JP5182333B2 - Rotating machine control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To solve the problem of difficulty in drawing pedestrians' attention to the approach of a vehicle including a motor generator 10 as an onboard main machine. <P>SOLUTION: When the difference between predicted currents ide, iqe and command currents idr, iqr corresponding to respective voltage vectors Vi (i=0 to 7) is smaller, an evaluation function J of an operational state determination unit 34 gives a higher evaluation to the corresponding voltage vector. The voltage vector given the highest evaluation by the evaluation function J is defined as a next operational state. By reducing an updatable period of the operational state when the vehicle is traveling at a low speed, noise produced in the motor generator 10 and an inverter IV is shifted to a lower frequency side. <P>COPYRIGHT: (C)2012,JPO&amp;INPIT

Description

  The present invention is directed to a power conversion circuit including a plurality of voltage applying means for applying voltages having different values and a switching element for selectively opening and closing a terminal of a rotating machine as a vehicle-mounted main machine, and the power conversion Predicting means for predicting the control amount of the rotating machine based on the model of the rotating machine when the operation state of the circuit is set, and the power conversion based on the predicted control amount and a command value of the control amount Rotating machine control for determining an actual operating state of the circuit and controlling the control amount of the rotating machine by model predictive control, comprising operating means for operating the power conversion circuit so as to be in the determined operating state Relates to the device.

  In recent years, vehicles equipped with electric motors as in-vehicle main machines have been put into practical use and are becoming popular. When an electric motor is used as an in-vehicle main machine, noise generated from the electric motor itself or an inverter connected to the electric motor varies depending on the switching frequency of the inverter. Therefore, conventionally, as seen in Patent Document 1 below, for example, it has been proposed to suppress the noise by switching the frequency of the carrier when operating the inverter based on the magnitude comparison between the carrier and the command voltage. .

JP 2009-303288 A

  By the way, as described above, since the electric motor is easy to reduce noise by control as compared with the internal combustion engine, the vehicle equipped with the electric motor generally has a merit that the noise reduction is higher than the vehicle equipped with only the internal combustion engine. On the other hand, these benefits create new problems. That is, when starting from a stopped state or traveling at a low speed, there is a problem that it is difficult for a pedestrian to notice that the vehicle is approaching.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a control device for a rotating machine that is equipped with a rotating machine as an in-vehicle main machine and can call attention to the approach of the vehicle. There is to do.

  Hereinafter, means for solving the above-described problems and the operation and effect thereof will be described.

According to another aspect of the present invention, a power conversion circuit including a plurality of voltage applying units that apply voltages having different values and a switching element that selectively opens and closes a terminal of a rotating machine as an in-vehicle main unit is an operation target, and the power conversion Predicting means for predicting the control amount of the rotating machine based on the model of the rotating machine when the operation state of the circuit is set, and the power conversion based on the predicted control amount and a command value of the control amount Rotating machine control for determining an actual operating state of the circuit and controlling the control amount of the rotating machine by model predictive control, comprising operating means for operating the power conversion circuit so as to be in the determined operating state The apparatus includes a lowering unit that forcibly reduces the switching frequency of the switching state of the switching element on condition that the traveling speed of the vehicle is equal to or lower than a specified speed. And wherein the door.

  There is a tendency that the switching frequency of the switching state realized when sufficiently ensuring the controllability of the model predictive control is higher than a frequency that is easily perceived by humans. In this regard, in the above-described invention, the noise generated by the rotating machine and the power conversion circuit is given to a person in a situation in which the frictional noise between the wheels and the road surface is reduced by providing the lowering means when the traveling speed of the vehicle falls below the specified speed. It can be made to be easily perceived. For this reason, it is possible to call attention to the approach of the vehicle.

The invention according to claim 7 is the invention according to claim 5 or 6 , wherein the reduction means has a maximum value in a frequency region of 0.5 to 8 kHz with respect to a sound pressure generated due to an operation of the power conversion circuit. It is characterized in that it becomes larger than the value in the high frequency region adjacent to the region.

  Sound waves in the frequency range of “0.5 to 8 kHz” are particularly susceptible to human detection. In the said invention, it was set as the said setting in view of this point.

The invention according to claim 8 is the invention according to any one of claims 1 to 7 , wherein the lowering means performs an operation for lowering a switching frequency of a switching state of the switching element. It is characterized by comprising an extension operation means for performing an extension operation of the updatable period.

  The switching frequency of the switching state is proportional to the reciprocal of the updatable period. For this reason, it is possible to reduce the switching frequency of the switching state by extending the updatable frequency.

The invention according to claim 6 is a power conversion circuit including a plurality of voltage applying means for applying voltages having different values and a switching element for selectively opening and closing a terminal of a rotating machine as an in-vehicle main machine. , Based on the prediction means for predicting the control amount of the rotating machine based on the model of the rotating machine when the operation state of the power conversion circuit is set, on the basis of the predicted control amount and the command value of the control amount , Determining an actual operation state of the power conversion circuit, and operating means for operating the power conversion circuit to achieve the determined operation state, and controlling the control amount of the rotating machine by model predictive control In the control device for a rotating machine, a decrease that forcibly reduces the switching frequency of the switching state of the switching element on condition that the traveling speed of the vehicle is equal to or less than a specified speed. Stage and said operating means, said the predicted controlled variable and the condition that the deviation between the command value of the control amount is equal to or less than the threshold, and a maintaining means for maintaining the current switching state, said reducing means Comprises an increasing operation means for setting the threshold value increasing operation to decrease the switching frequency of the switching state of the switching element.

  When the maintenance means is provided, it is considered that the time required for the deviation to exceed the threshold is shortened as the threshold is smaller. For this reason, the switching frequency of the switching state can be lowered by increasing the threshold value.

The invention according to claim 9 is the invention according to any one of claims 1 to 8 , wherein the lowering means includes a changing means for changing a change amount of the operation amount for the forced reduction. It is characterized by.

  It is known that when only the sound pressure of a specific frequency increases, it is likely to cause discomfort for humans. In the above invention, in view of this point, the frequency at which the sound pressure reaches the maximum value can be changed by changing the change amount of the operation amount.

According to a tenth aspect of the present invention, in the invention according to any one of the fifth to seventh aspects, the command value of the control amount in the model predictive control includes a current flowing through the rotating machine, and the reduction means It is further characterized by further comprising an efficiency reduction means for changing the command value of the current so that the efficiency of the rotating machine is reduced during the reduction control.

  The magnitude of the sound pressure increases as the amplitude of the current ripple accompanying the switching of the switching state increases. In the above invention, in view of this point, by providing the efficiency reduction means, it is possible to increase the amplitude of the ripple of current without excessively increasing the torque of the rotating machine.

The invention described in claim 1 is directed to a power conversion circuit including a plurality of voltage applying means for applying voltages having different values and a switching element for selectively opening and closing a terminal of a rotating machine as an in-vehicle main machine. , Based on the prediction means for predicting the control amount of the rotating machine based on the model of the rotating machine when the operation state of the power conversion circuit is set, on the basis of the predicted control amount and the command value of the control amount , Determining an actual operation state of the power conversion circuit, and operating means for operating the power conversion circuit to achieve the determined operation state, and controlling the control amount of the rotating machine by model predictive control In the control device for a rotating machine, a decrease that forcibly reduces the switching frequency of the switching state of the switching element on condition that the traveling speed of the vehicle is equal to or less than a specified speed. And the lowering means has a maximum value in the frequency region of 0.5 to 8 kHz with respect to the sound pressure caused by the operation of the power conversion circuit larger than the value in the high frequency region adjacent to the region. The command value of the control amount in the model predictive control includes a current flowing through the rotating machine, and the command value of the current is set to the value of the rotating machine during the reduction control by the reducing unit. Efficiency reduction means for changing the efficiency so as to decrease, the efficiency reduction means according to at least one of the torque of the rotating machine, the weight of the vehicle, whether it is an uphill road, and the wind speed of the head wind It is characterized by variably setting the amount of decrease in efficiency.

  The smaller the torque of the rotating machine, the smaller the current flowing through the rotating machine, so the amplitude of the current ripple accompanying switching of the switching state is also reduced. In addition, since the required torque decreases as the vehicle weight decreases, the amplitude of current ripple associated with switching of the switching state also decreases. Further, the traveling state of the vehicle has a correlation with the torque of the rotating machine. In the above invention, in view of this point, the amount of decrease in efficiency is variably set while grasping the magnitude of the sound pressure due to the magnitude of the amplitude of the current ripple.

