KR20120061670A - Motor controlling systen and method - Google Patents

Motor controlling systen and method Download PDF

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Publication number
KR20120061670A
KR20120061670A KR1020100123055A KR20100123055A KR20120061670A KR 20120061670 A KR20120061670 A KR 20120061670A KR 1020100123055 A KR1020100123055 A KR 1020100123055A KR 20100123055 A KR20100123055 A KR 20100123055A KR 20120061670 A KR20120061670 A KR 20120061670A
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South Korea
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motor
current
torque
voltage
counter electromotive
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KR1020100123055A
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Korean (ko)
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김기남
조형준
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현대자동차주식회사
기아자동차주식회사
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Priority to KR1020100123055A priority Critical patent/KR20120061670A/en
Publication of KR20120061670A publication Critical patent/KR20120061670A/en

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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
    • 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
    • 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
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
    • B60L3/0061—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to electrical machines
    • 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
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/20—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by converters located in the vehicle
    • B60L53/24—Using the vehicle's propulsion converter for charging
    • 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
    • B60L2210/00—Converter types
    • B60L2210/40—DC to AC converters
    • 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
    • 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
    • B60L2250/00—Driver interactions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/90—Vehicles comprising electric prime movers
    • B60Y2200/91—Electric vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/90—Vehicles comprising electric prime movers
    • B60Y2200/92—Hybrid vehicles
    • 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
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • 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
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • 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
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • 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
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility
    • 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
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

PURPOSE: A device and a method for controlling a motor are provided to stabilize the control of a motor in consideration of the distribution of counter electro-motive force. CONSTITUTION: A device for controlling a motor comprises a motor, a counter electro-motive force detection unit(106), a vehicle controller(102), a motor controller(103), and a motor actuator. The counter electro-motive force detection unit detects the counter electro-motive force of the motor. The vehicle controller generates a torque order for controlling the motor. The motor controller generates a current order from a current map(103A) set depending on the generated torque order and corrects the current order. The motor actuator actuates the motor depending on the control signal applied from the vehicle controller.

Description

모터 제어장치 및 방법{MOTOR CONTROLLING SYSTEN AND METHOD}MOTOR CONTROLLING SYSTEN AND METHOD}

본 발명은 모터 제어장치에 관한 것으로, 보다 상세하게는 모터가 제품 특성상 갖게 되는 역기전압 산포를 적용한 구동 제어로 모터의 성능 및 제어에 안정성이 제공되도록 하는 모터 제어장치 및 방법에 관한 것이다.The present invention relates to a motor control device, and more particularly, to a motor control device and a method for providing stability to the performance and control of the motor by the drive control applying the counter electromotive voltage distribution that the motor has in product characteristics.

일반적으로 전기자동차, 하이브리드 자동차, 연료전지 자동차를 포함하는 친환경 자동차에는 구동력을 발생시키는 적어도 하나 이상의 모터가 적용된다.In general, at least one motor generating a driving force is applied to an environmentally friendly vehicle including an electric vehicle, a hybrid vehicle, and a fuel cell vehicle.

예를 들어, 하이브리드 자동차에 적용되는 모터는 엔진의 구동력을 보조하여 연비 향상을 제공하여 준다.For example, a motor applied to a hybrid vehicle assists in driving the engine to provide fuel economy improvement.

따라서, 모터의 제어를 관장하는 제어기의 메모리 영역에는 모터의 구동을 제어하기 위해 도 3과 같이 설정되는 전류 맵이 저장된다.Therefore, the current map set as shown in FIG. 3 is stored in the memory area of the controller that controls the control of the motor.

전류 맵은 모터의 속도와 토크를 세부 영역별로 구분하여 요구토크에 따라 출력토크에 해당하는 영역별 전류지령이 출력될 수 있도록 한다.The current map divides the speed and torque of the motor into detailed areas so that the current command for each area corresponding to the output torque can be output according to the required torque.

