JPS5999903A - Controlling method for controller of electric rolling stock - Google Patents

Abstract

PURPOSE:To improve the notch stopping control accuracy by regulating a modulation factor limiter in response to a pulse mode under a notch stopping condition. CONSTITUTION:A reference slip frequency FSO and a correction slip frequency FS1 in response to a current pattern IP based on a current limiting command IC and a notch command P are added to produce a slip frequency FS, and an inverter output frequency F is obtained by the slip frequency FS and a rotating frequeny FR. A modulation pulse mode calculator 25 sets a modulation pulse mode N to approximate to a sinusoidal wave. A modulation factor calculator 26 outputs a modulation factor AL1 so that the ratio V/F of the inverter output voltage V to the output frequency F becomes constant. A modulation factor limiter selector 30 outputs a modulation factor limiter AL1 in response to notch commands P1-P3 and a modulation pulse mode N. A minimum value priority circuit 27 compares the modulation factors AL1 with AL2 and outputs the smaller one as a modulation factor AL.

Description

Detailed Description of the Invention [Technical Field of the Invention] The present invention obtains a predetermined modulation and smoothness by comparing a synchronized sine wave modulation wave and a triangular carrier wave, and also calculates the magnitude of the modulation wave and the carrier wave. Change the above change by changing the modulation rate determined by the ratio of ! A variable voltage variable frequency inverter (referred to below as r) that controls the IAI pulse width and uses this modulated pulse to operate an inverter and convert DC power to AC power.
The present invention relates to a control method for an electric vehicle control device that drives an induction motor using a VVVF inverter (referred to as a "VVVF inverter"), and particularly to improving the accuracy of so-called notching control.

[Technical background of the invention]

FIG. 1 shows an example of a typical YVVF inverter control system in a conventional electric vehicle.

FIG. 1(a) shows a drive circuit system, in which 1 is a pantograph, 2 is a breaker, 3 is a filter reactor, and 4 is a film capacitor (5Ili) A voltage detector that detects the terminal voltage of the filter capacitor.

6 is an inverter section, 7.8 is an induction motor, and 9.10 is a pulse generator that detects the rotational speed of the motor and outputs pulses at a frequency corresponding to the rotational speed of the motor. ! 11 to 13 detect the electric motor mjil:11. ;It is a flow tester.

Next, FIG. 1(b) shows the control system of the inverter.
Output PG7゜PG2 of Noya Lux generators 9 and 10
It, the rotational frequency calculation section 2 counts the rotational frequency tl for a certain period of time, and calculates the rotational frequency FR. Current limit value command I
In the TI flow/mother turn calculation section a 22, Ml and flow pattern (2) are calculated based on C and force saving command (notch command) P. 23 basic N/slip frequency generators, current pattern IP
Depending on the input, the basic W.
Slip frequency F. Output. The amplifier 24 amplifies the deviation between the detected part of the first flow pattern (2) and the motive current IM, and outputs a corrected slip frequency F81. These reference slip frequency Fgo and corrected slip frequency F8. Ka leopard 1
-, all υ frequencies are F8, and the output frequency F is determined by adding 1,000 times to the frequency F8 via the frequency limiter 28. A normal VVVF inverter performs sinusoidal approximation modulation control on the output Wt pressure in order to make the electric current as close to a sine wave as possible. 25: Modification for this 1 no 9 Lus mode performance q part) shi, Ltt force frequency F and filter capacitor volts, pressure EC (Ichikawa detector 5
The optimum force modulation pulse mode N is set according to the Change i4. The I pulse mode N corresponds to the number of pulses λ1/- and O that occur in one cycle of the output frequency F, and basically, the larger the number of pulses, the more the motor 1j
, the current approaches a sine wave, but this increases the switching loss of the elements that make up the inverter.
Ru. Therefore, at low speeds, the number of Noyals is increased, and as the speed increases, the number of pulses is decreased, and control is performed so as to eventually reach the 1.Guls mode. 26 is the modulation rate control section of the famous pulse mode, which determines the magnitude of the inverter output ↑L pressure V, and the output is adjusted so that the ratio V/F of the output frequency F of the inverter output surface, the pressure V, and the output frequency F is constant. Based on the frequency F and the filter capacitor f pressure E14, a numerical value 1. and a modulation rate AL are output as shown in the following equation.

(Here, AH+BN is a constant determined by the pulse mode.) FIG. 3 shows the relationship between speed, pulse mode, and modulation rate. 1 in the 17-force mode, the modulation rate is 1, and () constant η) which cannot perform four-pressure control; and - in the pressure field force.

27 is the minimum candy invader 1: circuit, 28 odd month 1 question rate IJ mitter selection circuit. The modulation limit selection circuit 28 selects 3 for each of the 1-notch command P1 + 2-notch command P2. In addition, this minimum value priority circuit 27 sets the modulation rate AL2 above ri.
d*Compare the H rate AL1 and output the smaller one as the modulation rate AL. The dirt signal generating section 29 uses the above modulation rate AL.
According to the frequency F and the modulation pulse mode N, r-) months=01 to G6 are outputted to the inverter 6.

FIGS. 4(a) to 4(c) show the characteristics of the /gus mode, modulation rate, basic inverter output voltage distribution, and traction force according to the notch command, respectively.

