates the influence of the capacitor C on the voltage V2, the absolute value of the deviation ΔV2 between the voltage command V2c and the output voltage V2 can be reduced. Therefore, the calculation formula of the output correction command value Padj includes the capacitance of the capacitor C.

From the above equation (6), the following equation (7) is established.

FIG. 10 shows a correction torque calculation unit 205A that calculates an output correction command value Padj so that the absolute value of the deviation between the square of the voltage command V2c and the square of the voltage V2 (hereinafter referred to as “square deviation”) decreases, and an output correction command value. It is a figure which shows the feedback control system comprised from the plant 203A which outputs the square value of the voltage V2 according to Padj. The transfer function H1 (s) of the plant 203A is expressed as follows based on the above equation (7).
H1 (s) = − 2 / sC

Further, the correction torque calculation unit 205A performs PI control (proportional-integral control) based on the transfer function F1 (s) shown below.
F1 (s) = − C (K1 + K2 / s)
K1 is a proportional gain, and K2 is an integral gain.
Therefore, the output correction command value Padj calculated by the correction torque calculation unit 205A that performs PI control based on the transfer function F1 (s) is expressed as follows.
Padj = -C (K1 + K2 / s) (V2c2-V22)

  As described above, the correction torque calculation unit 205A calculates the output correction command value Padj having a smaller value as the capacitance of the capacitor C is smaller than the square deviation. Therefore, the convergence response of the square deviation can be kept constant regardless of the capacitance of the capacitor C.

If V2≈V2c, equation (7) is
Therefore, the following formula (8) is established.

FIG. 11 shows a correction torque calculation unit 205B that calculates an output correction command value Padj so that the absolute value of the deviation between the voltage command V2c and the voltage V2 (hereinafter referred to as “first deviation”) decreases, and the output correction command value Padj. It is a figure which shows the feedback control system comprised from the plant 203B which outputs the voltage V2. The transfer function H2 (s) of the plant 203B is expressed as follows based on the above equation (8).
H2 (s) =-2 / sCV2c

Also at this time, the correction torque calculation unit 205B performs PI control (proportional-integral control) based on the transfer function F2 (s) shown below.
F2 (s) =-C (K1 + K2 / s)
Therefore, the output correction command value Padj calculated by the correction torque calculation unit 205B that performs PI control based on the transfer function F2 (s) is expressed as follows.
Padj = −C (K1 + K2 / s) (V2c−V2)

  As described above, the correction torque calculation unit 205B calculates the output correction command value Padj having a smaller value as the capacitance of the capacitor C is smaller than the square deviation. Therefore, the convergence response of the first deviation can be kept constant regardless of the capacitance of the capacitor C.

  The correction torque calculation units 205A and 205B are not limited to the PI control described above, and may perform P control (proportional control) or PID control (proportional-integral-derivative control). Further, the sign of the load power P and the sign of the output correction command value Padj are inverted until the deviation ΔV2 between the voltage command V2c and the output voltage V2 becomes 0, that is, until the output correction command value Padj = 0. .

Next, the correction torque calculation units 163A and 163B calculate a torque correction command value Tadj according to the following equation (9).
Tadj = Padj / (ω / Pp) (9)
Where ω is the electrical angular velocity of the rotor of the motor 103A or generator 103B, and Pp is the number of pole pairs of the motor 103 or generator 103B. Therefore, ω / Pp is the mechanical angular velocity of the rotor of the electric motor 103 or the generator 103B.

  On the other hand, in steps S307 and S309, the correction torque calculation units 163A and 163B calculate the output correction command value Padj = 0 and the torque correction command value Tadj = 0. When correcting the output and holding the output voltage V2 of the converter 105, it is not necessary to perform steps S307 and S309.

  As described above, according to the system of the present embodiment, the converter control unit is satisfied when the motor 103A and the generator 103B are in the minimal load state or the no-load state after satisfying the conditions such as no change in the boost command V2c. The torque commands TA and TB are corrected by the torque correction command values TadjA and TadjB calculated by the 100C correction torque calculation units 163A and 163B. With this corrected torque command, as shown in FIG. 12, the output voltage V2 of the converter 105 is maintained at the boost command V2c.

