JP6753290B2 - Motor control method and motor control system - Google Patents

Description

The present invention relates to a motor control method and a motor control system.

In the control method of a motor (synchronous motor) used in an electric vehicle such as an electric vehicle or a hybrid vehicle, torque control according to a required torque is often performed. Voltage fluctuations (interference) due to this torque control may occur, which may reduce the control accuracy of the motor. Therefore, in some motors, non-interference control for suppressing such interference is performed together with torque control (for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2006-42466

In general, since feedback control is performed in torque control, the response of torque control to non-interference control is delayed by the amount caused by the feedback control. Therefore, by performing delay processing on the non-interference command value used for non-interference control, it is possible to suppress the delay of torque control with respect to non-interference control.

Here, when the rotation speed of the motor fluctuates, the generated interference voltage also changes, so that the non-interference control command value also changes. However, since the delay processing is performed, the calculation timing of the non-interfering voltage command value is delayed from the actual motor power application timing, and the interference voltage cannot be suppressed even if the non-interfering voltage command value is used. Sometimes.

If the interference voltage cannot be suppressed, there is a problem that the current flowing through the motor does not follow the command value and the motor torque may fluctuate. For example, when the motor is incorporated in the electric vehicle, the fluctuation of the motor torque is transmitted to the tire via the drive shaft, which causes unpleasant vibration to the occupant of the electric vehicle.

An object of the present invention is to provide a motor control method and a motor control system that suppress vibration in the motor.

According to an aspect of the present invention, the motor control method includes a torque control step for calculating a torque voltage command value according to a torque command value and a non-interference that suppresses interference caused by control based on the torque voltage command value. A non-interference control step for calculating the voltage command value, an addition step for calculating the drive voltage command value of the motor by adding the torque voltage command value and the non-interference voltage command value, and a drive according to the drive voltage command value. It is a control method of a motor including a voltage application step of applying a voltage to the motor. In the non-interference control step, the magnetic flux command value used for suppressing interference is calculated according to the torque command value, and the magnetic flux command value is delayed by using a low-pass filter, and the delayed magnetic flux command value is applied. And the rotation speed of the motor are integrated to calculate the non-interference voltage command value.

According to the present invention, vibration in the motor can be suppressed.

FIG. 1 is a schematic configuration diagram of an electric vehicle including the motor control system of the first embodiment. FIG. 2 is a detailed configuration diagram of the motor torque control unit. FIG. 3A is a diagram showing changes in motor torque in a comparative example. FIG. 3B is a diagram showing changes in drive shaft torque in a comparative example. FIG. 4A is a diagram showing a change in motor torque in this embodiment. FIG. 4B is a diagram showing a change in drive shaft torque in this embodiment. FIG. 5 is a flowchart showing processing in the motor control system. FIG. 6 is a detailed configuration diagram of the motor torque control unit of the second embodiment.

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

(First Embodiment)
The motor control system according to the first embodiment of the present invention will be described.

FIG. 1 is a schematic configuration diagram of an electric vehicle including the motor control system of the first embodiment.

The electric vehicle includes a motor control system 1 and a motor 2 controlled by the motor control system 1, and can travel using a part or all of the driving force of the motor 2. For example, electric vehicles include hybrid vehicles and fuel cell vehicles.

The motor 2 is, for example, a three-phase AC motor, and transmits the generated torque to the wheels 3a and 3b. The torque transmitted to the wheels 3a and 3b is sometimes referred to as drive shaft torque. The rotation angle sensor 4 provided adjacent to the motor 2 detects the rotor position θ of the motor 2. Then, the rotation angle sensor 4 outputs the detected rotor position θ to the motor control system 1.

The accelerator opening sensor 5 is configured to detect the amount of depression of the accelerator pedal included in the vehicle, detects the accelerator opening a according to the driving state, and uses the detected accelerator opening a as the motor control system. Output to 1.

The motor control system 1 includes a motor torque setting unit 6, a vibration damping control unit 7, and a motor torque control unit 8.

