JP6115392B2 - Motor control device - Google Patents

Description

  The present invention relates to a control device for a winding field motor.

  Non-Patent Document 1 and Non-Patent Document 2 disclose general vector control of a synchronous motor.

Edited by Haruo Naito, “Practical motor drive control system design and its actuality”, first edition, Nippon Techno Center, February 20, 2006, p191-230 Hidehiko Sugimoto et al., “Theory and Design of AC Servo Systems”, 7th edition, General Electronic Publishing Company, July 10, 2005

  Here, when the synchronous motor control system described in Non-Patent Document 1 or Non-Patent Document 2 is simply applied to a winding field motor, the field voltage of the winding field motor is Since the power supply voltage is limited to the upper limit, the response of the field current is slow when the field voltage reaches the field power supply voltage. As a result, there arises a problem that the response of the motor output torque is lowered.

  An object of this invention is to provide the technique which improves the responsiveness of the output torque of a winding field motor.

  The motor control device according to the present invention controls the winding field motor based on the current command value. In this motor control device, a field current command value calculating means for calculating a field current command value based on the target motor torque of the winding field motor, and a current response more than the field current based on the target motor torque. First current command value calculating means for calculating a first current command value of a current that is a torque component of the winding field motor, and a desired torque that is not obtained due to a response delay of the field current First supplementary current command value calculating means for calculating a first supplementary current command value; and adding the first supplementary current command value to the first current command value, and obtaining a corrected first current command value. First adding means for calculating.

  According to the present invention, a replenishment current command value for compensating for a desired torque that cannot be obtained due to a response delay of the field current is calculated, and the calculated replenishment current command value is calculated based on a current that is a torque component of the winding field motor. Since the corrected current command value is calculated by adding to the current command value, the responsiveness of the motor output torque can be improved even when the field voltage is limited by the upper limit value.

FIG. 1 is a block diagram illustrating the configuration of the motor control device according to the first embodiment. FIG. 2 is a block diagram showing a detailed configuration of the torque response improvement computing unit. FIG. 3 is a diagram illustrating a control result of the motor control device according to the first embodiment. FIG. 4 is a block diagram showing a configuration of a torque response improvement computing unit in the second embodiment. FIG. 5 is a block diagram showing another configuration of the torque response improvement computing unit in the second embodiment. FIG. 6 is a block diagram showing still another configuration of the torque response improvement computing unit 18 in the second embodiment. FIG. 7 is a diagram illustrating a control result of the motor control device according to the second embodiment. FIG. 8 is a block diagram illustrating main components of the motor control device according to the third embodiment. FIG. 9 is a diagram illustrating a control result of the motor control device according to the third embodiment. FIG. 10 is a block diagram in which a filter is added to the configuration of the motor control device according to the second embodiment shown in FIG. FIG. 11 is a diagram illustrating a control result of the motor control device having the configuration illustrated in FIG. 10. 12 is a block diagram in which a filter is added to the configuration of FIG. FIG. 13 is a block diagram in which a filter is added to the configuration of FIG. FIG. 14 is a block diagram illustrating main components of a motor control device according to the fourth embodiment. FIG. 15 is a diagram illustrating a control result of the motor control device according to the fourth embodiment. FIG. 16 is a block diagram in which a lower limiter is added to the configuration of the motor control device in the second embodiment shown in FIG. 6. FIG. 17 is a diagram illustrating a control result of the motor control device having the configuration illustrated in FIG. 16. 18 is a block diagram in which a lower limiter is added to the configuration of FIG. FIG. 19 is a block diagram in which a lower limiter is added to the configuration of FIG. FIG. 20 is a block diagram in which a lower limiter is added to the configuration of FIG. FIG. 21 is a diagram showing a control result of the motor control device having the configuration shown in FIG. FIG. 22 is a block diagram in which a lower limiter is added to the configuration of FIG. FIG. 23 is a diagram showing a control result of the motor control device having the configuration shown in FIG. FIG. 24 is a block diagram in which a lower limiter is added to the configuration of FIG. FIG. 25 is a block diagram in which a lower limiter is added to the configuration of FIG.

