WO2007129760A1 - モータ駆動装置およびモータ駆動装置の制御方法 - Google Patents
モータ駆動装置およびモータ駆動装置の制御方法 Download PDFInfo
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- WO2007129760A1 WO2007129760A1 PCT/JP2007/059796 JP2007059796W WO2007129760A1 WO 2007129760 A1 WO2007129760 A1 WO 2007129760A1 JP 2007059796 W JP2007059796 W JP 2007059796W WO 2007129760 A1 WO2007129760 A1 WO 2007129760A1
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- boost
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/28—Arrangements for controlling current
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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
- B60L15/02—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles characterised by the form of the current used in the control circuit
- B60L15/025—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles characterised by the form of the current used in the control circuit using field orientation; Vector control; Direct Torque Control [DTC]
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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
- 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
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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
- 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
- B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/082—Selecting or switching between different modes of propelling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/085—Changing the parameters of the control units, e.g. changing limit values, working points by control input
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/0067—Converter structures employing plural converter units, other than for parallel operation of the units on a single load
- H02M1/007—Plural converter units in cascade
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
- H02M7/5387—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
- H02M7/53871—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current
- H02M7/53873—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current with digital control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
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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
- B60L2210/00—Converter types
- B60L2210/10—DC to DC converters
- B60L2210/14—Boost converters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2209/00—Indexing scheme relating to controlling arrangements characterised by the waveform of the supplied voltage or current
- H02P2209/09—PWM with fixed limited number of pulses per period
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- 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
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- 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
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- 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
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- 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
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S388/00—Electricity: motor control systems
- Y10S388/907—Specific control circuit element or device
- Y10S388/912—Pulse or frequency counter
Definitions
- the present invention relates to a motor control device, and more particularly to a motor control device for a vehicle.
- the direct voltage from the electric power source 1 is boosted by a boost converter and the boosted DC voltage is converted into an AC voltage to drive the motor.
- Japanese Patent Laid-Open No. 2 0 5-4 5 8 8 0 discloses that in a hybrid vehicle equipped with such a boost converter, the inverter control method is sinusoidal pulse width modulation (PWM) control, overmodulation PWM control, rectangular It describes switching between wave controls.
- PWM pulse width modulation
- the rectangular wave control has less switching loss and better system efficiency than the sine wave PWM control and overmodulation PWM control.
- rectangular wave control is vulnerable to transient disturbances, so there is a limit to the range that can be followed. Therefore, it is necessary to set the area for executing the rectangular wave control (hereinafter referred to as the rectangular wave control area) with a margin, and there is a limit to increasing the system efficiency.
- the presence or absence of transient disturbances depends greatly on the driving mode of the driver.
- the rectangular wave control area can be expanded and applied. Disclosure of the invention
- An object of the present invention is to provide a motor control device capable of improving system efficiency.
- the present invention relates to a motor driving device that boosts a power supply voltage and outputs a boosted voltage, an inverter that receives a boosted voltage from the boosting device and drives a motor, and a boosting device.
- a control device that indicates a target value of the boosted voltage and determines the control method of the inverter as either rectangular wave control or non-rectangular wave control;
- the control device includes a first operation mode in which non-rectangular wave control is designated as a control method for instructing a first boost target value for the same predetermined input signal indicating a request for torque, and a first boost step
- a second operation mode in which a second boost target value lower than the standard value is instructed and rectangular wave control is designated as a control method is selectable.
- the control device Preferably, the control device generates a first command torque and a second command torque, the change of which is limited more slowly than the first command torque, for the same predetermined input signal indicating a torque request.
- the first command torque is selected when the first operation mode is selected, and the second command torque is selected when the second operation mode is selected.
- the motor drive device further includes an input switch for giving an instruction to the control device as to which of the first and second operation modes to select.
- the motor drive device further includes a mode notification unit that allows the operator to recognize which of the first and second modes is selected.
- control device switches the operation mode from the first operation mode to the second operation mode when traffic congestion is predicted on the route.
