JP7155692B2 - 回転電機の制御装置 - Google Patents
回転電機の制御装置 Download PDFInfo
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- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed
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- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/02—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles characterised by the form of the current used in the control circuit
- B60L15/025—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles characterised by the form of the current used in the control circuit using field orientation; Vector control; Direct Torque Control [DTC]
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- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
- H02M7/539—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters with automatic control of output wave form or frequency
- H02M7/5395—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters with automatic control of output wave form or frequency by pulse-width modulation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/06—Arrangements for speed regulation of a single motor wherein the motor speed is measured and compared with a given physical value so as to adjust the motor speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/42—Electrical machine applications with use of more than one motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/429—Current
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/52—Drive Train control parameters related to converters
- B60L2240/529—Current
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Description
以下、第1実施形態の回転電機の制御装置が適用される車両100の回転電機制御システムについて、図面を参照しつつ説明する。本実施形態に係る制御装置は、ドライバのステアリング操作を補助する電動パワーステアリング装置(以下、EPS装置)10の回転電機制御システムを構成する。
Ran=Vqn*/Hen=Vqn*/√(Vmax^2-Vdn*^2)・・・(式2)
d軸電流指令値設定部81は、飽和率Ranが所定の目標飽和率Rtgnとなるように、飽和率Ranと目標飽和率Rtgnとの差分に基づいて、負のd軸電流指令値Id*を設定する。ここで、所定の目標飽和率Rtgnは、例えば0.8~0.9等の規定値である。なお、本実施形態において、飽和率Ranが「相関値,q軸パラメータ」に相当し、目標飽和率Rtgnが「目標値」に相当する。
従来より、電圧飽和状態において電気角速度ωの誘起電圧を減少させる技術として、弱め界磁制御が知られている。弱め界磁制御では、d軸電流Idrを所定の負の値にして誘起電圧を減少させることができる。
なお、本実施形態において、ステップS14の処理が「飽和率算出部」に相当する。
一方、ステップS18で否定判定すると、つまり飽和率Ranが目標飽和率Rtgn以下であると、ステップS24において、比例ゲインKpを第2比例ゲインKp2に設定するとともに、積分ゲインKiを第2積分ゲインKi2に設定する。続くステップS26において、差分飽和率ΔRanと、ステップS24で設定されたゲインKp2,Ki2に基づいて、第1,第2巻線群M1,M2に対する第1,第2d軸電流候補値Idc1,Idc2を算出する。ステップS26で算出される第nd軸電流候補値Idcnは、(式6)のように表される。
