KR20190097546A - Apparatus comprising regenerative braking system and regenerative braking system - Google Patents

Abstract

An embodiment of the present invention relates to a regenerative braking system and a device including the same. The regenerative braking system comprises: an induction motor; a battery; a disturbance observer receiving the input of a following damper to provide motor torque of the induction motor in accordance with the following damper; and continuous control set-model predictive torque control (CCS-MPTC) controlling the induction motor to operate while following a following motor torque. In addition, the device comprises: an induction motor receiving power from a battery; the battery transmitting the power to the induction motor and charging the power from negative torque which the induction motor has; a disturbance observer receiving the input of a following damper to provide a following motor torque changed in accordance with the following damper; and CCS-MPTC applying a value, which is V^*_(dq), to the induction motor to have a following magnetic flux or a following current in order to allow the induction motor to follow the following motor torque.

Description

Apparatus comprising regenerative braking system and regenerative braking system}

The present disclosure relates to an apparatus including a regenerative braking system and a regenerative braking system.

Regenerative braking belongs to a generator-type recovery method and means a braking system that recovers kinetic energy back into electrical energy.

To slow down, a running vehicle must consume the kinetic energy it already has. At this time, the general vehicle converts all of the kinetic energy into heat through friction brakes, but if a large capacity generator is attached, the generator may be braked while converting the kinetic energy into electrical energy by turning the generator into kinetic energy of the vehicle. At this time, if the electric energy generated in the battery is stored in the battery or returned to the power source, the regenerative braking is not performed. Otherwise, the electric braking, which is sent to the resistor and burned out by heat, becomes the power generation braking.

1 shows a configuration of an electric vehicle equipped with a regenerative braking device. The electric vehicle of FIG. 1 includes a motor and a battery in its configuration. When the electric vehicle needs to be accelerated, the motor is powered with a positive torque from the battery. In this case, the battery is discharged. When the electric vehicle is decelerated, the motor is driven with negative torque and the battery is charged.

On the other hand, with regard to regenerative control, a regenerative braking method through a dielectric calculation method (GA) has been proposed in consideration of the torque range that can be generated according to the speed of an electric motor and the maximum efficiency within this range. In this method, a constant negative torque is generated according to the speed of the vehicle. In addition, in the case of a hybrid vehicle, the torque setting value considering the battery charging state and the efficiency of the motor according to the brake pedal input and the vehicle speed in consideration of the limited battery capacity is determined in consideration of the linkage between the automatic transmission control and the mechanical brake. This has been proposed. All of the above methods set the torque set point in consideration of the vehicle dynamics.

However, the conventional regenerative braking device should be used in parallel with the hydraulic braking device, there is a problem that can not exclude the possibility that an accident may occur due to the gap when converting from regenerative braking to hydraulic braking. In addition, the conventional regenerative braking device that determines the torque set value in consideration of the dynamics of the vehicle has a problem in that the battery charging efficiency is relatively low at a predetermined torque or less. In addition, there is a problem that it is difficult to achieve a proper braking control depending on the situation.

The content described in this section merely provides background information for the present disclosure and does not constitute a prior art.

Accordingly, the present invention provides a regenerative control system or apparatus for setting a following motor torque from a follower damper value by using a disturbance observer, which is different from the conventional regenerative control system for setting torque setpoints from vehicle dynamics. There is this.

In addition, the present invention proposes a regenerative control system or apparatus that receives the following damper value and sets the following motor torque value capable of producing a desired braking friction force, thereby providing a regenerative braking system or apparatus that operates stably until the vehicle is stopped. The main purpose is to propose.

It is also an object of the present invention to propose a regenerative control system or apparatus that can reduce the dependence on hydraulic braking devices.

According to an embodiment of the present invention, in the regenerative braking system in which the battery is charged when the induction motor is driven with a negative torque, the following electric motor torque of the induction motor can receive the following damper and generate the frictional force required by the following damper. It provides a regenerative braking system including a CCS-MPTC for controlling the induction motor to operate by providing a disturbance observer and an induction motor to follow the following motor torque.