상기 전류 맵의 설정에서 속도와 토크 영역의 분할을 크게하면 영역간 전류 및 토크 변동이 커지므로 효율적인 제어가 불가하여 영역을 세분화하고 있다.Increasing the division of the speed and torque areas in the setting of the current map increases the current and torque fluctuations between the areas, thereby making it impossible to efficiently control the area.

종래의 친환경 자동차에서는 운전자의 요구에 따라 도 3과 같이 설정되는 전류 맵을 적용하여 전류지령을 생성한 다음 전류지령으로 인버터를 제어하여 모터가 출력토크를 발생할 수 있도록 한다.In a conventional eco-friendly vehicle, a current command is generated by applying a current map set as shown in FIG. 3 according to a driver's request, and then the inverter is controlled by the current command so that the motor generates output torque.

친환경 자동차에 적용되는 모터는 양산수준에서 ±5% 이내의 역기전압 산포를 가지고 있으므로, 기본적인 전류 맵의 범위를 넘어서는 역기전압 산포를 갖는 모터에 대해서는 정상적인 토크 제어가 불가하여 입력 전류지령에 대비하여 토크 출력에 커다른 맥동(진동)을 나타내며 정상 토크의 출력이 불가능하고, 이에 따라 차량 주행불가라는 심각한 문제를 발생시킨다.Since motors applied to eco-friendly cars have a reverse electromotive force distribution within ± 5% of mass production level, normal torque control is impossible for motors having a reverse electromotive force distribution beyond the range of basic current map. It shows a large pulsation (vibration) at the output and it is impossible to output normal torque, thus causing a serious problem that the vehicle cannot run.

예를 들어, 정상적인 역기전압 산포를 갖는 모터는 도 4에서 알 수 있는 바와 같이 출력요구에 따른 전류지령에 실제 전류치가 안정되게 추종한다.For example, a motor having a normal counter voltage distribution stably follows the actual current value to the current command according to the output request as can be seen in FIG. 4.

하지만, 역기전압의 산포가 일정영역을 벗어나는 모터에서는 도 5에서 알 수 있는 바와 같이 출력요구에 따른 전류지령에 실제 전류치가 추종하지 못하고, 지령치를 벗어나므로 정상제어 및 토크출력이 불가능하게 되는 문제점이 발생된다.However, in a motor in which the distribution of counter electromotive voltage is out of a certain region, as shown in FIG. 5, the actual current value does not follow the current command according to the output demand, and it is out of the command value so that normal control and torque output are impossible. Is generated.

또한, 정상적인 역기전압 산포를 갖는 모터는 도 6에서 알 수 있는 바와같이 출력요구에 따라 단계적으로 입력되는 토크지령에 대해 실제 토크출력이 안정적으로 추종하지만 역기전압 산포가 일정영역을 벗어나는 모터에서는 도 7에서 알 수 있는 바와 같이 출력요구에 따라 단계적으로 입력되는 토크지령에 대해 실제 출력이 추종하지 못하고 심한 맥동(진동)을 발생하여 정상적인 토크 출력이 불가능하게 되는 문제점이 발생한다.  In addition, as shown in FIG. 6, a motor having a normal counter electromotive voltage distribution reliably follows the actual torque output with respect to a torque command input stepwise according to an output request. As can be seen from the torque command input step by step according to the output request, the actual output does not follow, causing a severe pulsation (vibration) occurs a problem that the normal torque output is impossible.

이상과 같이 종래의 친환경 자동차에서는 적용되는 모터에 대한 역기전압 산포를 고려하지 않은 구동 제어를 실행하여 토크 출력부족 및 제어 불가능 현상을 초래하여 차량의 성능악화 및 진동을 발생시키는 문제점이 있다. As described above, in the conventional eco-friendly vehicle, driving control that does not consider the counter electromotive force distribution for the applied motor causes a torque output shortage and an uncontrollable phenomenon, thereby causing performance degradation and vibration of the vehicle.

