JP6169924B2 - 誘導電動機式電気車及びその制御方法 - Google Patents
誘導電動機式電気車及びその制御方法 Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
- H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
- H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
- H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
- H02P7/2805—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices whereby the speed is regulated by measuring the motor speed and comparing it with a given physical value
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- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/02—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles characterised by the form of the current used in the control circuit
- B60L15/025—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles characterised by the form of the current used in the control circuit using field orientation; Vector control; Direct Torque Control [DTC]
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- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
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- B60L7/00—Electrodynamic brake systems for vehicles in general
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- B60L9/00—Electric propulsion with power supply external to the vehicle
- B60L9/02—Electric propulsion with power supply external to the vehicle using dc motors
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- B60L2220/00—Electrical machine types; Structures or applications thereof
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- B60L2220/12—Induction machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
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- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/429—Current
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/46—Drive Train control parameters related to wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/52—Drive Train control parameters related to converters
- B60L2240/529—Current
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2260/00—Operating Modes
- B60L2260/40—Control modes
- B60L2260/44—Control modes by parameter estimation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2240/00—Monitoring, detecting wheel/tire behaviour; counteracting thereof
- B60T2240/07—Tire tolerance compensation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Description
電力変換器から給電を受ける複数の誘導電動機がそれぞれ駆動する各車輪の車輪径が異なる場合、電力変換器の出力周波数が各誘導電動機に対して同一であるのに対し、個々の誘導電動機の回転周波数が車輪径によりそれぞれ異なるため、すべり周波数も個々の誘導電動機ごとに異なる。また、車輪径差による誘導電動機間の回転周波数差は、複数誘導電動機式電気車の速度の増大とともに大きくなる。
図3は、本実施の形態による複数誘導電動機式電気車1の全体像を示す。この複数誘導電動機式電気車1は、一又は複数の電力変換器2を備え、これら電力変換器2にそれぞれ複数の誘導電動機3が接続されている。
図5は、上述のような電流制限を行わない、従来の複数誘導電動機式電気車における電力変換器の出力電圧Vinvと、当該電力変換器からの受電を受ける誘導電動機に流れる電流Ia〜Icと、これらの電流Ia〜Icに基づく誘導電動機の出力トルクTa〜Tcとの関係を示す。図5では定電圧可変周波数CVVF領域のロータ周波数まで定トルク制御を行う場合を示しており、VVVF領域を過ぎた後は誘導電動機3に流れる電流Ia〜Icをロータ周波数frに比例して増大させる制御を行っている。
なお上述の実施の形態においては、車輪径差ΔWdが車輪径差閾値以上である場合に電流値制限部28から電流指令発生部20に与えられる補正係数Kの値を0.8〜0.9とするようにした場合について述べたが、本発明はこれに限らず、1未満のこの他種々の値を広く適用することができる。この場合において、一般に車輪径差ΔWdは台車や号車、編成単位で管理されているため、電流値制限部28による電流制限量は1つの電力変換器2から給電を受ける複数の誘導電動機3間で発生し得る電流値の差の最大値程度とすることで不要な電流値の減少を防止することができる。
Claims (6)
- 架線から取得した電力を可変電圧可変周波数の三相交流電力に変換する電力変換器と、前記電力変換器から給電され、それぞれ異なる車輪を駆動する複数の誘導電動機とを有する誘導電動機式電気車の制御方法において、
前記電力変換器の出力電流の電流値と、前記複数の誘導電動機のそれぞれの回転周波数とを検出する第1のステップと、
前記電力変換器の出力電流の目標値でなる誘導電動機電流指令値を生成し、前記第1のステップで検出した前記電力変換器の出力電流、及び、検出した前記複数の誘導電動機のそれぞれの回転周波数に基づいて、前記電力変換器の出力電流が当該誘導電動機電流指令値に追従するように前記電力変換器を制御する第2のステップと