The invention described in claim 2 is directed to a power conversion circuit including a plurality of voltage applying means for applying voltages having different values and a switching element for selectively opening and closing a terminal of a rotating machine as an in-vehicle main machine. , Based on the prediction means for predicting the control amount of the rotating machine based on the model of the rotating machine when the operation state of the power conversion circuit is set, on the basis of the predicted control amount and the command value of the control amount , Determining an actual operation state of the power conversion circuit, and operating means for operating the power conversion circuit to achieve the determined operation state, and controlling the control amount of the rotating machine by model predictive control In the control device for a rotating machine, a decrease that forcibly reduces the switching frequency of the switching state of the switching element on condition that the traveling speed of the vehicle is equal to or less than a specified speed. And the lowering means has a maximum value in the frequency region of 0.5 to 8 kHz with respect to the sound pressure caused by the operation of the power conversion circuit larger than the value in the high frequency region adjacent to the region. The command value of the control amount in the model predictive control includes a current flowing through the rotating machine, and the command value of the current is set to the value of the rotating machine during the reduction control by the reducing unit. Efficiency reduction means for changing the efficiency so as to decrease , further comprising temperature detection means for detecting the temperature of at least one of the rotating machine and the power conversion circuit, wherein the efficiency reduction means is detected by the temperature detection means. The lowering of the efficiency is limited when the temperature is equal to or higher than a specified temperature.

  When the efficiency decreases, the amount of heat generated in the power conversion circuit and the rotating machine increases. In the said invention, in view of this point, the fall of efficiency is restrict | limited by temperature rising.

According to a third aspect of the present invention, a power conversion circuit including a plurality of voltage applying means for applying voltages having different values and a switching element for selectively opening and closing a terminal of a rotating machine as an in-vehicle main machine is set as an operation target. , Based on the prediction means for predicting the control amount of the rotating machine based on the model of the rotating machine when the operation state of the power conversion circuit is set, on the basis of the predicted control amount and the command value of the control amount , Determining an actual operation state of the power conversion circuit, and operating means for operating the power conversion circuit to achieve the determined operation state, and controlling the control amount of the rotating machine by model predictive control In the control device for a rotating machine, a decrease that forcibly reduces the switching frequency of the switching state of the switching element on condition that the traveling speed of the vehicle is equal to or less than a specified speed. And the lowering means has a maximum value in the frequency region of 0.5 to 8 kHz with respect to the sound pressure caused by the operation of the power conversion circuit larger than the value in the high frequency region adjacent to the region. The command value of the control amount in the model predictive control includes a current flowing through the rotating machine, and the command value of the current is set to the value of the rotating machine during the reduction control by the reducing unit. An efficiency reducing means for changing so as to reduce the efficiency, and the plurality of voltage applying means are configured to include a battery, and when the remaining capacity of the battery is small, a capacity securing means for limiting the decrease in efficiency. It is characterized by providing.

  The lower the efficiency, the greater the rate of decrease of the battery's remaining capacity. In view of this point, the above invention limits the decrease in efficiency when the remaining capacity is small.

According to a fourth aspect of the present invention, in the invention according to the second or third aspect , the model predictive control controls the torque of the rotating machine to a required torque. A variable torque setting unit that periodically changes a command value of torque as an input parameter for control and uses the average value as the required torque, and the variable torque setting unit is configured to limit a decrease in efficiency. Below, the process which changes the command value of the said torque periodically is performed.

  When the command value of torque is periodically changed and the average value is set as the required torque, the torque command value may be larger than the required torque, and the amplitude of the current ripple at that time is It becomes larger than the case where it is not changed. For this reason, it is possible to increase the sound pressure without reducing the efficiency.

  The invention according to claim 11 is the invention according to any one of claims 1 to 10, wherein the model predictive control controls the torque of the rotating machine to a required torque, and the reduction by the reduction means. In the control, it further includes a variable torque setting means that periodically changes a torque command value as an input parameter for the model predictive control and sets the average value as the required torque.

  When the command value of torque is periodically changed and the average value is set as the required torque, the torque command value may be larger than the required torque, and the amplitude of the current ripple at that time is It becomes larger than the case where it is not changed. For this reason, the sound pressure can be increased.

The invention according to claim 12 is the invention according to claim 11 , wherein the variable torque setting means is at least one of the torque of the rotating machine, the weight of the vehicle, whether it is an uphill road, and the wind speed of the head wind. The periodic change amount of the torque command value is variably set according to the above.

  The smaller the torque of the rotating machine, the smaller the current flowing through the rotating machine, so the amplitude of the current ripple accompanying switching of the switching state is also reduced. In addition, since the required torque decreases as the vehicle weight decreases, the amplitude of current ripple associated with switching of the switching state also decreases. Further, the traveling state of the vehicle has a correlation with the torque of the rotating machine. In view of this point, the invention described above variably sets the amount of periodic change in torque while grasping the magnitude of the sound pressure caused by the magnitude of the amplitude of the current ripple.

  The invention according to claim 13 is the invention according to any one of claims 1 to 12, further comprising sound pressure distribution detecting means for detecting a sound pressure distribution outside the vehicle, wherein the lowering means comprises The amount of decrease in the switching frequency of the switching state is variably set based on the detection result by the sound pressure distribution detection means.

  In the above-described invention, the amount of decrease is variably set based on the detection result, so that the frequency of the maximum value of the external sound pressure and the maximum value of the sound pressure generated by switching the switching state are different, or the external sound pressure It is possible to control the sound pressure generated by switching the switching state to be larger than that.

The invention according to claim 14 is the invention according to any one of claims 1 to 3 , further comprising sound pressure distribution detecting means for detecting a sound pressure distribution outside the vehicle, wherein the efficiency lowering means comprises: The reduction amount of the efficiency is variably set based on a detection result by the sound pressure distribution detection means.

  In the above invention, the amount of decrease in efficiency is variably set based on the detection result, so that the sound pressure generated by switching the switching state can be prevented from being canceled by the external sound pressure.

The invention according to claim 15 is the invention according to claim 4 or 5 , further comprising sound pressure distribution detection means for detecting a sound pressure distribution outside the vehicle, wherein the variable torque setting means is the sound pressure distribution detection. The periodic change amount of the torque command value is variably set based on the detection result by the means.

  In the above-described invention, the sound pressure generated by switching the switching state can be prevented from being canceled by the external sound pressure by variably setting the amount of periodic change in torque based on the detection result.

  The invention according to claim 16 is the invention according to any one of claims 1 to 15, wherein the power conversion circuit selectively connects a terminal of the rotating machine to each of a positive electrode and a negative electrode of a DC power supply. A switching element is provided.

1 is a system configuration diagram according to a first embodiment. FIG. The figure which shows the voltage vector expressing the operation state of an inverter. The figure which shows the normative switching transition concerning the said embodiment. The flowchart which shows the process sequence of the model prediction control concerning the embodiment. The flowchart which shows the procedure of the prediction process of the electric current in the said model prediction control. The flowchart which shows the procedure of the change examination process of the voltage vector in the said model prediction control. The figure which shows the measurement result of the relationship between the control period of model predictive control, and sound pressure distribution. The flowchart which shows the process sequence of the sound pressure control concerning the embodiment. The flowchart which shows the process sequence of the sound pressure control concerning 2nd Embodiment. The flowchart which shows the process sequence of the sound pressure control concerning 3rd Embodiment. The figure which shows the measurement result of the relationship between a torque and sound pressure distribution. The flowchart which shows the process sequence of the sound pressure control concerning 4th Embodiment. The flowchart which shows the process sequence of the sound pressure control concerning 5th Embodiment. The flowchart which shows the process sequence of the sound pressure control concerning 6th Embodiment. The flowchart which shows the process sequence of the sound pressure control concerning 7th Embodiment. The flowchart which shows the procedure of the restriction | limiting process of the efficiency fall process concerning 8th Embodiment. The flowchart which shows the process sequence of the sound pressure control concerning 9th Embodiment. The flowchart which shows the process sequence of the sound pressure control concerning 10th Embodiment.

<First Embodiment>
Hereinafter, a first embodiment in which a control device for a rotating machine according to the present invention is applied to a control device for a rotating machine as an in-vehicle main machine will be described with reference to the drawings.

  FIG. 1 shows the overall configuration of a motor generator control system according to this embodiment. The motor generator 10 is a three-phase permanent magnet synchronous motor. The motor generator 10 is a rotating machine (saliency pole machine) having saliency. Specifically, the motor generator 10 is an embedded magnet synchronous motor (IPMSM). The motor generator 10 is an in-vehicle main machine, and the rotating shaft thereof is mechanically coupled to the drive wheels.