- a motor driving device including a booster that boosts a power supply voltage and outputs a boosted voltage, an inverter that receives the boosted voltage from the booster and drives the motor, and a booster And a control device for instructing a target value of the boost voltage and determining an inverter control method as either pulse width modulation control or non-pulse width modulation control.
- the control device designates a first boost target value and designates pulse width modulation control as a control method, and a first boost It is configured to be able to select a second operation mode that is lower than the target value, specifies the second boost target value, and specifies the non-pulse width modulation control as the control method.
- the control device receives a first command torque and a second finger whose change is restricted more slowly than the first command torque with respect to the same predetermined input signal indicating a request for torque. Command torque can be selected. When the first operation mode is selected, the first command torque is selected, and when the second operation mode is selected, the second command torque is selected.
- the motor drive device further includes an input switch that gives an instruction to the control device as to which of the first and second operation modes to select.
- the motor drive device further includes a mode notification unit that allows the operator to recognize which of the first and second modes is selected.
- control device switches the operation mode from the first operation mode to the second operation mode when traffic congestion is predicted on the route.
- FIG. 1 is a circuit diagram of a motor drive device according to an embodiment of the present invention.
- FIG. 2 is a diagram showing a control method when the control device 30 in FIG. 1 controls the inverter T 4.
- Figure 3 shows how the control method is determined for a certain boosted voltage.
- FIG. 4 is a diagram for explaining the relationship between the boosted voltage by the boost converter and the control method of FIG.
- FIG. 5 is a flowchart showing the control structure of the program executed by the control device 30 of FIG. 1 regarding the determination of the boost voltage and the control method.
- FIG. 6 shows a map for determining the boost voltage for the load.
- FIG. 7 is a diagram showing a map for determining the required torque with respect to the accelerator opening.
- FIG. 8 is a waveform diagram for explaining another example of slowing the change in torque demand.
- FIG. 1 is a circuit diagram of a motor drive device according to an embodiment of the present invention.
- motor drive device 100 includes DC power supply B, voltage sensors 10 and 13, system relays SR 1 and SR 2, capacitors C 1 and C 2, boost converter 12, and inverter 14. And current sensors 1 1 and 24 and a control device 3 °.
- the AC motor Ml is a drive motor for generating torque for driving drive wheels of a hybrid vehicle or an electric vehicle.
- this motor has the function of a generator driven by an engine, and operates as an electric motor for the engine.
- it can be installed in a hybrid vehicle so that the engine can be started. You may be made to do.
- Boost converter 12 includes a reaction node L1, transistors Ql and Q2, and diodes D1 and D2.
- One end of the rear tuttle L1 is connected to the power supply line PL1 of the DC power supply B, and the other end is an intermediate point between the NPN transistor Q1 and the NPN transistor Q2, that is, the emitter of the NPN transistor Q1 and the NPN transistor Q Connected between two collectors.
- NPN transistors Ql and Q2 are connected in series between power supply line P L 2 and ground line S L.
- the collector of NPN transistor Q 1 is connected to power supply line P L 2
- the emitter of NPN transistor Q 2 is connected to ground line S L.
- diodes D 1 and D 2 that flow current from the emitter side to the collector side are arranged between the collector emitters of the NPN transistors Q 1 and Q 2, respectively.
- Inverter 14 includes a U-phase arm 15, a V-phase arm 16, and a W-phase arm 17.
- U-phase arm 15, V-phase arm 16, and W-phase arm 17 are provided in parallel between power supply line PL 2 and ground line SL.
- U-phase arm 15 includes NPN transistors Q 3 and Q 4 connected in series.
- V-phase arm 16 includes NPN transistors Q5 and Q6 connected in series.
- W-phase arm 17 includes NPN transistors Q7 and Q8 connected in series. Diodes D3 to D8 are connected between the collectors and emitters of NPN transistors Q3 to Q8 so that current flows from the emitter side to the collector side.
- each phase arm is connected to each phase end of each phase coil of AC motor Ml.
- AC motor Ml is a three-phase permanent magnet motor, with one end of three UVW-phase coils connected in common to the middle point, and the other end of U-phase coil in the middle of N PN transistor Q 3 Q4
- the other end of the V-phase coil is connected to the intermediate point of NPN transistors Q5 and Q6, and the other end of the W-phase coil is connected to the intermediate point of NPN transistors Q7 and Q8.