본 발명은 상기한 문제점을 해결하기 위하여 제안된 것으로서, 본 발명의 목적은 운전요구에 따라 전류 맵으로 결정되는 전류지령에 모터가 제품 특성상 갖는 역기전압 산포를 적용한 전류지령의 보정으로 모터의 성능 및 제어에 안정성을 제공하는데 있다.The present invention has been proposed in order to solve the above problems, and an object of the present invention is to correct the current command by applying a counter electromotive voltage distribution of the motor to the current command determined by the current map according to the driving requirements. To provide stability to the control.

상기한 바와 같은 목적을 달성하기 위해 본 발명의 특징에 따르면, 모터; 상기 모터에 전류가 인가되지 않는 무부하 상태에서 모터가 갖는 역기전압을 검출하는 역기전압검출부; 운전자의 출력토크 요구를 검출하는 운전요구검출부; 운전자의 출력토크 요구에 따라 모터를 제어하기 위한 토크명령을 생성하는 차량제어기; 차량제어기에서 제공되는 토크명령에 따라 설정되는 전류 맵에서 전류지령을 생성하고, 모터의 역기전압을 적용하여 전류지령을 보정하는 모터제어기; 차량제어기에서 인가되는 제어신호에 따라 배터리에서 공급되는 직류전압을 3상 교류전압으로 변환시켜 모터를 구동시키는 모터제어기를 포함하는 것을 특징으로 하는 모터 제어장치가 제공된다.According to a feature of the present invention for achieving the object as described above, the motor; A counter electromotive voltage detector for detecting a counter electromotive voltage of the motor in a no-load state in which no current is applied to the motor; A driving request detector for detecting a driver's output torque request; A vehicle controller configured to generate a torque command for controlling the motor according to a driver's output torque request; A motor controller generating a current command from a current map set according to a torque command provided from the vehicle controller and correcting the current command by applying a counter voltage of the motor; According to a control signal applied from the vehicle controller is provided a motor control device comprising a motor controller for driving a motor by converting a DC voltage supplied from the battery into a three-phase AC voltage.

또한, 본 발명의 다른 특징에 따르면, 모터가 갖는 역기전압을 검출하는 과정; 운전 요구에 따른 전류지령을 전류 맵에서 결정하는 과정; 상기 전류지령에 모터의 역기전압을 적용하여 전류지령을 보정하는 과정을 포함하는 모터 제어방법이 제공된다.In addition, according to another feature of the invention, the step of detecting the counter electromotive voltage of the motor; Determining a current command according to an operation request from a current map; A motor control method is provided that includes correcting a current command by applying a counter voltage of the motor to the current command.

이와 같이 본 발명의 실시예에 따르면, 친환경 자동차에서 모터가 제품 특성상 갖는 역기전압 산포를 고려하여 제어됨으로서, 운전요구에 따른 출력 특성이 안정되게 제공될 수 있다.As described above, according to the embodiment of the present invention, since the motor is controlled in consideration of the counter electromotive voltage distribution that the motor has in the product characteristics, the output characteristic according to the driving demand can be stably provided.

도 1은 본 발명의 실시예에 따른 모터 제어장치를 도시한 도면이다.
도 2는 본 발명의 실시예에 따른 모터 제어절차를 도시한 흐름도이다.
도 3은 친환경 자동차에서 모터 제어를 위해 설정되는 전류 맵이다.
도 4는 정상적인 역기전압 산포를 갖는 모터의 전류지령 결과를 도시한 도면이다.
도 5는 일정영역을 벗어나는 역기전압 산포를 갖는 모터의 전류지령 결과를 도시한 도면이다.
도 6은 정상적인 역기전압 산포를 갖는 모터의 토크지령 결과를 도시한 도면이다.
도 7은 일정영역을 벗어나는 역기전압 산포를 갖는 모터의 토크지령 결과를 도시한 도면이다.1 is a view showing a motor control apparatus according to an embodiment of the present invention.
2 is a flowchart illustrating a motor control procedure according to an embodiment of the present invention.
3 is a current map set for motor control in an eco-friendly vehicle.
4 is a diagram showing current command results of a motor having a normal counter voltage distribution.
5 is a diagram illustrating a current command result of a motor having a counter electromotive voltage dispersion out of a predetermined region.
Fig. 6 is a diagram showing a torque command result of a motor having a normal counter voltage distribution.
FIG. 7 is a diagram illustrating a torque command result of a motor having a counter electromotive force distribution out of a predetermined region.