<First Embodiment>
FIG. 1 is a block diagram illustrating the configuration of the motor control device according to the first embodiment. This motor control device is applied to, for example, an electric vehicle. In addition to an electric vehicle, for example, the present invention can be applied to a hybrid vehicle or a system other than a vehicle.

  The motor 1 is a three-phase AC winding field motor. When the motor control device is applied to an electric vehicle, the motor 1 serves as a vehicle drive source.

The PWM converter 6 generates PWM_Duty drive signals D _uu ^* and D _ul ^{* for} the switching elements (IGBT and the like) of the three-phase voltage type inverter 3 based on the three-phase voltage command values V _u ^* , V _v ^* and V _w ^{* .} , D _vu ^* , D _vl ^* , D _wu ^* , and D _wl ^* are generated.

The inverter 3 converts the DC voltage of the DC power supply 2 into AC voltages V _u , V _v , V _w based on the drive signal generated by the PWM converter 6 and supplies it to the motor 1. The DC power source 2 is, for example, a stacked lithium ion battery.

The current sensor 4 detects at least two-phase current (for example, U-phase current i _u and V-phase current i _v ) among the three-phase AC current supplied from the inverter 3 to the motor 1. The detected two-phase currents i _u and i _v are converted into digital signals i _us and i _vs by the A / D converter 7 and input to the three-phase / dq AC coordinate converter 11. When the current sensor 4 is attached to only two phases, the remaining one-phase current i _ws can be obtained by the following equation (1).

The magnetic pole position detector 5 outputs an A-phase B-phase Z-phase pulse corresponding to the electric element position (angle) of the motor 1, and an electric machine angle θ _rm is obtained through the pulse counter 8. Angular velocity calculator 9 inputs the armature machine angle theta _rm, than its time rate of change, the armature mechanical angular omega _rm, and armature mechanical angular omega _rm armature electrical angular velocity omega multiplied by the motor pole pairs p in _{Find re} .

d-q / three-phase AC coordinate converter 12 performs conversion from the two orthogonal axes DC coordinate system that rotates at an electrical angular velocity ω _re (d-q-axis) 3-phase AC coordinate system to the (UVW axis). Specifically, d-axis voltage command value (flux voltage command value) V d _*, and the input ^q-axis voltage command value (torque voltage command value) and V _q ^*, the electrical angle theta _re obtained by integrating the electrical angular velocity omega _re The voltage command values V _u ^* , V _v ^* , and V _w ^* for each phase of UVW are calculated and output by performing coordinate conversion processing according to the following equation (2). However, θ _re ′ in the equation (2) is the same as θ _re .

The three-phase / dq AC coordinate converter 11 performs conversion from a three-phase AC coordinate system (UVW axis) to an orthogonal two-axis DC coordinate system (dq axis). Specifically, U-phase current _{i us,} V-phase current _{i vs,} and W-phase current _{i ws,} the electrical angular velocity omega _re enter the integrated electrical angle theta _re, the following equation (3), d-axis current ( Magnetic flux current) i _d and q-axis current (torque current) i _q are calculated.

The current command value calculator 13 receives the target motor torque T ^* , the motor rotation speed (mechanical angular velocity ω _rm ), and the DC voltage Vdc, the d-axis current command value (flux current command value) i _d ^** , and the q-axis current. The command value (torque current command value) i _q ^** is calculated. The d-axis current command value i _d ^** and the q-axis current command value i _q ^** are respectively the target motor torque T ^* , the motor rotational speed (mechanical angular velocity ω _rm ), the DC voltage V _dc, and the d-axis current command value i. _The map data defining the relationship between _d ^** and the q-axis current command value i _q ^** can be stored in advance in a memory and obtained by referring to this map data. Similarly, the current command value calculator 13 also calculates a field current command value _if ^* described later with reference to the map data.

However, in this embodiment, as will be described later, the torque response improvement calculator 18 calculates the q-axis current command value (torque current command value) i _q ^** . That is, the current command value calculator 13 can calculate the d-axis current command value (magnetic flux current command value) i _d ^** and the q-axis current command value (torque current command value) i _q ^**. Only the current command value (magnetic flux current command value) i _d ^** is calculated.