The motor torque setting unit 6 is the third according to the target operating state of the motor 2 based on the rotor position θ detected by the rotation angle sensor 4 and the accelerator opening a a detected by the accelerator opening sensor 5. Set the torque target value T _m1 ^* of ₁ .

The vibration damping control unit 7 performs vibration damping control based on the rotor position θ with respect to the first torque target value T _m1 ^* , and calculates the torque command value T ^* . The vibration damping control unit 7 performs general vibration damping control that suppresses the influence of disturbance torque.

The motor torque control unit 8 obtains a voltage command value for the motor 2 based on the torque command value T ^* and the rotor position θ so that the output torque of the motor 2 becomes the torque command value T ^* . Then, the motor torque control unit 8 applies electric power corresponding to the obtained voltage command value to the motor 2. In the present embodiment, the motor torque control unit 8 performs torque control and interference voltage control.

Hereinafter, the detailed configuration of the motor torque control unit 8 will be described.

FIG. 2 is a detailed configuration diagram of the motor torque control unit 8.

In the motor torque control unit 8, current vector control, which is feedback control, and non-interference control, which suppresses interference in the motor 2, are performed.

The current map 21 is used for calculating the command value of the current vector control. The current map 21 takes the torque command value T ^* as an input, calculates the d-axis current command value _id ^* and the q-axis current command value i _q ^* based on the stored map, and uses these command values as the current. Output to the controller 23.

The magnetic flux map 22 is used to calculate the command value for non-interference control. The magnetic flux map 22 takes the torque command value T ^* as an input, and outputs the d-axis magnetic flux command value φ _d and the q-axis magnetic flux command value φ _q to the filter unit 24 based on the stored map.

Specifically, in the magnetic flux map 22, the d-axis final voltage command value v _d and the q-axis final voltage command value v _q with the torque T and the rotation speed ω in the steady operation state of the motor 2 as indexes are used as maps. I remember. The magnetic flux map 22 obtains the final voltage command value from the input torque command value T ^* and the rotation speed ω in the steady operation state using the map. Then, in the magnetic flux map 22, when the drop voltage due to the armature resistance is subtracted from the final voltage command value, the subtraction result is divided by the rotation speed ω in the steady operation state, and the division result is the d-axis magnetic flux command values φ _d and q. _Obtained as the axial magnetic flux command value φ _q .

In the motor 2, the interference component can be suppressed by generating the magnetic flux corresponding to the d-axis magnetic flux command value φ _d and the q-axis magnetic flux command value φ _q .

More specifically, the map stored in the magnetic flux map 22 is created in an evaluation test of the motor 2, and the following voltage equation during steady operation is used to create the map. The steady operation is a state in which the motor 2 is rotating at a constant speed.

In the equation (1), the d-axis final voltage command value v _d and the q-axis final voltage command value v _q are represented by a matrix using the d-axis detection current value i _d and the q-axis detection current value i _q . Further, L _dm indicates the d-axis component of the inductance of the motor 2, L _qm indicates the q-axis component of the inductance of the motor 2, and R indicates the resistance component of the armature resistance of the motor 2. Further, ω indicates the rotational speed of the motor 2 in the steady operation state, and φ indicates the magnetic flux generated in the steady operation state.

The portion of Eq. (1) shown in the following equation corresponds to the voltage drop due to the armature resistor R.

The components represented by L _dm s and L _qm s in this equation indicate transient components due to the inductance L.

Therefore, in the magnetic flux map 22, first, the d-axis final voltage command value v _d and the q-axis final voltage command value v _q in the steady operation state corresponding to the input torque command value T ^* are obtained using the map. .. Then, the following equation is obtained by reducing the voltage drop due to the armature resistance R of the motor 2 represented by the equation (2) from those final voltage command values.

Here, the product of the inductance L and the current i is the magnetic flux φ. Therefore, the d-axis magnetic flux command value φ _d and the q-axis magnetic flux command value φ _q can be obtained by dividing Eq. (3) by the rotation speed ω during steady operation.

The command value determination unit 20 is configured by the current map 21 and the magnetic flux map 22.