이하, 첨부된 도면을 참조하여 본 발명의 바람직한 실시예를 본 발명이 속하는 기술 분야에서 통상의 지식을 가진 자가 용이하게 실시할 수 있도록 상세하게 설명하면 다음과 같다.Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art to which the present invention pertains can easily carry out the embodiments.

본 발명은 여러 가지 상이한 형태로 구현될 수 있으므로, 여기에서 설명하는 실시예에 한정되지 않으며, 도면에서 본 발명을 명확하게 설명하기 위하여 설명과 관계없는 부분은 생략하였다.The present invention can be embodied in various different forms, and thus the present invention is not limited to the embodiments described herein.

도 1은 본 발명의 실시예에 따른 모터 제어장치를 도시한 도면이다.1 is a view showing a motor control apparatus according to an embodiment of the present invention.

도 1을 참조하면, 본 발명의 실시예는 운전요구검출부(101)와 차량제어기(102), 모터제어기(103), 인버터(104), 모터(105) 및 역기전압검출부(106)를 포함한다.Referring to FIG. 1, an embodiment of the present invention includes a driving request detector 101, a vehicle controller 102, a motor controller 103, an inverter 104, a motor 105, and a counter electromotive voltage detector 106. .

운전요구검출부(101)는 운전자의 토크 출력 요구를 검출하여 그에 대한 정보를 차량제어기(102)에 제공한다.The driving demand detection unit 101 detects the driver's torque output request and provides the information to the vehicle controller 102.

차량제어기(102)는 운전자의 출력토크 요구에 따라 모터(105)의 구동속도 및 토크를 결정한 다음 모터(105)의 구동을 제어하기 위한 토크명령을 생성하여 모터제어기(103)에 제공한다.The vehicle controller 102 determines the driving speed and torque of the motor 105 according to the driver's output torque request, and then generates and provides a torque command for controlling the driving of the motor 105 to the motor controller 103.

모터제어기(103)는 차량제어기(102)에서 제공되는 토크명령에 따라 설정되는 전류 맵(103A)에서 모터(105)의 속도와 토크를 제어하기 위한 전류지령을 생성하고, 전류지령을 PWM신호의 출력하여 인버터(104)를 구동시킨다.The motor controller 103 generates a current command for controlling the speed and torque of the motor 105 in the current map 103A set according to the torque command provided from the vehicle controller 102, and converts the current command into a PWM signal. Output to drive the inverter 104.

또한, 상기 모터제어기(103)는 전류 맵(103A)으로 결정되는 전류지령을 역기전압검출부(106)에서 제공되는 모터(105)의 역기전압을 적용하여 보정함으로써, 최종적인 전류지령을 생성한다.In addition, the motor controller 103 corrects the current command determined by the current map 103A by applying the counter electromotive voltage of the motor 105 provided by the counter electromotive voltage detector 106 to generate a final current command.

인버터(104)는 다수개의 전력 스위치 소자로 이루어지며, 모터제어기(103)에서 인가되는 PWM신호에 의해 스위칭되어 배터리에서 공급되는 직류전압을 3상 교류전압으로 변환한 다음 모터(105)의 각 상에 공급하여 모터(105)를 구동시킨다.The inverter 104 is composed of a plurality of power switch elements, and is switched by a PWM signal applied from the motor controller 103 to convert a DC voltage supplied from a battery into a three-phase AC voltage, and then each phase of the motor 105. It supplies to and drives the motor 105. FIG.

역기전압검출부(106)는 모터(105)가 제품 특성상 갖는 역기전압을 검출하여 그에 대한 정보를 모터제어기(103)에 제공한다.The counter electromotive voltage detector 106 detects the counter electromotive voltage of the motor 105 in accordance with the product characteristics and provides the motor controller 103 with information about the counter electromotive voltage.

상기 모터(105)의 역기전압은 모터(105)에 전류가 인가되지 않는 상태에서 측정한다.The counter electromotive voltage of the motor 105 is measured in a state where a current is not applied to the motor 105.

