KR20180025434A - Motor driving system - Google Patents

Motor driving system Download PDF

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KR20180025434A
KR20180025434A KR1020160111272A KR20160111272A KR20180025434A KR 20180025434 A KR20180025434 A KR 20180025434A KR 1020160111272 A KR1020160111272 A KR 1020160111272A KR 20160111272 A KR20160111272 A KR 20160111272A KR 20180025434 A KR20180025434 A KR 20180025434A
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South Korea
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power
energy storage
energy
motor
storage unit
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KR1020160111272A
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Korean (ko)
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박해원
김현익
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현대로템 주식회사
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Publication of KR20180025434A publication Critical patent/KR20180025434A/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
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/0092—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption with use of redundant elements for safety purposes
    • B60L11/1803—
    • B60L11/1811—
    • B60L11/1855—
    • 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
    • B60L3/04—Cutting off the power supply under fault conditions
    • 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
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/51—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells characterised by AC-motors
    • 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
    • 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
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/18—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries of two or more battery modules
    • B60L58/19—Switching between serial connection and parallel connection of battery modules
    • B60L2230/30—
    • B60L2230/32—
    • 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
    • B60L2240/54—Drive Train control parameters related to batteries
    • B60L2240/547—Voltage
    • 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
    • B60L2240/54—Drive Train control parameters related to batteries
    • B60L2240/549—Current
    • 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
    • B60L53/50—Charging stations characterised by energy-storage or power-generation means
    • B60L53/53—Batteries
    • 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
    • B60L53/50—Charging stations characterised by energy-storage or power-generation means
    • B60L53/55—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
    • Y02T10/64—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)
  • Inverter Devices (AREA)

Abstract

The present invention relates to a motor driving system. According to an embodiment of the present invention, the motor driving system comprises: a driving motor configured to receive power to generate electric power; an inverter configured to adjust the power supplied to the driving motor to control the driving motor; a battery configured to supply power to the driving motor; a DC/DC converter configured to receive, convert and output the power outputted from the battery; a high voltage distributor configured to allow the power inputted from the DC/DC converter to branch and be supplied to the inverter to perform a power distribution control function in case of abnormality; an upper controller configured to apply a driving command to the inverter to control the driving motor; and an energy storing unit configured to store energy, which compensates for peak power, store regenerative energy generated in case of a sudden stop, and supply the stored energy to at least one of the DC/DC converter or the high voltage distributor.

Description

모터 구동 시스템{MOTOR DRIVING SYSTEM}[0001] MOTOR DRIVING SYSTEM [0002]

본 발명은 모터 구동 시스템에 관한 것으로, 특히, 본 발명은 파손된 모듈이 자동으로 차단되고, 고장 진단 및 전력 관리 알고리즘을 운용하는 모터 구동 시스템에 관한 것이다.The present invention relates to a motor drive system, and more particularly, to a motor drive system in which a broken module is automatically shut down and operates a fault diagnosis and power management algorithm.

전기식 모터 구동시스템에서 최대 속도로 가속시 소요되는 첨두전력은 정속 구동시 정격 전력에 비해 월등히 크다. 또한, 전기식 모터 구동시스템에서 DC/DC 컨버터의 공급전력만으로 첨두 전력을 공급하도록 설계하는 것은 불합리하므로, 별도의 보조전원 공급장치인 에너지 저장장치를 DC/DC컨버터와 모터구동시스템 사이에 병렬로 구성하여 최대 가속조건에서 부족한 첨두전력을 보충한다.In the electric motor drive system, the peak power required for acceleration at the maximum speed is much higher than the rated power at the constant speed operation. In addition, it is unreasonable to design the electric motor drive system to supply the peak power only by the supply power of the DC / DC converter. Therefore, an energy storage device, which is a separate auxiliary power supply, is arranged in parallel between the DC / DC converter and the motor drive system Thereby compensating for the insufficient peak power at the maximum acceleration condition.

여기서, 첨두전력 보상용 에너지 저장장치는 고용량 커패시터를 직병렬로 연결하여 구성되게 되며, 사용하는 커패시터 중 한 개만 오류가 발생하더라도 구동전원을 공급할 수 없게 되어 전체 시스템의 운용이 불가능하게 된다. Here, the energy storage device for peak power compensation is constituted by connecting high capacity capacitors in series and in parallel. Even if only one of the capacitors used causes an error, the driving power can not be supplied and the entire system can not be operated.