  As described above, if there is no load, the output voltage V2 does not change theoretically even if the operation of the converter 105 is stopped. Therefore, if output voltage V2 of converter 105 is maintained at the same value as boost command V2c by torque control performed by converter control unit 100C, it can be considered that motor 103A and generator 103B are in a no-load state. Therefore, the operation of converter 105 can be paused. As a result, loss in converter 105 can be reduced.

(Second Embodiment)
The system of the second embodiment is the same as the system of the first embodiment except for the control device. The control device 200 included in the system of the second embodiment includes a converter control unit 200C and inverter control units 200IA and 200IB, as in the first embodiment. As illustrated in FIG. 13, the inverter control units 200IA and 200IB are different from the inverter control units 100IA and 100IB of the first embodiment in that the d-axis voltage command value Vd_cA and the q-axis voltage are determined by the current FB control unit 177A. The command value Vq_cA, the d-axis current detection value Id_sA and the q-axis current detection value Iq_sA calculated by the three-phase-dq conversion unit 175A are not output to the converter control unit 200C.

  As shown in FIG. 14, unlike the converter control unit 100C of the first embodiment, the converter control unit 200C has a supply power calculation unit 257A instead of the supply power calculation unit 157A, and instead of the regenerative power calculation unit 157B. Has a regenerative power calculator 257B. The supplied power calculation unit 257A receives the corrected torque command TA ′ corrected by the converter control unit 200C and the electrical angular velocity ωA of the rotor of the electric motor 103A. Also, the regenerative power calculation unit 257B receives the corrected torque command TB ′ corrected by the converter control unit 200C and the electrical angular velocity ωB of the rotor of the generator 103B.

Supply power calculation unit 257A calculates supply power P22A from equation (10) shown below. This supply power P22A is also a value that does not include the power consumed by the first inverter 107A, as in the first embodiment. However, the supply power calculation unit 257A may store the efficiency characteristics of the first inverter 107A as a map, and correct the supply power P22A using the power consumed by the first inverter 107A obtained from the map. .
P22A = ωA × TA ′ / PpA (10)
(PpA: number of pole pairs of motor 103A)

The regenerative power calculation unit 257B calculates the regenerative power P22B from the following equation (11). This regenerative power P22B is also a value that does not include the power consumed by the second inverter 107B, as in the first embodiment. However, the regenerative power calculation unit 257B may store the efficiency characteristics of the second inverter 107B as a map and correct the regenerative power P22B using the power consumed by the second inverter 107B obtained from the map. .
P22B = ωB × TB ′ / PpB (11)
(PpB: number of pole pairs of generator 103B)

  The subsequent steps are the same as in the first embodiment, and information indicating the total load power P22, which is the sum of the supply power P22A calculated by the supply power calculation unit 257A and the regenerative power P22B calculated by the regenerative power calculation unit 257B, operates. This is input to the pause determination unit 159 and the correction torque calculation units 163A and 163B.

  As described above, this embodiment can achieve the same effects as those of the first embodiment.

(Third embodiment)
FIG. 15 is a diagram illustrating a system configuration for driving the electric motor according to the third embodiment. In the system shown in FIG. 15, a current sensor 115 is added to the system of the first embodiment shown in FIG. Current sensor 115 detects a load current I2 flowing through the load side of converter 105. The detected value of the load current I2 detected by the current sensor 115 is input to the control device 300.

  The control device 300 includes a converter control unit 300C and inverter control units 200IA and 200IB described in the second embodiment. The converter control unit 300C performs PWM control of switching of the transistors that constitute the converter 105, as in the second embodiment. FIG. 16 is a block diagram illustrating an internal configuration of a converter control unit 300C provided in the control device 300 according to the third embodiment. As illustrated in FIG. 16, the converter control unit 300C includes a load power calculation unit 357 instead of the supply power calculation units 157A and 257A and the regenerative power calculation units 157B and 257B, unlike the converter control unit of the above embodiment.