The filter unit 24 is composed of two filters, a d-axis and a q-axis. The d-axis magnetic flux command value φ _d and the q-axis magnetic flux command value φ _q are input to each filter of the filter unit 24 from the magnetic flux map 22. The filter unit 24 performs processing using a low-pass filter with a first-order lag represented by the following equation. Note that T _m in the equation indicates a time constant. As will be described later, the time constant T _m is a delay time T _delay caused by sampling in the speed calculator 26.
Shall be larger than.

The filter unit 24 calculates the d-axis magnetic flux command value φ _{d_flt} and the q-axis magnetic flux command value φ _{q_flt} by _{performing the} filter processing represented by the equation (4), and outputs these command values to the integrating unit 25.

The integrating unit 25 is composed of two accumulators, a d-axis and a q-axis. Each integrator of the integrator 25 multiplies each of the d-axis magnetic flux command value φ _{d_flt} and the q-axis magnetic flux command value φ _{q_flt} by the rotation speed ω of the motor 2 output from the speed calculator 26. The d-axis non-interfering voltage command value v _{d_dcpl} and the q-axis non-interfering voltage command value v _{q_dcpl} calculated by the integrating unit 25 can be _expressed by the following equations.

The speed calculator 26 performs position difference processing (sampling processing) corresponding to differential processing on the rotor position θ detected by the rotation angle sensor 4, and when the rotation speed ω is obtained, the rotation speed ω is integrated with the integrating unit 25. Output to.

In the speed calculator 26, a delay occurs by the sampling time of the difference calculation in the position difference processing. This delay time shall be referred to as T _delay . Then, assuming that the time constant in the filter unit 24 is T _m , the T _delay is set to a value that satisfies the following equation. Either the time constant T _m of the filter unit 24 or the delay time T _delay of the speed calculator 26 may be changed.

The adder 27 is composed of two adders, a d-axis and a q-axis. In each adder of the adder 27, the d-axis non-interfering voltage command value v _{d_dcpl} and the d-axis voltage command value v _d' are added, and the q-axis non-interfering voltage command value v _{q_dcpl} and the q-axis voltage command value. Add with v _q '. Then, the addition unit 27 outputs the addition results to the coordinate converter 28 as the d-axis final voltage command value v _d and the q-axis final voltage command value v _q .

The coordinate converter 28 performs coordinate conversion from the dq axis to the uvw phase, and sets the d-axis final voltage command value v _d and the q-axis final voltage command value v _q to the three-phase voltage command values V _u , V _v , V _w. Convert to. Then, the coordinate converter 28 outputs the three-phase voltage command values V _u , V _v , and V _w to the PWM converter 29.

The PWM converter 29 inputs the three-phase voltage command values V _u , V _v , and V _w , and outputs a PWM signal to the inverter 30.

The inverter 30 generates a pseudo three-phase AC voltage based on the input PWM signal, and outputs the three-phase AC voltage to the motor 2. The motor 2 is rotationally driven in response to this pseudo three-phase AC voltage.

The current detection unit 31 is composed of a plurality of current detectors provided between the motor 2 and the inverter 30. For example, in the present embodiment, the current detection unit 31 is composed of two current detectors provided in the U and V phase wirings, and is a U phase current i _u which is a U and V phase current and a V phase. detecting the current i _v. Then, the current detection unit 31 outputs the detected current value to the coordinate converter 32.

The coordinate converter 32 performs coordinate conversion from the UVW phase to the dq axis. The current detection unit 31 has a d-axis detection current based on the rotor position θ detected by the rotation angle sensor 4 with respect to the U-phase current i _u and the V-phase current i _v detected by the current detection unit 31. the value i _d, and obtains the q-axis detected current value i _q, and outputs the current value to the current controller 23.

The current controller 23 performs PI control, which is one of the feedback controls, and the d-axis current command value _id ^* and the q-axis current command value i _q ^* output from the current map 21 are coordinate converters. PI control is performed so as to follow the d-axis detection current value i _d and the q-axis detection current value i _q output from 32. As a result of the control, the current controller 23 outputs the d-axis voltage command value v _d' and the q-axis voltage command value v _{q'to the} addition unit 27.