한국등록특허공보 10-0162035호 (1998.08.27)Korean Patent Registration No. 10-0162035 (Aug. 27, 1998)

본 발명이 해결하고자 하는 과제는, 가감속시 사용되는 첨두전력 보상용 에너지 저장장치 모듈화 및 장치내에 차단기를 적용하여 내부부품의 파손시 자동으로 파손된 모듈을 차단한 후 구동시스템이 제한적으로 운용 가능한 모터 구동 시스템을 제공하는 것이다.A problem to be solved by the present invention is to modularize an energy storage device for peak power compensation used in acceleration / deceleration and to use a circuit breaker in a device to automatically shut down a damaged module when internal parts are broken, And to provide a motor drive system.

또한, 본 발명이 해결하고자 하는 다른 과제는, 자동 차단에 의해 발생되는 전력 부족하에서 시스템 운용을 위해 상위제어기에서의 고장 진단 및 전력관리 알고리즘을 운용하는 모터 구동 시스템을 제공하는 것이다.Another problem to be solved by the present invention is to provide a motor drive system for operating a fault diagnosis and power management algorithm in a host controller for system operation under power shortage caused by automatic shutdown.

본 발명의 일 실시예에 따르면, 전원을 공급받아 동력을 발생시키는 구동모터, 구동모터로 공급하는 전원을 조정하여 구동모터를 제어하는 인버터, 구동모터에 전원을 공급하는 배터리, 배터리에서 출력되는 전원을 입력받아 변환하여 출력하는 DC/DC 컨버터, DC/DC 컨버터로부터 입력받은 전원을 분기시켜 인버터에 공급하며, 이상 발생시 전원분배제어의 기능을 수행하는 고전압 분배기, 인버터에 구동명령을 인가하여 구동모터를 제어하는 상위 제어기, 및 구동모터의 첨두전력을 보상하는 에너지를 저장하고, 급정지시 발생하는 회생에너지를 저장하며, 저장된 에너지를 DC/DC 컨버터 및 고전압 분배기 중 적어도 하나로 공급하는 에너지 저장부를 포함하는 모터 구동 시스템을 제공한다.According to an embodiment of the present invention, there is provided a power supply apparatus including: a driving motor that receives power and generates power; an inverter that controls a driving motor by adjusting a power supplied to the driving motor; a battery that supplies power to the driving motor; A DC / DC converter for receiving and converting the DC power from the DC / DC converter, a DC / DC converter for dividing the power received from the DC / DC converter and supplying the DC power to the inverter, And an energy storage unit for storing energy for compensating the peak power of the drive motor, storing the regenerative energy generated at the time of emergency stop, and supplying the stored energy to at least one of the DC / DC converter and the high voltage distributor Thereby providing a motor drive system.

또한, 에너지 저장부는, 상호 병렬 연결된 제1 에너지 저장기 및 제2 에너지 저장기를 포함할 수 있다.The energy storage may also include a first energy store and a second energy store that are connected in parallel.

또한, 제1 에너지 저장기 및 제2 에너지 저장기 각각은 직병렬로 구성된 고용량 커패시터를 포함할 수 있다.In addition, each of the first energy storage and the second energy storage may include a high capacity capacitor configured in series and in parallel.

또한, 제1 에너지 저장기 및 제2 에너지 저장기 각각은, 에너지를 저장하는 내부 모듈 파손시 자동으로 파손된 모듈을 차단하는 차단기를 포함할 수 있다.In addition, each of the first energy storage device and the second energy storage device may include a breaker for automatically shutting down the damaged module when the internal module storing the energy is broken.

또한, 제1 에너지 저장기 및 제2 에너지 저장기 각각은 전류를 측정하는 전류 센서 및 전압을 측정하는 전압 센서 중 적어도 하나를 포함할 수 있다.In addition, each of the first energy storage and the second energy storage may include at least one of a current sensor for measuring current and a voltage sensor for measuring voltage.

또한, 상위 제어기는, 제1 에너지 저장기 및 제2 에너지 저장기 중 파손된 에너지 저장기의 정보를 사용자에게 통보하고, 가용 전력을 계산하여 구동모터의 속도 및 가속도 중 적어도 하나를 조정할 수 있다.The host controller can also inform the user of the broken energy storage of the first energy storage and the second energy storage, and calculate the available power to adjust at least one of the speed and acceleration of the driving motor.