The load power calculation unit 357 receives the voltage command V2c for the converter 105 and the detected value of the load current I2. The load power calculation unit 357 calculates the total load power P23 from the following equation (12). The total load power P23 is converted from electric power consumed by the motor 103A, electric power generated by the generator 103B, electric power consumed by the first inverter 107A that converts direct current to alternating current, and alternating current to direct current. And the total power consumed by the second inverter 107B.
P23 = V2c × I2 (12)

Note that the detected value of the output voltage V2 of the converter 105 may be input to the load power calculation unit 357 instead of the voltage command V2c. In this case, the load power calculation unit 357 calculates the total load power P23 from the following equation (13).
P23 = V2 × I2 (13)

  The subsequent steps are the same as in the first embodiment, and information indicating the total load power P23 calculated by the load power calculation unit 357 is input to the operation suspension determination unit 159 and the correction torque calculation units 163A and 163B.

  As described above, in the present embodiment, the current sensor 115 that detects the load current I2 flowing on the load side of the converter 105 is necessary, but the same effects as those in the first embodiment can be achieved.

(Fourth embodiment)
FIG. 17 is a diagram illustrating a system configuration for driving the electric motor according to the fourth embodiment. In the system shown in FIG. 17, a current sensor 117 is added to the system of the first embodiment shown in FIG. The current sensor 117 detects the output current I1 of the storage battery 101. The detected value of the output current I1 detected by the current sensor 117 is input to the control device 400.

  The control device 400 includes a converter control unit 400C and inverter control units 200IA and 200IB described in the second embodiment. The converter control unit 400C performs PWM control of switching of the transistors constituting the converter 105, as in the second embodiment. FIG. 18 is a block diagram illustrating an internal configuration of a converter control unit 400C provided in the control device 400 of the fourth embodiment. As illustrated in FIG. 18, the converter control unit 400C includes a load power calculation unit 457 instead of the supply power calculation units 157A and 257A and the regenerative power calculation units 157B and 257B, unlike the converter control unit of the above embodiment.

The load power calculation unit 457 receives the output voltage V1 of the storage battery 101 and the detected value of the output current I1 detected by the current sensor 117. The load power calculation unit 457 calculates the total load power P24 from the following equation (14). The total load power P24 is a value that does not include the power consumed by the converter 105. However, the load power calculation unit 457 may store the efficiency characteristics of the converter 105 as a map, and correct the total load power P24 using the power consumed by the converter 105 obtained from the map.
P24 = V1 × I1 (14)

  The subsequent steps are the same as in the first embodiment, and information indicating the total load power P24 calculated by the load power calculation unit 457 is input to the operation suspension determination unit 159 and the correction torque calculation units 163A and 163B.

  As described above, in the present embodiment, the current sensor 117 that detects the output current I1 of the storage battery 101 is necessary, but the same effects as in the first embodiment can be achieved.

  Although the boost converter 105 has been described as an example in the first to fourth embodiments described above, the step-up / down converter 185 or the step-down converter illustrated in FIG. 19 may be used.

(Fifth embodiment)
The system of the above-described embodiment can be mounted on a HEV (Hybrid Electrical Vehicle) that travels by the driving force of an electric motor and / or an internal combustion engine. FIG. 20 is a block diagram showing the internal configuration of the HEV equipped with the system of one embodiment. As shown in FIG. 20, the electric motor 103 </ b> A is used as a driving power source for HEV, and the generator 103 </ b> B is operated by power from the internal combustion engine 501. A clutch 505 is provided between the generator 103B and the transmission gear 503. Further, the HEV is provided with an auxiliary device 507 that operates by electric power supplied from a storage battery (BATT) 101.

  FIG. 21 shows the HEV shown in FIG. 20 when the converter 105 is (a) normal operation and (b) normal in a state where transmission of power from the internal combustion engine 501 to the transmission gear 503 is interrupted by the clutch 505. It is a figure which shows transmission / reception of the electric power at the time of operation | movement stop. Each state shown in FIG. 21 can be when the output required for the vehicle is equal to or higher than the upper limit value that can be output by electric motor 103A based on the remaining capacity of storage battery 101.

