JP6291835B2 - Motor control device - Google Patents

Description

  The present invention relates to a control device that controls a motor driven by electricity.

  As a motor control device, there is disclosed a device that calculates motor power, calculates a torque estimated value from the calculated power, and feeds it back to a torque command value (see Patent Document 1).

Japanese Patent No. 003755424

  In the control device described above, the effective power of the motor is determined using the inner product of the voltage value applied to the motor and the current supplied to the motor. This active power is correlated with torque when the motor is in a steady state.

  However, when the motor is in a transient state, the energy component stored in the coil in the active power increases or decreases, so that the correlation between the active power and the torque decreases. For this reason, when the estimated torque value calculated from the active power is fed back when the motor is in the transient state, there is a problem that the transient response of the motor is lower than that in the steady state.

  The present invention has been made paying attention to such problems. An object of the present invention is to suppress a decrease in transient response of a motor.

  The present invention solves the above problems by the following means.

An aspect of the motor control device according to the present invention is necessary for calculating the electric power of the motor according to a current detection means for detecting a current supplied to the motor and a torque command value for determining the driving force of the motor. Voltage calculating means for calculating a torque component of the voltage command value. Then, based on the torque component of the voltage command value calculated by the voltage calculation means and the current value detected by the current detection means, power calculation means for calculating the power of the motor, and calculation by the power calculation means Torque estimated value calculating means for calculating a torque estimated value based on the electric power to be output, and feedback means for feeding back the torque estimated value to the torque command value . The voltage calculation means extracts a control delay of the voltage command value and calculates a torque component of the voltage command value.

  According to the present invention, when calculating the electric power of the motor, the electric power that does not include the fluctuation of the energy stored in the coil is calculated. Therefore, when the motor is in a transient state, an increase in the electric power component that does not contribute to the driving force or By suppressing the decrease, it is possible to suppress a decrease in the correlation between the power of the motor and the driving force as compared with the steady state.

  Therefore, it can suppress that the transient response characteristic of a motor falls.

FIG. 1 is a diagram illustrating a configuration of a motor control device according to a first embodiment of the present invention. FIG. 2 is a diagram illustrating a detailed configuration of the dq-axis voltage calculation unit. FIG. 3 is a diagram showing response characteristics of rising of electric power supplied to the motor. FIG. 4 is a diagram illustrating a response characteristic of torque at the time of rising. FIG. 5 is a flowchart showing a torque control method by the motor control device. FIG. 6 is a diagram illustrating a configuration of the motor control device according to the second embodiment. FIG. 7 is a diagram illustrating a detailed configuration of the current vector control unit. FIG. 8 is a flowchart showing a torque control method by the motor control device. FIG. 9 is a diagram showing a detailed configuration of the current vector control unit in the third embodiment.

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

(First embodiment)
FIG. 1 is a diagram illustrating a configuration of a motor control device 100 according to the first embodiment of the present invention.

  The motor control device 100 is a device that controls the motor 6 mounted on the hybrid vehicle, for example. The motor control device 100 drives the motor 6 using voltage phase control.

  The motor control device 100 includes a dq axis / UVW phase converter 1, a PWM (Pulse Width Modulation) converter 2, an inverter 3, a battery 4, current detectors 5u and 5v, a motor 6, and a position detector. 7 and a UVW phase / dq axis converter 8. The motor control device 100 includes a power calculator 9, a mechanical angular velocity calculator 10, a torque correction unit 20A, and a dq axis voltage calculation unit 30A.

  The motor 6 is a three-phase AC motor. The motor 6 is driven by the U-phase current iu, the V-phase current iv, and the W-phase current iw. The motor 6 is provided with a position detector 7.

  The position detector 7 detects the position of the magnetic pole provided on the rotor in the motor 6 at a predetermined cycle. The position detector 7 is composed of, for example, a resolver (RD). The position detector 7 calculates the electrical angle θ of the rotor based on the detection result, and outputs it to the dq axis / UVW phase converter 1, the UVW phase / dq axis converter 8, and the mechanical angular velocity calculator 10.

  When the mechanical angular velocity calculator 10 acquires the electrical angle θ of the rotor output from the position detector 7, the difference between the current electrical angle θ and the previous electrical angle θ, that is, the change in the electrical angle θ per unit time. Calculate the amount. The mechanical angular velocity calculator 10 calculates the mechanical angular velocity ωm of the motor 6 from the change amount of the electrical angle θ and outputs it to the torque correction unit 20A.

The dq axis / UVW phase converter 1 calculates the d axis voltage command value vd ^* and the q axis voltage command value vq ^* based on the electrical angle θ of the rotor output from the position detector 7 using the following equations. , U phase voltage command value vu ^* , V phase voltage command value vv ^* , and W phase voltage command value vw ^* .

The dq axis / UVW phase converter 1 outputs three-phase voltage command values vu ^* , vv ^* , vw ^* to the PWM converter 2.

PWM converter 2 performs known processing such dead time compensation and voltage utilization rate enhancement, the voltage command value of three-phase ^{vu *,} vv *, the power element of the inverter 3 which corresponds to vw ^* drive signal ^Duu *, ul ^* , Dvu ^* , vl ^* , Dwu ^* , Dwl ^* are generated. PWM converter 2, the power element drive signals ^{Duu *, Dul *, Dvu *} , Dvl *, Dwu *, supplies Dwl ^* to the inverter 3.

  A battery 4 is connected to the inverter 3, and a voltage detector 14 is provided in the battery 4. The voltage detector 14 detects the DC voltage Vdc of the battery 4 and outputs it to the PWM converter 2.

Inverter 3, the power element drive signals ^{Duu *, Dul *, Dvu *} , Dvl *, Dwu *, by Dwl ^*, a DC voltage Vdc of the battery 4, and converts a three-phase pseudo sine wave voltage vu, vv, the vw . The inverter 3 applies three-phase pseudo sine wave voltages vu, vv, vw to the motor 6.