또한, 상위 제어기는, 전력 관리 알고리즘에 따라 인버터를 제어할 수 있다.Further, the host controller can control the inverter according to the power management algorithm.

또한, 전력 관리 알고리즘은, 기본 가속도 및 토크 제한치를 설정하고, 구동모터의 구동속도 및 고장정보를 수신하고, 에너지 저장부의 고장 여부를 판단하며, 에너지 저장부가 고장일 경우 가용 전력을 계산하고, 가용 전력 및 구동모터의 현재속도정보를 계산하여 가속도 및 토크 제한치를 재설정하며, 재설정된 구동토크 제어신호를 출력하도록 설정될 수 있다.The power management algorithm sets the basic acceleration and the torque limit, receives the driving speed and fault information of the driving motor, determines whether the energy storage unit is faulty, calculates the available power when the energy storage unit fails, Resetting the acceleration and torque limits by calculating the current speed information of the power and drive motor, and outputting the reset drive torque control signal.

또한, 전력 관리 알고리즘은, 에너지 저장부의 고장 여부를 판단하여 에너지 저장부가 정상일 경우, 가속도 및 토크 제한치를 설정하고, 설정된 가속도 및 토크 제한치에 따라 구동토크 제어신호을 출력하도록 설정될 수 있다.The power management algorithm may be configured to determine whether the energy storage unit is faulty and to set acceleration and torque limits when the energy storage unit is normal, and to output a drive torque control signal according to the set acceleration and torque limits.

또한, 상위 제어기는, 하기 수학식 1을 이용하여 가용 전력을 계산할 수 있다.Further, the host controller can calculate the available power using the following equation (1).

수학식 1Equation 1

Figure pat00001
Figure pat00001

(P는 가용 전력, Prated 는 DC/DC 컨버터의 공급전압(상수),

Figure pat00002
,
Figure pat00003
, V1은 현재전압, V2는 최저전압 설정치,
Figure pat00004
, τ는 사용토크, ω는 현재속도(측정치),
Figure pat00005
, J는 부하 관성모멘트, α는 각가속도)(P is the available power, P rated is the supply voltage (constant) of the DC / DC converter,
Figure pat00002
,
Figure pat00003
, V 1 is the current voltage, V 2 is the lowest voltage setting value,
Figure pat00004
, τ is the used torque, ω is the current speed (measured value)
Figure pat00005
, J is the load inertia moment, and? Is the angular acceleration)

또한, DC/DC 컨버터는 에너지 저장부와 병렬로 연결되고 에너지 저장부로부터 제1 에너지 저장기 및 제2 에너지 저장기 각각의 전압 정보 및 전류 정보 중 적어도 하나를 수신하여 상위 제어기에 전송할 수 있다.Also, the DC / DC converter may be connected in parallel to the energy storage unit, and may receive at least one of voltage information and current information of each of the first energy storage unit and the second energy storage unit from the energy storage unit, and transmit the voltage information and the current information to the host controller.

본 발명은 구동모터의 가감속시 사용되는 첨두전력 보상용 에너지를 저장하는 에너지 저장부를 복수의 저장기로 모듈화하고, 저장기에 자동차단 기능을 내장함으로써 모터 구동 시스템의 안정성을 향상시킬 수 있다.According to the present invention, the stability of the motor drive system can be improved by modularizing the energy storage unit for storing the energy for peak power compensation used in acceleration / deceleration of the drive motor into a plurality of reservoirs and incorporating an automotive end function in the reservoir.

도 1은 본 발명의 일 실시예에 따른 모터 구동 시스템의 구성을 예시적으로 나타낸 것이다.
도 2는 본 발명의 일 실시예에 따른 모터 구동 시스템에서 운용되는 전력 관리 알고리즘을 나타낸 순서도이다.FIG. 1 illustrates an exemplary configuration of a motor drive system according to an embodiment of the present invention.
2 is a flowchart illustrating a power management algorithm operated in a motor drive system according to an embodiment of the present invention.

이하에서는, 본 발명의 바람직한 실시예에 기초하여 본 발명을 보다 구체적으로 설명한다. 그러나, 하기 실시예는 본 발명의 이해를 돕기 위한 일 예에 불과한 것으로 이에 의해 본 발명의 권리범위가 축소되거나 한정되는 것은 아니다.Hereinafter, the present invention will be described more specifically based on preferred embodiments of the present invention. However, the following embodiments are merely examples for helping understanding of the present invention, and thus the scope of the present invention is not limited or limited.

