JPH0640682B2 - Electric vehicle control device - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to an electric vehicle controller for driving an induction motor with a variable voltage variable frequency inverter, and particularly to an electric vehicle that is most suitable for performing good idling / sliding control. The present invention relates to a vehicle control device.

[Prior Art] When an induction motor is used as an electric motor for an electric vehicle, it is advantageous in terms of equipment cost, energy is saved, and high adhesive properties are obtained. Therefore, the induction motor is driven by a variable voltage variable frequency inverter. Electric vehicle control devices have been put to practical use. In this case, usually, a method in which a plurality of induction motors are connected to one inverter and driven is adopted.

This type of electric vehicle control device is introduced, for example, in Proceedings No. 414 “Re-adhesion control method of inverter for electric vehicle control” of the 22nd National Symposium on Utilization of Cybernetics in Railways. FIG. 3 is a block diagram showing the configuration of the main part of the electric vehicle control device according to this introduction, in which the output terminals of the pulse generators 1 to 4 attached to each of the four induction motors (not shown) are the acquisition circuits. 5 and the input terminal of the slip / sliding detection circuit 9 are respectively connected.

The output terminal of the capture circuit 5 is connected to the maximum value detection circuit 6
And a minimum value detection circuit 7 are connected to the input terminals of the maximum value detection circuit 6 and the output terminal P of the minimum value detection circuit 7, respectively.
Are connected.

In this conventional electric vehicle control device, the amount of change in the rotational speed of the induction motor is detected from the outputs of the pulse generators 1 to 4 by the slip / sliding detection circuit 9. For example, this detected value is 5 km / h / When it reaches sec, it is determined that the driving wheel of the electric vehicle has slipped. Similarly, the slip / sliding detection circuit 9 has a -6
When km / h / sec is detected, it is determined that the wheels of the electric vehicle have skid.

On the other hand, the switching circuit 8 is switched to the output terminal P side of the minimum value detection circuit 7 in the power running mode and to the output terminal B side of the maximum value detection circuit 6 in the brake operation mode. Therefore, in the powering operation mode, when the idling / sliding detection circuit 9 detects idling as described above, the minimum value in the output signals of the pulse generators 1 to 4 is changed by the minimum value detection circuit 7 to the switching circuit. It is taken out as a reference motor speed fr via 8.

Then, the re-adhesion control is performed based on the reference motor speed fr, and the slip frequency is narrowed down and the torque is reduced with respect to the induction motor in which the internal magnetic flux is constant and the slip frequency and the torque are substantially proportional to each other. .

Similarly, in the brake operation mode, when the slipping / sliding detection circuit 9 detects a slip, the maximum value in the output signals of the pulse generators 1 to 4 extracted by the maximum value detection circuit 6 is used as the reference motor speed. Re-adhesion control is performed as fr.

In this way, the reference motor speed fr is obtained from the induction motor that is stuck even if slipping or slipping occurs, the slip frequency is narrowed down based on this reference motor speed fr, and quick re-adhesion control is performed. Be done.

[Problems to be Solved by the Invention] In the above-described conventional electric vehicle control device, once a slipping or sliding state occurs between the rail and the wheel, the adhesion coefficient between the rail and the wheel is significantly reduced, and all the axles are idling. Or it may cause gliding.

In such a state, the idling / sliding detection circuit 9 detects idling or sliding in FIG. 3, and even if the switching circuit 8 is switched to perform re-adhesion control, the reference motor speed fr is reached.
Since it is obtained from an induction motor that is spinning or gliding, re-adhesion does not occur easily. FIG. 4 shows this state. Since re-adhesion control is performed for the wheel speeds of the rotors 1 to 4 which are already in the idling state, re-adhesion is not easily performed and necessary for re-adhesion. It takes longer time. Although FIG. 4 shows the case where slipping occurs, the same applies when slipping occurs.

The present invention has been made in view of the current state of the conventional electric vehicle control device as described above, and its object is to prevent the reference motor speed, which is the reference for re-adhesion control, from fluctuating due to idling or sliding, An object of the present invention is to provide an electric vehicle control device capable of performing stable readhesion control.