The non-interference controller 17 inputs the d-axis current (magnetic flux current) i _d , the q-axis current (torque current) i _q , and the electrical angular velocity ω _re to cancel the interference voltage between the dq orthogonal coordinate axes. Necessary non-interference voltages V ^* _{d_dcpl} and V ^* _{q_dcpl} are calculated from the following equation (4). However, s in the formula (4) is a Laplace operator, M is the mutual _inductance, L d, L _q is the self-inductance of the stator.

  Further, considering only the steady state, the following equation (5) is established.

The d-axis current controller 15 and the q-axis current controller 16 were respectively measured with a d-axis current command value (flux current command value) i _d ^* and a q-axis current command value (torque current command value) i _q ^* . The d-axis current (magnetic flux current) i _d and the q-axis current (torque current) i _q are made to follow with a desired response without a steady deviation. Normally, if the control that cancels the interference voltage between the dq orthogonal coordinate axes by the non-interference controller 17 functions ideally, a simple control target characteristic with one input and one output is obtained. It is feasible. A value obtained by correcting (adding) each voltage command value output from the d-axis current controller 15 and the q-axis current controller 16 using the non-interference voltages V _{d_dcpl} and V _{q_dcpl} output from the non-interference controller 17. , D-axis voltage command value (magnetic flux voltage command value) Vd ^* , q-axis voltage command value (torque voltage command value) V _q ^* .

The field current controller 20 controls the current on the rotor side that is different from the current on the stator side of the motor (d-axis current and q-axis current). The field current controller 20 is calculated by the current command value calculator 13. The measured field current _if is caused to follow the current command value _if ^* with a desired response without a steady deviation.

  Here, since the voltage of the field power supply for flowing the field current is lower than the voltage of the main power supply for flowing the current to the stator coil, for example, the field voltage becomes the voltage of the field power supply. In the reached state, the response of the field current becomes slow. In addition, using a field power supply with a high voltage increases the cost. Therefore, in the present embodiment, the torque response improvement computing unit 18 calculates a current correction value for compensating for a desired torque that cannot be obtained due to a delay in the field current, and adds the calculated current correction value to the torque current command value. Thus, the delay of the field current is compensated.

  The contents of control performed by the torque response improvement computing unit 18 will be described below.

  The torque formula of the non-saliency type winding field motor is expressed by the following formula (6). However, M is a mutual inductance and p is the number of pole pairs.

Here, considering the voltage limitation, i _f = 1 / (τ _f s + 1) × i _f ^* , i _q = 1 / (τ _q s + 1) × i _q ^* (τ _f > τ _q ).

The torque response improvement computing unit 18 inputs the torque command value T ^* and the slow-response field current command value _if ^* , and uses the equation (7) obtained by transforming the equation (6) to calculate the q-axis current command. In addition to calculating the value i _q ^** , the q-axis current correction value (q-axis supplement current command value) i _q ^{** ′} is calculated by the following equation (8), and the calculated q-axis current command value i _q ^** And the q-axis current correction value i _q ^{** ′} are added to calculate a corrected q-axis current command value i _q ^* . However, the field current i _f in the formula (7) and (8) can also be used an estimate rather than the actual current.

  FIG. 2 is a block diagram showing a detailed configuration of the torque response improvement computing unit 18. The torque response improvement computing unit 18 includes a q-axis current command value computing unit 181, a q-axis current correction value computing unit 182, and an adder 183.

  In FIG. 2, Gp (s) represents the motor 1, and Gc (s) represents a control model representing a control block between the torque response improvement computing unit 18 and the motor 1.

The q-axis current command value calculator 181 calculates the q-axis current command value i _q ^** from the equation (7). The q-axis current correction value calculator 182 calculates the q-axis current correction value i _q ^{** ′} from equation (8). The q-axis current correction value i _q ^{** ′} is a current correction value for compensating for a desired torque that cannot be obtained due to a delay in the field current. The adder 183 includes the q-axis current command value i _q ^** calculated by the q-axis current command value calculator 181 and the q-axis current correction value i _q ^{** ′} calculated by the q-axis current correction value calculator 182. Are added to obtain the corrected q-axis current command value i _q ^* .

