WO2010073866A1 - ハイブリッド車両の電動機制御装置および駆動装置 - Google Patents

ハイブリッド車両の電動機制御装置および駆動装置 Download PDF

Info

Publication number
WO2010073866A1
WO2010073866A1 PCT/JP2009/069872 JP2009069872W WO2010073866A1 WO 2010073866 A1 WO2010073866 A1 WO 2010073866A1 JP 2009069872 W JP2009069872 W JP 2009069872W WO 2010073866 A1 WO2010073866 A1 WO 2010073866A1
Authority
WO
WIPO (PCT)
Prior art keywords
motor
speed
current
magnetic pole
pole position
Prior art date
Application number
PCT/JP2009/069872
Other languages
English (en)
French (fr)
Inventor
志謙 陳
圭亮 西村
Original Assignee
アイシン・エィ・ダブリュ株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by アイシン・エィ・ダブリュ株式会社 filed Critical アイシン・エィ・ダブリュ株式会社
Priority to DE112009001967T priority Critical patent/DE112009001967T5/de
Priority to JP2010543985A priority patent/JP5195923B2/ja
Priority to CN2009801314018A priority patent/CN102119096A/zh
Publication of WO2010073866A1 publication Critical patent/WO2010073866A1/ja

Links

Images

Classifications

    • 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
    • B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B60K6/36—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the transmission gearings
    • B60K6/365—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the transmission gearings with the gears having orbital motion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
    • B60K6/44—Series-parallel type
    • B60K6/445—Differential gearing distribution type
    • 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]
    • 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
    • B60L50/10—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines
    • B60L50/16—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines with provision for separate direct mechanical propulsion
    • 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
    • B60L50/61—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries by batteries charged by engine-driven generators, e.g. series hybrid electric vehicles
    • 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
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • 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
    • 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
    • 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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • 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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B60K6/26—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the motors or the generators
    • B60K2006/268—Electric drive motor starts the engine, i.e. used as starter motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/421—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
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/44—Drive Train control parameters related to combustion engines
    • B60L2240/441—Speed
    • 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
    • B60W2050/0001—Details of the control system
    • B60W2050/0002—Automatic control, details of type of controller or control system architecture
    • B60W2050/0004—In digital systems, e.g. discrete-time systems involving sampling
    • B60W2050/0006—Digital architecture hierarchy
    • 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
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/06—Combustion engines, Gas turbines
    • B60W2510/0638—Engine speed
    • 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
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/08—Electric propulsion units
    • B60W2510/081—Speed
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/08—Electric propulsion units
    • B60W2710/083—Torque
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
    • F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
    • F16H37/06—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts
    • F16H37/08—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts with differential gearing
    • F16H37/0833—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts with differential gearing with arrangements for dividing torque between two or more intermediate shafts, i.e. with two or more internal power paths
    • F16H37/084—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts with differential gearing with arrangements for dividing torque between two or more intermediate shafts, i.e. with two or more internal power paths at least one power path being a continuously variable transmission, i.e. CVT
    • F16H2037/0866—Power split variators with distributing differentials, with the output of the CVT connected or connectable to the output shaft
    • 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
    • H02P2201/00—Indexing scheme relating to controlling arrangements characterised by the converter used
    • H02P2201/07—DC-DC step-up or step-down converter inserted between the power supply and the inverter supplying the motor, e.g. to control voltage source fluctuations, to vary the motor speed
    • 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
    • H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
    • H02P2203/05—Determination of the rotor position by using two different methods and/or motor models
    • 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
    • Y02T10/62—Hybrid vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the present invention relates to an electric motor control device for a hybrid vehicle, and more particularly, to an electric motor control device that controls driving of one of an electric motor driven by an engine and an electric motor driving a driving wheel by sensorless vector control.
  • the electric motor control device of the present invention can be used for a drive device of a hybrid vehicle.
  • Patent Document 1 calculates the induced voltage by periodically sampling the current and voltage of the vector control two axes (d axis and q axis) of the synchronous motor, and the induced voltage and d, q axis current and voltage are calculated.
  • Sensorless position angle detection is described, in which the rotor position angle ⁇ is calculated based on this.
  • This sensorless position angle detection is a high-speed position angle calculation employed when the synchronous motor is rotating at a speed at which the induced voltage can be accurately calculated.
  • the position angle cannot be calculated or the calculation error is large, and thus cannot be applied.