  The motor generator 10 is connected to the high voltage battery 12 via the inverter IV. The inverter IV includes a series connection body of the switching elements Sup and Sun, a series connection body of the switching elements Svp and Svn, and a series connection body of the switching elements Swp and Swn. The motor generator 10 is connected to the U, V, and W phases, respectively. In the present embodiment, insulated gate bipolar transistors (IGBTs) are used as the switching elements Sup, Sun, Svp, Svn, Swp, and Swn. In addition, diodes Dup, Dun, Dvp, Dvn, Dwp, and Dwn are connected in antiparallel to these.

  In this embodiment, the following is provided as detection means for detecting the state of the motor generator 10 and the inverter IV. First, a rotation angle sensor 14 for detecting the rotation angle (electrical angle θ) of the motor generator 10 is provided. Further, a current sensor 16 that detects currents iu, iv, and iw flowing through the phases of the motor generator 10 is provided. Further, a voltage sensor 18 for detecting an input voltage (power supply voltage VDC) of the inverter IV is provided.

  The detection values of the various sensors are taken into the control device 20 constituting the low voltage system via an interface (not shown). The control device 20 generates and outputs an operation signal for operating the inverter IV based on the detection values of these various sensors. Here, the signals for operating the switching elements Sup, Sun, Svp, Svn, Swp, Swn of the inverter IV are the operation signals gup, gun, gvp, gvn, gwp, gwn.

Hereinafter, processes performed by the control device 20 will be described in the order of “1. Control amount control using model predictive control” and “2. Sound pressure control”.
"1. Control amount control using model predictive control"
The control device 20 operates the inverter IV to control the torque of the motor generator 10 to the required torque Tr. Specifically, the inverter IV is operated so that a command current for realizing the required torque Tr is obtained. That is, in this embodiment, the torque of the motor generator 10 becomes the final control amount, but in order to control the torque, the current flowing through the motor generator 10 is directly controlled as a command current. . In particular, in this embodiment, in order to control the current flowing through the motor generator 10 to the command current, the current flowing through the motor generator 10 when the operation state of the inverter IV is temporarily set is predicted, and the predicted current and the command current are calculated. Model predictive control is performed to determine the actual operation state of the inverter IV based on the difference.

  Specifically, the phase currents iu, iv, iw detected by the current sensor 16 are converted into actual currents id, iq in the rotating coordinate system by the dq converter 22. Further, the electrical angle θ detected by the rotation angle sensor 14 is input to the speed calculation unit 23, and thereby the rotation speed (electrical angular speed ω) is calculated. On the other hand, the command current setting unit 24 receives the required torque Tr and outputs command currents idr and iqr in the dq coordinate system. Here, the command currents idr and iqr that can generate the maximum torque with the minimum current are set. The command currents idr and iqr, the actual currents id and iq, and the electrical angle θ are input to the model prediction control unit 30. Based on these input parameters, the model prediction control unit 30 determines a voltage vector Vi that defines the operation state of the inverter IV and inputs the voltage vector Vi to the operation unit 26. The operation unit 26 generates the operation signal based on the input voltage vector Vi and outputs it to the inverter IV.

  Here, the voltage vectors expressing the operation state of the inverter IV are eight voltage vectors shown in FIG. For example, a voltage vector representing an operation state (indicated as “lower” in the drawing) in which the low-potential side switching elements Sun, Svn, Swn are turned on is the voltage vector V0, and the high-potential side switching elements Sup, A voltage vector representing an operation state (indicated as “upper” in the drawing) in which Svp and Swp are turned on is a voltage vector V7. These voltage vectors V0 and V7 are for short-circuiting all phases of the motor generator 10 and are called zero voltage vectors because the voltage applied to the motor generator 10 from the inverter IV becomes zero. On the other hand, the remaining six voltage vectors V1 to V6 are defined by an operation state in which switching elements that are turned on exist in both the upper arm and the lower arm, and are called effective voltage vectors. Yes. FIG. 2B is a diagram in which the effective voltage vectors V1 to V6 are converted into a fixed two-dimensional coordinate system with the zero voltage vectors V0 and V7 as the origin. As illustrated, each of the voltage vectors V1, V3, and V5 corresponds to the positive side of the U phase, the V phase, and the W phase, respectively.

  Next, details of the processing of the model prediction control unit 30 will be described. In the operation state setting unit 31 shown in FIG. 1, the operation state of the inverter IV is set. Here, voltage vectors V0 to V7 shown in FIG. 2 are set as the operation state of inverter IV. The dq conversion unit 32 calculates the voltage vector Vdq = (vd, vq) in the dq coordinate system by performing dq conversion on the voltage vector set by the operation state setting unit 31. In order to perform such conversion, the voltage vectors V0 to V7 in the operation state setting unit 31 are, for example, “upper” as “VDC / 2” and “lower” as “−VDC / 2” in FIG. It can be expressed as above. In this case, for example, the voltage vector V0 is (−VDC / 2, −VDC / 2, −VDC / 2), and the voltage vector V1 is (VDC / 2, −VDC / 2, −VDC / 2). .

In the prediction unit 33, the current id when the operation state of the inverter IV is set to the state set by the operation state setting unit 31 based on the voltage vector (vd, vq), the actual currents id, iq, and the electrical angular velocity ω. , Iq is predicted. Here, the voltage equation expressed by the following (c1) and (c2) is discretized from the following state equations (formulas (c3) and (c4)) obtained by solving the current differential term. Predict.
vd = (R + pLd) id−ωLqiq (c1)
vq = ωLdid (R + pLq) iq + ωφ (c2)
pid
= − (R / Ld) id + ω (Lq / Ld) iq + vd / Ld (c3)
piq
= −ω (Ld / Lq) id− (Rd / Lq) iq + vq / Lq−ωφ / Lq (c4)
Incidentally, in the above formulas (c1) and (c2), the resistance R, the differential operator p, the d-axis inductance Ld, the q-axis inductance Lq, and the armature flux linkage constant φ are used.

  On the other hand, the operation state determination unit 34 inputs the currents ide and iq predicted by the prediction unit 33 and the command currents idr and iqr, and determines the operation state of the inverter IV. In one of the determination processes, the evaluation function J is used. That is, each operation state set by the operation state setting unit 31 is evaluated by the evaluation function J, and the operation state having the highest evaluation is selected. As this evaluation function J, in the present embodiment, a function whose value increases as the evaluation becomes lower is adopted. Specifically, the evaluation function J is calculated based on the inner product value of the difference between the command current vector Idqr = (idr, iqr) and the predicted current vector Idqe = (ide, iqe). This is a technique for expressing that the evaluation is lower as the value is larger in view of the fact that the deviation of each component between the command current vector Idqr and the predicted current vector Idqe can be both positive and negative values. As a result, it is possible to construct an evaluation function J in which the evaluation becomes lower as the difference between the components of the command current vector Idqr and the predicted current vector Idqe is larger.

  When the evaluation function J is used, an operation state in which the difference between the predicted current vector Idqe and the command current vector Idqr can be selected in each control cycle Tc can be selected, while an optimal solution on a local time scale can be obtained. Due to the selection, the switching frequency of the switching state may be increased.

  Therefore, the present inventor considered that the average voltage vector Va is referred to when determining the operation state in the next control cycle Tc. Here, the average voltage vector Va is a fundamental wave component having an electrical angular frequency in the output voltage of the inverter IV. In other words, the inverter IV switches the switching state at a time interval shorter than one electrical angular cycle, so that the output voltage simulates a sinusoidal voltage having an electrical angular frequency component. The sinusoidal voltage simulated by the inverter IV is the average voltage vector Va. Incidentally, the norm of the average voltage vector Va is a physical quantity proportional to the modulation rate and the voltage utilization rate. Here, the modulation rate is a Fourier coefficient of the fundamental wave component for the output voltage of the inverter IV. In calculating the Fourier coefficient, the amplitude center of the fundamental wave and the median value of the fluctuation range of the output voltage of the inverter IV are matched.

  The average voltage vector Va is considered to be appropriate when the actual current flowing through the motor generator 10 is set to the command currents idr and iqr. For this reason, if the average voltage vector Va is referred to, based on the idea that the selection of the optimal operation state in the time scale longer than the control cycle Tc can be realized by the model predictive control without extending the prediction period. An average voltage vector Va is used. Specifically, in the present embodiment, switching of the switching state is performed using the average voltage vector Va as a reference for the switching pattern of the switching state of the triangular wave PWM control shown in FIG.