도 1은 본 발명의 일 실시예에 따른 모터 구동 시스템의 구성을 예시적으로 나타낸 것이다.FIG. 1 illustrates an exemplary configuration of a motor drive system according to an embodiment of the present invention.

도 1을 참조하면, 본 발명의 일 실시예에 따른 모터 구동 시스템은 구동모터(110), 인버터(120), 배터리(130), DC/DC 컨버터(140), 고전압 분배기(150), 상위 제어기(160) 및 에너지 저장부(170)를 포함할 수 있다.Referring to FIG. 1, a motor drive system according to an embodiment of the present invention includes a drive motor 110, an inverter 120, a battery 130, a DC / DC converter 140, a high voltage distributor 150, An energy storage unit 160, and an energy storage unit 170.

구동모터(110)는 전원을 공급받아 동력을 발생시킬 수 있다. 이러한 구동모터(110)는 복수개가 배치될 수 있다.The driving motor 110 can generate power by receiving power. A plurality of such driving motors 110 may be disposed.

인버터(120)는 구동모터(110)로 공급하는 전원을 조정하여 구동모터(110)의 동작을 제어할 수 있다. 여기서, 인버터(120)는 구동모터(110)에 일대일로 연결될 수 있다.The inverter 120 controls the operation of the driving motor 110 by adjusting the power supplied to the driving motor 110. Here, the inverter 120 may be connected to the drive motor 110 in a one-to-one manner.

배터리(130)는 구동모터(110)에 전원을 공급할 수 있다.The battery 130 can supply power to the driving motor 110. [

DC/DC 컨버터(140)는 배터리(130)에서 출력되는 전원을 입력받고, 입력받은 전원을 변환하여 출력할 수 있다.The DC / DC converter 140 receives the power output from the battery 130, and converts and outputs the received power.

고전압 분배기(150)는 DC/DC 컨버터(140)로부터 입력받은 전원을 분기시켜 인버터(120)에 공급하며, 이상 발생시 전원분배제어의 기능을 수행할 수 있다.The high voltage distributor 150 divides the power received from the DC / DC converter 140 and supplies the divided power to the inverter 120, and can perform power distribution control when an abnormality occurs.

상위 제어기(160)는 인버터(120)에 구동명령을 인가하여 구동모터(110)를 제어할 수 있다.The host controller 160 may control the driving motor 110 by applying a driving command to the inverter 120. [

에너지 저장부(170)는 구동모터(110)의 최대 가속시 첨두전력을 보상하는 에너지를 저장하고, 급정지시 발생하는 회생에너지를 저장할 수 있다. 또한, 에너지 저장부(170)는 저장된 에너지를 DC/DC 컨버터(140) 및 고전압 분배기 중 적어도 하나로 공급할 수 있다.The energy storage unit 170 stores energy for compensating the peak power in the maximum acceleration of the driving motor 110, and can store regenerative energy generated at the time of a sudden stop. Further, the energy storage unit 170 may supply the stored energy to at least one of the DC / DC converter 140 and the high voltage distributor.

여기서, 에너지 저장부(170)는 상호 병렬 연결된 제1 에너지 저장기(172) 및 제2 에너지 저장기(174)를 포함할 수 있다.Here, the energy storage unit 170 may include a first energy storage unit 172 and a second energy storage unit 174 connected in parallel with each other.

제1 에너지 저장기(172) 및 제2 에너지 저장기(174) 각각은 에너지 저장밀도 및 전류 동특성을 고려하여 직병렬로 구성된 고용량 커패시터를 포함할 수 있다.Each of the first energy reservoir 172 and the second energy reservoir 174 may include a high capacity capacitor formed in series and in parallel considering energy storage density and current dynamic characteristics.

또한, 제1 에너지 저장기(172) 및 제2 에너지 저장기(174) 각각은 에너지를 저장하는 내부 모듈 파손시 자동으로 파손된 모듈을 차단하는 차단기(180)를 포함할 수 있다.In addition, each of the first energy reservoir 172 and the second energy reservoir 174 may include a circuit breaker 180 for automatically shutting down a damaged module when an internal module storing energy is broken.