  • Patent Document 1 further describes a hybrid vehicle including a combination of an engine, drive wheels, a first motor, a second motor, and a transmission mechanism that connects the first motor to the engine and the second motor and the engine to the drive wheels. Are described.
  • Patent Documents 2 and 3 also describe hybrid vehicle drive devices, which use a resolver that generates a position angle signal that represents the position angle of the rotor for calculating the position angle, and that provides a sensorless position. Corner detection is not performed.
  • Patent Document 4 calculates the induced voltage of the motor based on the d-axis voltage command of the motor vector control and the d and q-axis currents of the motor, and the position based on the induced voltage and the d-axis voltage command and the d and q-axis currents. A position calculation for calculating the angle ⁇ is described. This is also a high-speed position angle calculation.
  • the position angle calculation in the sensorless drive control of the motor by vector control may be performed by injecting (injecting) a high frequency current into the motor, or paying attention to the harmonic component of the motor current,
  • a high-frequency position angle calculation in which orthogonal L-axis inductances Ld and Lq are estimated based on the voltage, and the position angle is calculated using Ld and Lq as parameters. According to this, even when the motor with a low induced voltage is stopped or at a low speed, there is a high-frequency current to be injected or a harmonic current generated by applying a drive voltage by PWM control, so that the position angle can be calculated and the calculation accuracy is high.
  • the calculation of the position angle focusing on the biaxial inductance is a low-speed position angle calculation employed when the motor is stopped or rotating at a low speed.
  • the three phases are short-circuited, the three-phase current is detected after a lapse of a predetermined time, and if the three-phase current is larger than the threshold value, the motor is clearly rotated.
  • An initial state determination is considered in which a position angle calculation is used, and if it is equal to or less than a threshold value, stop or rotation is unclear and a low-speed position angle calculation is used.
  • the initial state determination since the three phases are short-circuited and a predetermined time elapses, it takes time to determine the initial state, resulting in a delay in starting up the motor. Further, in the three-phase short circuit, when the electric motor is rotating, braking torque is applied to the transmission mechanism, and a shock is generated in the transmission mechanism.
  • one motor of a hybrid drive device including an engine, drive wheels, a first motor, a second motor, and a transmission mechanism that connects them is driven by sensorless vector control, and the reliability of the sensorless vector control is improved.
  • the first object is to increase the value.
  • a second object is to shorten the time required for determining the initial state of the one motor, and a third object is to prevent torque fluctuation of the one motor due to the initial state determination.
  • a hybrid drive device comprising a first motor (10G), an operating mechanism for drivingly connecting the first motor to a vehicle engine, and a second motor (10M) drivingly connected to driving wheels
  • An engine speed sensor for detecting the engine speed
  • a magnetic pole position sensor (10R) for detecting the magnetic pole position of the second electric motor
  • a current sensor (14, 15) for detecting a current flowing through the first motor
  • a sensorless motor control device (30G) for estimating the magnetic pole position of the first motor based on the current detected by the current sensor and controlling the driving of the first motor
  • a second electric motor control device (30M) for driving and controlling the second electric motor based on the magnetic pole position detected by the magnetic pole position sensor.
  • the cost can be reduced. Since the second electric motor directly connected to the driving wheel uses a magnetic pole position sensor, the torque output to the driving wheel can be controlled with high accuracy, so that the driver does not feel uncomfortable.
  • a magnetic pole position sensor such as a resolver
  • the sensorless motor control device (30G) High-speed estimation means (45) for estimating the magnetic pole position of the first electric motor (10G) based on the current detected by the current sensor (14, 15) and the magnetic pole position by superimposing a high-frequency current on the first electric motor Low-speed estimation means (44) for estimation, Based on the magnetic pole position of the second electric motor (10M) detected by the magnetic pole position sensor (10R), the rotational speed of the second electric motor is calculated, and based on the rotational speed of the second electric motor and the engine rotational speed sensor.
  • First motor rotation speed calculating means (51) for calculating the rotation speed of the first motor (10G); Selection means (46, 53) for selecting the high speed estimation means and the low speed estimation means based on the rotation speed of the first motor calculated by the first motor rotation speed calculation means; Including The hybrid drive apparatus according to (1), wherein the first electric motor is driven and controlled based on the magnetic pole position estimated by the high speed estimation means or the low speed estimation means selected by the selection means.
  • the rotation speed of the first motor is calculated based on the rotation speed of the engine and the rotation speed of the second motor, and the high-speed estimation means and the low-speed estimation means are selected to select the magnetic pole position of the first motor. Since it estimates, the time which the initial state determination of a 1st electric motor requires can be shortened.
