JP5385728B2 - Control method and control apparatus - Google Patents

Description

  The present invention relates to an electric motor control method and the like.

  Currently, electric vehicles such as trains and electric vehicles are equipped with power storage devices such as batteries, secondary batteries, and capacitors in addition to power devices such as fuel cells and diesel engines, as power sources for driving electric motors. Vehicle development is progressing (see, for example, Patent Document 1).

JP 2008-187794 A

  By the way, when the maximum power that can be supplied to the power supply device and the power storage device, which are the power sources for travel, is different, the power supply device and the power storage device are both operating, or each is operating independently. Depending on the operating state of the power source, the maximum power that can be supplied to the motor is different, which may cause overload operation. That is, in order to prevent the overload operation, it is necessary to appropriately control the electric motor in accordance with the operation state of the traveling power source.

  Therefore, for example, in an inverter device that controls an electric motor, in order to grasp the operating state of the traveling power supply, there is a configuration in which means for monitoring the operating state of each traveling power supply, a signal line for transmitting the monitoring result, and the like are provided. Conceivable. However, with this configuration, it is necessary to add a large number of components, and the existing system must be changed in accordance with this addition. turn into. The present invention has been made in view of the above circumstances, and realizes appropriate motor control according to the operating state of the power supply for traveling with a simple configuration in which no new components are added or the minimum is necessary. It is an object.

The first form for solving the above problem is
A control method for controlling the motor by changing and controlling the torque current and the excitation current based on the operation command signal, converting the DC power supplied to the DC power supply line,
The DC power line is supplied with DC power from a plurality of power supply devices having different voltage ranges and maximum output powers during single operation,
A detection step of detecting a power supply voltage of the DC power supply line;
An adjustment step of adjusting the torque current and the excitation current according to whether the detected power supply voltage is included in a voltage range of any of the power supply devices;
Is a control method including

As another form,
A control device (for example, the control device 70 in FIG. 1) that controls the motor by changing and controlling the torque current and the excitation current based on the operation command signal, converting the DC power supplied to the DC power supply line,
The DC power line is supplied with DC power from a plurality of power supply devices having different voltage ranges and maximum output powers during single operation,
Detecting means for detecting a power supply voltage of the DC power supply line;
Adjusting means for adjusting the torque current and the excitation current according to whether or not the detected power supply voltage is included in the voltage range of the power supply device (for example, the adjustment command generator 82 in FIG. 3); ,
You may comprise the control apparatus provided with.

  According to the first embodiment, the motor is controlled by changing the DC current supplied to the DC power line by changing and controlling the torque current and the excitation current based on the operation command signal. Is supplied with DC power from a plurality of power supply devices having different voltage ranges and maximum output powers during single operation, and the detected power supply voltage of the DC power supply line depends on which power supply voltage range, Torque current and excitation current are adjusted. That is, since a plurality of power supply devices have different voltage ranges during single operation, a power supply device that is operating can be estimated from the detected power supply voltage of the DC power supply line. For this reason, it is possible to appropriately adjust the torque current command and the excitation current command according to the power supply device that is determined to be operating, thereby enabling overload operation of the power supply device that is the power source for travel and the power storage device. Prevention can be realized with a simple configuration that does not require new components or minimizes them.

A control method according to the first form as a second form,
The plurality of power supply devices include a first power supply device having a chargeable / dischargeable power storage device (for example, the power storage device 60 in FIG. 1), and a voltage range and maximum output power during single operation of the first power supply device. A lower second power supply (eg, fuel cell 50 of FIG. 1),
The adjusting step reduces the torque current and the excitation current when the detected power supply voltage is within the voltage range of the second power supply device, compared with the voltage range of the first power supply device. Including steps,
A control method may be configured.

  According to the second embodiment, the plurality of power supply devices include the first power supply device and the second power supply device, but the second power supply device is more independent than the first power supply device. Low operating voltage range and maximum output power. For this reason, when the detected power supply voltage is within the voltage range of the second power supply device, the torque current and the excitation current are reduced compared to when the voltage is within the voltage range of the first power supply device. Power consumption can be reduced and overload operation of the second power supply device can be prevented.

As a third form, the control method of the second form,
The adjusting step controls the torque current so as to inhibit the regenerative operation of the electric motor when the detected power supply voltage is lower than a voltage range of the first power supply device when the operation command signal is a brake command. Including regeneration suppression step,
A control method may be configured.