값을 유도전동기에 인가하는 CCS-MPTC 를 포함하는 장치로서, 유도전동기의 추종 전동기토크를 제어함으로써 제동을 컨트롤하는 장치를 제공한다.In addition, according to another embodiment of the present invention, while receiving power from the induction motor, the induction motor receiving power from the battery, while charging the power from the negative torque of the induction motor, the following damper, Disturbance observer and induction motor to provide following motor torque varying with following damper to have following flux or following current corresponding to following motor torque.

An apparatus including a CCS-MPTC for applying a value to an induction motor, which provides a device for controlling braking by controlling the following motor torque of the induction motor.

1 is a conceptual diagram showing the principle of the regenerative braking system.
2 is a view showing the configuration of the regenerative braking system according to an embodiment of the present invention.
Figure 3 is a block diagram showing the configuration of the disturbance observer of the regenerative braking system according to an embodiment of the present invention.
Figure 4 is a block diagram showing the configuration of the disturbance observer of the regenerative braking system according to another embodiment of the present invention.
5 is a flowchart showing the principle of operation of the regenerative braking system or apparatus of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail through exemplary drawings. In adding reference numerals to the components of each drawing, it should be noted that the same reference numerals are used as much as possible even though they are shown in different drawings. In addition, in describing the present invention, when it is determined that the detailed description of the related well-known configuration or function may obscure the gist of the present invention, the detailed description thereof will be omitted.

In describing the components of the embodiment according to the present invention, symbols such as first, second, i), ii), a), and b) may be used. These codes are only for distinguishing the components from other components, and the nature, order, order, etc. of the components are not limited by the symbols. When a part of the specification is said to include or include a component, this means that it may further include other components, except to exclude other components unless expressly stated to the contrary. .

Before describing each embodiment according to the present invention, terms used in describing the components of each embodiment according to the present invention are defined as shown in Table 1.

Current motor torque

Following damper

Load torque

Rotational angular velocity

Moment of inertia

Following rotation speed

Damper

Following current

Following motor torque

Following flux

Following moment of inertia

dq axis voltage

The regenerative braking system according to an embodiment of the present invention may include an induction motor, a battery, a disturbance observer, a continuous control set-model predictive torque control (CCS-MPTC), and a loss minimization.

The regenerative braking system according to an embodiment of the present invention may be a regenerative braking system included as an example of an electric vehicle. On the other hand, the apparatus in which the regenerative braking system of the present invention is used is not limited to an electric vehicle, and the apparatus in which the regenerative braking system of the present invention is used is a device in which the regenerative braking is used. do. However, hereinafter, the electric vehicle to which the regenerative braking system is applied according to an embodiment of the present invention will be described as an example for convenience of description.

Induction motors can provide electric power to electric vehicles by receiving rotational power from a battery. When the electric vehicle needs to be accelerated, power is supplied from the battery to drive the induction motor to have a positive torque value. On the other hand, the induction motor can supply the charging power to the battery. Specifically, when the induction motor has a negative torque value, the induction motor supplies charging power to the battery from the operating principle of the known regenerative braking system. The regenerative braking system is not significant when the induction motor has a positive torque, and may be particularly meaningful when the induction motor has a negative torque. This is because the battery can be charged only when the induction motor has a negative torque.

The battery can power the induction motor. That is, the induction motor can be driven by the power received from the battery. When a battery supplies an induction motor, the induction motor will usually require a positive torque value. In this case, since the regenerative control does not occur, the battery is not charged and the battery is discharged. Between the battery and the induction motor, an inverter can supply the current in a form suitable for the operation of the induction motor. On the other hand, the battery may be powered from the induction motor. This may be possible if the induction motor has a negative torque value. The induction motor is driven to follow the following motor torque obtained from the disturbance observer, and since the following motor torque for charging the battery has a negative torque value, the induction motor is driven with a negative torque value. When the induction motor is driven with a negative torque in this way, the battery is charged by the principle of regenerative control, which is a known technique.

The disturbance observer can receive the following damper and provide the following motor torque of the induction motor according to the following damper.