  By applying the three-phase pseudo sine wave voltages vu, vv, vw to the motor 6, three-phase alternating currents iu, iv, iw flow through the coils of each phase provided in the motor 6. The motor 6 and the inverter 3 are connected by U-phase, V-phase, and W-phase voltage lines, and current detectors 5u and 5v are provided on the U-phase voltage line and the V-phase voltage line, respectively. Yes.

  Current detectors 5u and 5v detect U-phase current iu and V-phase current iv supplied to motor 6, respectively. Of the alternating current of each phase flowing through the motor 6, the W-phase current iw can be obtained using the relationship of the following equation.

  The current detectors 5 u and 5 v output the U-phase current iu and the V-phase current iv to the UVW phase / dq axis converter 8.

  The UVW phase / dq axis converter 8 converts the U-phase current iu and V-phase current iv output from the current detectors 5u and 5v into the following based on the electrical angle θ of the rotor output from the position detector 7. Using the equations, the d-axis current detection value id and the q-axis current detection value iq are converted.

  The UVW phase / dq axis converter 8 outputs the d axis current detection value id and the q axis current detection value iq to the power calculator 9.

The power calculator 9 uses the d-axis current detection value id and the q-axis current detection value iq, the d-axis voltage calculation value vdcal ^*, and the q-axis voltage calculation value vqcal ^* as shown in the following equation. The estimated power value Pcal is calculated.

A method for calculating the d-axis voltage calculation value vdcal ^* and the q-axis voltage calculation value vqcal ^* will be described later with reference to FIG. The power calculator 9 outputs the estimated power Pcal of the motor 6 to the torque correction unit 20A.

Torque correction unit 20A, and calculates the voltage phase target value alpha ^* according to the torque command value T ^*, corrects the torque command value T ^* based on the estimated power Pcal of the motor 6. The torque correction unit 20A includes a torque converter 21, a subtractor 22, and a PI (Proportional Integral) amplifier 23.

  The torque converter 21 acquires the estimated power Pcal of the motor 6 from the power calculator 9 and also acquires the mechanical angular speed ωm from the mechanical angular speed calculator 10. As shown in the following equation, the torque converter 21 divides the estimated power Pcal by the mechanical angular velocity ωm, thereby converting the constant power Pcal into a torque estimated value Tcal and outputs it to the subtractor 22.

The subtracter 22 acquires a torque command value T ^* that determines the driving force of the motor 6 from a controller (not shown). The controller calculates a torque command value T ^* according to the driving state of the vehicle.

The subtracter 22 subtracts the estimated torque value Tcal from the torque command value T ^* , and outputs the subtracted value, so-called deviation, to the PI amplifier 23.

The PI amplifier 23 amplifies the deviation between the torque command value T ^* and the estimated torque value Tcal by PI control as shown in the following equation, and sets the amplified deviation as the voltage phase target value α ^* to the dq axis voltage calculation unit 30A. Output to.

  Note that both the proportional gain Kp and the integral gain Ki are constants, and are appropriately set according to the system.

The dq-axis voltage calculation unit 30A calculates a d-axis voltage command value vd ^* and a q-axis voltage command value vq ^* according to the torque command value T ^* . Further, the dq-axis voltage calculation unit 30A calculates a d-axis voltage calculation value vdcal ^* and a q-axis voltage calculation value vqcal ^* necessary for calculating the electric power of the motor 6 according to the torque command value T ^* . The d-axis voltage calculation value vdcal ^* and the q-axis voltage calculation value vqcal ^* are torque components of the motor 6.

FIG. 2 is a block diagram illustrating a detailed configuration of the dq-axis voltage calculation unit 30A. Further, FIG. 2 shows output waveforms of the respective components when a signal in which the voltage phase target value α ^* and the voltage vector norm command value Va ^* rise in a pulse manner is input.

  The dq-axis voltage calculation unit 30A includes a d-axis target voltage calculation unit 31, a q-axis target voltage calculation unit 32, a stabilization filter 33, a d-axis dead time processing unit 34, a q-axis dead time processing unit 35, Is provided.

  The stabilization filter 33 is a filter for improving the control response of the motor 6 in a transient state. The stabilization filter 33 is configured such that the d-axis and q-axis currents are first-order lag while maintaining the relationship between the d-axis and d-axis voltages and the d-axis and q-axis currents. LPFs 331 and 334, HPFs 332 and 333, amplifiers 335 and 336, and calculators 337 and 338 are provided.

Both the d-axis target voltage calculation unit 31 and the q-axis target voltage calculation unit 32 receive the voltage vector norm command value Va ^* and the voltage phase target value α ^* .

In general, in the voltage phase control, the terminal voltage of the motor 6 reaches the upper limit voltage of the battery 4 in the high rotation region of the motor 6 and the voltage command value is fixed to the upper limit voltage of the battery 4. Only the value α ^* is changed. In such a case, the voltage vector norm determined by the square sum square root of the d-axis voltage command value vd ^* and the q-axis voltage command value vq ^* is obtained when a stepwise variation of the voltage phase target value α ^* occurs. , Will rise transiently.

The voltage vector norm command value Va ^* is a voltage command value set according to the voltage phase target value α ^* so as to suppress such an increase in the voltage vector norm. For example, voltage vector norm command value Va ^* is set by a preset voltage command map.

The d-axis target voltage calculation unit 31 converts the voltage vector norm command value Va ^* and the voltage phase target value α ^* into a d-axis voltage target value vd ^* ′ using the following equation.

The d-axis target voltage calculation unit 31 outputs the d-axis voltage target value vd ^* ′ to the LPF 331 and the HPF 332.

The LPF 331 performs a low-pass filter process on the d-axis voltage target value vd ^* ′ using the following transfer function G1 (s). The LPF 331 outputs the low frequency component of the d-axis voltage target value vd ^* ′ to the d-axis dead time processing unit 34 and the calculator 337. For this reason, when a rectangular waveform at the time of rising is input to the LPF 331, the output waveform of the LPF 331 shows a first-order lag response.