を備え、
前記第2のステップでは、
前記第1のステップで検出した前記回転周波数に基づくすべり周波数の絶対値が一番大きい前記誘導電動機に流れる電流の電流値が、車輪径差がない場合に前記誘導電動機に流れる電流の電流値以下となるように、前記誘導電動機電流指令値の大きさを制限する
ことを特徴とする誘導電動機式電気車の制御方法。 - 前記第2のステップでは、
前記第1のステップで検出した前記回転周波数に基づき算出される前記複数の誘導電動機が駆動するそれぞれの車輪の車輪径差が、予め定められた閾値以上のときに、前記誘導電動機電流指令値の大きさを制限する
ことを特徴とする請求項1に記載の誘導電動機式電気車の制御方法。 - 前記第2のステップでは、
運転士の運転操作に応じた大きさの電流指令値を発生し、発生した前記電流指令値に前記複数の誘導電動機が駆動するそれぞれの車輪の車輪径差に応じた補正係数を乗算するようにして前記誘導電動機電流指令値を生成し、
前記補正係数は、
前記複数の誘導電動機が駆動するそれぞれの車輪の車輪径差の最大値が予め定められた閾値未満である場合には1であり、当該最大値が当該閾値以上である場合には1未満の値である
ことを特徴とする請求項2に記載の誘導電動機式電気車の制御方法。 - 架線から取得した電力を可変電圧可変周波数の三相交流電力に変換する電力変換器と、
前記電力変換器から給電され、それぞれ異なる車輪を駆動する複数の誘導電動機と、
前記電力変換器の出力電流の電流値を検出する電流検出器と、
前記複数の誘導電動機にそれぞれ対応させて設けられ、対応する前記誘導電動機の回転周波数を検出する複数の速度検出器と、
前記電力変換器の出力電流の目標値でなる誘導電動機電流指令値を生成し、前記電流検出器により検出された前記電力変換器の出力電流、及び、前記速度検出器によりそれぞれ検出された前記回転周波数に基づいて、前記電力変換器の出力電流が当該誘導電動機電流指令値に追従するように前記電力変換器を制御する電力変換器制御部と、
を備え、
前記電力変換器制御部は、
前記速度検出器によりそれぞれ検出された前記回転周波数に基づくすべり周波数の絶対値が一番大きい前記誘導電動機に流れる電流の電流値が、車輪径差がない場合に前記誘導電動機に流れる電流の電流値以下となるように、前記誘導電動機電流指令値の大きさを制限する
ことを特徴とする誘導電動機式電気車。 - 前記電力変換器制御部は、
前記速度検出器によりそれぞれ検出された前記回転周波数に基づき算出される前記複数の誘導電動機が駆動するそれぞれの車輪の車輪径差が、予め定められた閾値以上のときに、前記誘導電動機電流指令値の大きさを制限する
ことを特徴とする請求項4に記載の誘導電動機式電気車。 - 前記電力変換器制御部は、
運転士の運転操作に応じた大きさの電流指令値を発生し、発生した前記電流指令値に各前記誘導電動機が駆動する車輪の車輪径差に応じた補正係数を乗算するようにして前記誘導電動機電流指令値を生成し、
前記補正係数は、
前記複数の誘導電動機が駆動するそれぞれの車輪の車輪径差の最大値が予め定められた閾値未満である場合には1であり、当該最大値が当該閾値以上である場合には1未満の値である
ことを特徴とする請求項5に記載の誘導電動機式電気車。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2013178612A JP6169924B2 (ja) | 2013-08-29 | 2013-08-29 | 誘導電動機式電気車及びその制御方法 |
EP14177064.4A EP2843826B1 (en) | 2013-08-29 | 2014-07-15 | Method and apparatus for controlling induction motor of train |
CN201410377872.XA CN104426431B (zh) | 2013-08-29 | 2014-08-01 | 感应电动机式电车及其控制方法 |
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JP2013178612A JP6169924B2 (ja) | 2013-08-29 | 2013-08-29 | 誘導電動機式電気車及びその制御方法 |
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JP2015050779A JP2015050779A (ja) | 2015-03-16 |
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TWI672900B (zh) | 2017-12-20 | 2019-09-21 | 財團法人工業技術研究院 | 電機驅動方法 |
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JPS5063429A (ja) * | 1973-08-31 | 1975-05-29 | ||
JPS53146115A (en) * | 1977-05-26 | 1978-12-19 | Toshiba Corp | System for controlling operation of induction motor group |
JPS5517230A (en) * | 1978-07-21 | 1980-02-06 | Hitachi Ltd | Control device for electric motor car |
JPS5822501A (ja) * | 1981-07-31 | 1983-02-09 | Toshiba Corp | 列車の運転状態検知方法 |
JPS5822801U (ja) * | 1981-07-31 | 1983-02-12 | 株式会社東芝 | 電気車制御装置 |
US4686434A (en) * | 1985-03-14 | 1987-08-11 | Mitsubishi Denki Kabushiki Kaisha | Electric vehicle monitoring system |
JPS61210801A (ja) * | 1985-03-14 | 1986-09-19 | Mitsubishi Electric Corp | 電気車保護方式 |
JPS63114507A (ja) * | 1986-10-31 | 1988-05-19 | Hitachi Ltd | 車両制御方法 |
JP2555038B2 (ja) | 1986-11-05 | 1996-11-20 | 株式会社日立製作所 | 誘導電動機式電気車の制御装置 |
JP2512197B2 (ja) * | 1990-04-18 | 1996-07-03 | 株式会社日立製作所 | 電気車制御装置及びインバ―タ制御装置 |
JPH0454801A (ja) * | 1990-06-20 | 1992-02-21 | Hitachi Ltd | 電気車制御装置 |
JP2919948B2 (ja) * | 1990-11-19 | 1999-07-19 | 株式会社東芝 | 電気車駆動電動機の制御装置 |
JP2796475B2 (ja) * | 1992-10-22 | 1998-09-10 | 株式会社日立製作所 | 車両制御装置及び電気車制御装置 |
JPH0956005A (ja) * | 1995-08-18 | 1997-02-25 | Hitachi Ltd | 電気車の制御装置 |
CN103262408B (zh) * | 2010-12-22 | 2017-03-15 | 富士电机株式会社 | 功率转换装置 |
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