The magnetic flux map 22, the filter unit 24, and the integration unit 25 correspond to the non-interference control unit 33 that executes the non-interference control step.

3A and 3B are diagrams showing the state of the electric vehicle in the comparative example, FIG. 3A shows the change of the motor torque T with time, and FIG. 3B shows the change of the drive shaft torque Ts with time. ing.

4A and 4B are diagrams showing the state of the electric vehicle in the present embodiment, FIG. 4A shows the change of the motor torque T with time, and FIG. 4B shows the change of the drive shaft torque Ts with time. Has been done.

With reference to FIGS. 3A and 4A, the rotation speed ω of the motor 2 changes at time t0, and the motor torque T increases. Then, with the passage of time, the vibration of the motor torque T is attenuated with time. On the other hand, referring to FIGS. 3B and 4B, the drive shaft torque Ts starts to vibrate when the increased motor torque T is transmitted at time t0, and the vibration is attenuated with time.

Here, when FIG. 3A and FIG. 4A are compared, FIG. 4A showing the present embodiment attenuates the vibration of the motor torque T after the rotation speed ω changes faster. Further, when FIG. 3B and FIG. 4B are compared, it can be seen that the vibration of the drive shaft torque Ts is quickly damped and easily converged.

In the description of the present embodiment so far, as shown in FIG. 1, the motor control system 1 is composed of a motor torque setting unit 6, a vibration damping control unit 7, and a motor torque control unit 8. As shown in FIG. 2, the motor torque control unit 8 uses an example including a plurality of blocks, but the present invention is not limited to this. For example, the processing performed by these blocks in the motor control system 1 may be executed by one controller.

More specifically, the controller excludes the inverter 30 included in the motor torque control unit 8 and the current detection unit 31 among the processes performed by the motor torque setting unit 6, the vibration damping control unit 7, and the motor torque control unit 8. The process may be configured to be executable. The controller calculates the PWM signal by executing the motor torque control shown in FIG. 5, and outputs the PWM signal to the inverter 30. By doing so, the desired electric power can be applied to the motor 2 with respect to the inverter 30. The controller is configured to be able to execute the programmed process, and stores each of the processes in each block as a program. By executing these programs, the controller executes the processing corresponding to each block.

In step S51, the controller calculates the d-axis current command value i _d ^* and the q-axis current command value i _q ^* is a command value of the current Bekutoruku control based on the torque command value T ^*. This process corresponds to the calculation process of the current command value by the current map 21.

In step S52, the controller sets the d-axis detected current value i _d and the q-axis detected current value i with respect to the d-axis current command value _id ^* and the q-axis current command value i _q ^* calculated in step S51. By performing feedback control based on _q , the d-axis voltage command value v _d' and the q-axis voltage command value v _q'are calculated. This process corresponds to PI control by the current controller 23.

In step S53, the controller calculates the d-axis magnetic flux command value φ _d and the q-axis magnetic flux command value φ _q based on the torque command value T ^* . This process corresponds to the calculation process of the magnetic flux command value by the magnetic flux map 22.

In step S54, the controller filters the d-axis magnetic flux command value φ _d and the q-axis magnetic flux command value φ _q calculated in step S53, and performs d-axis magnetic flux command value φ _{d_flt} and q-axis magnetic flux. Calculate the command value φ _{q_flt} . This process corresponds to the delay process by the filter unit 24.

In step S55, the controller multiplies each of the d-axis magnetic flux command value φ _{d_flt} and the q-axis magnetic flux command value φ _{q_flt} calculated in step S54 by the rotation speed ω of the motor 2. In this way, the controller calculates the d-axis non-interfering voltage command value v _{d_dcpl} and the q-axis non-interfering voltage command value v _{q_dcpl} . This process corresponds to the integration process for calculating the non-interference voltage command value in the integration unit 25.

In step S56, the controller, the calculated d-axis voltage command value v _d 'and the q-axis voltage command value v _q' at step S52, the d-axis non-interference voltage command value calculated in step _S55 v d_dcpl And the q-axis non-interference voltage command value v _{q_dcpl} are added to calculate the d-axis final voltage command value v _d and the q-axis final voltage command value v _q , respectively. This process corresponds to the addition process by the addition unit 27.