  The time constant τm is a reference response time constant for the d-axis and q-axis currents.

The HPF 332 performs a high-pass filter process on the d-axis voltage target value vd ^* ′ using the following transfer function G2 (s). As a result, a value obtained by performing high-pass filter processing on the d-axis voltage target value vd ^* ′ from the HPF 332 is output to the q-axis dead time processing unit 35 and the amplifier 336. For this reason, when a rectangular waveform at the time of rising is input to the HPF 332, the output waveform of the HPF 332 shows a sharp waveform.

  The amplifier 335 multiplies the value output from the HPF 332 by the gain coefficient k2 of the following equation and outputs the result to the calculator 338.

  The gain coefficient k2 is determined based on the q-axis static inductance value Lq, the q-axis dynamic inductance value Lq ′, and the electrical angular velocity ωe of the motor 6, as shown in the following equation. The electrical angular velocity ωe of the motor 6 is calculated based on the electrical angle θ of the rotor output from the position detector 7.

The q-axis target voltage calculation unit 32 converts the voltage vector norm command value Va ^* and the voltage phase target value α ^* into a q-axis voltage target value vq ^* ′ using the following equation.

The q-axis target voltage calculation unit 32 outputs the q-axis voltage target value vq ^* ′ to the HPF 333 and the LPF 334.

The HPF 333 performs high-pass filter processing on the q-axis voltage target value vd ^* ′ using the same transfer function as the transfer function G2 (s) indicated by the HPF 332. As a result, a value obtained by performing high-pass filter processing on the q-axis voltage target value vq ^* ′ from the HPF 333 is output to the d-axis dead time processing unit 34 and the amplifier 336.

  The amplifier 336 multiplies the value subjected to the high-pass filter processing by the HPF 333 by the gain coefficient k1 of the following equation and outputs the result to the calculator 337.

  The gain coefficient k1 is determined based on the d-axis static inductance value Ld, the d-axis dynamic inductance value Ld ', and the electrical angular velocity ωre of the motor 6, as shown in the following equation.

The LPF 334 performs a low-pass filter process on the q-axis voltage target value vq ^* ′ using the same transfer function as the transfer function G1 (s) indicated by the LPF 331. The LPF 334 outputs the low frequency component of the d-axis voltage target value vd ^* ′ to the q-axis dead time processing unit 35 and the calculator 338.

The computing unit 337 adds the value obtained by performing the low-pass filter process on the d-axis voltage target value vd ^* ′ and the value obtained by performing the high-pass filter process on the q-axis voltage target value vq ^* ′, and calculates the added value. It outputs to the dq axis / UVW phase converter 1 as the d axis voltage command value vd ^* .

The computing unit 338 subtracts the value obtained by applying the high-pass filter process to the d-axis voltage target value vd ^* ′ from the value obtained by performing the low-pass filter process on the q-axis voltage target value vq ^* ′, and calculates the subtracted value q The shaft voltage command value vq ^* is output to the dq axis / UVW phase converter 1.

By configuring the stabilization filter 33 in this way, the d-axis current and the q-axis current obtained according to the voltage vector norm command value Va ^* and the voltage phase target value α ^* are approximately the first order delay determined by the time constant τm. It becomes a response.

The first-order lag components of the d-axis voltage command value vd ^* and the q-axis voltage command value vq ^* are output from the LPFs 331 and 334, respectively. These output values are subjected to dead time processing in consideration of a control delay until a current is supplied to the motor 6 from the d-axis and q-axis voltage command values vd ^* and vq ^* .

Specifically, the d-axis dead time processing unit 34 performs dead time processing on the value output from the LPF 331 using the transfer function G3 (s) of the following equation to generate the d-axis voltage calculation value vdcal ^* as the power. The result is output to the calculator 9.

Further, the q-axis dead time processing unit 35 performs dead time processing on the value output from the LPF 334 using the transfer function of Expression (13), and outputs the q-axis voltage calculation value vqcal ^* to the power calculator 9. To do.

  The power calculator 9 includes a d-axis multiplier 91, a q-axis multiplier 92, and a power adder 93.

  The d-axis multiplier 91 includes a d-axis voltage calculation value Vdcal output from the d-axis dead time processing unit 34, a d-axis current detection value id output from the UVW phase / dq axis converter 8 shown in FIG. , And outputs the multiplied value to the power adder 93 as d-axis estimated power.

  The q-axis multiplier 92 multiplies the q-axis voltage calculation value Vqcal output from the q-axis dead time processing unit 35 and the q-axis current detection value iq output from the UVW phase / dq axis converter 8, The multiplied value is output to the power adder 93 as q-axis estimated power.

  The power adder 93 adds the d-axis estimated power output from the d-axis multiplier 11 and the q-axis estimated power output from the q-axis multiplier 12 to obtain the estimated power Pcal of the motor 6 in FIG. It outputs to the torque converter 21 shown.

In this way, by using the first-order lag component of the d-axis voltage command value vd ^* and the q-axis voltage command value vq ^* for the calculation of the estimated power Pcal, the power that does not contribute to the torque due to the fluctuation of the energy stored in the coil of the motor 6 It can avoid that a component fluctuates.

  For this reason, when the motor 6 is in a transient state, a decrease in the correlation between the estimated power Pcal and the actual torque of the motor 6 can be suppressed.

  Next, details of the operation of the motor control apparatus 100 will be described.

  FIG. 3 is a flowchart showing a torque control method executed by the motor control device 100. FIG. 3 shows one calculation process for the torque control method, and this calculation process is executed in a predetermined cycle (for example, 100 ms).

First, in step S901, the motor control device 100 acquires the torque command value T ^* and voltage vector norm command value Va ^* calculated by the controller, and the rotor electrical angle θ output from the position detector 7. To do. Furthermore, the motor control device 100 detects the d-axis current detection value id and the q-axis current detection value iq output from the UVW phase / dq axis converter 8, the mechanical angular velocity ωm output from the mechanical angular velocity calculator 10, and the voltage detection. The DC voltage Vdc of the battery 4 output from the container 14 is acquired.