FIG. 3 is a diagram illustrating a control result of the motor control device according to the first embodiment. 3A to _3H show a d-axis current i _d , a q-axis current i _q , a current vector Ia, a field current I _f , a field voltage V _f , a torque command value, an actual torque, and a stepped torque. The responsiveness of the actual torque when the command value is 1 is shown. The horizontal axis represents time (s). The conventional example in FIG. 3 is a conventional motor control device that does not include the torque response improvement calculator 18.

  In the motor control device according to the first embodiment, the field correction value is added to the q-axis current command value, which is a fast response current, by adding a current correction value for compensating for a desired torque that cannot be obtained due to a delay in the field current. Compensate for current response delay with torque current. That is, by using the q-axis current, which is a fast response current, up to the current limit value (see FIG. 3B), the motor torque response is improved (see FIGS. 3G and 3H). Therefore, by applying a high response process without a delay element of the magnetic flux current, it is possible to maximize the voltage / current and realize a high torque response. However, in FIG. 3, since the q-axis current, which is a fast response current, cannot be used infinitely, the control result of an example in which a current limit value is provided is shown.

  Since the motor parameter used when calculating the current correction value varies depending on the operating condition, a parameter variation compensator for compensating for the variation may be provided.

As described above, the motor control device according to the first embodiment calculates the field current command value based on the target motor torque of the winding field motor, and based on the target motor torque, the current response than the field current. The current command value (torque current command value) i _q ^** of the current (torque current) which is the torque component of the winding field motor is calculated. Further, a current correction value i _q ^{** ′} for compensating for a desired torque that cannot be obtained due to a response delay of the field current is calculated, and the current correction value i _q ^{** ′} is added to the torque current command value i _q ^**. Thus, the corrected torque current command value i _q ^* is calculated. As a result, the delay in the field current can be compensated by the torque current having a fast response, so that, for example, even when the field voltage is limited by the upper limit value, the responsiveness of the motor output torque is improved. Can do.

<Second Embodiment>
In the motor control device according to the first embodiment, a current correction value for compensating for a desired torque that cannot be obtained due to the delay of the field magnetic flux is added to the q-axis current command value, which is a current having a faster response than the field current. Thus, the response delay of the field current was compensated with the torque current. In the motor control device according to the second embodiment, not only the q-axis current command value is corrected, but the command value of the d-axis current, which is a response current faster than the field current, is obtained by the delay of the field current. By adding a current correction value for compensating for the desired torque that cannot be obtained, the response delay of the field current is compensated by the magnetic flux current.

  FIG. 4 is a block diagram showing the configuration of the torque response improvement computing unit 18 in the second embodiment. Hereinafter, processing contents performed inside the torque response improvement computing unit 18 will be described.

In the second embodiment, the motor 1 is a salient pole type winding field motor. A torque formula of a general salient pole type winding field motor is expressed by the following formula (9). Where M is a mutual inductance, L _d is a d-axis self-inductance, L _q is a q-axis self-inductance, and p is the number of pole pairs.

In Equation (9), when L _d = L _q , the torque equation of the non-salient pole type winding field motor is obtained.

When the relationship between the d-axis current command value i _d ^** and the q-axis current command value i _q ^** can be expressed by equation (10) using the current ratio K, the torque equation can be expressed by equation (11). The axis current correction value (q-axis supplement current command value) i _q ^{** '} and the d-axis current correction value (d-axis supplement current command value) i _d ^**' can be expressed by the following equation (12). In Expression _{(11), Rlct = L d} -L q, a i _d = K · i _q.

The current ratio K is determined in consideration of the motor efficiency, the influence degree of torque, and the like. For example, the current ratio K for high efficiency is determined in advance from the motor characteristics. When the current ratio between i _q ^* and i _d ^* at the time of high efficiency is 10: 1 and it is desired to use the current to the maximum with high efficiency, K = 0.1. Further, K can be determined as a desired correction ratio between the d-axis current and the q-axis current.