전술한 바와 같은 기능을 포함하는 본 발명의 동작은 다음과 같이 실행된다.The operation of the present invention including the function as described above is executed as follows.

예를 들어, 본 발명이 적용되는 친환경 자동차가 운행되는 과정에서 차량제어기(102)는 운전요구검출부(101)에서 제공되는 운전자의 출력토크요구를 검출하여(S101), 모터(105)의 구동을 제어하기 위한 토크명령을 생성한 다음 모터제어기(103)에 인가한다(S102).For example, the vehicle controller 102 detects the output torque demand of the driver provided from the driving demand detection unit 101 in the process of driving the eco-friendly car to which the present invention is applied (S101), thereby driving the motor 105. Generates a torque command for control and then applies to the motor controller 103 (S102).

이때, 모터제어기(103)는 차량제어기(102)에서 제공되는 토크명령에 따라 설정되는 전류 맵(103A)에서 모터(105)의 속도와 토크를 제어하기 위한 전류지령을 결정한다.At this time, the motor controller 103 determines a current command for controlling the speed and torque of the motor 105 in the current map 103A set according to the torque command provided from the vehicle controller 102.

그리고, 모터(105)에 전류가 공급되지 않는 무부하 상태에서 역기전압검출부(106)를 통해 모터(105)가 갖는 역기전압을 검출한다(S103).Then, the counter electromotive voltage of the motor 105 is detected through the counter electromotive voltage detector 106 in the no load state in which no current is supplied to the motor 105 (S103).

상기 모터제어기(103)는 전류 맵(103A)으로 결정되는 전류지령에 모터(105)의 역기전압을 적용하여 전류지령을 보상한 다음(S104) PWM신호로 변환시켜 인버터(104)를 통해 모터(105)의 구동속도 및 토크를 제어한다(S105).The motor controller 103 compensates the current command by applying the back electromotive voltage of the motor 105 to the current command determined by the current map 103A (S104) and converts it into a PWM signal to convert the motor through the inverter 104 ( The driving speed and torque of the 105 is controlled (S105).

예를 들어, 전류 맵의 기준이 되는 모터(105)의 역기전압이 58V라고 가정하고, 역기전압검출부(106)를 통해 검출되는 모터(105)의 실제 역기전압이 55.3V로 양산수준의 역기전력 산포에 합격 판정된 모터라고 가정한다.For example, assuming that the counter electromotive voltage of the motor 105, which is a reference of the current map, is 58V, and the actual counter electromotive voltage of the motor 105 detected through the counter electromotive voltage detecting unit 106 is 55.3V, the counter electromotive force distribution of the production level is distributed. Assume that the motor has been determined to pass.

또한, 모터(105)의 기준속도(1160RPM)에서 최대토크(105Nm)를 내기 위해 모터(105)의 d축에 필요 전류량이 id가 -65A이고, q축의 필요 전류량이 178.5A라고 가정한다.In addition, it is assumed that the required current amount on the d-axis of the motor 105 is -65 A, and the required current amount on the q-axis is 178.5 A to produce the maximum torque 105 Nm at the reference speed 1160 RPM of the motor 105.

따라서, 모터 제어기(103)는 모터(105)에 전류가 인가되지 않는 상태에서 역기전압 55.3V를 측정하여 보정펙터를 계산하고(58/55.3), 계산된 보정펙터를 전류 맵의 각각 영역에 곱해준다.Accordingly, the motor controller 103 calculates a correction factor by measuring the counter electromotive voltage 55.3V while no current is applied to the motor 105 (58 / 55.3), and multiplies each region of the current map by the calculated correction factor. Do it.