  FIG. 3 shows the transition of the operation state prioritized by the model predictive control in the present embodiment. As shown in the figure, at a point P1 where the current error deviates from the allowable range (the norm of the error vector edq is greater than the threshold value eth), one of a pair of effective voltage vectors having a small angle with the average voltage vector Va. (V3 in the figure) is selected. Thereafter, the other (V4 in the figure) of the pair of effective voltage vectors is selected at the point P2. A zero voltage vector (V7 in the figure) is selected at a point P3 where the current error deviates from the allowable range again (the norm of the error vector edq is greater than the threshold value eth). Thereby, like the triangular wave comparison PWM process, the period of the operation state expressed by the zero voltage vector can be lengthened, and the number of switching of the switching state can be reduced.

  FIG. 4 shows a processing procedure of model predictive control according to the present embodiment. This process is repeatedly executed by the control device 20 at the control cycle Tc.

  In this series of processing, first, in step S10, the voltage representing the current (current) operation state is used as the voltage vector V (n + 1) representing the operation state at the next update timing among the update timings visited every control cycle Tc. A vector V (n) is temporarily set. In the subsequent step S12, a process of predicting a predicted current vector Idqe (n + 2) ahead of one control cycle Tc when an operation state expressed by the voltage vector V (n + 1) is adopted at the next update timing is performed. .

  FIG. 5 shows details of this processing.

  In this series of processes, first, in step S12a, the electrical angle θ (n) and the actual currents id (n) and iq (n) are detected, and the voltage vector V (n determined in the previous control cycle Tc is detected. ) Is output. In the subsequent step S12b, the current (ide (n + 1), iqe (n + 1)) in one control cycle ahead is predicted. This is a process of predicting what will happen to the current one control cycle ahead based on the voltage vector V (n) output in step S12a. Here, the currents ide (n + 1) and iqe (n + 1) are calculated by using the model expressed by the above equations (c3) and (c4) discretized by the forward difference method with the control cycle Tc. . At this time, the actual currents id (n) and iq (n) detected in step S12a are used as initial values of the current, and the voltage vector V (n) on the fixed coordinate system is used as the voltage vector on the dq axis. Is subjected to dq conversion by “θ (n) + ωTc / 2”. Incidentally, this dq conversion is different from that by the forward difference method, but this is a setting for suppressing a discretization error by the forward difference method.

  In the subsequent step S12c, a process of predicting a current two control cycles ahead is performed when the voltage vector V (n + 1) at the next update timing is set. That is, the predicted currents ide (n + 2) and iqe (n + 2) are calculated in the same manner as in step S12b. However, here, the predicted currents ide (n + 1) and iqe (n + 1) calculated in step S12b are used as the initial value of the current, and the voltage vector V (on the fixed coordinate system is used as the voltage vector on the dq axis. n + 1) is subjected to dq conversion by “θ (n) + 3ωTc / 2”. When the process of step S12c is completed, the process returns to the process of FIG.

  In step S14 of FIG. 4, an error vector edq is calculated by subtracting the predicted current vector Idqe (n + 2) from the command current vector Idqr. In the subsequent step S16, an average voltage vector Va is calculated. Here, the average voltage vector Va is calculated by inputting the command current vector Idqr to the equations (c1) and (c2) from which the differential operator p is removed. That is, in consideration of the fact that the average current flowing through the motor generator 10 is the command currents idr and iqr except for the current ripple caused by the switching of the switching state, the command currents idr and iqr flow through the motor generator 10 steadily. An average voltage vector Va is calculated as a voltage applied thereto.

  In subsequent step S18, it is determined whether or not the current error is within an allowable range (whether or not norm | edq | of error vector edq is equal to or smaller than threshold value eth). Here, the threshold value eth is desirably variably set according to the state quantity of the motor generator 10 (current amplitude, electrical angular velocity ω, etc.). If it is determined that it is within the allowable range, it is determined in step S20 whether or not the magnitude relationship between the norm | Idqr | of the command current vector Idqr and the norm | Idqe | of the predicted current vector Idqe is reversed. This process is for determining the timing of the point P2 in FIG. If the state is reversed, the state transition permission flag F is set to “1”. However, the condition for setting the state transition permission flag F to “1” is that the current voltage vector V (n) is one of a pair of effective voltage vectors having a small angle with the average voltage vector Va. Add further conditions. That is, the state transition permission flag F is set to “1” when the logical product of the condition that the current voltage vector V (n) is one of the above and the condition that it is inverted is true. The

  If a negative determination is made in step S18 or an affirmative determination is made in step S20, the process proceeds to step S22, and a process for examining the change of the voltage vector V (n + 1) at the next update timing is performed. On the other hand, when the process of step S22 is completed, or when a negative determination is made in step S20, this series of processes is temporarily terminated.

  FIG. 6 shows details of the process in step S22.

  In this series of processing, first, in step S30, it is determined whether or not the state transition permission flag F is “1”. If it is determined that the state transition permission flag F is “1”, in step S32, the current voltage vector V (n) that is not the current voltage vector V (n) is selected from the pair of effective voltage vectors having a small angle with the average voltage vector Va. The operation state represented by (solid line in the figure) is assumed to be the highest priority and is considered.

  On the other hand, if a negative determination is made in step S30, it is determined in step S34 whether or not the current voltage vector V (n) is an effective voltage vector. This process is for giving priority to a specific effective voltage vector at the point P1 in FIG. That is, when a negative determination is made in step S34, in step S36, the number of switching phases of the switching state from the current voltage vector V (n) of the pair of effective voltage vectors having a small angle with the average voltage vector Va is determined. Considering that the priority of the operation state expressed by the person who becomes “1” or less is the highest priority, this is considered. For example, when the pair of effective voltage vectors is the effective voltage vectors V3 and V4 and the current voltage vector is the zero voltage vector V0, the number of switching phases to the effective voltage vector V3 is “1”, while the effective voltage vector Since the number of switching phases to V4 is “2”, the effective voltage vector V3 is considered.

  On the other hand, when an affirmative determination is made in step S34, in step S38, there is an effective voltage vector Vi whose angle with the average voltage vector Va is A (≦ 20 °) or less, and the current voltage vector V It is determined whether or not the logical sum of the voltage vector immediately before switching to (n) being an effective voltage vector is true. Here, the second condition is for giving priority to the zero voltage vector at the point P3 in FIG. The first condition is that the zero voltage vector in view of the fact that the effective voltage vector Vi hardly contributes to the generation of the average voltage vector Va when there is an effective voltage vector Vi having a small angle with the average voltage vector Va. Is to prioritize. When the logical sum is true, in step S40, the priority of the operation state expressed by the zero voltage vector in which the number of switching phases of the switching state from the current voltage vector V (n) is “1” or less is set. As the highest, this is considered. For example, when the current voltage vector V (n) is V4, the operation state expressed by the zero voltage vector V7 is considered, and when the current voltage vector V (n) is V3, the zero voltage vector The operation state expressed by V0 is considered.

  When the processes in steps S32, S36, and S40 are completed, the process proceeds to step S42. In step S42, a predicted current vector Idqe (n + 2) is calculated for a case where the operation state expressed by the voltage vector to be examined is set, and the norm | edq | of the error vector edq is a threshold value. It is determined whether it is equal to or less than eth. And when it is judged that it is below threshold value eth, the voltage vector made into examination object in Step S46 is adopted.

  On the other hand, when a negative determination is made in step S42 or step S38, among all those in which the number of switching phases in the switching state from the current voltage vector V (n) is “1” or less in step S44. The one having the highest evaluation by the evaluation function J is adopted. For example, when the current voltage vector V (n) is the effective voltage vector V3, the one having the highest evaluation by the evaluation function J among the effective voltage vectors V2, V3, V4 and the zero voltage vector V0 is adopted.

When the processes in steps S46 and S44 are completed, this series of processes is temporarily terminated.
“2. Sound pressure control”
In the present embodiment, it is considered that noise generated by the motor generator 10 and the inverter IV is particularly increased in a frequency band that is easily perceived by a vehicle when the vehicle is traveling at a low speed. This is because, during low-speed traveling, the frictional noise between the drive wheels and the road surface is small, so that the frictional noise or the like is not sufficient to make the vehicle aware of the proximity of the vehicle. Control of increasing the frequency band that is easily perceived by humans among the noise can be performed by operating the updatable period (control period Tc) of the operation state in the model predictive control.

  FIG. 7 shows the relationship between the sound pressure level (dB) and the frequency (Hz) when the control cycle Tc is long (solid line) and when the control period Tc is short (dashed line).

