JPH08196005A - Drive controller of motor for electric vehicle - Google Patents

Abstract

PURPOSE: To improve the responsiveness of an output torque for an accelerator opening by making the rise of a magnetic flux command faster than the rise of a torque current command at the time of increasing the flux command, making the fall of the flux command slower than the fall of the current command to suppress the transient vibration of the output torque. CONSTITUTION: A target torque calculator 1 calculates a target torque Tr based on an accelerator opening and a vehicle speed, and a motor control calculator 2 calculates a primary current command I1 and a primary frequency command W1. The time constant of a primary delay filter (1) is so set that the response of the output torque to the accelerator opening is enhanced, and the rise and the fall of the current command It are regulated. The time constant of the primary delay filter (2) is switched at the rise and fall of the flux command ϕ, the rise of the flux command is made faster than the rise of the current command It, and the fall of the flux command is made slower than the fall of the current command It. Thus, the vibration is eliminated at the motor output torque, and the responsiveness is enhanced.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a drive control device for a motor for an electric vehicle.

[0002]

2. Description of the Related Art A device for driving and controlling an induction motor used as a propulsion source for an electric vehicle is known. A conventional drive control method for a motor for an electric vehicle will be described with reference to FIG. After the target torque Tr set according to the accelerator opening and the vehicle speed is filtered by the first-order lag filter (1), the torque current command It is calculated. On the other hand, the magnetic flux command φ is calculated based on the target torque Tr, filtered by the first-order lag filter (2) (φ ′), and then the exciting current command Im is calculated. Further, the torque current command I
The primary current command I1 is calculated based on t and the excitation current command Im, and the primary frequency command ω1 is calculated based on the filtered magnetic flux command φ ′, the torque current command It, and the motor rotation speed. Then, the induction motor is driven by the inverter based on the calculated primary current command I1 and primary frequency command ω1. The time constants of the first-order lag filters (1) and (2) are constant.

[0003]

However, in the above-mentioned conventional drive control device for a motor for an electric vehicle, the time constants of the first-order lag filters (1) and (2) are constant, so that the output torque of the motor is reduced. If the time constant is set so that it rises faster, torque oscillation will occur when the output torque falls, and conversely, if the time constant is set so that the output torque will fall smoothly, the output torque rises slowly. There's a problem.

An object of the present invention is to improve the responsiveness of the output torque to the accelerator opening while suppressing the transient vibration of the output torque.

[0005]

In order to achieve the above object, the invention of claim 1 calculates a torque current command and a magnetic flux command based on a target torque to calculate a primary current command and a primary current command of an induction motor. It is applied to a drive control device for an electric vehicle motor that calculates a frequency command and drives and controls the induction motor by an inverter, and a determination circuit that determines whether the magnetic flux command is increased or decreased, and the determination circuit determines that it is increased. And a control circuit that makes the rising of the magnetic flux command faster than the rising of the torque current command, and makes the falling of the magnetic flux command slower than the falling of the torque current command when it is determined to be decreased by the determining means. The drive control device for a motor for an electric vehicle according to claim 2, wherein the control circuit comprises:
Target torque and magnetic flux command are filtered,
When the magnetic flux command increases and decreases, the time constant is switched to adjust the rising time and the falling time of the magnetic flux command and / or the target torque. According to a third aspect of the present invention, an electric current for calculating a primary current command and a primary frequency command of an induction motor by calculating a torque current command and a magnetic flux command based on a target torque, and driving and controlling the induction motor by an inverter. It is applied to a drive control device for a motor for an automobile, and a discriminating circuit for discriminating an increase and a decrease of a target torque, and when the discriminating circuit discriminates an increase, the rise of a torque current command is delayed from the rise of a magnetic flux command,
And a control circuit for making the fall of the torque current command faster than the fall of the magnetic flux command when it is judged by the judging circuit that the torque current is decreasing. The drive control device for a motor for an electric vehicle according to claim 4, wherein the control circuit performs filter processing of the target torque and the magnetic flux command, and switches the time constant when the target torque increases and decreases to target the target torque and / or the magnetic flux command. The rise and fall times of are adjusted. According to a fifth aspect of the present invention, an electric current for calculating a torque current command and a magnetic flux command based on a target torque to calculate a primary current command and a primary frequency command for an induction motor, and driving and controlling the induction motor by an inverter. It is applied to a drive control device for a motor for automobiles, and an opening detecting means for detecting the opening of the accelerator and a rising of the magnetic flux command when the opening of the accelerator detected by the opening is increased. And a control circuit that makes the fall of the magnetic flux command slower than the fall of the torque current command when the accelerator opening detected by the opening detecting means decreases. The drive control device for a motor for an electric vehicle according to claim 6, wherein:
Target torque and magnetic flux command are filtered,
When the accelerator opening increases and decreases, the time constant is switched to adjust the rise time and fall time of the magnetic flux command and / or the target torque.