  According to the third embodiment, when the operation command signal is a brake command, the torque current is controlled so as to suppress the regenerative operation of the electric motor when the detected power supply voltage is lower than the voltage range of the first power supply device. . When the power supply voltage is lower than the operating voltage range of the first power supply device, it is estimated that the power storage device included in the first power supply device is not operating, so the regenerative brake cannot be operated, It is necessary to suppress the regenerative operation.

As a fourth form, the control method of the second or third form,
In the adjustment step, when the operation command signal is a brake command and the detected power supply voltage is within the voltage range of the first power supply device, the induced voltage of the electric motor is a predetermined voltage from the detected power supply voltage. Including the step of controlling the excitation current so as to obtain a high regenerative voltage,
A control method may be configured.

  According to the fourth embodiment, when the driving command signal is a brake command and the detected power supply voltage is within the voltage range of the first power supply device, the induced voltage of the motor is a predetermined voltage from the detected power supply voltage. The excitation current is controlled so that the voltage for regeneration is high. When the power supply voltage is within the voltage range of the first power supply device, that is, when it is estimated that the first power supply device having the power storage device is operating, the regenerative brake can be operated. Thus, at the time of regenerative braking, the regenerative electric power generated by the electric motor can be charged (collected) by the power storage device by setting the induced voltage of the electric motor to a regenerative voltage higher than the power supply voltage.

As a fifth form, the control method of the fourth form,
The first power supply device includes the power storage device, and a first power conversion device that adjustably converts a voltage between a terminal voltage of the power storage device and a power supply voltage of the DC power supply line and charges and discharges the power storage device. (For example, power conversion device 62 for power storage device in FIG. 1)
A conversion adjustment step of adjusting voltage conversion of the first power converter according to the power supply voltage when the operation command signal is a brake command;
A control method may be configured.

  According to the fifth embodiment, the first power supply device converts the voltage between the power storage device and the terminal voltage of the power storage device and the power supply voltage of the DC power supply line so as to be adjustable, and causes the power storage device to charge / discharge. When the operation command signal is a brake command, the voltage conversion of the first power conversion device is adjusted according to the power supply voltage. Thereby, at the time of regenerative braking, the power supply voltage of a direct-current power supply line can be raised, and regenerative electric power can be charged (collected) with a power storage device.

As a sixth aspect, the control method according to any one of the second to fourth aspects,
The second power supply device controls the output of the fuel cell as a constant current source based on a given current command with a fuel cell (for example, the fuel cell 50 of FIG. 1), and supplies DC power to the DC power supply line. A second power conversion device to supply (for example, the fuel cell power conversion device 52 of FIG. 1),
A current for adjusting the current command so that an output current corresponding to the power supply voltage is obtained when the detected power supply voltage is within the voltage range of the first power supply device or the voltage range of the second power supply device. Including command adjustment step,
A control method may be configured.

  According to the sixth aspect, the second power conversion device includes a fuel cell and a second power conversion for supplying DC power to the DC power line by controlling the output of the fuel cell as a constant current source based on the current command. And when the detected power supply voltage is within the voltage range of the first power supply device or the voltage range of the second power supply device, the current command is set so that the output current corresponds to the power supply voltage. Is adjusted.

The main circuit block diagram of an electric vehicle. FIG. 5 is a correspondence diagram between a power supply voltage and a power supply state and an upper limit of an output voltage. The function block diagram of a control apparatus. Pattern of adjustment coefficient for torque current command value during power running. Adjustment coefficient pattern for the excitation current command value during power running. Adjustment coefficient pattern for torque current command value during regeneration. Adjustment coefficient pattern for the excitation current command value during power running. Voltage adjustment command pattern for the power storage device during power running. Current command pattern for the power supply.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following, the case where the present invention is applied to a train which is a kind of electric vehicle will be described. However, embodiments to which the present invention can be applied are not limited thereto.

[Constitution]
FIG. 1 is a diagram showing an outline of a main circuit configuration of an electric vehicle according to the present embodiment. As shown in FIG. 1, the main circuit of the electric vehicle 1 includes an electric motor 10, an inverter 20, an auxiliary power supply device 30, a DC power supply line 40, a fuel cell 50, and a power conversion device 52 for the fuel cell 50. A power storage device 60, a power conversion device 62 for the power storage device 60, and a control device 70.