  As shown in the figure, the frequency at which the sound pressure reaches the maximum value decreases by increasing the control cycle Tc. Here, in both cases where the illustrated control cycle Tc is long and short, the sound pressure takes a maximum value at “0.5 to 8 kHz”. This frequency band is a frequency band that is particularly susceptible to human detection. For this reason, when the control cycle Tc is shorter than the example shown by the alternate long and short dash line in FIG. 1, it is possible to generate a sound that is easily perceived by a person by extending the control cycle Tc. Here, it is considered that the frequency at which the sound pressure is maximized by extending the control cycle Tc is decreased because the switching frequency of the switching state is decreased. In particular, when the control cycle Tc indicated by the solid line in the figure is long, the sound pressure takes a maximum value at “1 to 5 kHz” (maximum value at a typical audible frequency “1 to 12 kHz”). Also). Here, the frequency band of “1 to 5 kHz” is a frequency band that is particularly easily sensed by humans and is less likely to cause discomfort.

  In view of the above, in the present embodiment, the control cycle Tc is extended when the traveling speed of the vehicle is low. Here, the reason why the control cycle Tc is not always set so that the sound pressure takes a maximum value at “0.5 to 8 kHz” (preferably “1 to 5 kHz”) is in consideration of control accuracy and necessity. is there. That is, generally, the higher the vehicle traveling speed, the higher the rotational speed of the motor generator 10, and in this case, the discretization error of the model predictive control tends to increase. In addition, when the running speed is high, the friction generated between the drive wheels and the road surface is dominant as the sound generated by the vehicle even in a vehicle equipped with only the internal combustion engine as the main engine. There is little demand to use it for the purpose of sensing the approach of the vehicle. In particular, in this case, the sound generated in the prime mover or the like is not effective for informing the outside of the approach of the vehicle, but it is desirable to increase the quietness in view of the fact that it becomes noise for the passenger.

  FIG. 8 shows a processing procedure of sound pressure control according to the present embodiment. This process is repeatedly executed by the control device 20 at a predetermined cycle, for example.

  In this series of processes, first, in step S50, it is determined whether or not the vehicle traveling speed Vv is equal to or lower than a threshold speed Vth. Here, the threshold speed Vth is set to an upper limit value of a speed at which it is desired to use noise generated by the motor generator 10 and the inverter IV to sense the approach of the vehicle to the surroundings. This speed may be, for example, “20 to 30 km / h (desirably 20 km / h)”. If it is determined that the speed is equal to or less than the threshold speed Vth, a process of extending the control cycle Tc is performed in step S52. Here, the value after the change of the control cycle Tc may be obtained in advance by experiments or the like so that the sound pressure takes a maximum value at “0.5 to 8 kHz” (preferably “1 to 5 kHz”).

  When the process of step S52 is completed or when a negative determination is made in step S50, this series of processes is temporarily terminated.

  According to the embodiment described in detail above, the following effects can be obtained.

  (1) When the vehicle is traveling at a low speed, the updatable cycle (control cycle Tc) of the operation state of the inverter IV is extended. As a result, the switching frequency of the switching state can be lowered, and as a result, the maximum value of the sound pressure can be shifted to a frequency band that is easily perceived by humans.

(2) The maximum value in the frequency region of 0.5 to 8 kHz (preferably “1 to 5 kHz”) of the sound pressure is made larger than the value in the high frequency region adjacent thereto. As a result, it is possible to increase a sound having a frequency that is particularly easily perceived by a person.
<Second Embodiment>
Hereinafter, the second embodiment will be described with reference to the drawings with a focus on differences from the first embodiment.

  In the present embodiment, the process of increasing the threshold value eth is performed as a process of reducing the switching frequency of the switching state. That is, when the threshold value eth is increased, the time required until an affirmative determination is made in step S18 of FIG. 4 is extended, so that the switching frequency of the switching state can be reduced.

  FIG. 9 shows a processing procedure of sound pressure control according to the present embodiment. This process is repeatedly executed by the control device 20 at a predetermined cycle, for example. In FIG. 9, the same step numbers are assigned for convenience to the processes corresponding to the processes shown in FIG.

  In this series of processes, when an affirmative determination is made in step S50, an operation of increasing the threshold value eth is performed in step S52a. Here, the threshold value eth is set to a value that can shift the maximum value of the sound pressure to a frequency band that is easily perceived by a person by lowering the ripple frequency of the current accompanying switching of the switching state. This setting can be made based on experiments and the like in advance.

  According to the present embodiment described above, the following effects can be obtained in addition to the effect (2) in the first embodiment.

(3) The threshold value eth is increased when the vehicle is traveling at a low speed. As a result, the switching frequency of the switching state can be lowered, and as a result, the maximum value of the sound pressure can be shifted to a frequency band that is easily perceived by humans.
<Third Embodiment>
Hereinafter, the third embodiment will be described with reference to the drawings with a focus on differences from the first embodiment.

  FIG. 10 shows a sound pressure control processing procedure according to this embodiment. This process is repeatedly executed by the control device 20 at a predetermined cycle, for example. In FIG. 10, processes corresponding to the processes shown in FIG. 8 are given the same step numbers for convenience.

  In this series of processes, when an affirmative determination is made in step S50, in step S52c, a process of extending the control cycle Tc and periodically changing the expanded frequency is performed. Here, the expanded frequency is periodically changed because when the sound pressure of a specific frequency is always high, it tends to give a person discomfort, while when the maximum value of the sound pressure fluctuates, the human feeling According to the knowledge that is likely to become better.

  The periodic fluctuation process causes the maximum value of the sound pressure generated thereby to fluctuate within a frequency region of 0.5 to 8 kHz (preferably “1 to 5 kHz”). Specifically, this variation processing may be performed by using the expanded control cycle Tc as an M-sequence signal.

  According to the present embodiment described above, the following effects can be obtained in addition to the effects (1) and (2) in the first embodiment.

(4) When extending the control cycle Tc, the control cycle Tc was periodically changed. As a result, the frequency at which the sound pressure reaches a maximum value can be varied.
<Fourth Embodiment>
Hereinafter, the fourth embodiment will be described with reference to the drawings with a focus on differences from the first embodiment.

  In the present embodiment, when extending the control cycle Tc, a process of reducing the efficiency of the motor generator 10 (ratio of output power to input power of the motor generator 10) is performed under a predetermined condition. This is for increasing the sound pressure. FIG. 11 shows the distribution of sound pressure when the torque of the motor generator 10 is large (solid line) and when the torque is small (dashed line). As shown in the figure, when the torque of the motor generator 10 is small, the sound pressure is small as compared with the case where the torque is large. This is presumably because when the torque is small, the current flowing through the motor generator 10 is small, so that the amplitude of the ripple current accompanying switching of the switching state of the inverter IV is small. For this reason, even if the maximum value of the sound pressure falls within a frequency band that is easily perceivable by the extension operation of the control cycle Tc, the sound pressure may be insufficient due to a decrease in the absolute value. There is. In particular, when the road surface is flat during low-speed driving, the torque required for the motor generator 10 is likely to be small, so there is a serious possibility that the sound pressure will be insufficient.

  Therefore, in the present embodiment, the efficiency of the motor generator 10 is reduced under a situation where the sound pressure is assumed not to be sufficient. As a result, the current can be increased for the torque generated by the motor generator 10, so that the amplitude of the ripple current accompanying the switching of the switching state of the inverter IV can be increased, and the sound pressure can be increased. it can.

  FIG. 12 shows a processing procedure of sound pressure control according to the present embodiment. This process is repeatedly executed by the control device 20 at a predetermined cycle, for example. In FIG. 12, the same step numbers are assigned for convenience to the processes corresponding to the processes shown in FIG.

  In this series of processes, when the process of step S52 is completed, the efficiency of the motor generator 10 is calculated based on the required torque Tr in step S54. Here, the required torque Tr is a parameter for grasping the current flowing through the motor generator 10 for controlling the control amount (torque). In other words, it is a parameter for grasping the magnitude of the sound pressure generated when controlling the control amount. In the present embodiment, in view of the fact that the smaller the required torque Tr, the smaller the amount of current for controlling the control amount, the smaller the required torque Tr, the lower the efficiency (the lower amount from the efficiency during the minimum current / maximum torque control). ).

  In the subsequent step S56, processing for changing the command current is performed based on the calculated efficiency. Thereby, the amplitude of the ripple current accompanying the switching of the switching state of the inverter IV can be increased while controlling the torque generated in the motor generator 10 to the required torque Tr.

  When the process of step S56 is completed or when a negative determination is made in step S50, this series of processes is temporarily terminated.

  According to the present embodiment described above, the following effects can be obtained in addition to the effects (1) and (2) in the first embodiment.