[0006]

In the drive control device for the electric vehicle motor according to the first aspect, when the torque current command and the magnetic flux command are calculated based on the target torque, the rising of the magnetic flux command is made to rise when the magnetic flux command increases. When the magnetic flux command decreases, the fall of the magnetic flux command is made slower than the fall of the torque current command. Then, the primary current command and the primary frequency command are calculated from the torque current command and the magnetic flux command, and the induction motor for the electric vehicle is drive-controlled by the inverter. According to another aspect of the present invention, in the drive control device for a motor for an electric vehicle, the target torque and the magnetic flux command are filtered, and the time constants are switched when the magnetic flux command increases and when the magnetic flux command increases to increase the magnetic flux command and / or the target torque. Adjust the fall time. In the drive control device for the electric vehicle motor according to claim 3, when the target torque increases, the rise of the torque current command is made slower than the rise of the magnetic flux command, and when the target torque decreases, the fall of the torque current command is made the magnetic flux command. Faster than the fall. Then, the primary current command and the primary frequency command are calculated from the torque current command and the magnetic flux command, and the induction motor for the electric vehicle is drive-controlled by the inverter. According to another aspect of the present invention, in the drive control device for a motor for an electric vehicle, the target torque and the magnetic flux command are filtered, and when the target torque increases and decreases, the time constant is switched to increase and decrease the target torque and / or the magnetic flux command. Adjust the fall time. In the drive control device for the electric vehicle motor according to claim 5, the rise of the magnetic flux command is made faster than the rise of the torque current command when the accelerator opening is increased, and the fall of the magnetic flux command is made torque when the accelerator opening is decreased. Make it later than the fall of the current command. Then, the primary current command and the primary frequency command are calculated from the torque current command and the magnetic flux command, and the induction motor for the electric vehicle is drive-controlled by the inverter. In the drive control device for the electric vehicle motor according to claim 6, the target torque and the magnetic flux command are filtered, and the time constant is switched when the accelerator opening increases and decreases to set the rising time of the magnetic flux command and / or the target torque. Adjust the fall time.

[0007]

1 is a functional block diagram showing the configuration of an embodiment, and FIG. 2 is a control block diagram showing the operation of a motor control calculation unit. The target torque calculation unit 1 uses the target torque Tr based on the accelerator opening detected by an opening sensor (not shown) and the vehicle speed detected by a vehicle speed sensor (not shown).
Is calculated. The motor control calculation unit 2 calculates the primary current command I1 and the primary frequency command ω1 from the target torque Tr according to the control block diagram shown in FIG. The motor drive calculation unit 3 drives the inverter 4 according to the primary current command I1 and the primary frequency command ω1 and supplies three-phase AC power to the induction motor 5.

The motor control calculation unit 2 is basically the same as the configuration shown in FIG. 2 described above, but the operations of the filters (1) and (2) are different in this embodiment. It is desirable that the filters (1) and (2) have an integral operation or a single integral operation. In order to accelerate the rise of the output torque of the motor 5, it is necessary to raise the torque current (It) and the magnetic flux (φ) quickly. Further, in order to prevent the excessive oscillation of the output torque, the magnetic flux (φ) must be larger than the torque current (It).

FIG. 3 is a time chart showing the relationship between the torque current command It and the magnetic flux command φ when the accelerator opening changes. Now, it is assumed that the accelerator opening increases at time t1 and decreases at time t2. First, when the rise / fall of the magnetic flux command is made faster than the rise / fall of the torque current command It as shown by φ1, the magnetic flux command φ1 rises faster than the torque current command It when the accelerator is opened. No transient vibration in torque occurs. However, even when the accelerator is closed, the torque current command It and the magnetic flux command φ1 fall with the same time constant as when they rise, so the magnetic flux command φ1 becomes smaller than the torque current command It, and the motor output torque vibrates. . Next, if the rise / fall of the magnetic flux command is made slower than the rise / fall of the torque current command It as shown by φ2, the magnetic flux command φ2 becomes smaller than the torque current command It when the accelerator is opened, and the motor output Vibration occurs in torque. However, when the accelerator is closed, the magnetic flux command φ2
Is larger than the torque current command It, no vibration occurs.

Therefore, in this embodiment, the time constant of the first-order lag filter (1) is set to a value such that the response of the motor output torque with respect to the accelerator opening is sufficiently high, and the torque current command It rises and rises. While adjusting the fall, the time constant of the first-order lag filter (2) is switched at the rise and fall of the magnetic flux command φ, and the rise of the magnetic flux command is made faster than the rise of the torque current command It, as shown by φ3. The fall of the magnetic flux command is the torque current command I
It is later than the fall of t. In this case, the magnetic flux command φ3 becomes larger than the torque current command when the accelerator is opened and closed, and the motor output torque does not vibrate. Further, the output torque of the motor rises quickly in response to the accelerator opening operation, and the responsiveness of the output torque to the accelerator opening can be improved.