[Means for Solving the Problems] In order to achieve the above object, the present invention drives an induction motor by a variable voltage variable frequency inverter that converts direct-current power into alternating-current power. In the electric vehicle control device that sets the reference motor speed based on the minimum value and the maximum value among the motor speeds during deceleration, and performs re-adhesion control during idling / sliding based on the reference motor speed. A minimum value detection unit that detects the minimum value of the motor speed of the electric motor, and a simulated acceleration calculation that calculates a simulated speed based on the acceleration pattern in the powering operation mode and outputs it as the first simulated speed to the minimum value detection unit. Section, a maximum value detection section for detecting the maximum value in the motor speed of the induction motor, and calculates a simulated speed based on the deceleration pattern in the power running mode, A simulated deceleration calculation unit that outputs the second simulated speed to the maximum value detection unit, and an output of the current command generator and the induction motor to the first simulated speed output from the minimum value detection unit when all axes are idling. The slip frequency calculated from the deviation from the effective value of the motor current is added to obtain the inverter frequency. When all axes are sliding, the slip frequency is added to the second simulated speed output from the maximum value detection unit. The inverter frequency is obtained, the reference motor speed is set based on these inverter frequencies, and a simulated readhesion control means for performing readhesion control according to the reference motor speed is provided.

[Operation] In the present invention, in the adhesive state in which idling / sliding does not occur, the minimum motor speed is selected as the reference motor speed among the induction motors connected to the inverter in the powering operation mode, and the braking operation mode is selected. Of the induction motors, the highest motor speed is sometimes selected as the reference motor speed.

Then, the slip frequency is calculated from the deviation between the output of the current command generator and the effective value of the motor current of the induction motor, the slip frequency is added to the above-mentioned reference motor speed, and the inverter frequency is calculated. A modulation pulse is calculated, and the inverter is controlled by using this PWM modulation pulse as a gate pulse.

Further, when slipping or slipping occurs and the non-adhesive state occurs, in the power running operation mode, the simulated acceleration calculation unit becomes the first simulated speed calculated from the minimum value in the motor speed and the acceleration pattern of the induction motor, The narrowed slip frequency is added to obtain the inverter frequency, and stable and quick re-adhesion control is performed based on the first simulated speed.

Similarly, in the brake operation mode, the simulated deceleration calculation unit adds the narrowed slip frequency to the second simulated speed calculated from the maximum value in the motor speed and the deceleration pattern of the induction motor, and the inverter frequency is added. Is obtained, and stable and rapid readhesion control is performed based on the second simulated speed.

Embodiments Embodiments of the present invention will be described in detail below with reference to FIGS. 1 and 2.

Here, FIG. 1 and FIG. 2 show the construction of the embodiment of the present invention, FIG. 1 is a block diagram of the main part, and FIG. 2 is a schematic block diagram showing the entire control system.

As shown in FIG. 1, the embodiment is different from the conventional electric vehicle control device described with reference to FIG. 3 in that the simulated speed creating circuits 11 and 13, the correction circuits 10 and 12 and the idling / sliding switching switch 14 are provided. Has been added. The output terminal of the simulated speed creation circuit 11 is connected to the input terminal of the correction circuit 10, and the output terminal of the correction circuit 10 is connected to the input terminal of the minimum value detection circuit 7 via the idle / sliding switching switch 14. The output terminal of the minimum value detection circuit 7 is connected to the correction circuit 10.

Similarly, the output terminal of the simulated speed creation circuit 13 is connected to the input terminal of the correction circuit 12, and the output terminal of the correction circuit 12 is connected to the input terminal of the maximum value detection circuit 6 via the idle / sliding switching switch 14. The output terminal of the maximum value detection circuit 6 is connected to the correction circuit 12.

In the simulated speed creation circuit 11 described above, the simulated motor speed is calculated based on the acceleration pattern in the power running mode,
This simulated motor speed is input to the correction circuit 10, and the correction circuit 10 corrects the simulated motor speed by the output signal of the minimum value detection circuit 7 so that the simulated motor speed does not deviate from the actual motor speed. The simulated speed of is output. Similarly, in the simulated speed creation circuit 13, the simulated motor speed is calculated based on the deceleration pattern in the brake operation mode, and this simulated motor speed is input to the correction circuit 12, and the correction circuit 12 detects the maximum detection circuit 6. Based on the output signal, the simulated motor speed is corrected so as not to be far from the actual motor speed, and the correction circuit 12 outputs the second
The simulated speed of is output.