(5) The efficiency of the motor generator 10 is reduced during the extension operation of the control cycle Tc. Thereby, the amplitude of the current ripple can be increased without reducing the controllability of the torque of the motor generator 10.
<Fifth Embodiment>
Hereinafter, the fifth embodiment will be described with reference to the drawings with a focus on differences from the fourth embodiment.

  FIG. 13 shows a processing procedure of sound pressure control according to the present embodiment. This process is repeatedly executed by the control device 20 at a predetermined cycle, for example. In FIG. 13, the same step numbers are assigned to the processes corresponding to the processes shown in FIG.

  In this series of processes, after the process of step S52, in step S54a, the efficiency of the motor generator 10 is increased based on the total weight Vmt of the vehicle and whether or not the road surface on which the vehicle is currently traveling is an uphill road. calculate. Here, the information regarding the total weight Vmt and the presence / absence of the uphill road is information for grasping the current flowing through the motor generator 10 in controlling the control amount of the motor generator 10. That is, as the total weight Vmt increases, the torque required for the motor generator 10 tends to increase, so that the current flowing through the motor generator 10 tends to increase. Further, on the uphill road, the torque required for the motor generator 10 increases, so that the current flowing through the motor generator 10 increases. For this reason, as the total vehicle weight Vmt is smaller, the amount of decrease in efficiency is increased, and the efficiency is increased on the uphill road.

The total weight Vmt may be calculated as the sum of the vehicle weight Vm and the weight of a crew member or the like. Here, the vehicle weight Vm may be stored in advance in the control device 20 as specification information. Further, the weight of a crew member or the like may be calculated by detecting the number of crew members based on the output of a sensor mounted on the seat, for example, and multiplying this by a predetermined weight. However, instead of this, a weight sensor may be provided to directly detect the weight of a crew member or the like.
<Sixth Embodiment>
Hereinafter, the sixth embodiment will be described with reference to the drawings with a focus on differences from the third embodiment.

  In the present embodiment, instead of reducing the efficiency of the motor generator 10, the average value is controlled to the required torque Tr while periodically changing the actual torque of the motor generator 10. In this case, the actual torque of the motor generator 10 exceeds the required torque Tr on the microscopic time scale, so that the current flowing through the motor generator 10 can be increased on the microscopic time scale. For this reason, the maximum value (maximum value) of the amplitude of the ripple current accompanying switching of the switching state of the inverter IV can be increased, and as a result, the sound pressure can be increased.

  FIG. 14 shows a processing procedure of sound pressure control according to the present embodiment. This process is repeatedly executed by the control device 20 at a predetermined cycle, for example. In FIG. 14, the same step numbers are assigned for convenience to the processes corresponding to the processes shown in FIG.

  In this series of processes, after the process of step S52, the amplitude value Ta of the torque of the motor generator 10 is calculated based on the required torque Tr in step S60. Here, the required torque Tr is a parameter for grasping the current flowing through the motor generator 10 for controlling the control amount (torque). In the present embodiment, the smaller the required torque Tr, the smaller the amount of current for controlling the control amount, and the larger the required torque Tr, the larger the amplitude value Ta.

  In the subsequent step S62, the actual torque of the motor generator 10 is controlled to vary with the amplitude value Ta. This can be performed by correcting the required torque Tr with the sine wave function of the amplitude value Ta in the input parameter (Tr1) of the command current setting unit 24. In the present embodiment, this sine wave function has a period of one electrical angle θ.

  When a negative determination is made in step S50 or when the process of step S62 is completed, this series of processes is temporarily terminated.

  According to the present embodiment described above, the following effects can be obtained in addition to the effects (1) and (2) in the first embodiment.

(6) During the extending operation of the control cycle Tc, the torque command value (Tr1) as an input parameter for the model predictive control is periodically changed, and the average value is set as the required torque Tr. As a result, the actual torque of the motor generator 10 can be made larger than the required torque Tr on a local time scale, and the amplitude of the current ripple at that time is larger than when the torque is not changed periodically. can do. For this reason, the maximum value of the sound pressure can be increased.
<Seventh Embodiment>
Hereinafter, the seventh embodiment will be described with reference to the drawings with a focus on differences from the sixth embodiment.

  FIG. 15 shows a processing procedure of sound pressure control according to the present embodiment. This process is repeatedly executed by the control device 20 at a predetermined cycle, for example. In FIG. 15, processes corresponding to the processes shown in FIG. 14 are given the same step numbers for convenience.

In this series of processing, in step S60a, the torque amplitude value Ta is calculated based on the total weight Vmt of the vehicle and information on whether or not the road surface on which the vehicle is currently traveling is an uphill road. The technical significance of the parameters for calculating the amplitude value Ta is the same as that shown in step S54a of FIG.
<Eighth Embodiment>
Hereinafter, the eighth embodiment will be described with reference to the drawings, centering on differences from the fourth embodiment.

  In the present embodiment, processing for limiting processing for reducing the efficiency of the motor generator 10 is performed under a predetermined condition.

  FIG. 16 shows the procedure of the restriction process of the efficiency reduction process of the motor generator 10. This process is repeatedly executed by the control device 20 at a predetermined cycle, for example.

  In this series of processes, first, in step S70, it is determined whether or not an extension operation for the control cycle Tc has been performed. If the extension operation has been performed, the temperature T of the main engine system is acquired in step S72. Here, the temperature T of the main engine system refers to the temperature of the switching element of the inverter IV and the temperature of the motor generator 10. In the subsequent step S74, the remaining capacity SOC of the high voltage battery 12 is acquired. In step S76, it is determined whether the logical sum of whether the temperature T is equal to or higher than the threshold temperature Tth and the remaining capacity SOC is equal to or lower than the threshold capacity Sth is true. This process is for determining whether or not the execution condition of the process for limiting the process of reducing the efficiency of the motor generator 10 is satisfied. Here, when the temperature T is high, the reliability of the main engine system may be reduced. Further, when the remaining capacity SOC is small, there is a possibility that the reliability of the high voltage battery 12 may be lowered, or the travelable distance may be excessively shortened. For this reason, in such a situation, the reduction in efficiency is limited.

  That is, when an affirmative determination is made in step S76, a further increase in temperature T is suppressed or a further decrease in remaining capacity SOC is suppressed in step S78 by limiting the decrease in efficiency. In the present embodiment, the ripple current is reduced by limiting the reduction in efficiency. In this embodiment, the torque is changed in the same manner as in the seventh embodiment.

  When a negative determination is made in steps S70 and S76, or when the process of step S78 is completed, this series of processes is temporarily terminated.

  According to the present embodiment described above, the following effects can be obtained in addition to the effects (1) and (2) in the first embodiment.

  (7) When the temperature T of the main engine system is high, the efficiency reduction process of the motor generator 10 is limited. Thereby, the further raise of the temperature T can be suppressed.

  (8) When the remaining capacity SOC of the high voltage battery 12 is small, the efficiency reduction process of the motor generator 10 is limited. Thereby, the further fall of residual capacity | capacitance SOC can be suppressed.

(9) In a situation where the efficiency reduction process is limited, the average value of the motor generator 10 is controlled to the required torque Tr while periodically changing the actual torque of the motor generator 10. Thereby, the restriction of the sound pressure due to the restriction of the efficiency reduction process of the motor generator 10 can be relaxed.
<Ninth Embodiment>
Hereinafter, the ninth embodiment will be described with reference to the drawings with a focus on differences from the fourth embodiment.

  In this embodiment, feedback control is performed on sound outside the vehicle.

  FIG. 17 shows a processing procedure of sound pressure control according to the present embodiment. This process is repeatedly executed by the control device 20 at a predetermined cycle, for example. In FIG. 17, processes corresponding to the processes shown in the previous 12 are given the same step numbers for convenience.

  In this series of processes, when an affirmative determination is made in step S50, an external sound pressure distribution is detected in step S80. This can be done by providing a microphone protruding outside the vehicle. When the process of step S80 is completed, the control cycle Tc is extended based on the detection result of the external sound pressure distribution. That is, from the sound pressure distribution outside the vehicle, the motor generator 10 and the inverter IV are located where the sound pressure is not high in a frequency band (“0.5 to 8 kHz”, preferably “1 to 5 kHz”) that is easily perceived by humans. The control cycle Tc is set so that the maximum value of the sound pressure is obtained.

  In the subsequent step S54a, the efficiency of the motor generator 10 is calculated based on the detection result of the sound pressure distribution and the required torque Tr. Here, the technical significance of the required torque Tr is the same as in step S54 of FIG. The reason why the efficiency is calculated based on the detection result of the sound pressure distribution in the present embodiment is to grasp the efficiency with which it is possible to ensure a sound pressure that is not canceled by an external sound. When the process of step S54a is completed, a process of changing the command current based on the efficiency is performed in step S56.