The torque response improvement computing unit 18 inputs the q-axis current command value (torque current command value) i _q ^** obtained by the current command value computing unit 13, and the q-axis current correction value i _q ^* from the equation (12) ^{. * ′} Is calculated, and the corrected q-axis current command value i _q ^* is calculated by adding the q-axis current command value i _q ^** and the q-axis current correction value i _q ^{** ′} . Further, the d-axis current command value (magnetic flux current command value) i _d ^** is calculated from the input q-axis current command value i _q ^** and the equation (10), and the d-axis current correction value i is calculated from the equation (12). ^'calculates a, d-axis current command value _i ^{d **} and d-axis current correction value _i ^{d **'} _d ^** by adding the, to calculate the corrected d-axis current command value _i ^{d *.}

FIG. 5 is a block diagram showing another configuration of the torque response improvement computing unit 18 in the second embodiment. The torque response improvement computing unit 18 shown in FIG. 5 inputs the d-axis current command value (flux current command value) i _d ^** obtained by the current command value computing unit 13 and also calculates the d-axis current correction from the equation (12). ^'calculates, d-axis current command value _i ^{d **} and d-axis current correction value _i ^{d **'} values _i ^{d **} by adding the calculated the corrected d-axis current command value _i ^{d *} To do. Further, the q-axis current command value (torque current command value) i _q ^** is calculated from the input d-axis current command value i _d ^** and the equation (10), and the q-axis current correction value i is calculated from the equation (12). _q ^{** ′} is calculated, and the q-axis current command value i _q ^** and the q-axis current correction value i _q ^{** ′} are added to calculate the corrected q-axis current command value i _q ^* .

FIG. 6 is a block diagram showing still another configuration of the torque response improvement computing unit 18 in the second embodiment. The torque response improvement calculator 18 shown in FIG. 6 includes a d-axis current command value (magnetic flux current command value) i _d ^** and a q-axis current command value (torque current command value) i _q obtained by the current command value calculator 13. Enter ^** . However, the relationship of Expression (10) is established between the d-axis current command value i _d ^** and the q-axis current command value i _q ^** . The torque response improvement computing unit 18 calculates the d-axis current correction value i _d ^{** ′} and the q-axis current correction value i _q ^{** ′} from the equation (12), and the d-axis current command value i _d ^** and q The corrected d-axis current command value i _d ^* and q-axis current command value i _q ^* are calculated by adding each to the shaft current command value i _q ^** .

FIG. 7 is a diagram illustrating a control result of the motor control device according to the second embodiment. For comparison, FIG. 7 also shows the control result of the motor control device in the first embodiment. 7A to 7H show a d-axis current i _d , a q-axis current i _q , a current vector Ia, a field current I _f , a field voltage V _f , a torque command value, an actual torque, and a stepped torque. The responsiveness of the actual torque when the command value is 1 is shown.

  As described above, in this embodiment, not only the q-axis current command value but also the d-axis current command value is added with a current correction value for compensating for a desired torque that cannot be obtained due to the delay of the field magnetic flux. Thus, the response delay of the field current is compensated, so that, for example, even when the field voltage Vf is limited by the voltage limiter, high response of the motor torque can be realized (FIG. 7 (g), ( h)). Further, by utilizing the reluctance torque, the q-axis current command value (torque current command value) is prevented from becoming excessive, and the peak of the current vector Ia is suppressed (see FIG. 7 (c)). Responsiveness can be improved.

As described above, the motor control device according to the second embodiment corrects the torque current command value i _q ^** by the current correction value i _q ^{** ′} for compensating for the desired torque that cannot be obtained due to the response delay of the field current. in addition to the arrangement, ^'is calculated, the calculated current correction value i _d ^**' current correction value i _d ^** for compensating the desired torque is not obtained by the response delay of the field current, and than the field current The corrected magnetic flux current command value i _d ^* is calculated by adding to the current command value i _d ^** of the current (flux current) that is an exciting component of the winding field motor that has a fast current response. As a result, the delay of the field current is compensated not only by the fast response torque current but also by the magnetic flux current, so that, for example, the field voltage is limited by the upper limit while preventing the torque current command value from becoming excessive. Even in this case, the response of the output torque of the motor can be improved.