ステップS28において、算出した第1,第2d軸電流候補値Idc1,Idc2の最大値を選択し、選択したd軸電流候補値を第2d軸電流指令値Id*2に設定し、制御処理を終了する。
以下、第2実施形態について、先の第1実施形態との相違点を中心に図面を参照しつつ説明する。
本発明は上記実施形態の記載内容に限定されず、次のように実施されてもよい。
図10に、差分飽和率ΔRanと更新値Rwとの関係を示す。図10に示すように、更新値Rwは、差分飽和率ΔRanがゼロよりも小さい、すなわち目標飽和率Rtgnが飽和率Ranよりも小さい場合において、差分飽和率ΔRanの減少に伴って減少している。また、更新値Rwは、差分飽和率ΔRanがゼロよりも大きい、すなわち目標飽和率Rtgnが飽和率Ranよりも大きい場合において、差分飽和率ΔRanの増加に伴って増加している。
Claims (5)
- 回転電機(20)と、前記回転電機に電気的に接続された電力変換装置(40,50)と、を備えるシステムに適用される回転電機の制御装置(60)であって、
前記電力変換装置の電圧最大値(Vmax)の二乗から前記回転電機のd軸電圧指令値の二乗を引いた値の平方根で前記回転電機のq軸電圧指令値を除算した値である飽和率(Ran)を算出する飽和率算出部(S14)と、
前記回転電機のq軸電圧目標値を前記平方根で除算した値である目標飽和率(Rtgn)と前記飽和率との差分に基づいて、負のd軸電流指令値(Id*)を設定するd軸指令値設定部と、
設定された前記d軸電流指令値に実際のd軸電流を制御すべく、前記電力変換装置を操作する操作部(71,72)と、を備え、
前記d軸指令値設定部は、前記飽和率が前記目標飽和率よりも大きい場合に前記d軸電流指令値の絶対値を増加させ、前記飽和率が前記目標飽和率よりも小さい場合に前記d軸電流指令値の絶対値を減少させ、また、前記飽和率が前記目標飽和率よりも基準値(Rk)だけ大きい場合における前記d軸電流指令値の変化速度が、前記飽和率が前記目標飽和率よりも前記基準値だけ小さい場合における前記d軸電流指令値の変化速度よりも高くなるように前記d軸電流指令値を設定する回転電機の制御装置。 - 前記d軸指令値設定部は、前記飽和率を前記目標飽和率にフィードバック制御するための操作量として前記d軸電流指令値を設定し、
前記フィードバック制御のフィードバックゲイン(Kp,Ki)は、前記飽和率が前記目標飽和率に対して前記基準値だけ小さい場合よりも前記飽和率が前記目標飽和率に対して前記基準値だけ大きい場合の方が大きく設定される請求項1に記載の回転電機の制御装置。 - 前記差分の絶対値が単位量増加する場合における前記フィードバックゲインの増加量は、前記飽和率が前記目標飽和率に対して小さい場合よりも前記飽和率が前記目標飽和率に対して大きい場合の方が大きい請求項2に記載の回転電機の制御装置。
- 前記フィードバックゲインは、
前記飽和率が前記目標飽和率よりも大きい場合、一定値である第1ゲイン値(Kt1)に設定され、
前記飽和率が前記目標飽和率よりも小さい場合、前記第1ゲイン値よりも小さい一定値である第2ゲイン値(Kt2)に設定される請求項2に記載の回転電機の制御装置。 - 回転電機(20)と、前記回転電機に電気的に接続された電力変換装置(40,50)と、を備えるシステムに適用される回転電機の制御装置(60)であって、
前記回転電機のq軸電圧指令値(Vq*)と、その目標値であるq軸電圧目標値(Vtgn)との差分に基づいて、負のd軸電流指令値(Id*)を設定するd軸指令値設定部と、
設定された前記d軸電流指令値に実際のd軸電流を制御すべく、前記電力変換装置を操作する操作部(71,72)と、を備え、
前記d軸指令値設定部は、前記q軸電圧指令値を前記q軸電圧目標値にフィードバック制御するための操作量として前記d軸電流指令値を設定し、
前記d軸指令値設定部は、
前記q軸電圧指令値が前記q軸電圧目標値よりも大きい場合に前記d軸電流指令値の絶対値を増加させ、前記q軸電圧指令値が前記q軸電圧目標値よりも小さい場合に前記d軸電流指令値の絶対値を減少させ、また、前記q軸電圧指令値が前記q軸電圧目標値よりも基準値(Rk)だけ大きい場合における前記d軸電流指令値の変化速度が、前記q軸電圧指令値が前記q軸電圧目標値よりも前記基準値だけ小さい場合における前記d軸電流指令値の変化速度よりも高くなるように前記d軸電流指令値を設定し、
前記フィードバック制御のフィードバックゲイン(Kp,Ki)は、前記q軸電圧指令値が前記q軸電圧目標値に対して前記基準値だけ小さい場合よりも前記q軸電圧指令値が前記q軸電圧目標値に対して前記基準値だけ大きい場合の方が大きく設定される回転電機の制御装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018133577A JP7155692B2 (ja) | 2018-07-13 | 2018-07-13 | 回転電機の制御装置 |
US16/507,392 US11025184B2 (en) | 2018-07-13 | 2019-07-10 | Rotation electric machine controller |
DE102019210257.3A DE102019210257B4 (de) | 2018-07-13 | 2019-07-11 | Steuerungseinrichtung einer elektrischen rotationsmaschine |
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