The whole control system in the embodiment is shown in FIG. 2 for one induction motor 15, for example, DC 1500
The induction motor 15 is connected to an inverter 16 that receives V, and the pulse generator 1 is attached to the induction motor 15. The output terminal of the pulse generator 1 is connected to the input terminal of the rotation speed calculation circuit 17 which is partly shown in FIG. The output terminal of the rotation speed calculation circuit 17 is connected to one input terminal of the adder 18, and the adder 1
The output terminal of 8 is connected to the input terminal of the PWM modulator 19, and the output terminal of the PWM modulator 19 is input to the inverter 16.

On the other hand, a current command generator 21 and a power running regenerative controller 22 are connected to the command circuit 20, and an output terminal of the current command generator 21 has an input terminal of a slip frequency calculation circuit 23 and a subtractor 2
4 is connected to one of the input terminals. This subtractor 24
The other input terminal of is connected to the output terminal of the motor current detection coil of the induction motor 15, and the output terminal of the subtractor 24 is connected to the input terminal of the slip frequency calculation circuit 23.

The output terminal of the power regeneration controller 22 is connected to the input terminal of the slip frequency calculation circuit 23, and the output terminal of the slip frequency calculation circuit 23 is connected to the other input terminal of the adder 18.

In order to simplify the explanation, in FIG. 2, the correction circuits 10 and 12 and the simulated speed generation circuits 11 and 13 shown in FIG. 1 are shown.
The slip / sliding detection circuit 9 is not shown.

In the embodiment having such a configuration, the minimum value detection circuit constitutes the minimum value detection section, the maximum value detection circuit constitutes the maximum value detection section, and the simulated speed creation circuit 11 and the correction circuit 10 constitute the simulated acceleration calculation section. The simulated speed creation circuit 13 and the correction circuit 12 constitute a simulated deceleration calculation section, and the PWM modulator 19 constitutes a main section of the simulated readhesion control means.

Next, the operation of the embodiment will be described.

In the embodiment, the idling / sliding switching switch 14 is OFF in the adhesive state where idling or sliding does not occur. In such an adhesive state, since the switching circuit 8 is switched to the terminal P side in the powering operation mode, the minimum of the motor speeds output from the pulse generators 1 to 4 connected to the respective induction motors. The value is selectively derived from the minimum value detection circuit 7 via the switching circuit 8 as the reference motor speed fr.

On the other hand, the current command generator 2 connected to the command circuit 20
The deviation between the pattern current output from 1 and the effective value of the motor current of the induction motor is calculated by the subtractor 24 and input to the slip frequency calculation circuit 23. The slip frequency calculation circuit 23 calculates the frequency s based on this deviation, and the slip frequency s and the reference motor speed f described above.
Inverter frequency _INV
Is calculated.

Inverter frequency calculated in this way
_{When INV} is input to the PWM modulator 19, a gate pulse fg is output from the PWM modulator 19, and the inverter 16 is controlled by this gate pulse fg.

Similarly, in the adhesive state and in the brake operation mode, the switching circuit 8 is switched to the terminal B side, and the maximum value of the motor speeds output from the pulse generators 1 to 4 connected to the respective induction motors is the maximum value. , Reference motor speed fr
And based on this reference motor speed fr,
The gate pulse fg is calculated and the inverter 16 is controlled.

When idling or gliding occurs and the non-adhesive state occurs, the idling / sliding switching switch 14 is turned on, so that a signal corresponding to the first simulated speed is input from the correction circuit 10 to the minimum value detection circuit 7. A signal corresponding to the second simulated speed is input from the correction circuit 12 to the maximum value detection circuit.

Therefore, when the all-axis idle state occurs during the operation in the power running mode, the motor speed signals output from the pulse generators 1 to 4 are all output from the correction circuit 10 because they occur in the idle state. The signal corresponding to the first simulated speed, which is larger than the signal corresponding to the first simulated speed, is input to the adder 18. Then, the slip frequency calculation circuit 2
The slip frequency s from 3 is narrowed down and the adder 18
Input to this narrowed slip frequency s and the first
Inverter frequency _INV is calculated based on the simulated speed of, and PWM is performed based on this inverter frequency _INV.
The re-adhesion control is stably and quickly performed by the gate pulse fg output from the modulator 19.