- NPN transistors Q 1 Q 8 instead of the NPN transistors Q 1 Q 8 and the like, other power switching elements such as an insulated gate bipolar transistor (IGBT) and a power MOS FET can be used.
- IGBT insulated gate bipolar transistor
- MOS FET power MOS field effect transistor
- DC power supply B includes a secondary battery such as nickel or hydrogen.
- the voltage sensor 10 detects the DC voltage VB output from the DC power supply B, and outputs the detected DC voltage VB to the controller 30.
- the current sensor 11 detects the DC current Ib output from the DC power supply B, and outputs the detected DC current Ib to the control device 30.
- System relay SR 1 SR2 is turned on and off by signal SE from controller 30.
- Capacitor C 1 smoothes the DC voltage supplied from DC power supply B, and supplies the smoothed DC voltage to boost converter 12.
- Boost converter 12 boosts the DC voltage supplied from capacitor C 1 and supplies capacitor C 2. More specifically, when boost converter 12 receives signal PWMU from control device 30, boost converter 12 boosts the DC voltage according to the period during which NPN transistor Q 2 is turned on by signal PWMU and supplies it to capacitor C 2. . In this case, the NPN transistor Q 1 is turned off by the signal PWMU. When boost converter 12 receives signal PWMD from control device 30, boost converter 12 steps down the DC voltage supplied from inverter 14 via capacitor C 2 and charges DC power supply B.
- Capacitor C2 smoothes the DC voltage from boost converter 12 and supplies the smoothed DC voltage to inverter 14.
- the voltage sensor 13 is a voltage across the capacitor C 2, that is, the output voltage VH of the boost converter 12 (inverter 1 Corresponds to the input voltage to 4. same as below. ) And output the detected output voltage VH.
- the inverter 14 converts the DC voltage into an AC voltage based on the signal PWMI from the control device 30 and drives the AC motor Ml. As a result, AC motor Ml is driven to generate the torque specified by torque command value TR. Further, the inverter 14 converts the AC voltage generated by the AC motor Ml into a direct voltage based on the signal PWMC from the control device 30 during regenerative braking of a hybrid vehicle or electric vehicle equipped with the motor drive device 100. The converted DC voltage is supplied to the boost converter 12 via the capacitor C 2.
- the regenerative braking here refers to braking with regenerative power generation when the driver operating the hybrid vehicle or electric vehicle has a foot brake operation, or turning off the accelerator pedal while driving, although the foot brake is not operated. This includes decelerating (or stopping acceleration) the vehicle while generating regenerative power.
- Current sensor 24 detects motor current MCRT flowing through AC motor Ml and outputs the detected motor current MCRT to control device 30.
- the control device 30 determines the torque command value TR based on the accelerator opening Ac c obtained from the accelerator opening sensor 32. Based on the torque command value TR, motor rotational speed MRN, DC voltage VB from voltage sensor 10, output voltage VH from voltage sensor 13, and motor current MCRT from current sensor 24, to drive boost converter 12
- the signal PWMU and the signal P WMI for driving the inverter 14 are generated, and the generated signal PWMU and signal PWMI are output to the boost converter 12 and the inverter 14, respectively.
- the signal PWMU is a signal for driving the boost converter 12 when the boost converter 12 converts the DC voltage from the capacitor C 1 into the output voltage VH. Then, when boost converter 12 converts the DC voltage to output voltage VH, control device 30 feedback-controls output voltage VH and drives boost converter 12 so that output voltage VH matches the target value.
- the signal PWMU is generated to
- control device 30 is a regenerative braking mode for a hybrid vehicle or an electric vehicle.
- an external ECU receives a signal indicating that it has entered the inverter, it generates a signal PWMC for converting the AC voltage generated by AC motor M 1 into a DC voltage and outputs it to inverter 14.
- the NPN transistors Q 3 to Q 8 of the inverter 14 are switching controlled by the signal P WMC.