  • the position angle ( ⁇ ) of the rotor of the first electric motor (10G) is added to the electric motor control device (30G) that drives the first electric motor (10G) by sensorless vector control.
  • a low-speed position calculation function (44), a high-speed position calculation function (45), and a position angle calculation selection function (46, 53), and the position angle calculation selection function (46, 53) Based on the rotational speed ( ⁇ e, ⁇ m) of the second electric motor (10M) and the number of gears (Na to Nf) related to the connection of the engine, the first electric motor and the second electric motor of the transmission mechanism.
  • Rotation speed ( ⁇ g) is calculated. If the rotation speed is less than the set value ( ⁇ T), the position angle ( ⁇ ) calculated by the low speed position calculation function (44) exceeds the set value.
  • the position angle ( ⁇ ) calculated by (45) is converted into the three-phase / 2-axis conversion and vector control of the motor control device (30G).
  • the sensorless motor control device further converts a three-phase current of the first motor into an orthogonal biaxial current, and a biaxial voltage command value (Vd *) for matching the orthogonal biaxial current with the orthogonal biaxial target current . , Vq * ), converts the 2-axis voltage command value into a 3-phase voltage command value and controls the first motor, and a voltage for extracting a high-frequency voltage from the 2-axis voltage command value A filter;
  • the low speed estimating means (44) calculates a position angle which is a magnetic pole position based on the high frequency voltage extracted by the voltage filter;
  • the sensorless motor control device according to (2) above.
  • Na to Nf Number of gears (Fig. 2) ⁇ e: rotational speed of the engine ⁇ m: rotational speed of the second electric motor.
  • the rotational speed of the first electric motor ( ⁇ g: Formula (1)) Therefore, there is no three-phase short circuit for a predetermined time in the conventional initial state determination, and there is no particular delay in starting up the motor. Moreover, the torque shock by the conventional 3 phase short circuit does not arise.
  • the high-speed estimation means is configured to detect the position of the magnetic pole based on the current obtained by converting the three-phase current into a quadrature biaxial current and the biaxial voltage command value (Vd * , Vq * ) before the voltage filter. Calculate a certain position angle ( ⁇ ); The sensorless motor control device according to (3) above.
  • the sensorless motor control device (30G) further includes speed calculation means (54) for calculating the rotational speed of the first motor based on the magnetic pole position referred to the three-phase / two-axis conversion and the two-axis / three-phase conversion. );
  • the selection means (46, 53) is immediately after the operating voltage is applied to the sensorless motor control device (30G), after the low speed estimation means (44) or the high speed estimation means (45) calculates the magnetic pole position. Means that when the rotational speed calculated by the speed calculation means (54) is equal to or lower than a set value ( ⁇ T), the magnetic pole position calculated by the low speed estimation means (44) exceeds the set value ( ⁇ T).
  • the sensorless motor control device according to (3) or (4) above, wherein the magnetic pole position calculated by the estimating means (45) is a magnetic pole position referred to the three-phase / 2-axis conversion and the two-axis / 3-phase conversion.
  • FIG. 1 is a block diagram showing a combination of gears of a transmission mechanism of a hybrid drive device equipped with a first motor control device 30G that is a sensorless motor control device of one embodiment of the present invention.
  • FIG. 2 is a block diagram showing a drive system for the first and second electric motors 10G and 10M shown in FIG.
  • FIG. 3 is a block diagram showing a sensorless vector control function of the first motor control device 30G shown in FIG.
  • FIG. 4 is a block diagram showing a vector control function of the second motor control device 30M shown in FIG.
  • 10G, 10M First and second electric motors 10R: Resolvers 11-13: Three-phase stator coils 14, 15, 14M, 15M: Current sensor 17: Battery on vehicle 18: Primary capacitor 19: Primary voltage Sensor 21: Reactor 22: Switching element (for boosting) 23: Switching element (for step-down) 24, 25: Diode 27: Secondary capacitor 28: Secondary voltage sensor 42, 43: Filter
  • FIG. 1 shows a gear combination of a transmission mechanism of a hybrid drive device equipped with a first motor control device 30G which is a sensorless motor control device of one embodiment of the present invention.
  • the pinion of the planetary gear mechanism 32 is connected to the engine 31, and the number of teeth of the ring gear with which the pinion meshes is Nb.
  • a first electric motor 10G which is a first electric motor, is connected to the sun gear with which the pinion meshes.