  In the state shown in FIG. 21A, power is transferred between the load side for the converter 105 and the storage battery 101. For this reason, the total load powers P21, P22, P23, and P24 input to the operation suspension determination unit 159 of the converter control unit are values outside a predetermined range. Therefore, the operation pause determination unit 159 instructs the converter 105 to perform a normal operation and instructs the torque correction prohibition.

  On the other hand, in the state shown in FIG. 21B, all of the electric power generated by the generator 103B is consumed by driving the electric motor 103A, and no electric power is supplied from the storage battery 101 to the electric motor 103A, and the storage battery 101 does not need to be charged. In this state, power can be supplied to the auxiliary device 507. For this reason, the total load power P21, P22, P23, and P24 input to the operation suspension determination unit 159 of the converter control unit are values within a predetermined range. Therefore, operation pause determination unit 159 instructs converter 105 to pause normal operation and instructs torque correction permission. At this time, the correction torque selection unit 161 instructs the correction torque calculation unit 163A to prohibit torque correction, and instructs the correction torque calculation unit 163B to permit torque correction.

  FIG. 22 is a diagram illustrating power transmission and reception when converter 105 is (a) normal operation and (b) normal operation pause in the HEV shown in FIG. 20 with clutch 505 being connected. Each state shown in FIG. 22 can occur when the vehicle speed is equal to or higher than the threshold value and the output requested for the vehicle is equal to or lower than the threshold value.

  In the state shown in FIG. 22A, power is transferred between the load side for the converter 105 and the storage battery 101. For this reason, the total load powers P21, P22, P23, and P24 input to the operation suspension determination unit 159 of the converter control unit are values outside a predetermined range. Therefore, the operation pause determination unit 159 instructs the converter 105 to perform a normal operation and instructs the torque correction prohibition.

  On the other hand, in the state shown in FIG. 22B, neither the electric motor 103A nor the generator 103B is operating, and no electric power is supplied from the storage battery 101 to the electric motor 103A. In this state, power can be supplied to the machine 507. For this reason, the total load power P21, P22, P23, and P24 input to the operation suspension determination unit 159 of the converter control unit are values within a predetermined range. Therefore, operation pause determination unit 159 instructs converter 105 to pause normal operation and instructs torque correction permission.

  As described above, this embodiment can achieve the same effects as those of the first embodiment.

  In the above embodiment, the load of the converter 105 has been described by taking the set of the electric motor 103A and the first inverter 107A and the set of the generator 103B and the second inverter 107B as examples. However, the converter 105 is used for a seat heater or the like. Auxiliary equipment such as lamps, Peltier elements, air purifiers, etc., which are used for heat rays and meter backlights, may be used as loads.

  Moreover, although the said embodiment demonstrated the case where the load for the converter 105 was two, three or more may be sufficient. At this time, the correction torque selection unit 161 permits torque correction of a torque command corresponding to the smallest load among the loss amounts at each load.

101 Storage Battery 103A Electric Motor 103B Generator 105 Boost Converter 107A First Inverter 107B Second Inverter 100, 200, 300, 400 Controller 109, 111 Voltage Sensor 113uA, 113wA, 113uB, 113wB, 115, 117 Current Sensor 117A, 117B Resolver 100C, 200C, 300C, 400C Converter control unit 151 FF control unit 153 FB control unit 155 PWM control unit 157A, 257A Supply power calculation unit 157B, 257B Regenerative power calculation unit 357, 457 Load power calculation unit 159 Operation pause determination unit 161 Correction torque selection unit 163A, 163B Correction torque calculation unit 100IA, 200IA First inverter control unit 100IB, 200IB Second inverter control unit 171A, 171B Angular speed Calculation unit 173A, 173B Current command calculation unit 175A, 175B Three-phase-dq conversion unit 177A, 177B Current FB control unit 179A, 179B dq-3 phase conversion unit 181A, 181B PWM control unit 185 Buck-boost converter 501 Internal combustion engine 503 Transmission gear 505 Clutch 507 Auxiliary machine