The electric motor 10 is a main electric motor (main motor) that controls the rotation of the axle when electric power is supplied from the inverter 20, and is realized by, for example, a three-phase induction motor. The inverter 20 uses a three-phase alternating current as a direct current power input from the direct current power supply line 40 as an output power based on the voltage commands Vu ^* , Vv ^* and Vw ^* of the U, V and W phases input from the control device 70. It is converted into electric power and supplied to the electric motor 10.

  The auxiliary power supply 30 is a device for supplying power to auxiliary equipment (auxiliary equipment) such as an air conditioner and a lighting device, and direct current power from the DC power supply line 40 is supplied to these auxiliary equipment as it is or AC power. Convert to supply.

  The DC power line 40 is supplied with DC power from the fuel cell 50, stored power of the power storage device 60, DC power of an overhead line via a pantograph, and the like. Further, during regenerative operation, regenerative power generated by the motor 10 is supplied. Is supplied via the inverter 20. In other words, the electric vehicle 1 has three types of power supply devices (DC power supplies): a fuel cell 50, a power storage device 60, and power feeding from an overhead wire.

  The power storage device 60 is realized by, for example, a battery, a capacitor, a flywheel, or the like, and charging / discharging is controlled by the power conversion device 62 for power storage device. The power storage device power conversion device 62 is, for example, a chopper device. The power storage device 60 boosts the stored power of the power storage device 60 and outputs (discharges) the power to the DC power supply line 40, or decreases the voltage of the DC power supply line 40 to store the power storage device 60. To charge. At this time, power storage device 62 for power storage device controls the output voltage or the charging voltage in accordance with a voltage command from control device 70.

  The fuel cell 50 is, for example, a solid polymer type. When the fuel cell power conversion device 52 is functioning normally, the output power of the fuel cell 50 is output to the fuel cell power conversion device 52 when the switch unit 54 is switched. Supplied. On the other hand, when the fuel cell power converter 52 is not functioning normally, the circuit configuration is such that the output power of the fuel cell 50 can be directly applied to the DC power line 40 by switching the switch unit 54. The fuel cell power conversion device 52 is, for example, a chopper device, and boosts the output power of the fuel cell 50 and supplies it to the DC power supply line 40. At this time, the fuel cell power conversion device 52 performs constant current control according to the power command signal from the power storage device power conversion device 62, but switches to constant voltage control when the power command signal is not input.

  In the present embodiment, the power supply devices (the fuel cell 50, the power storage device 60, and the power supply from the overhead line) are designed to have different output voltage ranges and maximum output powers when operated independently. In the present embodiment, the inverter 20 having a wide input voltage range that allows input of all the different output voltage ranges of the respective power supply devices is used.

Moreover, the electric vehicle 1 can run in the next power supply state which is a combination of operating power supply devices among these power supply devices.
(1) Only the fuel cell 50.
(2) The fuel cell 50 and the fuel cell power converter 52.
(3) Power storage device 60 and power conversion device 62 for power storage device.
(4) Combined use of the power storage device 60 and the power conversion device 62 for the power storage device with the fuel cell 50 and the power conversion device 52 for the fuel cell. (2) and (3) above.
(5) Power supply from overhead line.

  Since the output voltage range and the maximum output power are different for each power supply device, the voltage of the DC power supply line 40 (power supply voltage) and load power (power consumption in the electric motor 10 and the auxiliary power supply device 30) depend on the power supply state. The upper limit is different. FIG. 2 shows the correspondence between each of these power supply states (1) to (5), the power supply voltage, and the load power upper limit.

  The control device 70 is realized by a computer including a CPU, a ROM, a RAM, and the like. For example, the control device 70 may be configured integrally with another control device as a control board, or may be configured as an integrated inverter device including the inverter 20. . In the present embodiment, as shown in FIG. 3, the control device 70 includes a power supply state estimation unit 72, an electric motor control unit 80, a power storage device command generation unit 74, and a current command value generation unit 76. Yes.

  Based on the power supply voltage, the power supply state estimation unit 72 estimates the power supply state (operating power supply device) from the correspondence relationship between the power supply state and the power supply voltage shown in FIG. The power supply voltage is measured by a voltage sensor (not shown), for example, as a voltage across a contactor installed between the DC power line and the inverter 20 or a voltage across a filter capacitor provided between the input terminals of the inverter 20. Is done.