Similarly, when the all-axis sliding state occurs in the brake operation mode, the motor speed signals output from the pulse generators 1 to 4 are generated in the sliding state, so the correction circuit 1
The signal corresponding to the second simulated speed, which is all smaller than the signal output from the second simulated speed, is input to the adder 18. Also in this case, the slip frequency s is narrowed down, and stable and rapid readhesion control is performed based on the second simulated speed, as in the case of the all-axis idle state described above.

As described above, in the embodiment, when the state of all-axis idle or all-axis gliding occurs, the first simulated speed calculated by the simulated acceleration calculating section or the second simulated speed calculated by the simulated deceleration calculating section. Based on the above, the reference motor speed is set, and the re-adhesion control is performed stably, smoothly and quickly according to the reference motor speed.

[Effects of the Invention] As described in detail above, according to the present invention, it is possible to provide an electric vehicle control device that performs stable, smooth and quick re-adhesion control even in the all-axis idle or all-axis sliding state. Can be done.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of a main part of an embodiment of the present invention, FIG. 2 is a schematic block diagram showing a configuration of an entire control system in the embodiment of the present invention, and FIG. 3 is a conventional electric vehicle. FIG. 4 is a block diagram showing the configuration of the main part of the control device, and FIG. 4 is a control characteristic diagram of a conventional electric vehicle control device. 1 to 4 ... Pulse generator, 6 ... Maximum value detection circuit, 7 ...
... minimum value detection circuit, 8 ... switching circuit, 9 ... idling / sliding detection circuit, 10, 12 ... correction circuit, 11, 13 ... simulated speed creation circuit, 14 ... idling / sliding switching switch, 1
6 ... Inverter, 17 ... Rotation speed calculation circuit, 18 ...
Adder, 19 ... PWM modulator, 20 ... Command circuit, 2
1 ... Current command generator, 22 ... Power running regenerative controller, 23
...... Slip frequency calculation circuit.

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Koji Kishimoto 1070 Imo, Katsuta City, Ibaraki Prefecture Mito Plant, Hitachi, Ltd. (72) Inventor Yasuhisa Yabe 1-47-2 Doro-cho, Omiya-shi, Saitama (72 ) Inventor Koichi Murakami 1-44-18 Hikaricho, Kokubunji, Tokyo (72) Inventor Akira Ozawa 100 Takegahana-cho, Ise-shi, Mie Prefecture Ise Works, Shinko Electric Co., Ltd. (72) Yasuhiro Takeuchi Takegahana-Ise, Mie Prefecture 100-cho Shinko Electric Co., Ltd. Ise Plant

Claims (1)

[Claims] 1. An induction motor is driven by a variable voltage variable frequency inverter for converting DC power into AC power, and the minimum value in the motor speed of the induction motor is used as a reference during acceleration, and the maximum value in the motor speed during deceleration. In the electric vehicle control device that selects a reference motor speed with reference to, and performs re-adhesion control during idling / sliding based on the reference motor speed, a minimum value detection unit that detects a minimum value in the motor speed of the induction motor. And a simulated acceleration calculation unit that calculates a simulated speed based on the acceleration pattern in the powering operation mode and outputs the simulated speed to the minimum value detection unit as a first simulated speed, and detects a maximum value in the motor speed of the induction motor. Of the maximum value detecting section and the simulated speed calculated based on the deceleration pattern in the power running mode, and output to the maximum value detecting section as the second simulated speed. Pseudo-deceleration calculation unit and, when all axes are idling, a slip calculated from the deviation between the output of the current command generator and the effective value of the motor current of the induction motor at the first simulated speed output from the minimum value detection unit. Calculate the inverter frequency by adding the frequency, and when sliding on all axes,
The inverter frequency is obtained by adding the slip frequency to the second simulated speed output from the maximum value detecting unit, the reference motor speed is set based on these inverter frequencies, and the reference motor speed is set again according to the reference motor speed. An electric vehicle control device comprising: a simulated readhesion control means for performing adhesion control.