In general, as a mechanical system of an electric motor, the dynamics are as follows.

는 전기자동차의 관성모멘트,

는 댐퍼,

는 유도전동기의 회전각속도, Te는 유도전동기의 현재 전동기토크,

은 부하토크를 의미한다.

은 전기자동차의 경우 공기의 저항, 바퀴와 지면의 마찰력 등에 의해 발생되는, 운동을 방해하는 역방향으로 작용되는 토크를 의미한다.here,

Is the moment of inertia of an electric vehicle,

Damper,

Is the rotational angular velocity of the induction motor, Te is the current motor torque of the induction motor,

Means load torque.

In the case of an electric vehicle, it means the torque acting in the reverse direction to interfere with the movement, which is generated by the air resistance, friction between the wheel and the ground.

As an example, the dynamics of an electric vehicle desired in one embodiment of the present invention may be as shown in the following equation from FIG. 2.

,

,

,

은 각각 전기자동차의 추종 관성모멘트, 유도전동기의 회전각속도, 전기자동차의 추종 댐퍼값, 전기자동차에 작용하는 부하 토크이다.

값은 강체의 관성모멘트와 관련된 값이므로 큰 변화가 일어나기 어려운 값인 반면,

,

,

값은 전기자동차의 구동 상태 및 노면의 상태, 전기자동차가 받는 바람의 강도 등 상황에 따라 계속적으로 변화할 수 있는 값이다. 여기서

값은 물리적으로 실제 존재하는 댐퍼의 댐퍼값이 아니라 위 식의 동역학을 만족하도록 하는 가상의 값이다.

값은 사용자의 제동 의지에 따라 임의로 설정할 수 있는 값이 된다. 즉, 사용자가 급격한 제동을 원하면

값을 크게 설정할 수 있다. 사용자가 장치를 서서히 제동시키기를 원하면 급격한 제동을 원하는 경우보다 상대적으로 작은

값을 가지도록 설정할 수 있다. 한편, 사용자가 장치를 제동시키기를 원하지 않으면 앞서의 경우보다 더욱 작게

값을 설정하거나, 이상적으로는

값이 0이 되도록 설정할 수 있다. 한편,

은

값이 크게 설정될수록 커질 수 있는 값일 수 있으며,

은

값에 직, 간접적으로 관련된 것일 수 있다.From the stomach

,

,

,

Are the following moment of inertia of electric vehicle, rotational angular velocity of induction motor, following damper value of electric vehicle, and load torque applied to electric vehicle.

While the value is related to the moment of inertia of the rigid body, it is difficult to cause large changes.

,

,

The value is a value that can change continuously depending on the driving condition of the electric vehicle, the road surface condition, the strength of the wind received by the electric vehicle. here

The value is not an actual damper damper but an imaginary value that satisfies the above dynamics.

The value is a value that can be set arbitrarily according to the braking will of the user. In other words, if the user wants a sudden braking

You can set a large value. If the user wants to brake the device slowly, the relative

Can be set to have a value. On the other hand, if the user does not want to brake the device,

Value, or ideally

It can be set to zero. Meanwhile,

silver

The larger the value is set, the larger the value can be.

silver

It may be directly or indirectly related to the value.

값은 외란관측기에 의해 위 식을 만족하도록 설계될 수 있다. 구체적으로, 외란관측기는 도 3과 같은 구성을 가지도록 설계될 수 있다. 설계된 외란관측기로부터,

은 다른 변수들과의 관계에서 자연적으로 도출될 수 있음을 알 수 있다. 일 예시적으로, 도 3에서

이 정해지면

도 자연히 도출될 수 있다. 여기서

의 형태에는 제한이 없다. 즉,

은 특정 수치를 가진 계단 입력일 수도 있고, 다른 형태의 입력을 가진 함수가 될 수도 있다. 또한

은 시변 함수 또는 시불변 함수가 될 수 있다.

The value can be designed to satisfy the above equation by a disturbance observer. Specifically, the disturbance observer may be designed to have a configuration as shown in FIG. From the designed disturbance observer,

It can be seen that can be naturally derived from the relationship with other variables. In one example, in FIG.