FIG. 4 is a flow chart showing a processing program of the first-order lag filter (2). The microcomputer of the motor control calculation unit 2 executes this control program at predetermined time intervals. In step 1, it is determined whether or not the magnetic flux command φ calculated this time is greater than or equal to the magnetic flux command φ ′ after the previous filter (2) processing, and if φ ≧ φ ′, it is determined that the accelerator is open and the step is performed. Then, the process proceeds to 2 and the time constant of the filter (2) is set to a value smaller than that of the filter (1). On the other hand, if φ <φ ', it is determined that the accelerator is closed, and the process proceeds to step 3, where the filter (2)
The time constant of is set to a value larger than that of the filter (1).
In step 4, based on the set time constant, the magnetic flux command φ
Then, the magnetic flux command φ'is calculated. As a result, the relationship between the torque current command It and the magnetic flux command φ becomes the relationship between It and φ3 shown in FIG. 3, and when the accelerator is opened or closed, transient vibration is not generated in the motor output torque. The torque responsiveness can be improved.

-Modification of Embodiment-In the above-described embodiment, the rising and falling of the magnetic flux command φ'is adjusted by switching the time constant of the first-order lag filter (2) when the accelerator is opened and closed. The time constant of the first-order lag filter (1) may be switched to adjust the rising and falling of the target torque Tr '. Figure 5
Torque current command I when the accelerator opening of the modified example changes
6 is a time chart showing the relationship between t and the magnetic flux command φ.
It is assumed that the accelerator opening degree increases at time t1 and the accelerator opening degree decreases at time t2. The time constant of the first-order lag filter (2) is set to a value such that the response of the motor output torque with respect to the accelerator opening is sufficiently high, the rising and falling of the magnetic flux command φ are adjusted, and the target torque Tr The time constant of the first-order lag filter (1) is switched between rising and falling, the rising of the torque current command It is made slower than the rising of the magnetic flux command φ, and the falling of the torque current command It is made lower than the falling of the magnetic flux command φ. Also make it faster.
In this case, the magnetic flux command φ becomes larger than the torque current command It when the accelerator is opened and closed, and the motor output torque does not vibrate. Further, the output torque of the motor rises quickly in response to the accelerator opening operation, and the responsiveness of the output torque to the accelerator opening can be improved.

FIG. 6 is a flow chart showing a processing program of the first-order lag filter (1) of the above modification.
The microcomputer of the motor control calculation unit 2 executes this control program at predetermined time intervals. In step 11, it is determined whether or not the target torque Tr calculated by the target torque calculation unit 1 this time is equal to or greater than the target torque Tr ′ after the previous filter (1) processing. If Tr ≧ Tr ′, the accelerator is opened. If it is determined that there is one, the process proceeds to step 12, and the time constant of the filter (1) is set to a value larger than the time constant of the filter (2). On the other hand, if Tr <Tr ', it is determined that the accelerator is closed and the routine proceeds to step 13, where the time constant of the filter (1) is set to a value smaller than that of the filter (2). In step 4, the target torque Tr is filtered based on the set time constant to obtain the target torque Tr ′.
To calculate. As a result, the relationship between the torque current command It and the magnetic flux command φ becomes as shown in FIG. 5, and the transient torque vibration of the motor output torque does not occur when the accelerator is opened / closed, and the motor output torque relative to the accelerator opening is changed. The responsiveness can be improved.

The time constants of both the filters (1) and (2) may be switched depending on whether the accelerator is opened or closed. Further, in the above-mentioned embodiment and its modification, the judgment of the accelerator opening time and the closing time is made by the increase and decrease of the magnetic flux command φ and the target torque Tr, but the accelerator opening signal from the sensor for detecting the accelerator opening is detected. The time constant of the filters (1) and / or (2) may be switched by determining whether the accelerator is opened or closed by increasing or decreasing. Further, a high-order lag filter may be used for the filters (1) and (2).

In the configuration of the above embodiment, the motor control calculation unit 2 constitutes a discriminating circuit, a control circuit and an opening degree detecting means.