<Third Embodiment>
FIG. 8 is a block diagram illustrating main components of the motor control device according to the third embodiment. In the configuration shown in FIG. 8, a filter 81 is added to the configuration shown in FIG. Further, the current command calculator 13, a target motor torque T ₁ ^*, which time delay processing is performed by the filter 81, the target motor torque T ₂ ^* and the addition to the resulting target motor torque T ^* is input .

The target motor torque T ₁ ^* is a torque command value obtained according to the accelerator opening, and does not require a high-speed response. The target motor torque T ₂ ^* is a torque command value that requires a quick response in order to cancel the torsional vibration and the rotational vibration of the motor.

The filter 81 delays the target motor torque T ₁ ^* for at least a time longer than the response time of the target motor torque T ₁ ^* determined according to the accelerator opening.

The target motor torque T ^* represented by the following equation (13) is input to the current command calculator 13. However, τ _T1 in Equation (13) is a time constant when the filter 81 performs time delay processing.

FIG. 9 is a diagram illustrating a control result of the motor control device according to the third embodiment. For comparison, FIG. 9 also shows the control result of the motor control device in the first embodiment. 9A to 9H show a d-axis current i _d , a q-axis current i _q , a current vector Ia, a field current I _f , a field voltage V _f , a torque command value, an actual torque, and a stepped torque. The responsiveness of the actual torque when the command value is 1 is shown. However, in FIG. 9 (g), the actual torque of the third embodiment represents the torque T ₂ required fast response. The horizontal axis represents time (s).

In the present embodiment, the target motor torque T ₂ ^* requiring a high-speed response is subjected to a high-response process without a delay element, so that a desired torque can be realized. Also, by applying a delay process to the target motor torque T ₁ ^* that does not require a high-speed response, the torque current command value is limited by the current limit value (upper limit value) for the target motor torque T ₂ ^* that requires a high-speed response. (Refer to FIGS. 9B and 9C).

FIG. 10 is a block diagram in which a filter 81 is added to the configuration of the motor control device in the second embodiment shown in FIG. That is, the current command calculator 13, a target motor torque T ₁ ^*, which time delay processing is performed by the filter 81, the target motor torque T ₂ ^* and the addition to the resulting target motor torque T ^* is input .

FIG. 11 is a diagram illustrating a control result of the motor control device having the configuration illustrated in FIG. 10. For comparison, FIG. 11 also shows the control result of the motor control device in the second embodiment shown in FIG. 11A to 11J show the d-axis current i _d , the q-axis current i _q , the current vector Ia, the field current I _f , the field voltage V _f , the target motor torque T ₁ ^* , and the actual motor torque T. _{1 represents} a target motor torque T ₂ ^* , an actual motor torque T ₂ , and an overall torque. The horizontal axis represents time (s).

As described above, the target motor torque T ₂ ^* requiring a high-speed response is subjected to a high-response process without a delay element, so that a desired torque can be realized. In addition, by applying a delay process to the target motor torque T ₁ ^* that does not require a high-speed response, it is possible to make it difficult to limit current and voltage (see FIGS. 11C and 11E). Further, as compared with the motor control apparatus in the second embodiment, the response of the motor torque T ₂ is improved.

  It can also be set as the structure which added the filter 81 with respect to the structure of FIG.4 or FIG.5. 12 is a block diagram in which a filter 81 is added to the configuration of FIG. 4, and FIG. 13 is a block diagram in which a filter 81 is added to the configuration of FIG.

As described above, according to the motor control device in the third embodiment, the target motor torque T ^* is at least the first target motor torque T ₂ ^* required to have a high-speed response in order to suppress torsional vibration, and the first the target motor torque T ₂ ^* than a slow response, including a second target motor torque T ₁ ^* delay processing is performed. The first target motor torque T ₂ ^* requiring a high-speed response is subjected to a high-response process without a delay factor, so that a desired torque can be realized. Further, by applying a delay process to the second target motor torque T ₁ ^* that does not require a high-speed response, the torque current command value becomes a current limit value with respect to the first target motor torque T ₂ ^* that requires a high-speed response. It becomes difficult to be limited by (upper limit value), and the response of the output torque of the motor can be improved.