  When a negative determination is made in step S50 or when the process of step S56 is completed, the series of processes is temporarily terminated.

  According to the present embodiment described above, the following effects can be obtained in addition to the effects (1), (2) and the like in the first embodiment.

  (10) The control cycle Tc is variably set based on the detection result of the sound pressure distribution. Thereby, the frequency of the maximum value of the external sound pressure and the maximum value of the sound pressure generated by switching the switching state can be made different.

(11) The efficiency is variably set based on the detection result of the sound pressure distribution. Thereby, the sound pressure generated by switching the switching state can be prevented from being canceled by the external sound pressure.
<Tenth Embodiment>
Hereinafter, the tenth embodiment will be described with reference to the drawings with a focus on differences from the previous ninth embodiment.

  FIG. 18 shows a processing procedure of sound pressure control according to the present embodiment. This process is repeatedly executed by the control device 20 at a predetermined cycle, for example. In FIG. 18, the same step numbers are assigned for convenience to the processes corresponding to the processes shown in FIG.

  In this series of processing, after the processing in step S52d, in step S60a, the torque amplitude value Ta is calculated based on the detection result of the sound pressure distribution and the required torque Tr. Here, the technical significance of the required torque Tr is the same as in step S60 of FIG. The reason why the amplitude value Ta is calculated based on the detection result of the sound pressure distribution in the present embodiment is to grasp the amplitude value Ta that can secure a sound pressure that is not canceled by an external sound. When the process of step S60a is completed, a process of changing the torque based on the amplitude value Ta is performed in step S62.

  When a negative determination is made in step S50 or when the process of step S62 is completed, this series of processes is temporarily terminated.

  According to the present embodiment described above, in addition to the effect (10) in the previous ninth embodiment, the following effect can be obtained.

(12) Based on the detection result of the sound pressure distribution, the torque amplitude value Ta is variably set. Thereby, the sound pressure generated by switching the switching state can be prevented from being canceled by the external sound pressure.
<Other embodiments>
Each of the above embodiments may be modified as follows.
"Variation means"
The means for changing the control period Tc is not limited to means for periodically changing the control period Tc. For example, it may be changed non-periodically using a means in which a larger number of control cycle Tc values than the number changed in a single reduction process period are stored.
About efficiency reduction means
The method for reducing the efficiency is not limited to the method for reducing the efficiency while maintaining the torque at the required torque Tr. For example, a means for reducing the efficiency by shifting the phases of the command currents idr and iqr may be used.

  When variably setting the amount of decrease in efficiency, a q-axis current may be used instead of the required torque Tr. This is because when the q-axis current is small, the ripple of current becomes small, and as a result, the sound pressure is considered to decrease.

Instead of variably setting the efficiency based on both the running state of the vehicle and the total vehicle weight, the efficiency may be variably set based on any one of these. Further, instead of the total vehicle weight, the efficiency may be variably set based on the number of crew members or the weight of the vehicle ignoring the crew members. Furthermore, the traveling state of the vehicle is not limited to whether it is an uphill road, and for example, the wind speed of a headwind may be taken into account.
“About processing when limiting efficiency reduction”
The process at the time of limiting the efficiency reduction is not limited to the process of changing the torque. For example, in the case where the control cycle Tc is extended in the low speed region, a process of increasing the threshold value eth may be performed when the efficiency reduction is limited. Thereby, since the switching frequency is further lowered, the ripple of the current is increased, and as a result, the sound pressure can be increased. Similarly, when performing the process of increasing the threshold value eth in the low speed region, the process of extending the control cycle Tc may be performed when the reduction in efficiency is limited.
“Variable torque setting method”
When variably setting the torque amplitude value Ta, a q-axis current may be used instead of the required torque Tr. This is because when the q-axis current is small, the ripple of current becomes small, and as a result, the sound pressure is considered to decrease.

Instead of variably setting the torque amplitude value Ta based on both the vehicle running state and the total vehicle weight, the torque amplitude value Ta may be variably set based on one of these. Further, instead of the total vehicle weight, the efficiency may be variably set based on the number of crew members or the weight of the vehicle ignoring the crew members. Furthermore, the traveling state of the vehicle is not limited to whether it is an uphill road, and for example, the wind speed of a headwind may be taken into account.
“Forcibly lowering the switching frequency of the switching state”
In each of the above embodiments, the forced reduction process is performed when the traveling speed of the vehicle is equal to or lower than the specified speed, but the present invention is not limited to this. For example, in a vehicle equipped with an internal combustion engine, if the logical product of the condition that the traveling speed of the vehicle is below a specified speed and the condition that the internal combustion engine is stopped is true, A reduction process may be performed.
"About the means of lowering"
The reduction processing is not limited to the one that is assumed to be that the sound pressure in the region of “0.5 to 8 kHz” is larger than the sound pressure in the high frequency region adjacent thereto, and that performs open loop control. For example, a means for detecting sound from the motor generator 10 or the inverter IV may be provided to perform sound pressure feedback control.

Further, the control of the sound pressure is not limited to the control in which the sound pressure in the “0.5 to 8 kHz” region is larger than the sound pressure in the high frequency region adjacent thereto.
"About maintenance means"
The maintenance means is not limited to the one that performs the process shown in FIG. For example, when the norm | edq | of the error vector edq is less than or equal to the threshold value eth, the current switching state is maintained, and when the threshold value eth is exceeded, evaluation is performed from all the operation states (voltage vectors V0 to V7). Processing that selects the function J having the highest evaluation may be used.
About evaluation functions
The evaluation function is not limited to the sum of the squares of the respective components of the difference between the controlled variable as the input parameter and its command value. For example, it may be an absolute value of a difference between the control amount and its command value. The point is that it quantifies that the evaluation is lower as the difference between the control amount as the input parameter and its command value is larger.
About prediction means
In each of the above embodiments, the control amount due to the operation of the inverter IV at the next update timing (the timing one control cycle ahead) of the operation state of the inverter IV is predicted, but the present invention is not limited to this. For example, the operation state at the update timing one control cycle ahead may be determined by sequentially predicting the control amount by the operation of the inverter IV at the update timing several control cycles ahead.

  In each of the above embodiments, the current detection timing is synchronized with the update timing of the operation state of the inverter IV, but the present invention is not limited to this. For example, the current may be detected at a central timing between each pair of update timings adjacent in time series. Even in this case, it is effective to predict the current at the next update timing based on the detected current as the initial value of the current prediction associated with the setting of the operation state at the next update timing.

  In each of the above embodiments, the control amount one control cycle ahead is predicted from the update timing of the operation state of the inverter IV, but the present invention is not limited to this. For example, the control amount at an intermediate time point in the period from when the operation state is updated until one control cycle elapses may be predicted.

  The model used for predicting the current is not limited to a model that ignores iron loss, and may be a model that takes this into consideration.

The current prediction is not limited to using a model, but may use storage means (map) in which output parameter values corresponding to discrete values for input parameters are stored.
"Power conversion circuit"
The power conversion circuit including a switching element that selectively opens and closes between a plurality of voltage applying units that apply voltages having different values and each terminal of the rotating machine is not limited to the inverter IV. For example, three or more voltage applying means for applying different values of voltage and a switching element for selectively opening and closing each terminal of the rotating machine may be provided. An example of a power conversion circuit for applying three or more voltages having different values to each terminal of a rotating machine is exemplified in Japanese Patent Application Laid-Open No. 2006-174697.
"Other"
The rotating machine is not limited to an embedded magnet synchronous machine, and may be an arbitrary synchronous machine such as a surface magnet synchronous machine or a field winding type synchronous machine. Furthermore, it is not limited to a synchronous machine, but may be an induction rotating machine such as an induction motor.

  The energy source of the rotating machine is not limited to the secondary battery, but may be a fuel cell, for example.

  The DC power source is not limited to the high voltage battery 12 and may be, for example, an output terminal of a converter that boosts the voltage of the high voltage battery 12.

  DESCRIPTION OF SYMBOLS 10 ... Motor generator, 20 ... Control apparatus, IV ... Inverter, Swp, Swn ... Switching element.