한편, 상위 제어기(160)는 제1 에너지 저장기(172) 및 제2 에너지 저장기(174) 중 파손된 에너지 저장기의 정보를 사용자에게 통보할 수 있다. 또한, 상위 제어기(160)는 가용 전력을 계산하여 구동모터(110)의 속도 및 가속도 중 적어도 하나를 조정할 수 있다.Meanwhile, the host controller 160 may inform the user of the broken energy storage of the first energy storage 172 and the second energy storage 174. Further, the host controller 160 may calculate at least one of the speed and the acceleration of the driving motor 110 by calculating available power.

또한, 상위 제어기(160)는 전력 관리 알고리즘에 따라 인버터(120)를 제어할 수 있다.The host controller 160 may also control the inverter 120 according to a power management algorithm.

여기서, 전력 관리 알고리즘은 도 2를 더 참조하여 설명한다.Here, the power management algorithm will be described with further reference to Fig.

도 2를 더 참조하면, 전력 관리 알고리즘은 기본 가속도 및 토크 제한치를 설정하고(S100), 구동모터의 구동속도 및 고장정보를 수신하고(S200), 에너지 저장부의 고장 여부를 판단한(S300) 후 에너지 저장부가 고장일 경우 에너지 저장부의 용량을 고려하여 가용 전력을 계산하고(S400), 가용 전력 및 구동모터의 현재속도정보를 계산하여 가속도 및 토크 제한치를 재설정하며(S500), 재설정된 가속도 및 토크 제한치에 따라 구동토크 제어신호를 출력할 수 있다(S600).2, the power management algorithm sets the basic acceleration and the torque limit (S100), receives the driving speed and the failure information of the driving motor (S200), determines whether the energy storage unit has failed (S300) If the storage unit is faulty, the available power is calculated in consideration of the capacity of the energy storage unit (S400). Then, the available acceleration and the current speed information of the driving motor are calculated to reset the acceleration and torque limits (S500) The drive torque control signal can be output (S600).

다만, 전력 관리 알고리즘에서 에너지 저장부의 고장 여부를 판단하여 에너지 저장부가 정상일 경우, 가속도 및 토크 제한치를 설정하고(S700), 설정된 가속도 및 토크 제한치에 따라 구동토크 제어신호를 출력할 수 있다(S800).If it is determined that the energy storage unit is normal in the power management algorithm, the acceleration and torque limits are set (S700), and the drive torque control signal may be output according to the set acceleration and torque limits (S800) .

여기서, 상위 제어기(160)는 하기 수학식 1을 이용하여 가용 전력을 계산할 수 있다.Here, the host controller 160 may calculate the available power using Equation (1).

Figure pat00006
Figure pat00006

수학식 1에서, P는 가용 전력, Prated 는 상기 DC/DC 컨버터의 공급전압(상수),

Figure pat00007
,
Figure pat00008
, V1은 현재전압, V2는 최저전압 설정치,
Figure pat00009
, τ는 사용토크, ω는 현재속도(측정치),
Figure pat00010
, J는 부하 관성모멘트, α는 각가속도로 설정될 수 있다.In Equation 1, P is the available power, P rated is the supply voltage (constant) of the DC / DC converter,
Figure pat00007
,
Figure pat00008
, V 1 is the current voltage, V 2 is the lowest voltage setting value,
Figure pat00009
, τ is the used torque, ω is the current speed (measured value)
Figure pat00010
, J is the load inertia moment, and alpha is the angular acceleration.

상기 수학식 1을 통해 가용 전력을 계산한 상위 제어기(160)는 계산된 가용 전력 및 측정된 현재속도를 이용하여 토크 제한치를 설정할 수 있다.The upper controller 160 that calculates the available power through Equation (1) can set the torque limit value using the calculated available power and the measured current speed.

본 발명의 일 실시예에 따른 모터 구동 시스템은 구동모터의 가감속시 사용되는 첨두전력 보상용 에너지를 저장하는 에너지 저장부를 복수의 저장기로 모듈화하고, 저장기에 자동차단 기능을 내장함으로써 모터 구동시스템의 안정성을 향상시킬 수 있다.The motor drive system according to an embodiment of the present invention modulates an energy storage unit for storing energy for peak power compensation used in acceleration / deceleration of a drive motor into a plurality of storage units, The stability can be improved.