Once this is decided

Can also be derived naturally. here

There is no limit to the form of. In other words,

Can be a step input with a certain number or a function with other types of input. Also

Can be a time-varying function or a time-varying function.

과

의 관계를 정리하면, 아래의 식과 같이 정리될 수 있다. In the disturbance observer having the configuration as shown in FIG.

and

The relationship between can be summarized as the following equation.

및

는 아래와 같다.here

And

Is shown below.

와

는 현재 구동상태에서 가지는 관성모멘트 값 및 댐퍼값을 의미하고,

과

은 추종하고자 하는 추종 관성모멘트 및 추종 댐퍼값을 의미한다. 다만, 강체의 성격상

와

은 그리 큰 차이를 보이지 않을 수 있다. 식3에서

의 수치를 높임으로써 시스템의 응답 속도를 높이는 효과를 기대할 수 있다. 즉,

의 수치를 높이는 경우, 제동 시간이 더욱 짧아짐을 기대할 수 있다. here

Wow

Is the moment of inertia and damper value in the current driving state,

and

Denotes the following moment of inertia and tracking damper to be followed. However, due to the nature of the body

Wow

May not make a big difference. In equation 3

By increasing the value of, you can expect the effect of increasing the response speed of the system. In other words,

If the value of is increased, the braking time can be expected to be shorter.

과

의 관계를 나타내면 아래와 같다.Meanwhile,

and

The relationship between is as follows.

는 아래와 같다.here

Is shown below.

는 일반적인 외란 관측기 구조에서 Q 필터라 불리는 것으로, DC 단일 이득(

)을 갖는 저역 통과 필터이다. 구체적으로, Q필터의 형태는 아래와 같이 정의될 수 있다.here

In a typical disturbance observer structure, is called a Q filter,

It is a low pass filter with). Specifically, the shape of the Q filter may be defined as follows.

Q-filters in the frequency domain

는 0에 가까운 값으로 수렴한다. 따라서 저주파 대역에서

는 1에 가까운 값을 가지게 된다. 여기서 위 파이에 관한 식에서

는 1로 놓으면,

는 마치

처럼 동작할 수 있다. 이로부터 외란관측기에 의해

과

이 식(1)과 같은 관계를 가지면서 구동할 수 있음을 알 수 있다.In the low frequency range

Converges to a value close to zero. So in the low frequency band

Has a value close to one. Where in the equation for pi

Is set to 1,

As if

Can work as From the disturbance observer

and

It can be seen that it can be driven while having the same relationship as in Equation (1).

을 구하기 위해, 도 3으로부터

을 아래와 같이 정리할 수 있다.Meanwhile, you have to follow

In order to obtain

You can arrange

은 CCS-MPTC(Continuous Control Set-Model Predictive Torque Control)에 직접적으로 전달되거나 다른 표현으로 정리되어 전달될 수 있다. 구체적으로, 매개변수를 이용하여 정리되어 전달되거나, 유도전동기의 추종 전류(

) 또는 추종 자속(

)으로 변환되어 전달될 수 있다. 또한, 디지털 신호로 이산화되어 전달될 수도 있을 것이다. 여기서, 식(7)을 식(9)에 대입하여

에 관해 정리하면 아래와 같다.top

Can be delivered directly to the Continuous Control Set-Model Predictive Torque Control (CCS-MPTC), or can be delivered in a different representation. Specifically, the parameters are summarized and transmitted by using parameters, or the following current of the induction motor (

) Or following magnetic flux (

) Can be converted to and delivered. It may also be discretized and delivered as a digital signal. Where equation (7) is substituted into equation (9)

The following is the summary.

를 다음과 같이 정의할 수 있다.here

Can be defined as:

Substituting this into equation (10),

Can be summarized as From this, a block diagram of the relationship of each variable can be expressed as shown in FIG.

On the other hand, when formula (11) is discretized using the inverse Euler method, it can be represented as follows.

In addition, Formula (12) can be represented as follows.