- inverter 14 converts the AC voltage generated by AC motor M l into a DC voltage and supplies it to boost converter 12.
- control device 30 when the control device 30 receives a signal indicating that the hybrid vehicle or the electric vehicle has entered the regenerative braking mode from the external ECU, the control device 30 decreases the signal P for reducing the DC voltage supplied from the inverter 14. WMD is generated, and the generated signal P WMD is output to the boost converter 12. As a result, the AC voltage generated by AC motor M l is converted into a DC voltage, and is stepped down and supplied to DC power source B.
- control device 30 generates a signal S E for turning on and off the system relays S R 1 and S R 2 and outputs it to the system relays S R 1 and S R 2.
- the control device 30 determines the operation mode and controls the inverter 14 based on information from the accelerator opening sensor 3 2, the input switch 3 7, and the navigation device 3 6. Further, the control device 30 notifies the occupant of the operation mode determined using the mode notification unit 34.
- FIG. 2 is a diagram showing a control method when the control device 30 in FIG. 1 controls the inverter 14.
- a sinusoid based on vector control is used to drive the AC motor with high efficiency.
- the motor current is often controlled according to the wave pulse width modulation (P WM) control.
- a rectangular wave voltage is applied to an AC motor to improve the output in the high rotation range.
- the AC motor is controlled by controlling the phase of this rectangular wave voltage based on the deviation between the torque command value and the actual torque. It has been proposed to perform torque control.
- the sine wave P WM control method is used as a general P WM control.
- the on / off state of the switching element in each phase arm is changed to a sine wave voltage command value and a carrier wave (typical).
- Control is performed according to voltage comparison with a triangular wave.
- the fundamental component becomes a sine wave within a certain period.
- the duty ratio is controlled.
- the effective value ratio (modulation factor) of this fundamental wave component to the inverter DC input voltage can only be increased up to 0.6 times.
- one pulse of a rectangular wave with a ratio of 1: 1 between the high level period and the low level period is applied to the AC motor within the fixed period. This increases the modulation rate to 0.78.
- the overmodulation PWM control system performs the same PWM control as the sine wave PWM control system after distorting the carrier wave to reduce the amplitude.
- the fundamental wave component can be distorted, and the modulation factor can be increased to a range of 0.61 to 0.78.
- the induced voltage increases as the rotational speed and output torque increase, and the required voltage increases.
- the boosted voltage by boost converter 12, that is, system voltage VH must be set higher than the required motor voltage (induced voltage).
- VH maximum voltage there is a limit value (VH maximum voltage) for the boosted voltage by boost converter 12, that is, system voltage VH. Therefore, in the region where the required motor voltage (induced voltage) is lower than the maximum value of the system voltage VH (VH maximum voltage), maximum torque control using the sine wave P WM control method or overmodulation P WM control method is applied.
- the output torque force is controlled to the S torque command value by motor current control according to the beta control.
- the rectangular wave control method according to field weakening control is applied while maintaining the system voltage V H.
- torque control is executed by voltage phase control of the rectangular wave pulse based on the deviation between the actual torque value obtained by power calculation and the torque command value.
- Figure 3 shows how the control method is determined for a certain boosted voltage.
- the sine wave PWM control method is used to reduce the torque fluctuation in the low rotation speed range A1, and the overmodulation PWM control method and the high rotation speed range A are used in the middle rotation speed range A2.
- the rectangular wave control method is applied.
- the overmodulation PWM control method and the rectangular wave control method it is possible to improve the output of the AC motor Ml in the middle and high rotation range. In this way, which of the control methods shown in FIG. 2 is used is determined within the range of the modulation rate that can be realized.
- FIG. 4 is a diagram for explaining the relationship between the boosted voltage by the boost converter and the control method of FIG.
- VH which is the output voltage of boost converter 12 is V H
- the sine wave P WM control method is used in the low rotation speed range A 1 and overmodulation P WM control method is used in the medium rotation speed range A 2 as shown in the solid map A in Figure 4.
- the rectangular wave control method is used in area A3.