<Fourth Embodiment>
In the motor control apparatus according to the fourth embodiment, the target motor torque T ^* obtained by adding the target motor torque T ₁ ^* subjected to the delay process by the filter 81 and the target motor torque T ₂ ^* is zero or zero. Even in the vicinity (below the predetermined torque), the field current command value I _f ^* , which is a slow response, is set to a predetermined value greater than zero.

  FIG. 14 is a block diagram illustrating main components of a motor control device according to the fourth embodiment. In the configuration shown in FIG. 14, a lower limiter 141 is added after the current command value calculator 13 with respect to the configuration of the motor control device in the third embodiment shown in FIG. 8.

The lower limiter 141 performs a limiter process such that the field current command value _if ^* output from the current command value calculator 13 is equal to or greater than a predetermined lower limit value greater than zero. That is, the delay processing is performed target motor torque T ₁ ^*, even when the target motor torque T ₂ ^* and the addition to the resulting target motor torque T ^* is zero or close to zero, a slow response field current The command value i _f ^* is set to be equal to or greater than a predetermined lower limit value greater than zero.

FIG. 15 is a diagram illustrating a control result of the motor control device according to the fourth embodiment. For comparison, FIG. 15 also shows the control result of the motor control device in the third embodiment shown in FIG. 15A to 15H show a d-axis current i _d , a q-axis current i _q , a current vector Ia, a field current I _f , a field voltage V _f , a torque command value, an actual torque, and a stepped torque. The responsiveness of the actual torque when the command value is 1 is shown. The horizontal axis represents time (s).

As described above, in the present embodiment, even if the target motor torque T ^* is zero or near zero, the field current command value _if ^* with a slow response is output by a predetermined amount larger than 0 (FIG. 15 (d )), An excessive torque shaft current command value in the neighborhood of zero magnetic flux can be prevented, and a desired torque response can be realized by reducing the magnetic flux delay (see FIG. 15 (h)).

  FIG. 16 is a block diagram in which a lower limit limiter 141 is added to the configuration of the motor control device in the second embodiment shown in FIG.

FIG. 17 is a diagram illustrating a control result of the motor control device having the configuration illustrated in FIG. 16. For comparison, FIG. 17 also shows the control result of the motor control device in the second embodiment shown in FIG. 17A to 17J show a d-axis current i _d , a q-axis current i _q , a current vector Ia, a field current I _f , a field voltage V _f , a target motor torque T ₁ ^* , and an actual motor torque T. _{1 represents} a target motor torque T ₂ ^* , an actual motor torque T ₂ , and an overall torque. The horizontal axis represents time (s). As described above, in the present embodiment, even if the target motor torque is zero or near zero, the field current command value _if ^* with a slow response is output by a predetermined amount greater than zero (see FIG. 17D). ), It is possible to prevent the torque axis current command value from being excessive in the vicinity of zero magnetic flux, and to reduce the magnetic flux delay, thereby realizing a desired torque response (see FIGS. 17I and 17J).

  A configuration in which a lower limiter 141 is added to the configurations of FIGS. 4 and 5 can also be employed. 18 is a block diagram in which a lower limit limiter 141 is added to the configuration of FIG. 4, and FIG. 19 is a block diagram in which a lower limit limiter 141 is added to the configuration of FIG.

  A configuration in which a lower limiter 141 is added to the configuration of FIG. FIG. 20 is a block diagram in which a lower limiter 141 is added to the configuration of FIG.

FIG. 21 is a diagram showing a control result of the motor control device having the configuration shown in FIG. For comparison, FIG. 21 also shows the control result of the motor control device in the first embodiment. 21A to 21J show the d-axis current i _d , q-axis current i _q , current vector Ia, field current I _f , field voltage V _f , target motor torque T ₁ ^* , and actual motor torque T. _{1 represents} a target motor torque T ₂ ^* , an actual motor torque T ₂ , and an overall torque. The horizontal axis represents time (s). As described above, in the present embodiment, even if the target motor torque is zero or near zero, the field current command value i _f ^* having a slow response is output by a predetermined amount larger than 0 (see FIG. 21D). ), It is possible to prevent the torque axis current command value from being excessive in the vicinity of zero magnetic flux and to reduce the magnetic flux delay, thereby realizing a desired torque response (see FIGS. 21 (i) and (j)).