  • the number of teeth of the sun gear is Na.
  • the number of teeth of the counter gear mechanism 33 that receives the reaction torque of the ring gear is Nc, and the number of teeth of the relay gear that meshes with this gear is Nd.
  • a second electric motor 10M which is a second electric motor, is connected to a gear having a number of teeth Nf that meshes with a gear having a number of teeth Ne that is coaxial with the relay gear. Another gear coaxial with the relay gear drives the differential gear 34 connected to the drive wheel 35.
  • the first electric motor 10G and the second electric motor 10M are both permanent magnet embedded synchronous motors in this embodiment.
  • the first electric motor 10G is driven via an inverter 16G by sensorless vector control by a first motor control device 30G which is a sensorless electric motor control device.
  • the second electric motor 10M is driven via an inverter 16M by a second motor control device 30M that is an electric motor control device that performs vector control.
  • the second motor control device 30M calculates the position angle ⁇ and the rotational speed ⁇ m based on the electrical angle signal SG ⁇ of the resolver 10R, and performs a vector control calculation using them.
  • the rotation speed ⁇ m of the second electric motor 10M and the rotation speed ⁇ e of the engine 31 calculated by the second motor control device 30M based on the position angle signal SG ⁇ of the resolver 10R are given to the first motor control device 30G, and the first motor The control device 30G calculates the rotational speed ⁇ g of the equation (1).
  • FIG. 2 shows an outline of the electrical connection between the electric motor, the inverter, the motor control device, and the converter that supplies power to the inverter, that is, the motor drive system shown in FIG.
  • the first electric motor 10G rotates the engine 31 as a motor (starter) when starting the engine 31, and is driven by the engine 31 to generate electric power during rotation (operation) of the engine 31.
  • the second electric motor 10M is used as an electric motor that rotationally drives the drive wheels 35, and is also used for power generation braking.
  • a battery 17 that is a storage battery on the vehicle is connected to a primary side capacitor 18 when an electrical component on the vehicle is turned on, and constitutes a primary side DC power source together with the battery 17.
  • Voltage sensor 19 provides voltage detection signal Vdc representing the voltage of primary side capacitor 18 (the voltage of on-vehicle battery 17) to motor control device 30.
  • a voltage dividing resistor is used for the voltage sensor 19.
  • One end of the reactor 21 of the converter 20 is connected to the positive electrode (+ line) of the primary side DC power supply.
  • the converter 20 further includes a step-up semiconductor switch 22 that is a step-up switching element for turning on and off between the other end of the reactor 21 and the negative electrode ( ⁇ line) of the primary side DC power supply, and the positive electrode of the secondary capacitor 27. And the other end are a regenerative semiconductor switch 23 which is a regenerative switching element for turning on and off, and respective diodes 24 and 25 connected in parallel to the respective semiconductor switches 22 and 23.
  • step-up semiconductor switch 22 When the step-up semiconductor switch 22 is turned on (conductive), a current flows from the primary DC power supply (17, 18) to the switch 22 via the reactor 21, whereby the reactor 21 stores electricity and the switch 22 is turned off (non-conductive). ), The reactor 21 discharges high voltage to the secondary capacitor 27 through the diode 25. That is, a voltage higher than the voltage of the primary side DC power supply is induced to charge the secondary side capacitor 27. By repeatedly turning on and off the switch 22, high voltage charging of the secondary capacitor 27 is continued. That is, the secondary side capacitor 27 is charged with a high voltage.
  • the electric power stored in the reactor 21 increases according to the length of the ON period, so the ON time during the fixed cycle (ON duty: ON time ratio with respect to the fixed cycle) , Ie, by PWM control, the speed at which power is supplied from the primary side DC power supplies 17 and 18 to the secondary capacitor 27 via the converter 20 (powering speed for powering) can be adjusted.
  • the regenerative semiconductor switch 23 When the regenerative semiconductor switch 23 is turned on (conductive), the power stored in the secondary capacitor 27 is supplied to the primary DC power sources 17 and 18 through the switch 23 and the reactor 21 (reverse power supply: regeneration).
  • the ON time of the switch 23 during a certain period that is, by PWM control, the speed at which power is reversely supplied from the secondary capacitor 27 to the primary DC power supplies 17 and 18 via the converter 20 ( The power supply speed for regeneration) can be adjusted.
  • the voltage type inverter 16 includes six switching transistors Tr1 to Tr6, and the transistors Tr1 to Tr6 are turned on (conducted) by each of the six driving signals generated in parallel by the drive circuit 29, so that the secondary operation is performed.