The dq-axis voltage calculation unit 30A calculates a d-axis voltage command value vd ^* and a q-axis voltage command value vq ^* in accordance with the voltage vector norm command value Va ^* and the torque command value T ^* to obtain a dq-axis / UVW phase converter. Output to 1. The dq-axis / UVW phase converter 1 converts the d-axis and q-axis voltage command values vd ^* and vq ^* into three-phase voltage command values vu ^* , vv ^* , vw ^* based on the electrical angle θ of the rotor. And output to the PWM converter 2.

The PWM converter 2, based on the DC voltage Vdc of the battery 4, the voltage command value of three-phase ^{vu *,} vv ^*, vw * power element drive signals corresponding to ^{Duu *, Dul *, Dvu *} , Dvl *, Dwu ^* and Dwl ^* are generated. Inverter 3, the power element drive signals ^{Duu *, Dul *, Dvu *} , Dvl *, Dwu *, Dwl * pseudo-sine wave voltage of the three-phase according to vu, vv, applies a vw in the motor 6.

Moreover, dq-axis voltage calculating portion 30A is, d-axis voltage command value vd ^* and the q-axis voltage instruction value vq ^* of the primary delay d-axis voltage calculation value by extracting a component Vdcal ^* and q-axis voltage calculation value Vqcal ^* power The result is output to the calculator 9. The d-axis voltage calculation value vdcal ^* and the q-axis voltage calculation value vqcal ^* are calculated based on values obtained by removing high frequency components from the d-axis voltage target value vd ^* ′ and the q-axis voltage target value vq ^* ′.

In step S902, the power calculator 9 sets the inner product of the d-axis voltage calculation value vdcal ^* and the q-axis voltage calculation value vqcal ^* and the d-axis current detection value id and the q-axis current detection value iq as the estimated power Pcal of the motor 6. The torque is output to the torque converter 21.

  In step S903, the torque converter 21 calculates the estimated torque value Tcal by dividing the estimated power Pcal by the mechanical angular velocity ωm.

In step S904, the PI amplifier 23 calculates the voltage phase command value α ^* by PI amplification of the deviation between the torque command value T ^* and the estimated torque value Tcal, and outputs the voltage phase command value α ^* to the dq-axis voltage calculation unit 30A.

In step S905, the dq-axis voltage calculation unit 30A calculates the d-axis and q-axis voltage command values vd ^* and vq ^* according to the corrected voltage phase command value α ^* . At the same time, the dq-axis voltage calculation unit 30A performs the d-axis and q-axis voltage target values vd ^* ′ and vq ^* ′ that are intermediate values calculated in the calculation process of the d-axis and q-axis voltage command values vd ^* and vq ^*. Are extracted, that is, a first-order lag component. Then, the dq-axis voltage calculation unit 30A outputs the d-axis and q-axis voltage calculation values vdcal and vqcal obtained by subjecting the first-order lag component to dead time processing to the power calculator 9.

In step S906, the dq-axis / UVW phase converter 1 converts the d-axis and q-axis voltage command values vd ^* and vq ^* into three-phase voltage command values vu ^* , vv ^* , v, based on the electrical angle θ of the rotor. Convert to vw ^* . At the same time, the power calculator 9 calculates the estimated power Pcal of the motor 6, and the torque correction unit 20A feeds back the estimated torque value Tcal calculated from the estimated power Pcal to the torque command value T ^* .

  And the torque control method by the motor control apparatus 100 is complete | finished.

  Next, an example when the active power of the motor 6 is calculated from the d-axis and q-axis applied voltages of the motor 6 and the d-axis and q-axis currents will be described.

  Generally, as shown in the following equation, the active power P of the motor 6 is obtained by the inner product of the d-axis and q-axis applied voltages vd and vq and the d-axis and q-axis currents id and iq.

  The d-axis and q-axis applied voltages vd and vq are obtained by the voltage equation of the motor 6 in the synchronous machine as shown by the following equation.

  The coil resistance R is a resistance value of a coil provided in the motor 6, and the magnet magnetic flux φa is a magnetic flux of a permanent magnet provided in the rotor.

  Substituting equation (15) into equation (14) yields the following equation:

  In the above equation (16), the first term on the right side is the torque component of the motor 6, and the second term on the right side is the loss component of the power lost in the motor 6. The third and fourth terms on the right side are energy components accumulated in the coil of the motor 6, that is, input / output energy components of the coil. Thus, the active power P of the motor 6 includes a power loss component and a coil input / output energy component in addition to the torque component. The input / output energy component of the coil increases, for example, when the electric power of the motor 6 rises, and decreases when the electric power of the motor 6 falls. That is, the input / output energy component of the coil increases or decreases when the motor 6 is in a transient state.

In a configuration in which the d-axis and q-axis currents have a first-order lag response, the input / output energy component of the coil has a differential term, and thus has a response waveform as if processed by a high-pass filter. Therefore, when the active power P is converted into a torque estimated value and fed back to the torque command value T ^* , the input / output energy component of the coil varies when the motor 6 is in a transient state.

  Thus, when the component that does not contribute to the torque of the active power P of the motor 6 fluctuates, the correlation between the active power P and the torque of the motor 6 becomes worse than when the motor 6 is in a steady state. Responsiveness will be reduced.

  Since the loss component of the second term of equation (16) can be regarded as a first-order lag, the fluctuation of the loss component is small compared to the fluctuation of the input / output energy component of the coil even in the transient state of the motor 6. The effect on torque response is negligible. It is also possible to calculate the loss component based on the current values detected by the current detectors 5u and 5v and correct the loss component using the calculation result.