이상에서 본 발명에 대한 기술 사상을 첨부 도면과 함께 서술하였지만, 이는 본 발명의 바람직한 실시예를 예시적으로 설명한 것이지 본 발명을 한정하는 것은 아니다. 또한, 이 기술 분야의 통상의 지식을 가진 자라면 누구나 본 발명의 기술 사상의 범주를 이탈하지 않는 범위 내에서 다양한 변형 및 모방이 가능함은 명백한 사실이다.Although the preferred embodiments of the present invention have been disclosed for illustrative purposes, those skilled in the art will appreciate that various modifications, additions and substitutions are possible, without departing from the scope and spirit of the invention as disclosed in the accompanying claims. In addition, it is a matter of course that various modifications and variations are possible without departing from the scope of the technical idea of the present invention by anyone having ordinary skill in the art.

110: 구동모터
120: 인버터
130: 배터리
140: DC/DC 컨버터
150: 고전압 분배기
160: 상위 제어기
170: 에너지 저장부
172: 제1 에너지 저장기
174: 제2 에너지 저장기
180: 차단기110: drive motor
120: Inverter
130: Battery
140: DC / DC converter
150: High voltage distributor
160:
170: Energy storage unit
172: first energy storage device
174: Second energy storage device
180: Breaker

Claims (11)

전원을 공급받아 동력을 발생시키는 구동모터;
상기 구동모터로 공급하는 전원을 조정하여 상기 구동모터를 제어하는 인버터;
상기 구동모터에 전원을 공급하는 배터리;
상기 배터리에서 출력되는 전원을 입력받아 변환하여 출력하는 DC/DC 컨버터;
상기 DC/DC 컨버터로부터 입력받은 전원을 분기시켜 상기 인버터에 공급하며, 이상 발생시 전원분배제어의 기능을 수행하는 고전압 분배기;
상기 인버터에 구동명령을 인가하여 상기 구동모터를 제어하는 상위 제어기; 및
상기 구동모터의 첨두전력을 보상하는 에너지를 저장하고, 급정지시 발생하는 회생에너지를 저장하며, 저장된 에너지를 상기 DC/DC 컨버터 및 상기 고전압 분배기 중 적어도 하나로 공급하는 에너지 저장부;
를 포함하는, 모터 구동 시스템.
A drive motor that receives power and generates power;
An inverter for controlling the drive motor by adjusting a power supplied to the drive motor;
A battery for supplying power to the driving motor;
A DC / DC converter for receiving a power output from the battery, converting the power, and outputting the converted power;
A high voltage distributor which branches the power received from the DC / DC converter and supplies the divided power to the inverter, and performs a function of power distribution control when an abnormality occurs;
An upper controller for controlling the drive motor by applying a drive command to the inverter; And
An energy storage unit for storing energy for compensating the peak power of the drive motor, storing an energy generated at the time of stoppage, and supplying the stored energy to at least one of the DC / DC converter and the high voltage distributor;
And a motor drive system.
제1항에 있어서,
상기 에너지 저장부는, 상호 병렬 연결된 제1 에너지 저장기 및 제2 에너지 저장기를 포함하는, 모터 구동 시스템.
The method according to claim 1,
Wherein the energy storage comprises a first energy store and a second energy store that are connected in parallel with one another.
제2항에 있어서,
상기 제1 에너지 저장기 및 상기 제2 에너지 저장기 각각은 직병렬로 구성된 고용량 커패시터를 포함하는, 모터 구동 시스템.
3. The method of claim 2,
Wherein the first energy store and the second energy store each comprise a high capacity capacitor configured in series and in parallel.
제2항에 있어서,
상기 제1 에너지 저장기 및 제2 에너지 저장기 각각은, 에너지를 저장하는 내부 모듈 파손시 자동으로 파손된 모듈을 차단하는 차단기를 포함하는, 모터 구동 시스템.
3. The method of claim 2,
Wherein each of the first energy store and the second energy store includes a circuit breaker that automatically blocks the failed module upon failure of an internal module storing energy.
제2항에 있어서,
상기 제1 에너지 저장기 및 상기 제2 에너지 저장기 각각은 전류를 측정하는 전류 센서 및 전압을 측정하는 전압 센서 중 적어도 하나를 포함하는, 모터 구동 시스템.
3. The method of claim 2,
Wherein each of said first energy store and said second energy store comprises at least one of a current sensor measuring current and a voltage sensor measuring voltage.
제2항에 있어서,
상기 상위 제어기는, 상기 제1 에너지 저장기 및 상기 제2 에너지 저장기 중 파손된 에너지 저장기의 정보를 사용자에게 통보하고, 가용 전력을 계산하여 구동모터의 속도 및 가속도 중 적어도 하나를 조정하는, 모터 구동 시스템.
3. The method of claim 2,
Wherein the host controller notifies the user of the broken energy storage of the first energy store and the second energy store and calculates at least one of a speed and an acceleration of the drive motor by calculating available power, Motor drive system.
제1항에 있어서,
상기 상위 제어기는, 전력 관리 알고리즘에 따라 상기 인버터를 제어하는, 모터 구동 시스템.
The method according to claim 1,
Wherein the host controller controls the inverter according to a power management algorithm.
제7항에 있어서,
상기 전력 관리 알고리즘은,
기본 가속도 및 토크 제한치를 설정하고,
상기 구동모터의 구동속도 및 고장정보를 수신하고,
상기 에너지 저장부의 고장 여부를 판단하며,
상기 에너지 저장부가 고장일 경우 가용 전력을 계산하고,
상기 가용 전력 및 상기 구동모터의 현재속도정보를 계산하여 가속도 및 토크 제한치를 재설정하며,
재설정된 구동토크 제어신호를 출력하도록 설정된 것인, 모터 구동 시스템.
8. The method of claim 7,
The power management algorithm includes:
You set the basic acceleration and torque limits,
Receiving drive speed and failure information of the drive motor,
Determines whether the energy storage unit is malfunctioning,
Calculates an available power when the energy storage unit fails,
Calculating the available power and the current speed information of the driving motor to reset the acceleration and torque limits,
And is configured to output a reset drive torque control signal.
제8항에 있어서,
상기 전력 관리 알고리즘은,
상기 에너지 저장부의 고장 여부를 판단하여 상기 에너지 저장부가 정상일 경우, 가속도 및 토크 제한치를 설정하고, 설정된 가속도 및 토크 제한치에 따라 구동토크 제어신호을 출력하도록 설정된 것인, 모터 구동 시스템.
9. The method of claim 8,
The power management algorithm includes:
Wherein the controller is configured to determine whether or not the energy storage unit is faulty and set an acceleration and a torque limit value when the energy storage unit is normal and output a drive torque control signal according to the set acceleration and torque limit values.
제8항에 있어서,
상기 상위 제어기는,
하기 수학식 1을 이용하여 상기 가용 전력을 계산하는 것인, 모터 구동 시스템.
수학식 1
Figure pat00011