[0016]

As described above, according to the present invention, when the torque current command and the magnetic flux command are calculated on the basis of the target torque, when the magnetic flux command increases, the rising of the magnetic flux command is made to be higher than the rising of the torque current command. When the magnetic flux command decreases, the fall of the magnetic flux command is made slower than the fall of the torque current command. For example, the target torque and the magnetic flux command are filtered, and the rising and falling times of the magnetic flux command and / or the target torque are adjusted by switching the time constants when the magnetic flux command increases and decreases. And
Since the primary current command and the primary frequency command are calculated from these torque current command and magnetic flux command and the induction motor for the electric vehicle is driven and controlled by the inverter,
It is possible to improve the responsiveness of the output torque with respect to the accelerator opening while suppressing the excessive vibration of the output torque when opening and closing the accelerator. Further, when the target torque increases, the rise of the torque current command is made slower than the rise of the magnetic flux command, and when the target torque decreases, the fall of the torque current command is made faster than the fall of the magnetic flux command. For example, the target torque and the magnetic flux command are filtered, and the rising and falling times of the target torque and / or the magnetic flux command are adjusted by switching the time constants when the target torque increases and decreases. Then, the primary current command and the primary frequency command are calculated from the torque current command and the magnetic flux command, and the inverter is used to drive and control the induction motor for the electric vehicle. It is possible to improve the responsiveness of the output torque to the accelerator opening while suppressing the above. Further, when the accelerator opening is increased, the rise of the magnetic flux command is made faster than the rise of the torque current command, and when the accelerator opening is decreased, the fall of the magnetic flux command is made later than the fall of the torque current command. For example, the target torque and the magnetic flux command are filtered, and the rising and falling times of the magnetic flux command and / or the target torque are adjusted by switching the time constants when the accelerator opening increases and decreases. Then, the primary current command and the primary frequency command are calculated from the torque current command and the magnetic flux command, and the induction motor for the electric vehicle is drive-controlled by the inverter.

[Brief description of drawings]

FIG. 1 is a functional block diagram showing the configuration of an embodiment.

FIG. 2 is a control block diagram showing an operation of a motor control calculation unit.

FIG. 3 is a torque current command I when the accelerator opening changes.
The time chart which shows the relationship between t and magnetic flux command (phi).

FIG. 4 is a flowchart showing a processing program of a first-order lag filter (2).

FIG. 5 is a time chart showing the relationship between the torque current command It and the magnetic flux command φ when the accelerator opening changes in the modification of the embodiment.

FIG. 6 is a flowchart showing a processing program of a first-order lag filter (1).

[Explanation of symbols]

 1 Target Torque Calculator 2 Motor Control Calculator 3 Motor Drive Calculator 4 Inverter 5 Motor

Claims (6)

[Claims] 1. An electric vehicle in which a torque current command and a magnetic flux command are calculated based on a target torque to calculate a primary current command and a primary frequency command of an induction motor, and an inverter drives and controls the induction motor. In the motor drive control device, a discriminating circuit that discriminates between an increase and a decrease of the magnetic flux command, and when the discriminating circuit determines that the magnetic flux command is increasing, the rise of the magnetic flux command is made faster than the rise of the torque current command, and the discriminating means is used. A drive control device for a motor for an electric vehicle, comprising: a control circuit that makes the fall of the magnetic flux command slower than the fall of the torque current command when it is determined to decrease. 2. The drive control device for an electric vehicle motor according to claim 1, wherein the control circuit filters the target torque and the magnetic flux command, and switches the time constant when the magnetic flux command increases and decreases. A drive control device for a motor for an electric vehicle, which adjusts a rise time and a fall time of a command and / or a target torque. 3. An electric vehicle in which a torque current command and a magnetic flux command are calculated based on a target torque to calculate a primary current command and a primary frequency command of an induction motor, and an inverter drives and controls the induction motor. In the motor drive control device, a determination circuit that determines whether the target torque is increased or decreased, and when the determination circuit determines that the target torque is increased, the rise of the torque current command is made slower than the rise of the magnetic flux command and the determination circuit A drive control device for a motor for an electric vehicle, comprising: a control circuit that makes the fall of the torque current command faster than the fall of the magnetic flux command when it is determined to decrease. 4. The drive control device for an electric vehicle motor according to claim 3, wherein the control circuit filters the target torque and the magnetic flux command, and switches the time constant when the target torque increases and decreases. A drive control device for a motor for an electric vehicle, which adjusts a rise time and a fall time of a torque and / or magnetic flux command. 5. An electric vehicle in which a torque current command and a magnetic flux command are calculated based on a target torque to calculate a primary current command and a primary frequency command of an induction motor, and an inverter drives and controls the induction motor. In a motor drive control device, an opening degree detection means for detecting the opening degree of the accelerator, and when the accelerator opening degree detected by the opening degree detection means increases, the rise of the magnetic flux command is made faster than the rise of the torque current command. A drive circuit for an electric vehicle motor, comprising: a control circuit that delays the fall of the magnetic flux command later than the fall of the torque current command when the accelerator opening detected by the opening detection means decreases. apparatus. 6. The drive control device for an electric vehicle motor according to claim 5, wherein the control circuit filters the target torque and the magnetic flux command, and switches the time constant when the accelerator opening increases and decreases. A drive control device for a motor for an electric vehicle, which adjusts a rise time and a fall time of a magnetic flux command and / or a target torque.