등의 신호가 주로 이산화되어 처리되는 경우가 많기 때문에 그 의미가 있다. 즉, 디지털 방식의 제어를 가능하게 해주는 식이라는 점에서 식(12) 및 식(13)은 의미가 있다.Equations (13) and (14) are used on systems

This signal is significant because it is often discretized and processed. That is, equations (12) and (13) are meaningful in that they are expressions that enable digital control.

값을 실시간으로 제공하게 되고, 위

값은 추종하고자 하는

,

,

,

간의 동역학에 관한 식(1)을 만족시키는 값이다. 한편, 여기서

,

,

,

값은 구체적으로 그 정확한 수치를 사용자가 감지하는 것은 아니지만, 사용자의 감각에 의해 정해질 수 있는 값이다. 이는 사람이 자동차를 운전하면서 속도를 줄일 때, 정확히 바퀴의 회전각속도의 수치를 인식하는 것은 아니지만, 대략적으로 어느 정도까지 속도를 줄일지 인식하면서 브레이크를 밟는 상황과 비슷하다고 볼 수 있다. 한편, 일 예시적으로 여기서 최초로 정해지는 값은

일 수 있다.

값은 앞서 설명한 바와 같이 실제 댐퍼값이 아니라, 차량의 동역학이 마치

과 같은 댐퍼값을 가지는 것처럼 운동하게 하는 가상의 입력값을 의미한다. As described above, the disturbance observer is a formula (9), (10), (12) or (14)

Value in real time,

The value you want to follow

,

,

,

It is a value that satisfies Equation (1) relating to liver dynamics. Meanwhile, here

,

,

,

The value is not specifically sensed by the user, but may be determined by the user's senses. This is similar to the situation where a person brakes while driving a car, not exactly recognizing the value of the angular rotational speed of the wheel, but to what extent the speed is reduced. On the other hand, as an example, the first value determined here is

Can be.

The value is not the actual damper value as described above, but the dynamics of the vehicle

It means a virtual input value that causes the motion as if it had a damper value.

을 추종하며 동작하도록 유도전동기를 제어할 수 있다. 구체적으로, CCS-MPTC(Continuous Control Set-Model Predictive Torque Control)에서는 외란관측기로부터 제공된

값으로부터 유도전동기가 동작하도록 하는 유도전동기의 추종 전류 또는 추종 자속을 인지할 수 있다. CCS-MPTC(Continuous Control Set-Model Predictive Torque Control)는 인지된 추종 전류 또는 추종 자속을 추종하며 유도전동기가 구동하도록 유도전동기를 제어할 수 있다. 이는 일 예시적으로 CCS-MPTC(Continuous Control Set-Model Predictive Torque Control)에서 유도전동기의

, 즉 d-q축 전압을 지령하는 방식으로 수행될 수 있다. 한편, CCS-MPTC(Continuous Control Set-Model Predictive Torque Control)는 PID 제어기로 대체될 수 있다. PID 제어기는 CCS-MPTC(Continuous Control Set-Model Predictive Torque Control)와 유사하게 유도전동기의 토크를 제어할 수 있는 토크제어기의 역할을 할 수 있다. CCS-MPTC (Continuous Control Set-Model Predictive Torque Control) refers to a continuous control device that performs finite control element model predictive torque control. CCS-MPTC (Continuous Control Set-Model Predictive Torque Control) refers to an induction motor. talk

The induction motor can be controlled to operate while following. Specifically, in Continuous Control Set-Model Predictive Torque Control (CCS-MPTC) provided from the disturbance observer

From the value, the following current or following magnetic flux of the induction motor which causes the induction motor to operate can be recognized. The Continuous Control Set-Model Predictive Torque Control (CCS-MPTC) can control the induction motor so that the induction motor is driven while following the recognized following current or following magnetic flux. This is an example of induction motors in Continuous Control Set-Model Predictive Torque Control (CCS-MPTC).

That is, it may be performed in a manner of commanding the dq-axis voltage. On the other hand, CCS-MPTC (Continuous Control Set-Model Predictive Torque Control) can be replaced by a PID controller. The PID controller may serve as a torque controller capable of controlling torque of the induction motor similarly to CCS-MPTC (Continuous Control Set-Model Predictive Torque Control).