  FIG. 4 is a diagram showing a response waveform when the supply power supplied to the motor 6 rises. In FIG. 4, the response waveform 32 of the active power P obtained by the inner product of the d-axis and q-axis applied voltages vd and vq and the d-axis and q-axis currents id and iq is indicated by a broken line and is calculated in this embodiment. The response waveform 31 of the estimated power Pcal is shown by a solid line. The estimated power Pcal is in agreement with an ideal response (normative response).

  As shown in FIG. 4, the active power P of the response waveform 32 has an error compared to the normative response because the power components of the third and fourth terms of the equation (16) increase as the input energy of the coil increases. Becomes larger.

FIG. 5 is a diagram showing a torque response waveform when an estimated torque value is calculated from the active power of the motor 6 and fed back to the torque command value T ^* . In FIG. 5, the response waveform 34 based on the active power P is indicated by a broken line, and the response waveform 33 based on the estimated power Pcal is indicated by a solid line. The solid response waveform is consistent with the normative response.

  As shown in FIG. 5, with respect to the response waveform indicated by the broken line, a torque delay occurs with respect to the normative response. However, since the response waveform indicated by the solid line matches the normative response, the torque delay of the motor 6 is delayed. It can be seen that is reduced.

According to the first embodiment, in the voltage phase control, the elements constituting the d-axis and q-axis voltage command values vd ^* and vq ^* are used as the d-axis and q-axis voltage calculation values vdcal ^* and vqcal ^* for power calculation. The first order lag component is used. As a result, the estimated power Pcal that does not include fluctuations in the input / output energy components of the coil can be calculated.

  For this reason, when the motor 6 is in a transient state, for example, when the power of the motor 6 rises or when the drive power falls, an increase in the power component that does not contribute to the torque in the third and fourth terms of the equation (16) Or reduction is suppressed. Therefore, it is possible to suppress a decrease in the correlation between the estimated power Pcal of the motor 6 and the driving force.

  Therefore, it is possible to suppress a decrease in the transient response characteristic of the torque of the motor 6 while controlling the motor 6 using the voltage phase control.

  In addition, although this embodiment demonstrated the motor control apparatus 100 which performs voltage phase control, it is not restricted to this. For example, the present invention can be applied to a motor control device that performs current vector control. An example of application to a motor control device that performs current vector control will be described below.

(Second Embodiment)
FIG. 6 is a diagram illustrating a configuration of the motor control device 101 according to the second embodiment of the present invention. Of the configuration of the motor control device 101, the same components as those of the motor control device 100 shown in FIG.

  The motor control device 101 drives the motor 6 using current vector control. The motor control device 101 includes a torque correction unit 20B and a dq axis voltage calculation unit 30B instead of the torque correction unit 20A and the dq axis voltage calculation unit 30A shown in FIG.

  The torque correction unit 20B corresponds to the torque correction unit 20A illustrated in FIG. The torque correction unit 20B includes a torque converter 21, a subtractor 24, a PI amplifier 25, and an adder 26.

The subtracter 24 subtracts the estimated torque value Tcal from the torque command value T ^* and outputs the subtracted value, that is, the deviation to the PI amplifier 25.

The PI amplifier 25 amplifies the deviation between the torque command value T ^* and the estimated torque value Tcal by PI control and outputs the amplified deviation to the adder 26 as shown in the equation (6).

The adder 26 adds the deviation amplified by the PI amplifier 25 to the torque command value T ^* , and outputs the added value as a torque correction value T ^* ′. That is, the adder 26 corrects the torque command value ^* using the deviation amplified by the PI amplifier 25 and outputs the corrected value to the dq-axis voltage calculation unit 30B.

  The dq-axis voltage calculation unit 30B corresponds to the dq-axis voltage calculation unit 30A illustrated in FIG. The dq-axis voltage calculation unit 30B includes a current command generation unit 36, an interference voltage generation unit 37, and a current vector control unit 38B.

The current command generator 36 generates a d-axis current command value id ^* and a q-axis current command value iq ^* based on the torque correction value T ^* ′, the rotational speed N of the motor 6 and the DC voltage Vdc of the battery 4.

For example, a predetermined current command value map is recorded in the current command generation unit 36. The current command generation unit 36 refers to the voltage command map, and uses the d-axis current command value id ^* and the q-axis current command value iq ^* associated with the torque correction value T ^* ′, the rotation speed N, and the DC voltage Vdc. Output. The rotational speed N of the motor 6 is calculated using the electrical angle θ of the rotor.

Based on the torque correction value T ^* ′, the rotation speed N, and the DC voltage Vdc, the interference voltage generation unit 37 cancels the interference between the d-axis current and the q-axis current, and the d-axis interference voltage target value vd_dcpl ^* and A q-axis interference voltage target value vq_dcpl ^* is generated.

For example, the interference voltage generation unit 37 records a predetermined interference voltage map. The interference voltage generation unit 37 refers to the interference voltage map, and the d-axis interference voltage target value vd_dcpl ^* and the q-axis interference voltage target value vq_dcpl associated with the torque correction value T ^* ′, the rotation speed N, and the DC voltage Vdc. ^{* Is} output.

The current vector control unit 38A performs general current feedback control and non-interference control. The current vector control unit 38A generates a d-axis voltage command based on the d-axis current command value id ^* and the q-axis current command value iq ^* and the d-axis interference voltage target value vd_dcpl ^* and the q-axis interference voltage target value vq_dcpl ^*. The value vd ^* and the q-axis voltage command value vq ^* are calculated.

FIG. 7 is a block diagram showing a detailed configuration of the current vector control unit 38A. FIG. 7 shows the output waveform of each component when a signal indicating a rectangular waveform of the d-axis interference voltage target value vd_dcpl ^* and the q-axis interference voltage target value vq_dcpl ^* is input, as in FIG. . The d-axis current detection value id and the q-axis current detection value iq at the time of rising indicate a first-order lag response.

  The current vector control unit 38A includes a d-axis voltage command value calculation unit 380 and a q-axis voltage command value calculation unit 390.