Deformation 4-pulse mode N, modulation rate AL and output normal pressure -
5- The relationship of base decrement ■ is as shown in the following equation.

v = Dn, AL, EC-(2) (where E is the filter capacitor voltage and D is the fundamental wave content of each pulse mode.) Therefore, the variable Ia + no e
Since the fundamental wave content rate differs depending on the number of pulses, if the modulation rate limiter according to the notch command is constant as in the past, the notch stopping characteristics will fluctuate greatly each time the pulse mode changes. There was a problem that I7 was not favorable in terms of speed control.

[Purpose of the invention]

An object of the present invention is to improve the accuracy of notch locking control in the control of an electric vehicle in which an induction motor is driven by a VWF inverter, and to suppress fluctuations in the notch locking characteristics even if the modulation pulse mode changes. An object of the present invention is to provide a control method for a vehicle control device.

[Summary of the invention]

In the present invention, when selecting and fixing the notch command, that is, the notch command for speed control, the output voltage is adjusted to It is characterized by selecting and setting the tenth variable H frequency so that the frequency is constant.

[Embodiments of the invention]

Figure 5 shows -#! of the present invention. The configuration of the inverter control system in example #i is shown.

In FIG. 5, the variable n rate limiter selection section 3 inputs the notch commands P, +P2 +P3 and the modulation 1 pulse mode N to obtain the modulation 1 rate limiter output AL2. A detailed configuration of the modulation rate limiter selection section 30 is shown in FIG. In Fig. 6, 31 indicates notch commands P1, p2. P
3, a modulation rate limiter selection unit that selects a modulation rate limiter according to the notch command P, and a modulation rate limiter selection unit that selects a modulation rate limiter according to N of each modulation pulse mode at the time of input; The modulation rate limiter selection according to each variable ml+J pulse mode N at the time of notch command P2 is changed to 9'j'f:r.81. \I rate limiter selection section.

A9. B9] 9/5 mode modulation rate limiter, A
s.

BS is a 5-no or Luz mode change frequency limiter, A3 +
B3 has a 3/Grus mode modulation rate limiter.

The stiffness constant is calculated from the following equations.

Notch command P11] Let Nr's output box pressure fundamental wave component be ■1, V, = 4), @A, ・Ec=D5@As19D3"
k3 conflict E.・-(3) If the output type and pressure fundamental wave component at the time of notch phase command P2 is ■2, then V2 = DglI89' Ec = DIl" B5・Ec
"" Ds "B 3φE0...(4) (Here, B9 is the fundamental wave content rate of 9 pulse mode (=0.615
), B5 is the fundamental wave content rate of 5 Noggles mode (=
0.75), Da is the claw single wave content ratio (=0.77)) in the 3-pulse mode.

Next, the operation of such a configuration will be explained.

Figures 7(a) to (e) show the operational dynamics in this example, including the pulse mode, modulation rate, main wave component of the inverter output voltage, and traction force according to the notch command.
Each/T< j. When the notch is at the first position, the relationship of equations (3) and (4) described above is maintained due to the transition of the pulse mode, and
Since the modulation rate limiter selects Vsl, the inverter output voltage is maintained at a constant voltage even with changes in the normal and loose modes, and the traction force is also smoothly attenuated.

It should be noted that the present invention is not limited only to the embodiments described above and shown in the drawings, but may be implemented with various modifications within the scope of changing the spirit of the invention. ′, 1, even ゛.

〔Effect of the invention〕

According to the present invention, in the control of an electric vehicle in which a four-wheel drive mechanism is driven by a VVVF inverter, when the notch is stopped, the inverter output voltage is kept constant by adjusting the modulation rate limiter according to the Nokirus mode. The 1/J traction force can also be improved by obtaining a smooth constant voltage, especially t, and improving the notching control accuracy.

[Brief explanation of the drawing]

1(a) and 1(b) respectively show an example of the configuration of a typical conventional WVF inverter system. Current in rotation -0-〇- A diagram showing R-turn of 1-bevel frequency, Fig. 3 shows a typical speed-modulation rate of V) in rotation, 7A'' heat) υ/rus mode. Figure 4 is a diagram showing inertia, Figure 4 is a diagram showing notch damage and ↓ during rotation;
FIG. 6 shows the details of the modulation rate IJ transmitter operating section in the same embodiment. FIG. 1... Pantograph, 2... Breaker, 3... Filter reactor, 4... Filter capacitor, 5...
・・Frost, pressurization/output device, 6・・inverter, 7, 8・・
・Induction% [4L 9. J o...Noculus generator, 11゜12.13... Current detector, 21... Rotation frequency performance section, 22... Current) (turn generation section, 2
3...λ quasi-slip frequency tsukturn generation section, 24...
- Deviation amplifier, 25... Modulation pulse mode calculation section, 2
6...Modulation rate calculation section, 27...Minimum i'1 priority circuit, 28.30...ti#4+rate limiter selection section, 3)
... /r modulation punctuator selection unit according to notch command, 3
2, 33... Few people depending on Bug Smode? Ji
'! l-led transmitter selection section. Fs. Figure 3 (b) Disaster

Claims (1)

[Claims] By comparing the synchronized sine wave modulation wave and the triangular carrier wave, a predetermined modulation pulse is obtained, and the modulation rate determined by the ratio of the modulation wave to the carrier wave is changed to control the modulation pulse width. When selecting and fixing the notch command for speed control in an electric vehicle control device that drives an induction motor with a variable voltage variable frequency pulse width modulation inverter that uses this modulated pulse to operate an inverter and convert DC power to AC power. . A control method for an electric vehicle control device, characterized in that the modulation rate is selected and set according to both the notch command and the modulation pulse mode so that the output voltage is substantially constant.