  A configuration in which a lower limiter 141 is added to the configuration of FIG. FIG. 22 is a block diagram in which a lower limiter 141 is added to the configuration of FIG.

FIG. 23 is a diagram showing a control result of the motor control device having the configuration shown in FIG. For comparison, FIG. 22 also shows the control result of the motor control device according to the third embodiment having the configuration shown in FIG. 23A to 23J show the d-axis current i _d , the q-axis current i _q , the current vector Ia, the field current I _f , the field voltage V _f , the target motor torque T ₁ ^* , and the actual motor torque T. _{1 represents} a target motor torque T ₂ ^* , an actual motor torque T ₂ , and an overall torque. The horizontal axis represents time (s). As described above, in the present embodiment, even if the target motor torque is zero or near zero, the field current command value i _f ^* having a slow response is output by a predetermined amount larger than 0 (see FIG. 23D). ), It is possible to prevent the torque axis current command value from being excessive in the vicinity of zero magnetic flux, and to reduce the magnetic flux delay, thereby realizing a desired torque response (see FIGS. 23 (i) and (j)).

  A configuration in which a lower limiter 141 is added to the configurations of FIGS. 24 is a block diagram in which a lower limit limiter 141 is added to the configuration of FIG. 12, and FIG. 25 is a block diagram in which a lower limit limiter 141 is added to the configuration of FIG.

As described above, according to the motor control device of the fourth embodiment, even when the target motor torque T ^* is equal to or less than the predetermined torque, the field current command value _if ^* is equal to or greater than a predetermined value greater than zero. Further provided is a lower limiter 141 for limiting the lower limit value. As a result, it is possible to prevent the torque shaft current command value from being excessive in the vicinity of zero magnetic flux, and to reduce the magnetic flux delay, thereby realizing a desired torque response.

  The present invention is not limited to the embodiment described above.

DESCRIPTION OF SYMBOLS 1 ... Winding field motor 18 ... Torque response improvement calculator (2nd current command value calculation means, 2nd supplementary current command value calculation means, 2nd addition means)
181... Q-axis current command value calculator (first current command value calculation means)
182... Q-axis current correction value calculator (first supplementary current command value calculation means)
183... Adder (first adding means)
141 .. Lower limiter (lower limit limiting means)

Claims (4)

A motor control device that controls a winding field motor based on a current command value,
A field current command value calculating means for calculating a field current command value based on the target motor torque of the winding field motor;
A first current command value calculating means for calculating a first current command value of a current which is a torque component of the winding field motor having a current response faster than a field current based on the target motor torque;
First supplementary current command value calculating means for calculating a first supplementary current command value for compensating for a desired torque that cannot be obtained due to a response delay of the field current;
First addition means for calculating the corrected first current command value by adding the first supplementary current command value to the first current command value;
A motor control device comprising: The motor control device according to claim 1,
A second current command value calculating means for calculating a second current command value of a current that is an excitation component of the winding field motor, the current response being faster than a field current based on the target motor torque;
Second supplementary current command value calculating means for calculating a second supplementary current command value for compensating for a desired torque that cannot be obtained due to a response delay of the field current;
Second addition means for calculating the corrected second current command value by adding the second supplementary current command value to the second current command value;
The motor control device further comprising: In the motor control device according to claim 1 or 2,
The target motor torque is a first target motor torque that requires a high-speed response in order to suppress at least torsional vibration, and a lower-speed response than the first target motor torque, and is subjected to a delay process. Including a second target motor torque,
The motor control apparatus characterized by the above-mentioned. In the motor control device according to any one of claims 1 to 3,
Even if the target motor torque is less than or equal to a predetermined torque, a lower limit value that limits the lower limit value so that the field current command value calculated by the field current command value calculation means is greater than or equal to a predetermined value greater than zero. The motor control device further comprising a limiting unit.

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