그러므로, 모터(105)의 기준속도(1160RPM)에서 최대토크(105Nm)를 출력하기 위한 보정 제어전류는 다음과 같이 결정될 수 있다.Therefore, the correction control current for outputting the maximum torque 105 Nm at the reference speed 1160 RPM of the motor 105 can be determined as follows.

id = -65 × (58/55.3) = -68.2A, id = -65 × (58 / 55.3) = -68.2A,

iq = 178.5 × (58/55.3) = 187.2Aiq = 178.5 × (58 / 55.3) = 187.2 A

이상에서는 본 발명의 실시예에 대하여 설명하였으나, 본 발명의 사상은 본 명세서에 제시되는 실시 예에 제한되지 아니하며, 본 발명의 사상을 이해하는 당업자는 동일한 사상의 범위 내에서 구성요소의 부가, 변경, 추가, 삭제 등에 의해서 다른 실시 예를 용이하게 제안할 수 있을 것이나, 이 또한 본 발명의 사상범위 내에 포함된다고 할 것이다.While the present invention has been particularly shown and described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, , Additions, deletions, and so on, other embodiments may be easily suggested, but this is also included in the spirit of the present invention.

101 : 운전요구검출부 102 : 차량제어기
103 : 모터제어기 104 : 인버터
105 : 모터 106 : 역기전압검출부101: driving request detection unit 102: vehicle controller
103: motor controller 104: inverter
105: motor 106: counter voltage detector

Claims (2)

모터;
상기 모터에 전류가 인가되지 않는 무부하 상태에서 모터가 갖는 역기전압을 검출하는 역기전압검출부;
운전자의 출력토크 요구를 검출하는 운전요구검출부;
운전자의 출력토크 요구에 따라 모터를 제어하기 위한 토크명령을 생성하는 차량제어기;
차량제어기에서 제공되는 토크명령에 따라 설정되는 전류 맵에서 전류지령을 생성하고, 모터의 역기전압을 적용하여 전류지령을 보정하는 모터제어기;
차량제어기에서 인가되는 제어신호에 따라 배터리에서 공급되는 직류전압을 3상 교류전압으로 변환시켜 모터를 구동시키는 모터제어기;
를 포함하는 것을 특징으로 하는 모터 제어장치.motor;
A counter electromotive voltage detector for detecting a counter electromotive voltage of the motor in a no-load state in which no current is applied to the motor;
A driving request detector for detecting a driver's output torque request;
A vehicle controller configured to generate a torque command for controlling the motor according to a driver's output torque request;
A motor controller generating a current command from a current map set according to a torque command provided from the vehicle controller and correcting the current command by applying a counter voltage of the motor;
A motor controller for driving a motor by converting a DC voltage supplied from a battery into a three-phase AC voltage according to a control signal applied from the vehicle controller;
Motor control apparatus comprising a. 모터가 갖는 역기전압을 검출하는 과정;
운전 요구에 따른 전류지령을 전류 맵에서 결정하는 과정;
상기 전류지령에 모터의 역기전압을 적용하여 전류지령을 보정하는 과정;
을 포함하는 모터 제어방법.Detecting a counter electromotive voltage of the motor;
Determining a current command according to an operation request from a current map;
Correcting the current command by applying a counter voltage of the motor to the current command;
Motor control method comprising a.
KR1020100123055A 2010-12-03 2010-12-03 Motor controlling systen and method KR20120061670A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101526391B1 (en) * 2013-11-27 2015-06-08 현대자동차 주식회사 Motor controlling systen and motor controlling method
KR20160050792A (en) * 2014-10-31 2016-05-11 현대모비스 주식회사 Method for controlling active air flap in vehicle
US9503010B2 (en) 2014-06-10 2016-11-22 Hyundai Mobis Co., Ltd. Apparatus and method for minimizing influence of temperature change in motor

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101526391B1 (en) * 2013-11-27 2015-06-08 현대자동차 주식회사 Motor controlling systen and motor controlling method
US9729098B2 (en) 2013-11-27 2017-08-08 Hyundai Motor Company System for controlling motor of hybrid electric vehicle
US9503010B2 (en) 2014-06-10 2016-11-22 Hyundai Mobis Co., Ltd. Apparatus and method for minimizing influence of temperature change in motor
KR20160050792A (en) * 2014-10-31 2016-05-11 현대모비스 주식회사 Method for controlling active air flap in vehicle

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