(P는 가용 전력, Prated 는 상기 DC/DC 컨버터의 공급전압(상수),
Figure pat00012
,
Figure pat00013
, V1은 현재전압, V2는 최저전압 설정치,
Figure pat00014
, τ는 사용토크, ω는 현재속도(측정치),
Figure pat00015
, J는 부하 관성모멘트, α는 각가속도)
9. The method of claim 8,
Wherein the host controller comprises:
And calculates the available power using the following equation (1).
Equation 1
Figure pat00011

(P is the available power, P rated is the supply voltage (constant) of the DC / DC converter,
Figure pat00012
,
Figure pat00013
, V 1 is the current voltage, V 2 is the lowest voltage setting value,
Figure pat00014
, τ is the used torque, ω is the current speed (measured value)
Figure pat00015
, J is the load inertia moment, and? Is the angular acceleration)
제5항에 있어서,
상기 DC/DC 컨버터는 상기 에너지 저장부와 병렬로 연결되고 상기 에너지 저장부로부터 상기 제1 에너지 저장기 및 상기 제2 에너지 저장기 각각의 전압 정보 및 전류 정보 중 적어도 하나를 수신하여 상기 상위 제어기에 전송하는, 모터 구동 시스템.
6. The method of claim 5,
Wherein the DC / DC converter is connected in parallel to the energy storage unit and receives at least one of voltage information and current information of the first energy storage and the second energy storage from the energy storage unit, Motor drive system.
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117087497A (en) * 2023-08-17 2023-11-21 广州巨湾技研有限公司 Power control method for power battery system, and storage medium

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117087497A (en) * 2023-08-17 2023-11-21 广州巨湾技研有限公司 Power control method for power battery system, and storage medium
CN117087497B (en) * 2023-08-17 2024-03-08 广州巨湾技研有限公司 Power control method for power battery system, and storage medium

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