Loss minimization can reduce the loss of signal from disturbance observer to Continuous Control Set-Model Predictive Torque Control (CCS-MPTC). By selecting the state command using the loss minimization technique by loss minimization, it is possible to perform efficient driving by subdividing into the magnetic flux increasing area and the magnetic flux limiting area of the induction motor.

An exemplary operation of the system of the present invention will be described with reference to FIG. 5. However, the following description is just an example, and the order or control variables may be changed as necessary. In addition, each variable may vary in value over time and circumstances, and each function may also be variable.

값이 외란관측기에 입력될 수 있다.

값은 일예시적으로 사용자가 knob 또는 페달 등을 조작하는 경우, 그 조작의 정도에 따라 이를 수치화하는 방식으로 정해질 수 있다. 예를 들어, knob을 기울이는 방식으로 사용자가 제동을 시도할 수 있고, knob의 기울어진 정도에 따라

값이 수치화될 수 있으나, 이에 한정되는 것은 아니다. first,

The value can be entered into the disturbance observer.

For example, when a user manipulates a knob or a pedal, the value may be determined by quantifying the value according to the degree of the operation. For example, the user may try to brake by tilting the knob, depending on how much the knob is tilted.

The value can be digitized, but is not limited thereto.

이 일예시적으로 외란관측기에 입력될 수 있다. 한편,

로부터

은 외란관측기 상의 전달함수 관계에서 종속적으로 결정될 수 있다. Also,

This example may be input to the disturbance observer. Meanwhile,

from

Can be determined dependent on the transfer function relationship on the disturbance observer.

이 결정된다. 구체적으로

은 식(1)을 만족시킬 수 있는 값으로서, 식(9), 식(10), 식(12) 또는 식(14)와 같이 결정될 수 있다.From the configuration of the disturbance observer,

This is determined. Specifically

Is a value that can satisfy Expression (1), and may be determined as in Expression (9), Expression (10), Expression (12), or Expression (14).

은 noise minimization을 통해 노이즈가 제거되어 CCS-MPTC(Continuous Control Set-Model Predictive Torque Control)로 전달되어 인지된다. CCS-MPTC(Continuous Control Set-Model Predictive Torque Control)는 외란관측기에 의해 결정된

으로 유도전동기가 작동하도록 제어한다. 이에 따라 유도전동기는

을 추종하도록 작동한다.determined

The noise is removed through noise minimization and passed to the Continuous Control Set-Model Predictive Torque Control (CCS-MPTC). Continuous Control Set-Model Predictive Torque Control (CCS-MPTC) is determined by the disturbance observer.

Control the induction motor. Accordingly, the induction motor

Works to follow.

값을 유도전동기에 인가하는 CCS-MPTC(Continuous Control Set-Model Predictive Torque Control), 외란관측기에서 CCS-MPTC(Continuous Control Set-Model Predictive Torque Control)로 전달되는 신호의 손실을 줄여주는 Loss minimization을 포함할 수 있다. An apparatus including a regenerative braking system according to another embodiment of the present invention is a battery, a following damper that charges power from a negative torque of an induction motor, while transferring power to an induction motor and an induction motor receiving power from the battery. Is inputted, the disturbance observer providing the following motor torque set according to the following damper, so that the induction motor has the following flux or the following current corresponding to the following motor torque.

Continuous Control Set-Model Predictive Torque Control (CCS-MPTC), which applies values to induction motors, and Loss minimization, which reduces the loss of signal from the disturbance observer to Continuous Control Set-Model Predictive Torque Control (CCS-MPTC). can do.

The system or device according to each embodiment of the present invention can control the braking of the device by setting the following motor torque of the induction motor in accordance with the determined following damper. An apparatus according to an embodiment of the present invention or an apparatus to which a system according to an embodiment of the present invention is applied may be an electric vehicle as described above, but is not limited thereto. In addition, the present invention is not applied only to a device in which regenerative braking occurs due to negative torque caused by a decrease in the moving speed of the device itself, such as an electric vehicle. That is, even if the device itself is stopped without moving, even if the device is driven by using the power of the battery and the power of the motor as a device capable of charging the battery in the regenerative braking method can be applied to the present invention. .