The current command value generation unit 76 generates a torque current command Iq ^* and an excitation current command Id ^* that are current command values for controlling the electric motor 10 based on the input notch command and speed information.

The motor control unit 80 controls the motor 10 by outputting voltage commands Vu ^* , Vv ^* , Vw ^* of three-phase AC power supplied to the motor 10 to the inverter 20. Further, at the time of regeneration, when the input voltage to the inverter 20 (that is, the power supply voltage of the DC power supply line 40) rises, regeneration narrowing control (light load regeneration control) that narrows down the regenerative power generated by the electric motor 10 is performed. In addition, the motor control unit 80 includes an adjustment command generation unit 82 and a vector control calculation unit 88.

The adjustment command generator 82 generates an adjustment command k for current commands (torque current command Iq ^* and excitation current command Id ^* ) for controlling the electric motor 10 based on the power supply voltage. Specifically, with reference to an adjustment command pattern according to the operating state (powering / regeneration / coasting etc.) of electric vehicle 1, current command adjustment coefficient k (torque current command value Iq ^*) according to the current power supply voltage And an adjustment coefficient kd) for the excitation current command value Id ^* are generated. In addition, the driving | running state of the electric vehicle 1 is judged by the notch command and speed information which are input from a cab.

As the adjustment factor k of the current command I ^* during power running, the adjustment factor kq for the torque current command Iq ^* is shown in FIG. 4, and the adjustment factor kd for the excitation current command Id ^* is shown in FIG. Further, as the adjustment coefficient k of the current command I ^* during regeneration, the adjustment coefficient kq for the torque current command Iq ^* is shown in FIG. 6, and the adjustment coefficient kd for the excitation current command Id ^* is shown in FIG. Moreover, at the time of coasting, both are set to a constant value “1.0”. In addition, in each of FIGS.

FIG. 4 is a diagram showing a pattern of the adjustment coefficient kq with respect to the torque current command value Iq ^* during power running. In FIG. 4, the horizontal axis represents the power supply voltage, and the vertical axis represents the adjustment coefficient kp. FIG. 5 is a diagram showing a pattern of the adjustment coefficient kd with respect to the excitation current command value Id ^* during power running. In FIG. 5, the horizontal axis represents the power supply voltage, and the vertical axis represents the adjustment coefficient kd.

  As shown in FIG. 4, the adjustment coefficient kq for the torque current command during power running is such that the load power (power consumption in the electric motor 10 and the auxiliary device) is equal to or less than the maximum output power of each operating power supply device. It has been established. In addition, the adjustment coefficient kq is constant near the operation reference voltage of the power storage device 60 (near 1500 V in FIG. 4) and near the operation reference voltage of the fuel cell 50 (near 1350 V in FIG. 4). Further, when the lower limit voltage (1000 V in FIG. 4) resulting from the stable operation of the auxiliary power supply device 30 or the upper limit voltage (1830 V in FIG. 4) due to the dielectric strength of various devices is approached, the adjustment coefficient kp is brought close to zero. In this way, the power consumption by the electric motor 10 is determined to be narrowed down.

  The pattern of the adjustment coefficient kd for the excitation current command has a shape that approximates the pattern of the adjustment coefficient kq for the torque current command.

  FIG. 6 is a diagram illustrating a pattern of the adjustment coefficient kq with respect to the torque current command value during regeneration. In FIG. 6, the horizontal axis is the power supply voltage, and the vertical axis is the adjustment coefficient kq. FIG. 7 is a diagram showing a pattern of the adjustment coefficient kd with respect to the excitation current command value at the time of regeneration. In FIG. 7, the horizontal axis represents the power supply voltage, and the vertical axis represents the adjustment coefficient kd.

As shown in FIG. 6, during regeneration, when the power supply voltage is lower than the operating voltage range of power storage device 60, that is, when power storage device 60 is not operating, the regenerative operation is performed with adjustment coefficient kq of torque current command Iq ^* being zero. Invalid. Further, in the operating voltage range of power storage device 60 (in the vicinity of 1500 V in FIG. 6), adjustment coefficient kq of torque current command Iq ^* is set larger than “1.0” and adjustment coefficient kd of excitation current command Id ^*. Is set to be larger than “1.0” to increase the output voltage of the electric motor 10, thereby increasing the regenerative power generated by the electric motor 10.