  The d-axis voltage command value calculation unit 380 includes a current reference response filter 381, a proportional device 382, an integrator 383, calculators 384 to 387, and a d-axis dead time processing unit 388. The q-axis voltage command value calculation unit 390 includes a current reference response filter 391, a proportional device 392, an integrator 393, calculators 394 to 397, and a q-axis dead time processing unit 398.

The current reference response filter 381 performs low-pass filtering on the d-axis interference voltage target value vd_dcpl ^* using the same transfer function as the LPFs 331 and 334 shown in FIG. The low-frequency component of the d-axis interference voltage target value vd_dcpl ^* is output to the calculator 386 by the current reference response filter 381. For this reason, the output waveform of the current reference response filter 381 shows a first-order lag response.

The calculator 384 outputs the difference between the d-axis current command value id ^* from the current command generator 36 and the detected d-axis current value id from the UVW phase / dq axis converter 8 to the proportional device 382 and the integrator 383. .

The proportional device 382 amplifies the difference between the d-axis current command value id ^* and the d-axis current detection value id by a predetermined proportional gain Kp and outputs the amplified difference to the computing device 385.

The integrator 383 integrates the difference between the d-axis current command value id ^* and the d-axis current detection value id with a predetermined integration gain Ki and outputs the result to the calculators 385 and 387. For this reason, the output waveform of the integrator 383 shows a first-order lag response.

  The calculator 385 adds the output value from the proportional unit 382 and the output value from the integrator 383 and outputs the result to the calculator 386.

The computing unit 386 adds the output value from the current reference response filter 381 and the output value from the computing unit 385, and uses the added value as the d-axis current command value vd ^* shown in FIG. Output to phase converter 1.

  The computing unit 387 adds the output value from the current reference response filter 381 and the output value from the integrator 383 and outputs the result to the d-axis dead time processing unit 388.

The d-axis dead time processing unit 388 performs dead time processing on the output value from the computing unit 387 by the same transfer function as the d-axis dead time processing unit 34 shown in FIG. 2, and obtains the d-axis voltage calculated value vdcal ^* . This is output to the d-axis multiplier 91 of the power calculator 9.

In the d-axis voltage command value calculation unit 380, the value obtained by passing the d-axis current command value id ^* through the current reference response filter 381 and the value obtained by passing the d-axis interference voltage target value vd_dcpl ^* through the proportional device 382 and the integrator 383. Is output as the d-axis voltage command value vd ^* .

The value obtained by passing the d-axis current command value id ^* through the current reference response filter 381 and the value obtained by passing the d-axis interference voltage target value vd_dcpl ^* through the integrator 383 are both the same as the output signal processed by the low-pass filter. Response waveform.

Therefore, the sum of the value obtained by passing the d-axis current command value id ^* through the current reference response filter 381 and the value obtained by passing the d-axis interference voltage target value vd_dcpl ^* through the integrator 383 is the d-axis voltage command value vd ^* . It becomes a first-order lag component.

Therefore, a value obtained by performing dead time processing on the sum of a value obtained by passing the d-axis current command value id ^* through the current reference response filter 381 and a value obtained by passing the d-axis interference voltage target value vd_dcpl ^* through the integrator 383. Is output as the d-axis voltage calculation value vdcal ^* .

  The configuration of the q-axis voltage command value calculation unit 390 is the same as that of the d-axis voltage command value calculation unit 380.

Therefore, the q-axis voltage command value calculation unit 390 passes the q-axis current command value iq ^* through the current reference response filter 391 and the q-axis interference voltage target value vq_dcpl ^* through the proportional device 392 and the integrator 393. The sum total with each value is output as the q-axis voltage command value vq ^* .

The value obtained by passing the q-axis current command value iq ^* through the current reference response filter 391 and the value obtained by passing the d-axis interference voltage target value vq_dcpl ^* through the integrator 393 are both the same as the output signal processed by the low-pass filter. Response waveform.

Therefore, dead time processing is performed on the sum of the value obtained by passing the q-axis current command value iq ^* through the current reference response filter 391 and the value obtained by passing the q-axis interference voltage target value vq_dcpl ^* through the integrator 393. The value is output as a q-axis voltage calculation value vqcal ^* .

In this way the current vector control unit 38A, among the d-axis and q-axis voltage command value vd ^* and vq ^* intermediate value calculated by the calculation, d-axis and q-axis voltage command value vd ^* and vq ^* of primary delay The component is used for the d-axis and q-axis voltage calculation values vdcal ^* and vqcal ^* for power calculation.

  Next, details of the operation of the motor control apparatus 101 will be described.

  FIG. 8 is a flowchart showing a torque control method executed by the motor control device 101. FIG. 8 shows one calculation process by the motor control apparatus 101, and this calculation process is executed at a predetermined cycle (for example, 100 ms).

First, in step S911, the motor control device 101 acquires the torque command value T ^* calculated by the controller, the rotor electrical angle θ output from the position detector 7, and the rotational speed N of the motor 6. . Furthermore, the motor control device 100 detects the d-axis current detection value id and the q-axis current detection value iq output from the UVW phase / dq axis converter 8, the mechanical angular velocity ωm output from the mechanical angular velocity calculator 10, and the voltage detection. The DC voltage Vdc of the battery 4 output from the container 14 is acquired.

The dq-axis voltage calculation unit 30B calculates the d-axis voltage command value vd ^* and the q-axis voltage command value vq ^* based on the torque command value T ^* , the rotation speed N, and the DC voltage Vdc, and performs dq-axis / UVW phase conversion. Output to the device 1 The dq-axis / UVW phase converter 1 converts the d-axis and q-axis voltage command values vd ^* and vq ^* into three-phase voltage command values vu ^* , vv ^* , vw ^* based on the electrical angle θ of the rotor. And output to the PWM converter 2.