  • the DC voltage of the side capacitor 27 (the output voltage of the converter 20, that is, the secondary voltage) is converted into a triple AC voltage having a phase difference of 2 ⁇ / 3, that is, a three-phase AC voltage, and the three-phase of the first electric motor 10G It is applied to each of the stator coils 11 to 13 (U phase, V phase, W phase).
  • the respective phase currents iU, iV, iW flow through the stator coils 11 to 13 of the first electric motor 10G, and the rotor of the first electric motor 10G rotates.
  • the secondary output line of the converter 20, which is the input line of the inverter 16 A large-capacity secondary capacitor 27 is connected.
  • the primary side capacitor 18 constituting the primary side DC power source is small and low-cost and has a small capacity. The capacity of the primary side capacitor 18 is considerably larger than the capacity of the secondary side capacitor 27. small.
  • Voltage sensor 28 detects secondary voltage Vuc of converter 20 and provides it to first motor control device 30G.
  • Current sensors 14 and 15 using Hall ICs are attached to the power supply lines connected to the stator coils 11 and 12 of the electric motor 10, and detect phase currents iV and iW, respectively, and detect current signals (analog voltages). Is generated and supplied to the first motor control device 30G.
  • FIG. 3 shows a functional configuration of the first motor control device 30G.
  • the first motor control device 30G is an electronic control device mainly composed of a DSP (Digital Signal Processor), and includes a drive circuit 29G, current sensors 14, 15, a primary voltage sensor 19, and a secondary voltage sensor 28. And an interface (communication circuit) (not shown) with the main controller of the vehicle travel control system (not shown) on the vehicle.
  • DSP Digital Signal Processor
  • the first position calculation 44 that is the low-speed calculation means or the second position calculation 45 that is the high-speed calculation means calculates the rotation angle (position angle) ⁇ of the rotor of the first electric motor 10G
  • a speed calculation 54 calculates a rotational speed (angular speed) ⁇ g based on the position angle ⁇ . More precisely, the position angle of the rotor of the first electric motor 10G and the magnetic pole position are not the same, but they are in a proportional relationship, and the proportionality coefficient is determined by the number of magnetic poles p of the electric motor 10G.
  • the rotational speed and the angular speed are not the same, both are in a proportional relationship, and the proportionality coefficient is determined by the number of magnetic poles p of the first electric motor 10G.
  • the position angle ⁇ means the magnetic pole position.
  • the rotational speed ⁇ means an angular speed, but sometimes means a rotational speed.
  • a main controller of the vehicle travel control system gives the motor target torque TG * to the first motor control device 30G.
  • the main controller calculates the vehicle required torque TO * based on the vehicle speed and the accelerator opening of the vehicle, and the first and second motor target torques TG * and TM corresponding to the vehicle required torque TO *. * Is generated and given to the first and second motor control devices 30G and 30M, respectively.
  • the first motor target torque TG * is a positive high value for the first electric motor 10G to rotationally drive (start) the engine 31, and the second motor target torque TM * is a value without driving wheel driving ( 0), however, when the engine is operating (rotating), the first motor target torque TG * is a negative value (power generation instruction value) instructing generation of required power, and the second motor target torque TM * is driven. Positive value required for wheel drive.
  • the first motor control device 30G outputs the rotation speed ⁇ grpm of the first electric motor 10G to the main controller.
  • the second motor control device 30M outputs the rotational speed ⁇ mrpm of the second electric motor 10M to the main controller and the first motor control device 30G.
  • the first motor control device 30G determines the upper limit value Vmax of the output voltage (secondary voltage) of the converter 20 and the limit torque TG * max corresponding to the rotational speed ⁇ g from the limit torque table (lookup table) by the torque command limit 36. reading, when the target motor torque TG * exceeds the TG * max, determine the TG * max to the target torque T *. When TG * max or less, the motor target torque TG * is determined as the target torque T * . The motor target torque T * generated by adding such a restriction is given to the output calculation 37 and used for calculating the secondary target voltage.
  • each value of the upper limit value Vmax of the secondary voltage and the voltage within the rotation speed range is used as an address, and the maximum torque that can be loaded (imposed) on the first electric motor 10G with each value is the limit torque TG *.
  • This is a memory area written as max, and in this embodiment means a memory area of a RAM (not shown) in the first motor control device 30G.