Returning to FIG. 3, the vector control calculation unit 88 performs vector control of the electric motor 10. That is, using the input current command values (torque current command value Iq ^* and excitation current command value Id ^* ), voltage commands Vu ^* , Vv ^* , Vw ^* for three-phase AC power supplied to the motor 10 are calculated. Output to the inverter 20.

  The power storage device command generation unit 74 generates a voltage adjustment command α for the power storage device 60 and outputs the voltage adjustment command α to the power storage device power conversion device 62. Specifically, the voltage adjustment command α is set to a constant value “1.0” during power running and coasting. Further, during regeneration, a voltage adjustment command α corresponding to the power supply voltage is generated according to a predetermined voltage adjustment command pattern.

  FIG. 8 shows a voltage adjustment command pattern for power storage device 60 during regeneration. In FIG. 8, the horizontal axis represents the power supply voltage, and the vertical axis represents the voltage adjustment command α. According to FIG. 8, when the power supply voltage is lower than the operating voltage range of power storage device 60, that is, when power storage device 60 is not operating, the voltage adjustment command is set to a constant value “1.0”. When the power supply voltage is within the operating voltage range of the power storage device, that is, when the power storage device 60 is operating, the voltage adjustment command α is increased to increase the voltage of the DC power supply line 40 (power supply voltage). Further, when the power supply voltage approaches its upper limit voltage (1830 V in FIG. 8), it is decreased in order to avoid equipment damage due to overvoltage. At this time, the regenerative power is narrowed down by the light load regenerative control so that the current flowing through the DC power supply line is less than or equal to the specified value. Further, when the power supply voltage is close to the upper limit voltage, the regenerative operation is suppressed by the voltage adjustment command.

  The power conversion device power conversion device 62 includes a fuel cell command generation unit 64. The fuel cell command generator 64 generates a current command for the fuel cell 50 based on the voltage of the DC power supply line 40 (power supply voltage). Specifically, referring to a predetermined current command pattern, a current command β corresponding to the power supply voltage is generated and output to the fuel cell power converter 52.

  FIG. 9 is a diagram showing a current command pattern for the fuel cell 50. In FIG. 9, the horizontal axis is the power supply voltage, and the vertical axis is the current command β. As shown in the figure, the current command β is not only within the output voltage range of the fuel cell power converter 52 (power supply state (2)), but also within the output voltage range of the power storage device 60 (power supply state (3) or (2) + (3)) is a command for generating electric power according to the load electric power, and takes an arbitrary value within the range shown in FIG. When the power supply voltage is outside the above output voltage range, it is zero.

[Action / Effect]
As described above, in the electric vehicle 1 of the present embodiment, the torque current command value Iq ^* and the excitation current command value Id ^* for the electric motor 10 are adjusted by the voltage (power supply voltage) of the DC power supply line 40. That is, the power supply device (the fuel cell 50, the power storage device 60, and the power supply from the overhead line) is designed such that the output voltage range and the maximum output power when each operates independently, so that the power supply device is changed from the power supply voltage to the power supply device. The electric motor 10 is controlled in accordance with the maximum output power of the power supply device that is estimated to be operating. As a result, it is possible to prevent overload operation of the power supply device and the power storage device, which are power sources for traveling, with a simple configuration that does not require new components or minimizes them.

  It should be noted that embodiments to which the present invention can be applied are not limited to the above-described embodiments, and can of course be changed as appropriate without departing from the spirit of the present invention.

  For example, it is good also as a structure without the electric power supply from an overhead wire, and also it is good also as a structure provided with a diesel generator as a power generator. In the above-described embodiment, a train that is a kind of electric car has been described. However, the present invention is also applicable to an electric car or the like.

DESCRIPTION OF SYMBOLS 1 Electric vehicle 10 Electric motor, 20 Inverter, 30 Auxiliary power supply device 40 DC power supply line 50 Fuel cell 52 Fuel cell power converter, 54 Changeover switch 60 Power storage device 62 Power storage device power converter, 64 Fuel cell command generation part 70 Control device 72 Power supply state estimation unit 74 Power storage device command generation unit 76 Current command value generation unit 80 Motor control unit 82 Adjustment command generation unit, 84, 86 multiplier, 88 Vector control calculation unit

Claims (7)