The PWM converter 2, based on the DC voltage Vdc of the battery 4, the voltage command value of three-phase ^{vu *,} vv ^*, vw * power element drive signals corresponding to ^{Duu *, Dul *, Dvu *} , Dvl *, Dwu ^* and Dwl ^* are generated. Inverter 3, the power element drive signals ^{Duu *, Dul *, Dvu *} , Dvl *, Dwu *, Dwl * pseudo-sine wave voltage of the three-phase according to vu, vv, applies a vw in the motor 6.

The dq-axis voltage calculation unit 30A uses the d-axis voltage calculation value vdcal and the q-axis voltage calculation value vqcal calculated to calculate the d-axis voltage command value vd ^* and the q-axis voltage command value vq ^* as a power calculator. Output to 9. The d-axis voltage calculation value vdcal and the q-axis voltage calculation value vqcal are calculated based on the first-order lag component of the d-axis voltage command value vd ^* and the q-axis voltage command value vq ^* .

In step S912, the power calculator 9 sets the inner product of the d-axis voltage calculation value vdcal ^* and the q-axis voltage calculation value vqcal ^* and the d-axis current detection value id and the q-axis current detection value iq as the estimated power Pcal of the motor 6. The torque is output to the torque converter 21.

  In step S913, the torque converter 21 calculates the estimated torque value Tcal by dividing the estimated power Pcal by the mechanical angular velocity ωm.

In step S914, the PI amplifier 25 PI-amplifies the deviation between the torque command value T ^* and the torque estimated value Tcal, and the adder 26 adds the PI-amplified deviation to the torque command value T ^* and adds the difference. The value is output as a torque correction value T ^* ′ to the dq-axis voltage calculation unit 30B. That is, the adder 26 corrects the torque command value T ^* based on the estimated torque value Tcal.

In step S915, the current command generator 36 generates a d-axis current command value id ^* and a q-axis current command value iq ^* based on the torque correction value T ^* ′, the rotation speed N, and the DC voltage Vdc. At the same time, the interference voltage generation unit 37 generates the d-axis interference voltage target value vd_dcpl ^* and the q-axis interference voltage target value vq_dcpl ^* based on the torque correction value T ^* ′, the rotation speed N, and the DC voltage Vdc.

In step S916, the current vector control unit 38B, based on the d-axis current command value id ^* and the q-axis current command value iq ^* , the d-axis interference voltage target value vd_dcpl ^*, and the q-axis interference voltage target value vq_dcpl ^* , The d-axis voltage command value vd ^* and the q-axis voltage command value vq ^* are calculated.

Further, the current vector control unit 38B extracts the first-order lag component of the d-axis voltage command value vd ^* and the q-axis voltage command value vq ^* , and calculates the d-axis and q-axis voltages obtained by subjecting these first-order lag components to dead time processing. The values vdcal ^* and vqcal ^* are output to the power calculator 9.

Specifically, the current vector control unit 38B extracts the outputs of the current reference response filter 381 and the integrator 383 used for the calculation of the d-axis voltage command value vd ^* , and is wasted in the sum of the extracted outputs. By performing time processing, the d-axis voltage calculation value vdcal ^* is calculated. That is, the current vector control unit 38B extracts the direct term of the current deviation between the d-axis current command value id ^* and the d-axis current detection value id, that is, outputs other than the proportional device 382, and outputs the d-axis voltage calculation value vdcal ^* . Ask.

At the same time, the current vector control unit 38B extracts the outputs of the current reference response filter 391 and the integrator 393 used for the calculation of the q-axis voltage command value vq ^* , and performs a dead time process on the sum of the extracted outputs. As a result, a q-axis voltage calculation value vqcal ^* is calculated. That is, the current vector control unit 38B extracts the direct component of the current deviation between the q-axis current command value iq ^* and the q-axis current detection value iq, that is, outputs other than the proportional device 392, and outputs the q-axis voltage calculation value vqcal ^* . Ask.

In step S917, the dq-axis / UVW phase converter 1 converts the d-axis and q-axis voltage command values vd ^* and vq ^* into three-phase voltage command values vu ^* , vv ^* , v, based on the electrical angle θ of the rotor. Convert to vw ^* . At the same time, the power calculator 9 calculates the estimated power Pcal of the motor 6 using the d-axis and q-axis voltage calculation values vdcal ^* and vqcal ^* , the d-axis current detection value id and the q-axis current detection value iq. .

Thereafter, the estimated torque value Tcal calculated from the estimated power Pcal is fed back to the torque command value T ^* , and the torque control method ends.

According to the second embodiment, the estimated power is obtained by using the primary delay of the d-axis and q-axis voltage command values vd ^* and vq ^* as the d-axis and q-axis voltage calculation values vdcal ^* and vqcal ^* for power calculation. An increase or decrease in the input / output energy component of the coil of Pcal can be suppressed. Therefore, since fluctuations in components that do not contribute to the driving force when the motor 6 is in a transient state can be suppressed, it is possible to suppress a decrease in transient response of torque.

  Next, another configuration example of the current vector control unit 38A will be described below.

(Third embodiment)
FIG. 9 is a diagram showing a detailed configuration of the current vector control unit 38B in the third embodiment of the present invention. FIG. 9 shows output waveforms of the respective components as in FIG.

The configuration of the current vector controller 38B is a model-matched configuration in the form of a disturbance observer. Here, the direct term of the d-axis current deviation between the d-axis current command value id ^* and the d-axis current detection value id, that is, the output of the proportional device 41, the q-axis current command value iq ^*, and the q-axis current detection value iq The direct term of the electric q-axis flow deviation, that is, the output of the proportional device 42 can be explicitly distinguished.

As shown in FIG. 9, among the intermediate values of the d-axis voltage command value vd ^* , the output of each component other than the proportional device 41 has a response waveform similar to the output waveform processed by the low-pass filter. Of the intermediate value of the q-axis current command value iq ^* , the output of each component other than the proportional device 42 has a response waveform similar to the output signal processed by the low-pass filter.