In step S57, the controller calculates the three-phase voltage command value corresponding to the d-axis final voltage command value v _d and the q-axis final voltage command value v _q , and calculates the PWM signal corresponding to the three-phase voltage command value. To do. When the controller outputs the PWM signal to the inverter 30, desired power is applied from the inverter 30 to the motor 2.

In such motor control, the process of step S51 corresponds to the torque control step, the processes of steps S53 to S55 correspond to the non-interference control step, and the process of step S56 corresponds to the addition step. Then, the magnetic flux command value is calculated in step S53, the delay process is performed in step S54, and the non-interference voltage command value is calculated in step S55.

According to the first embodiment, the following effects can be obtained.

According to the motor control method of the first embodiment, the torque control step is performed in the current map 21, and the current command value (d-axis current command value _id ^* and q-axis current command value i ⁾ is based on the torque command value T ^*. _q ^* ) is calculated.

In the non-interference control step, the magnetic flux command value φ (d-axis magnetic flux command value φ _d and q-axis magnetic flux command value φ _q ) is calculated in the magnetic flux map 22, and the filter unit 24 performs a low-pass filter with respect to the magnetic flux command value φ. Delay processing is performed using. Then, in the integrating unit 25, the rotation speed ω is integrated with respect to the delayed magnetic flux command value φ (d-axis magnetic flux command value φ _{d_flt} and q-axis magnetic flux command value φ _{q_flt} ), and the non-interference voltage command is given. Values (d-axis non-interfering voltage command value v _{d_dcpl} and q-axis non-interfering voltage command value v _{q_dcpl} ) are calculated.

In the addition unit 27, the addition step is performed, and the voltage command value (d-axis final voltage command value v _d and q-axis final voltage command value v _q ) determined by the torque control step and the non-interference voltage determined by the non-interference control step. By adding the command value (d-axis non-interference voltage command value v _{d_dcpl} and q-axis non-interference voltage command value v _{q_dcpl} ), the drive voltage command value of the motor 2 (d-axis final voltage command value v _d and q-axis) The final voltage command value v _q ) is obtained.

Then, the PWM converter 29, the inverter 30, and the current detection unit 31 execute the voltage application step, so that the electric power corresponding to the drive voltage command value is applied to the motor 2.

Here, the effect of this embodiment will be described with reference to another comparative example in which non-interference control is performed. In the comparative example, a voltage map is provided instead of the magnetic flux map 22, and in the voltage map, the interference voltage command value is calculated according to the torque command value T ^* and the rotation speed ω. In this example, it is assumed that the filter unit 24 is provided after the voltage map for calculating the interference voltage command value.

In this comparative example, when the rotation speed ω fluctuates due to sudden operation of the accelerator pedal or brake pedal, sudden generation of disturbance torque, or the like, an interference voltage due to the fluctuation of the rotation speed ω is generated. The non-interfering voltage command value is obtained according to the fluctuating rotation speed ω, but since the delay processing is performed after the calculation of the non-interfering voltage command value, the phase of the non-interfering voltage command value is delayed with respect to the phase of the interference voltage. Will end up. Therefore, fluctuations in motor torque cannot be suppressed.

On the other hand, in the present embodiment, the rotational speed ω detected in the process of calculating the non-interfering voltage command value is used by the integrating unit 25 instead of the magnetic flux map 22. Since the integrating unit 25 is provided after the delay processing of the filter unit 24, the phase of the non-interfering voltage command value is the phase of the interference voltage even if the interference voltage fluctuates due to the fluctuation of the rotation speed ω. There is no delay against. Therefore, the interference voltage can be appropriately suppressed.

Further, according to the control method of the motor 2 of the first embodiment, the detected current values (d-axis detected current values _id and q) which are the current values actually flowing in the motor 2 with respect to the current command value in the current controller 23. The torque voltage command value (d-axis voltage command value v _d' and q-axis voltage command value v _q ') is calculated by PI control based on the axis detection current value i _q ). This PI control corresponds to feedback control.