A control method for controlling the motor by changing and controlling the torque current and the excitation current based on the operation command signal, converting the DC power supplied to the DC power supply line,
A single power supply device having a chargeable / dischargeable power storage device, and a single power supply device, and a second power supply device having at least a second power supply device having a voltage range and maximum output power during single operation lower than those of the first power supply device DC power is supplied to the DC power line from a plurality of power supply devices having different voltage ranges and maximum output power during operation,
A detection step of detecting a power supply voltage of the DC power supply line;
An adjustment step of adjusting the torque current and the excitation current according to which voltage range of the power supply device the detected power supply voltage is included in;
Only including,
The adjusting step controls the torque current so as to inhibit the regenerative operation of the electric motor when the detected power supply voltage is lower than a voltage range of the first power supply device when the operation command signal is a brake command. Including regeneration suppression step,
Control method. A control method for controlling the motor by changing and controlling the torque current and the excitation current based on the operation command signal, converting the DC power supplied to the DC power supply line,
A single power supply device having a chargeable / dischargeable power storage device, and a single power supply device, and a second power supply device having at least a second power supply device having a voltage range and maximum output power during single operation lower than those of the first power supply device DC power is supplied to the DC power line from a plurality of power supply devices having different voltage ranges and maximum output power during operation,
A detection step of detecting a power supply voltage of the DC power supply line;
An adjustment step of adjusting the torque current and the excitation current according to which voltage range of the power supply device the detected power supply voltage is included in;
Only including,
In the adjustment step, when the operation command signal is a brake command and the detected power supply voltage is within the voltage range of the first power supply device, the induced voltage of the electric motor is a predetermined voltage from the detected power supply voltage. Including the step of controlling the excitation current so as to obtain a high regenerative voltage,
Control method. In the adjustment step, when the operation command signal is a brake command and the detected power supply voltage is within the voltage range of the first power supply device, the induced voltage of the electric motor is a predetermined voltage from the detected power supply voltage. Including the step of controlling the excitation current so as to obtain a high regenerative voltage,
The control method according to claim 1. The first power supply device includes the power storage device, and a first power conversion device that adjustably converts a voltage between a terminal voltage of the power storage device and a power supply voltage of the DC power supply line and charges and discharges the power storage device. And
A conversion adjustment step of adjusting voltage conversion of the first power converter according to the power supply voltage when the operation command signal is a brake command;
The control method according to claim 2 or 3 . The second power supply device includes a fuel cell that is the power generation device, and a second power source that controls output of the fuel cell as a constant current source based on a given current command and supplies DC power to the DC power supply line. Power converter and
A current for adjusting the current command so that an output current corresponding to the power supply voltage is obtained when the detected power supply voltage is within the voltage range of the first power supply device or the voltage range of the second power supply device. Including command adjustment step,
The control method according to any one of claims 1 to 3 . A control device that controls and changes the torque current and the excitation current based on the operation command signal, converts the DC power supplied to the DC power supply line, and controls the electric motor,
A single power supply device having a chargeable / dischargeable power storage device, and a single power supply device, and a second power supply device having at least a second power supply device having a voltage range and maximum output power during single operation lower than those of the first power supply device DC power is supplied to the DC power line from a plurality of power supply devices having different voltage ranges and maximum output power during operation,
Detecting means for detecting a power supply voltage of the DC power supply line;
Adjusting means for adjusting the torque current and the excitation current according to whether the detected power supply voltage is included in any voltage range of the power supply device;
Equipped with a,
The adjusting means controls the torque current so as to suppress the regenerative operation of the electric motor when the detected power supply voltage is lower than the voltage range of the first power supply device when the operation command signal is a brake command. ,
Control device. A control device that controls and changes the torque current and the excitation current based on the operation command signal, converts the DC power supplied to the DC power supply line, and controls the electric motor,
A single power supply device having a chargeable / dischargeable power storage device, and a single power supply device, and a second power supply device having at least a second power supply device having a voltage range and maximum output power during single operation lower than those of the first power supply device DC power is supplied to the DC power line from a plurality of power supply devices having different voltage ranges and maximum output power during operation,
Detecting means for detecting a power supply voltage of the DC power supply line;
Adjusting means for adjusting the torque current and the excitation current according to whether the detected power supply voltage is included in any voltage range of the power supply device;
Equipped with a,
When the driving command signal is a brake command, the adjusting means is configured such that when the detected power supply voltage is within the voltage range of the first power supply device, the induced voltage of the motor is a predetermined voltage from the detected power supply voltage. Controlling the excitation current so as to achieve a high regenerative voltage;
Control device.

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