Claims (16)

A power conversion circuit including a plurality of voltage applying means for applying voltages having different values and a switching element that selectively opens and closes a terminal of a rotating machine as a vehicle-mounted main machine, and an operation state of the power conversion circuit Predicting means for predicting the control amount of the rotating machine based on the model of the rotating machine, and the actual value of the power conversion circuit based on the predicted control amount and the command value of the control amount. In a control device for a rotating machine that determines an operation state and includes an operation unit that operates the power conversion circuit so as to be in the determined operation state, and controls a control amount of the rotating machine by model predictive control,
Provided with a lowering means for forcibly reducing the switching frequency of the switching state of the switching element on condition that the traveling speed of the vehicle is equal to or less than a specified speed,
The lowering means causes a maximum value in a frequency region of 0.5 to 8 kHz with respect to a sound pressure generated due to an operation of the power conversion circuit to be larger than a value in a high frequency region adjacent to the region. Is,
The command value of the control amount in the model predictive control includes a current flowing through the rotating machine,
At the time of reduction control by the reduction means, the efficiency reduction means for changing the command value of the current so that the efficiency of the rotating machine is reduced,
The efficiency reduction means variably sets the reduction amount of the efficiency according to at least one of the torque of the rotating machine, the weight of the vehicle, whether it is an uphill road, and the wind speed of the head wind. Machine control device. A power conversion circuit including a plurality of voltage applying means for applying voltages having different values and a switching element that selectively opens and closes a terminal of a rotating machine as a vehicle-mounted main machine, and an operation state of the power conversion circuit Predicting means for predicting the control amount of the rotating machine based on the model of the rotating machine, and the actual value of the power conversion circuit based on the predicted control amount and the command value of the control amount. In a control device for a rotating machine that determines an operation state and includes an operation unit that operates the power conversion circuit so as to be in the determined operation state, and controls a control amount of the rotating machine by model predictive control,
Provided with a lowering means for forcibly reducing the switching frequency of the switching state of the switching element on condition that the traveling speed of the vehicle is equal to or less than a specified speed,
The lowering means causes a maximum value in a frequency region of 0.5 to 8 kHz with respect to a sound pressure generated due to an operation of the power conversion circuit to be larger than a value in a high frequency region adjacent to the region. Is,
The command value of the control amount in the model predictive control includes a current flowing through the rotating machine,
At the time of reduction control by the reduction means, the efficiency reduction means for changing the command value of the current so that the efficiency of the rotating machine is reduced,
Temperature detecting means for detecting the temperature of at least one of the rotating machine and the power conversion circuit;
The efficiency reduction means limits the reduction in efficiency when the temperature detected by the temperature detection means is equal to or higher than a specified temperature. A power conversion circuit including a plurality of voltage applying means for applying voltages having different values and a switching element that selectively opens and closes a terminal of a rotating machine as a vehicle-mounted main machine, and an operation state of the power conversion circuit Predicting means for predicting the control amount of the rotating machine based on the model of the rotating machine, and the actual value of the power conversion circuit based on the predicted control amount and the command value of the control amount. In a control device for a rotating machine that determines an operation state and includes an operation unit that operates the power conversion circuit so as to be in the determined operation state, and controls a control amount of the rotating machine by model predictive control,
Provided with a lowering means for forcibly reducing the switching frequency of the switching state of the switching element on condition that the traveling speed of the vehicle is equal to or less than a specified speed,
The lowering means causes a maximum value in a frequency region of 0.5 to 8 kHz with respect to a sound pressure generated due to an operation of the power conversion circuit to be larger than a value in a high frequency region adjacent to the region. Is,
The command value of the control amount in the model predictive control includes a current flowing through the rotating machine,
At the time of reduction control by the reduction means, the efficiency reduction means for changing the command value of the current so that the efficiency of the rotating machine is reduced,
The plurality of voltage applying means includes a battery,
A control device for a rotating machine, comprising: capacity securing means for restricting the decrease in efficiency when the remaining capacity of the battery is small. The model predictive control is to control the torque of the rotating machine to a required torque,
Fluctuation torque setting means that periodically changes a torque command value as an input parameter for the model predictive control and uses the average value as the required torque during the reduction control by the reduction means,
4. The control device for a rotating machine according to claim 2, wherein the variable torque setting unit performs a process of periodically changing a command value of the torque under a situation where the decrease in the efficiency is limited. 5. A power conversion circuit including a plurality of voltage applying means for applying voltages having different values and a switching element that selectively opens and closes a terminal of a rotating machine as a vehicle-mounted main machine, and an operation state of the power conversion circuit Predicting means for predicting the control amount of the rotating machine based on the model of the rotating machine, and the actual value of the power conversion circuit based on the predicted control amount and the command value of the control amount. In a control device for a rotating machine that determines an operation state and includes an operation unit that operates the power conversion circuit so as to be in the determined operation state, and controls a control amount of the rotating machine by model predictive control,
Provided with a lowering means for forcibly reducing the switching frequency of the switching state of the switching element on condition that the traveling speed of the vehicle is equal to or less than a specified speed,
The model predictive control is to control the torque of the rotating machine to a required torque,
Fluctuation torque setting means that periodically changes the torque command value as an input parameter for the model predictive control and uses the average value as the required torque during the reduction control by the reduction means,
The variable torque setting means variably sets a periodic change amount of the command value of the torque according to at least one of the torque of the rotating machine, the weight of the vehicle, whether it is an uphill road, or the wind speed of the head wind. A control device for a rotating machine. A power conversion circuit including a plurality of voltage applying means for applying voltages having different values and a switching element that selectively opens and closes a terminal of a rotating machine as a vehicle-mounted main machine, and an operation state of the power conversion circuit Predicting means for predicting the control amount of the rotating machine based on the model of the rotating machine, and the actual value of the power conversion circuit based on the predicted control amount and the command value of the control amount. In a control device for a rotating machine that determines an operation state and includes an operation unit that operates the power conversion circuit so as to be in the determined operation state, and controls a control amount of the rotating machine by model predictive control,
A lowering means for forcibly reducing the switching frequency of the switching state of the switching element, on condition that the traveling speed of the vehicle is equal to or lower than a specified speed;
The operating means includes a maintaining means for maintaining a current switching state on condition that a deviation between the predicted control amount and a command value of the control amount is equal to or less than a threshold value.
The control device for a rotating machine, wherein the lowering means includes an increasing operation means for setting an operation for decreasing the switching frequency of the switching state of the switching element to increase the threshold. The lowering means causes a maximum value in a frequency region of 0.5 to 8 kHz with respect to a sound pressure generated due to an operation of the power conversion circuit to be larger than a value in a high frequency region adjacent to the region. 7. The control device for a rotating machine according to claim 5 , wherein the control device is a rotating machine. The reduction unit according to claim 7, characterized in that it comprises an extension operation means an operation for reduction control the switching frequency of the switching state of the switching element, the extension operation of the updatable period of the operation state The control apparatus of the rotary machine of any one of these . The control device for a rotating machine according to any one of claims 1 to 8, wherein the lowering means includes a changing means for changing a change amount of the operation amount for the forced reduction. The command value of the control amount in the model predictive control includes a current flowing through the rotating machine,
8. The apparatus according to claim 5, further comprising an efficiency reduction unit that changes the command value of the current so that the efficiency of the rotating machine is reduced during the reduction control by the reduction unit. The control apparatus of the described rotating machine. The model predictive control is to control the torque of the rotating machine to a required torque,
The variable torque setting means is further provided, wherein, during the reduction control by the reduction means, a torque command value as an input parameter for the model predictive control is periodically changed and the average value thereof is set as the required torque. Item 11. The control device for a rotating machine according to any one of Items 1 to 10. The variable torque setting means variably sets a periodic change amount of the command value of the torque according to at least one of the torque of the rotating machine, the weight of the vehicle, whether it is an uphill road, or the wind speed of the head wind. The control device for a rotating machine according to claim 11, wherein: A sound pressure distribution detecting means for detecting a sound pressure distribution outside the vehicle;
The rotating machine according to any one of claims 1 to 12, wherein the lowering unit variably sets a lowering amount of the switching frequency of the switching state based on a detection result by the sound pressure distribution detecting unit. Control device. A sound pressure distribution detecting means for detecting a sound pressure distribution outside the vehicle;
The control device for a rotating machine according to any one of claims 1 to 3 , wherein the efficiency lowering unit variably sets the amount of decrease in the efficiency based on a detection result by the sound pressure distribution detecting unit. . A sound pressure distribution detecting means for detecting a sound pressure distribution outside the vehicle;
6. The rotating machine control according to claim 4, wherein the variable torque setting means variably sets a periodic change amount of the command value of the torque based on a detection result by the sound pressure distribution detection means. apparatus.   The said power converter circuit is provided with the switching element which selectively connects the terminal of the said rotary machine to each of the positive electrode and negative electrode of DC power supply, The any one of Claims 1-15 characterized by the above-mentioned. Rotating machine control device.

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