Since such feedback control is performed in the torque control step, it is controlled based on the actual detected current value, so that the torque in the motor 2 can be controlled with high accuracy. Further, even if the torque voltage command value is delayed by the feedback control, the delay process is performed in the process of calculating the non-interfering voltage command value, so that the torque voltage command value does not have a phase delay with respect to the non-interfering voltage command value. , The interference voltage can be suppressed appropriately.

Further, according to the control method of the motor 2 of the first embodiment, the speed calculator 26 calculates the rotation speed ω by sampling the rotor position θ at predetermined intervals. This sampling interval is set to a value shorter than the time constant T _m of the low-pass filter in the filter unit 24.

With such a configuration, the delay time T _delay caused by the sampling interval generated in the speed calculator 26 is shorter than the delay time caused by the delay processing in the filter unit 24 (time constant T _m of the filter unit 24). Become. Therefore, the influence of the delay caused by the sampling of the rotation speed ω can be made smaller than the influence of the delay of the filter unit 24. Further, the rotation speed ω closer to the calculation timing can be used for calculating the interference voltage command value. In this way, the interference voltage can be appropriately suppressed.

Further, according to the control method of the motor 2 of the first embodiment, in the magnetic flux map 22, a map of voltage command values using the torque and rotation speed of the motor as indexes in a state where the motor is in steady operation is stored. doing. Then, in the magnetic flux map 22, the voltage command value is obtained with reference to this map, and the voltage command value is divided by the rotation speed to obtain the magnetic flux command value φ (d-axis magnetic flux command value φ _d and q-axis magnetic flux command value). φ _q ) is calculated. By using the map in this way, the load on the motor torque control unit 8 can be reduced.

Further, according to the control method of the motor 2 of the first embodiment, in the magnetic flux map 22, the magnetic flux command value φ (d-axis magnetic flux command value φ _d and d-axis magnetic flux command value φ _d and) are obtained by the map drawing used by the rotation speed ω in the steady operation state. The q-axis magnetic flux command value φ _q ) is calculated. Therefore, since the magnetic flux command value φ does not depend on the rotation speed ω, the magnetic flux command value φ does not change even if the rotation speed ω changes. Therefore, even when the rotational speed ω of the motor 2 is high, it is possible to suppress the occurrence of iron loss (energy loss) due to the rotational drive of the motor 2.

(Second Embodiment)
In the first embodiment, an example in which the rotation speed ω is not input to the command value determination unit 20 has been described. In the second embodiment, an example in which the rotation speed ω is input to the command value determination unit 20 will be described.

FIG. 6 is a detailed configuration diagram of the motor torque control unit 8 of the second embodiment.

Compared with the motor torque control unit 8 of the first embodiment shown in FIG. 2, the motor torque control unit 8 shown in this figure has a rotational speed ω from the speed calculator 26 on each of the current map 21 and the magnetic flux map 22. Is different in that is further input.

Specifically, in the current map 21, the rotation speed ω is taken into consideration in the map stored in advance. In the current map 21, the d-axis current command value _id ^* and the q-axis current command value i _q ^* are calculated based on the input torque command value T ^* and the detected rotation speed ω.

Further, as described above, the magnetic flux map 22 sets the d-axis final voltage command value v _d and the q-axis final voltage command value v _q with the torque T and the rotation speed ω as indexes in the steady operation state of the motor 2. I remember. In the magnetic flux map 22, the drop voltage due to the armature resistance is subtracted from the final voltage command value obtained from the map, and the value obtained by dividing the subtraction result by the rotation speed ω is the d-axis magnetic flux command value φ _d and the q-axis. Obtained as the magnetic flux command value φ _q .

With such a configuration, the rotation speed ω is taken into consideration in the current map 21 and the magnetic flux map 22, so that the command value calculated by these maps is the iron caused by the rotation speed ω. The fluctuation of loss (energy loss) will be included. Therefore, the modeling error in the map can be reduced, and the control accuracy of the motor torque can be improved.