The system or apparatus according to an embodiment of the present invention, unlike the conventional method, is to brake in a control manner to set the torque value of the induction motor according to the following damper. When braking by controlling the torque value of the induction motor according to the following damper, the element such as transient response or response time is different from when using the conventional method by modifying the control system in addition to the contents described by way of example herein. The room for control can be further expanded. In other words, in addition to the contents described as an exemplary embodiment of the present specification, the range of deformation of the vehicle dynamics may be widened by compensating or modifying the control system, thereby making it possible to vary the shape and effect of braking.

On the other hand, in view of the regenerative braking efficiency, even in the case of the known regenerative braking device has been attempted to increase the charging efficiency of the battery. However, even in such a regenerative braking device or system, there is a problem in that the charging efficiency of the battery is drastically lowered, particularly in a region where the absolute value of the low speed or the negative torque is small. Unlike the present invention, regenerative braking is possible until complete stop, and the charging efficiency of the battery can be maintained relatively high even in a range where the absolute value of low speed or negative torque is small.

The above description is merely illustrative of the technical idea of the present embodiment, and those skilled in the art to which the present embodiment belongs may make various modifications and changes without departing from the essential characteristics of the present embodiment. Therefore, the present embodiments are not intended to limit the technical idea of the present embodiment but to describe the present invention, and the scope of the technical idea of the present embodiment is not limited by these embodiments. The scope of protection of the present embodiment should be interpreted by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present embodiment.

Claims (13)

In the regenerative braking system including an induction motor, the battery is charged when the induction motor is driven with a negative torque,
A disturbance observer that receives a following damper and provides a following motor torque of the induction motor according to the following damper; And
CCS-MPTC which controls the induction motor so that the induction motor operates while following the following motor torque.
Regenerative braking system comprising a. According to claim 1,
The following motor torque is the following moment of inertia of the device

Follower damper of the device

Tracking angular velocity of the induction motor

, Load torque

this,

Regenerative braking system, characterized in that the value to have a relationship such as. According to claim 1,
The CCS-MPTC is a dq-axis voltage such that the induction motor has a follower flux or a follower current that follows the following motor torque.

Regenerative braking system for applying to the induction motor. According to claim 1,
The disturbance observer is the following motor torque

And the load torque

Transfer function

To satisfy the following rotational angular velocity

this

Regenerative braking system, characterized in that to satisfy. The method of claim 4, wherein
Q filter of the disturbance observer

A regenerative braking system having the same shape as that of a low pass filter having a DC single gain in the low band. According to claim 1,
The following motor torque

Followed to have a value such as

Is

Regenerative braking system characterized in that. According to claim 1,
The following motor torque

Regenerative braking system, characterized in that the following to have the same value. An induction motor receiving electric power from a battery;
A battery transferring power to the induction motor and charging power from a negative torque of the induction motor;
A disturbance observer that receives a following damper and provides a following motor torque set according to the following damper; And
The induction motor to have a following flux or following current corresponding to the following motor torque;

CCS-MPTC that applies a value to the induction motor
Apparatus comprising a device for controlling braking by controlling the following motor torque of the induction motor. The method of claim 8,
The following motor torque

To satisfy the disturbance observer

Is configured to satisfy the Q filter of the disturbance observer.

And a low pass filter having a DC single gain in the low band. The method of claim 8,
The following motor torque

Followed to have a value such as

Is

Device characterized in that. The method of claim 8,
The following motor torque

The device, which is followed to have a value such as. The method of claim 8,
Device with Loss minimization that reduces the loss of signal from the disturbance observer to the CCS-MPTC. In the method of controlling a regenerative braking system or apparatus,
A regenerative braking system or apparatus that receives a following damper value, sets a following motor torque that satisfies the dynamics according to the following damper value, follows the following motor torque, and drives an induction motor of the regenerative braking system or apparatus.

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