- the sinusoidal PWM control method is used in the low rotation speed range B 1 and the medium rotation speed range B as shown in the broken-line map B in FIG. In 2, the overmodulation PMW control method is used, and in the high rotation speed range B3, the rectangular wave control method is used.
- Such a map is determined for each voltage VH and stored in advance in a memory built in the control device 30. That is, even when the rotation speed and torque are in the same region, the control method applied differs depending on how much the boost voltage of boost converter 12 is set.
- Area Y belongs to area B 3 of map B, and the rectangular wave control method is applied.
- the switching loss is zero.
- switching loss is reduced because the switching frequency of the power element is less in the rectangular wave control method than in the sine wave PWM control method. Therefore, since the loss is reduced in both boost converter 12 and inverter 14, the fuel efficiency of the vehicle is improved. In this case, since it is vulnerable to disturbances, it is desirable to limit sudden changes in the required torque. For example, a sudden change in the required torque can be limited by slowing the change in the required torque with respect to a change in the accelerator opening.
- FIG. 5 is a flowchart showing a control structure of a program executed by the control device 30 of FIG. 1 regarding determination of the boost voltage and the control method. This flow chart process is called from the main routine and executed whenever a certain time elapses or a predetermined condition is satisfied.
- control device 30 first detects how input switch 37 is set in step S 1.
- the input switch 37 in FIG. 1 is called, for example, an eco switch that sets the operation mode to the fuel consumption priority mode.
- FIG. 6 shows a map for determining the boost voltage for the load.
- the load on the horizontal axis is proportional to the product of torque and rotational speed, for example, under constant rotation.
- FIG. 7 is a diagram showing a map for determining the required torque with respect to the accelerator opening.
- the boost voltage target value is determined based on the voltage V 2 of FIG. 6, and the required torque is determined based on the required torque T 2 of FIG.
- the boost voltage target value is determined based on the voltage V1 in FIG. 6, and the required torque is determined based on the required torque T1 in FIG.
- step S4 the torque command value is calculated from the required torque determined from the accelerator opening. That is, as shown in FIG. 7, the control device 30 slowly changes to the required torque T 1 with respect to the same predetermined input signal A cc indicating the torque request given from the accelerator opening sensor 32. A limited required torque T 2 can be selected.
- the driver selects the normal mode with the input switch 37, the required torque T1 is selected, and when the eco mode is selected, the required torque T2 is selected.
- FIG. 8 is a waveform diagram for explaining another example of slowing the change in torque demand.
- an input signal I N given from an accelerator opening sensor is used as a required torque after passing through a filter.
- the signal OUT 1 is used as the required torque in the normal mode
- the signal OUT 2 whose change is more slowly limited is used as the required torque in the eco mode. .
- step S5 executed following step S4 will be continued.
- step S5 the control device 30 transmits the torque command value calculated in step S4.
- the target value of the boost voltage VH is determined from the motor speed detected by the resolver 38 using the map in FIG. Then, following step S5, the process of step S6 is executed.
- step S6 it is determined whether the control method is sine wave P WM control, overmodulation P WM control, or rectangular wave control from the map determined for each boosted voltage VH as shown in Fig. 4. To do.
- the motor drive device 100 includes a boost converter 12 that boosts the power supply voltage and outputs a boost voltage, an inverter 14 that receives the boost voltage from the boost converter 12 2 and drives the motor M l,
- a control device 30 is provided which instructs the target value of the boosted voltage to the converter 12 and determines the control method of the inverter 14 as either rectangular wave control or non-rectangular wave control. It should be noted that the switching of the control method may be expressed as determined in either pulse width modulation control or non-pulse width modulation control according to other stations.
- the control device 30 indicates the same predetermined input signal A indicating the torque request.
- the first boost target value V 1 and specify the non-rectangular wave control as the control method
- the first boost target value V 1 A second operation mode (eco-mode) is designated in which a lower second boost target value V2 is designated and rectangular wave control is designated as a control method.
- the driver can use the input switch 37 to change the operation mode according to his / her preference.