Claims (11)

A control device for a load drive system including a converter that boosts or lowers a voltage to a command value when power is transferred between a DC power source and a plurality of loads,
A plurality of load drive control units for controlling the operation of each of the plurality of loads based on an external command;
A switching control unit for controlling the switching of the converter;
A load power deriving unit for deriving a total load power that is the sum of the load powers of the plurality of loads;
A switching operation control unit for instructing the switching control unit to pause the switching operation of the converter when the total load power is a value within a predetermined range crossing zero;
When the total load power is a value within the predetermined range, the absolute value of the deviation between the command value and the output voltage of the converter is performed on any of the plurality of load drive control units. A command correction unit for correcting the command;
A control device for a load drive system comprising: The load drive system control device according to claim 1,
The command correction unit corrects the command using both a feedback control term based on a function using the command value and the output voltage of the converter as a parameter, and a feedforward control term that cancels the total load power. A control device for a load driving system. A control device for a load drive system according to claim 1 or 2,
The control device for a load drive system, wherein the command is a torque command or an output command for each of the plurality of loads. It is the control apparatus of the load drive system as described in any one of Claims 1-3,
The converter includes two switching elements connected in series that are switched with opposite logic, two diodes connected in parallel to each switching element, and a reactor connected to a connection point of the two switching elements. Have
When the total load power is a value within the predetermined range, the switching operation control unit instructs the switching control unit to suspend the switching operation of the converter by turning off both of the two switching elements. A control device for a load driving system. A control device for a load drive system according to any one of claims 1 to 4,
When the change amount of the command value per unit time is less than a predetermined value,
The switching operation control unit instructs the switching control unit to pause the switching operation of the converter,
The command correction unit corrects the command issued to any one of the plurality of load drive control units so that an absolute value of a deviation between the command value and the output voltage of the converter is reduced. Control device for load drive system. A control device for a load drive system according to any one of claims 1 to 5,
The DC power source is a storage battery;
When the remaining capacity of the storage battery is a predetermined value or more,
The switching operation control unit instructs the switching control unit to pause the switching operation of the converter,
The command correction unit corrects the command issued to any one of the plurality of load drive control units so that an absolute value of a deviation between the command value and the output voltage of the converter is reduced. Control device for load drive system. A control device for a load drive system according to any one of claims 1 to 6,
A capacitor connected in parallel to the converter and the plurality of loads;
Each of the plurality of loads includes a first rotary inductive load and a first inverter that converts the output voltage of the converter into an AC voltage and applies the alternating voltage to the first rotary inductive load. Or a second rotary inductive load, and a second inverter set for converting the alternating voltage from the second rotary inductive load into a direct current voltage and applying it to the converter,
The correction amount of the command by the command correction unit is smaller as the rotation speed of the first rotary inductive load or the second rotary inductive load is higher and as the capacitance of the capacitor is smaller. A control device for a load drive system. A control device for a load drive system according to claim 7,
When the output voltage of the converter falls below the command value, the command correction unit causes the first rotary inductive load or the second rotary inductive load to supply power to the converter. And when the output voltage of the converter exceeds the command value, the first rotary inductive load or the second rotary inductive load is driven in a direction to bring out power from the converter. A control device for a load drive system, wherein the command is corrected. A control device for a load drive system according to any one of claims 1 to 8,
The control unit for a load drive system, wherein the command correction unit corrects the command issued to a load with the smallest loss based on each loss information in the plurality of loads. A control device for a load drive system according to claim 9,
Each of the plurality of loads includes a rotating inductive load;
In the loss information, the loss is set larger as the rotational speed of the rotary inductive load is higher. A vehicle including the control device for a load drive system according to any one of claims 1 to 10,
The plurality of loads include an electric motor as a drive source of the vehicle and a generator driven by an internal combustion engine,
When the vehicle is in a mode in which the electric vehicle is driven by driving only the electric power generated by the generator, the switching operation control unit included in the control device is configured to stop the switching operation of the converter. The command correction unit included in the control device corrects a command issued to a load drive control unit that controls the operation of the generator.