Therefore, a value obtained by performing dead time processing on the sum of the outputs of the components other than the proportional device 41 among the intermediate values of the d-axis voltage command value vd ^* is a d-axis voltage calculation value vdcal ^* for power calculation. It is output to the d-axis multiplier 91 of the power calculator 9. Of the intermediate values of the q-axis voltage command value vq ^* , a value obtained by performing dead time processing on the sum of the outputs of the components other than the proportional device 42 is used as a q-axis voltage calculation value vqcal ^* for power calculation. To the q-axis multiplier 92 of the unit 9.

According to the third embodiment, the primary delay of the d-axis interference voltage target value vd_dcpl ^* and the q-axis interference voltage target value vq_dcpl ^{* and} the primary delay of the d-axis current command value id ^* and the q-axis current command value iq ^* Extracted and used for d-axis and q-axis voltage calculation values vdcal ^* and vqcal ^* for power calculation. Thereby, it can suppress that the input-output energy component of a coil changes, when the motor 6 is a transient state. Therefore, it is possible to suppress a decrease in torque transient response.

As described above, in the first to third embodiments, the voltage calculation units 30A and 30B extract the control delay of the d-axis and q-axis voltage command values, and the d-axis and q-axis voltage command values are extracted based on the control delay. A d-axis voltage calculation value vdcal ^* and a q-axis voltage calculation value vqcal ^* are calculated as torque components. The power calculator 9 calculates the estimated power Pcal of the motor 6 based on the d-axis voltage calculated value vdcal ^{*, the} q-axis voltage calculated value vqcal, and the current value detected by the current detectors 5u and 5v. Torque correction units 20A and 20B correct torque command value T ^* based on estimated power Pcal.

  Thereby, when the motor 6 is in a transient state, it is possible to calculate the estimated power Pcal that does not include fluctuations in the input / output energy component of the coil, and therefore it is possible to suppress a decrease in the correlation between the estimated power Pcal and the torque. Therefore, it is possible to suppress a decrease in transient response of the motor 6 in a configuration that feeds back to the torque command value based on the estimated torque power Pcal.

  The delay component of the d-axis and q-axis voltage command values is extracted based on the time constant τm related to the control delay of the d-axis and q-axis current supplied to the motor 6. For example, in the first embodiment, the delay components of the d-axis and q-axis voltage command values are extracted by the LPFs 331 and 334. In the second embodiment, the norm response filters 381 and 392 extract delay components of the d-axis and q-axis voltage command values.

  In this way, by applying the control delay process to the d-axis and q-axis voltage command values in accordance with the control delay of the d-axis and q-axis currents, the voltage value used for the calculation of the estimated power Pcal is brought closer to the actual value. Thus, it is possible to suppress a decrease in the correlation between the estimated power Pcal and the torque.

  The embodiment of the present invention has been described above. However, the above embodiment only shows a part of application examples of the present invention, and the technical scope of the present invention is limited to the specific configuration of the above embodiment. Absent.

For example, in the present embodiment, the example in which the dq-axis voltage calculation units 30A and 30B extract the first-order lag components of the q-axis voltage command values vd ^* and vq ^* extending over the d-axis has been described, but the present invention is not limited to this. For example, second-order lag components of the d-axis and q-axis voltage command values vd ^* and vq ^* may be extracted.

  In addition, the said embodiment can be combined suitably.

5u, 5v current detector (current detection means)
6 Motor 9 Power calculator (Power calculation means)
20A, 20B Torque correction unit (correction means)
30A, 30B dq axis voltage calculation unit (voltage calculation means)
31 Current command generation unit 32 Interference voltage generation unit 33A, 33B Current vector control unit 100, 101 Motor control device

Claims (4)

Current detection means for detecting current supplied to the motor;
Voltage calculating means for calculating a torque component of a voltage command value required for calculating the electric power of the motor according to a torque command value for determining the driving force of the motor;
And a torque component of the voltage command value calculated by the voltage calculation means, based on the current value detected by said current detecting means, a power calculating means for calculating a power of said motor,
Torque estimated value calculating means for calculating a torque estimated value based on the power calculated by the power calculating means;
Feedback means for feeding back the estimated torque value to the torque command value;
Including
The voltage calculation means calculates a torque component of the voltage command value by extracting a control delay of the voltage command value.
Motor control device. The motor control device according to claim 1,
The voltage calculation means extracts a control delay of the voltage command value based on a control delay of a current supplied to the motor;
Motor control device. In the motor control apparatus according to claim 2,
The voltage calculation means includes
A target value calculation unit for calculating a d-axis and q-axis voltage target value according to the torque command value;
D-axis command value calculation for calculating a d-axis voltage command value based on a value obtained by performing a predetermined LPF process on the d-axis voltage target value and a value obtained by performing a predetermined HPF process on the q-axis voltage target value And
A q-axis command value calculation unit that calculates a q-axis voltage command value based on a value obtained by performing the LPF process on the q-axis voltage target value and a value obtained by performing the HPF process on the d-axis voltage target value; Including,
The power calculation means is detected by the current detection means and the torque components of the d-axis and q-axis voltage command values calculated based on the values obtained by subjecting the d-axis and q-axis voltage target values to the LPF processing, respectively. Based on the d-axis and q-axis current values to be calculated, the power of the motor is calculated.
Motor control device. In the motor control apparatus according to claim 2,
The voltage calculation means includes
A current command generator that generates d-axis and q-axis current command values based on the torque command values;
An interference voltage generator for generating d-axis and q-axis interference voltage target values for canceling interference between the d-axis current and the q-axis current based on the torque command value;
A current vector control unit that calculates the d-axis and q-axis voltage command values based on the d-axis and q-axis current command values and the d-axis and q-axis interference voltage target values;
The voltage calculation means includes a torque component of the d-axis and q-axis voltage command values calculated based on the control delay of the d-axis and q-axis interference voltage target values, and the d-axis and q detected by the current detection means. Based on the shaft current value, the power of the motor is calculated.
Motor control device.

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