- step S6 When the control method is determined in step S6, the transistors Q3 to Q8 of the inverter 14 are switched in step S7 according to the control method, and the motor current control is executed. In step S8, the control is performed. Is moved to the main routine.
- the mode notification unit 34 is used to execute a process that makes the operator know whether the normal mode or the eco mode is selected. Also good.
- the control device 30 selects an operation mode emphasizing ride comfort and response (hereinafter referred to as normal mode) and an operation mode emphasizing fuel consumption (hereinafter referred to as eco mode) according to the setting of the input switch 37.
- the control device 30 uses the mode notification unit 34 to notify the driver whether the currently selected operation mode is the normal mode or the eco mode.
- the mode notification unit 34 can be provided with a lamp that lights up when the eco mode is selected, or a meter panel in which the color of the background portion changes depending on the operation mode. If the vehicle is equipped with an air cleaner, the driver may be informed that the eco mode is selected by generating an odor that images the forest bath when the eco mode is selected.
- the driver By actively notifying the driver of the selection of the eco mode, the driver does not have to feel excessive discomfort regarding the difference in the operational feeling of the vehicle that accompanies the eco mode selection.
- the control device 30 sets the operation mode to the normal mode when traffic congestion is predicted on the route based on information from the navigation device 36. It is also possible to switch from mode to eco mode and use the map of step S2 instead of the map of step S3. For example, traffic information provided by a traffic information service such as VICS (Vehicle Information and Communication System) is imported into the navigation device 36, and traffic congestion is detected on the route from the current location to the set destination. If this happens, the operation mode should be switched to the eco mode when the traffic is predicted to arrive.
- VICS Vehicle Information and Communication System
- an operation mode with high vehicle performance is referred to as a normal mode
- a mode in which fuel consumption is improved is referred to as an eco mode.
- the present invention is not limited to this.
- the present invention can be applied by setting the mode in which the fuel efficiency is improved as the normal mode and the operation mode with high vehicle performance as the power mode.
- the embodiment disclosed this time should be considered as illustrative in all points and not restrictive.
- the scope of the present invention is shown not by the above description of the embodiments but by the scope of claims, and is intended to include meanings equivalent to the scope of claims and all modifications within the scope.
Abstract
Description
Claims
Priority Applications (4)
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CN2007800165784A CN101438488B (zh) | 2006-05-09 | 2007-05-01 | 电机驱动装置 |
EP07743231.8A EP2017952B1 (en) | 2006-05-09 | 2007-05-01 | Motor drive device and motor drive device control method |
KR1020087029922A KR101050488B1 (ko) | 2006-05-09 | 2007-05-01 | 모터 구동 장치 및 모터 구동 장치 제어 방법 |
US12/226,103 US7911162B2 (en) | 2006-05-09 | 2007-05-01 | Motor drive device and control method |
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JP2006130207A JP4802849B2 (ja) | 2006-05-09 | 2006-05-09 | モータ駆動装置 |
JP2006-130207 | 2006-05-09 |
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WO2007129760A1 true WO2007129760A1 (ja) | 2007-11-15 |
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PCT/JP2007/059796 WO2007129760A1 (ja) | 2006-05-09 | 2007-05-01 | モータ駆動装置およびモータ駆動装置の制御方法 |
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US (1) | US7911162B2 (ja) |
EP (1) | EP2017952B1 (ja) |
JP (1) | JP4802849B2 (ja) |
KR (1) | KR101050488B1 (ja) |
CN (1) | CN101438488B (ja) |
WO (1) | WO2007129760A1 (ja) |
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EP2017952B1 (en) | 2019-06-26 |
US7911162B2 (en) | 2011-03-22 |
KR101050488B1 (ko) | 2011-07-20 |
US20090121669A1 (en) | 2009-05-14 |
JP2007306658A (ja) | 2007-11-22 |
CN101438488A (zh) | 2009-05-20 |
EP2017952A4 (en) | 2017-10-04 |
EP2017952A1 (en) | 2009-01-21 |
JP4802849B2 (ja) | 2011-10-26 |
KR20090009960A (ko) | 2009-01-23 |
CN101438488B (zh) | 2011-09-21 |
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