In the present embodiment, the rotation speed ω is input to both the current map 21 and the magnetic flux map 22, but the present invention is not limited to this. The same effect can be obtained even if the rotation speed ω is input and the command value is calculated according to the rotation speed ω in only one of the current map 21 and the magnetic flux map 22.

According to the second embodiment, the following effects can be obtained.

According to the control method of the motor 2 of the second embodiment, the torque command value T ^* and the detected rotation speed ω are input to the magnetic flux map 22. Here, the magnetic flux map 22 stores the d-axis final voltage command value v _d and the q-axis final voltage command value v _q with the torque T and the rotation speed ω as indexes as maps. The magnetic flux map 22 obtains the magnetic flux command value using the map based on the torque command value T ^* and the detected rotation speed ω.

With such a configuration, the magnetic flux map 22 further considers the iron loss according to the actual rotation speed ω, so that the accuracy of modeling using the map is improved and the motor torque is increased. The control can be performed more accurately.

Although the embodiments of the present invention have been described above, the above embodiments are only a part of the application examples of the present invention, and the technical scope of the present invention is limited to the specific configurations of the above embodiments. Absent. In addition, the above embodiments can be combined as appropriate.

1 Motor control system 2 Motor 3a, 3b Wheels 4 Rotation angle sensor 6 Motor torque setting unit 7 Vibration suppression control unit 8 Motor torque control unit 20 Command value determination unit 21 Current map 22 Magnetic flux map 23 Current controller 24 Filter unit 25 Integration unit 26 Speed calculator 27 Adder 30 Inverter

Claims (7)

A torque control step that calculates the torque voltage command value according to the torque command value, and
A non-interference control step for calculating a non-interference voltage command value that suppresses interference caused by control based on the torque voltage command value, and
An addition step of adding the torque voltage command value and the non-interference voltage command value to calculate the drive voltage command value of the motor.
A motor control method comprising a power application step of applying drive power according to the drive voltage command value to the motor.
In the non-interference control step
The magnetic flux command value used for suppressing the interference is calculated according to the torque command value.
The magnetic flux command value is delayed by using a low-pass filter.
The non-interference voltage command value is calculated by integrating the magnetic flux command value subjected to the delay processing and the rotation speed of the motor.
How to control the motor. The motor control method according to claim 1.
In the torque control step, feedback control is performed based on the detected current of the motor.
How to control the motor. The motor control method according to claim 1 or 2.
The rotation speed is obtained by sampling the rotor position of the motor.
The sampling interval is shorter than the time constant of the response time of the low-pass filter.
How to control the motor. The motor control method according to any one of claims 1 to 3.
In calculating the magnetic flux command value,
A map for storing a voltage command value using the torque of the motor and the rotation speed as indexes in a state where the motor is in steady operation is used.
Based on the torque command value and the rotation speed in the steady operation, the voltage command value is obtained using the map.
The voltage drop due to the resistance of the motor is subtracted from the voltage command value.
The magnetic flux command value is calculated by dividing the result of the subtraction by the rotation speed.
How to control the motor. The motor control method according to claim 4.
In calculating the magnetic flux command value,
The magnetic flux command value is calculated by dividing the result of the subtraction by the rotational speed of the motor in the steady operation.
How to control the motor. The motor control method according to claim 4.
In calculating the magnetic flux command value,
The magnetic flux command value is calculated by dividing the result of the subtraction by the detected rotation speed.
How to control the motor. An inverter that applies drive power to the motor based on the drive voltage command value,
A controller that calculates the drive voltage command value according to the torque command value and controls the inverter based on the drive voltage command value is provided.
The controller
The torque voltage command value is calculated according to the torque command value.
According to the torque command value, a magnetic flux command value that suppresses interference caused by control based on the torque voltage command value is calculated.
The magnetic flux command value is delayed by using a low pal filter.
The non-interference voltage command value is calculated by integrating the magnetic flux command value subjected to the delay processing and the rotation speed of the motor.
The drive voltage command value is calculated by adding the torque voltage command value and the non-interference voltage command value.
The inverter is controlled based on the drive voltage command value.
Motor control system.

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