  • the limit torque TG * max is larger as the upper limit value Vmax of the secondary voltage is higher and is smaller as it is lower. Further, the lower the rotation speed ⁇ g, the larger the value, and the smaller the rotation speed ⁇ g, the smaller.
  • the first motor control device 30G there is a non-volatile memory in which data TG * max of the limit torque table is written.
  • the first motor control device 30G In the process of initializing itself and the motor drive system shown in FIG. 1, data is read from the nonvolatile memory and written to the RAM.
  • the first motor control device 30G determines “powering” (motor operation) or “regeneration” (generator operation) based on the target torque T * and the rotational speed ⁇ g.
  • the secondary target voltage Vuc assigned to the rotational speed ⁇ g of the first electric motor 10G from the secondary target voltage table assigned to the target torque T * in the “regenerative” group within the group. * Is read, and the converter 20 is controlled via the drive circuit 26 so that the secondary voltage detected by the sensor 28 matches the target voltage Vuc * .
  • the first motor control device 30G adopts the d axis in the direction of the magnetic pole pair in the rotor of the first electric motor 10G and the q axis in the direction perpendicular to the d axis by the output calculation 37 and the motor current control 39, respectively.
  • Motor applied voltage (target voltage) Vd for performing feedback control of motor current by a vector control calculation on a known dq axis model and adjusting motor current values id and iq to target values id * and iq * * , Vq * are calculated, and the target voltage is converted into a three-phase target voltage VU * , VV * , VW * by the two-phase / three-phase conversion 40 using the position angle ⁇ , and the PWM pulse generation 41 is performed.
  • Inverter control signals (PWM pulses) MU, MV, and MW for applying the target voltage to the first electric motor 10G are generated and output to the drive circuit 29G.
  • the first motor control device 30G digitally converts the current detection signals iV and iW of the current sensors 14 and 15 and reads them, and the current feedback 38 uses a known fixed / rotation position angle ⁇ .
  • three-phase / two-phase conversion which is coordinate conversion
  • a first high-efficiency torque curve table A which is one look-up table, is included in the output calculation 37, and each of the first high-efficiency torque curve tables A is associated with the motor speed ⁇ g and the motor target torque T *.
  • Each d-axis current value id for generating or loading each target torque T * at the motor speed is written.
  • the torque is “generation”, and in the generator operation, the torque load (application).
  • target torque generation includes both.
  • the output torque (positive value: motor operation, negative value: generator operation) of the first electric motor 10G is determined corresponding to each value of the d-axis current id and the q-axis current iq. That is, there are innumerable combinations of id and iq for outputting the same torque at the same motor rotation speed, and they are on a constant torque curve. On the constant torque curve, there is a combination of id and iq with the highest power usage efficiency (lowest power consumption), which is the high efficiency torque point.
  • a curve connecting high efficiency torque points on a plurality of torque curves is a high efficiency torque curve and exists for each rotation speed.
  • the first electric motor 10G By energizing the first electric motor 10G with the d-axis current id and the q-axis current iq at the position of the given motor target torque T * on the high-efficiency torque curve addressed to the rotation speed of the motor as target current values
  • the first electric motor 10G outputs / inputs (accepts) the target torque T * , and the power efficiency of electric / power generation is high.
  • the high-efficiency torque curve is divided into two systems: a first high-efficiency torque curve A that represents the d-axis value and a second high-efficiency torque curve B that represents the q-axis value.
  • the high-efficiency torque curve A is a pair of the one applied to the power running region and the one applied to the regeneration region, and both represent the d-axis target current with respect to the motor rotation speed and the target torque.
  • the first high-efficiency torque curve table A is a memory area in which a d-axis target current for generating the target torque with minimum power consumption, which is addressed to the target torque T * , is written.
  • a pair of regeneration tables A2 for regeneration is configured. Whether to use a power running table or a regenerative table is determined according to the judgment result based on the power running (electric motor) or regenerative (generator) based on the rotation speed ⁇ of the electric motor and the target torque T *. To do.
  • the first motor control device 30G reads d from the first high-efficiency torque curve table A corresponding to the target torque T * determined by the torque command limitation.
  • the second high efficiency torque curve table B in the output calculation 37 is used.
  • the second high-efficiency torque curve table B further includes a second high-efficiency torque curve B representing the q-axis value of the high-efficiency torque curve, and a d-axis field weakening current ⁇ id and a pair of q-axis field weakening current ⁇ iq.
  • the data is corrected to a curve representing the subtracted q-axis target current, and the data of the corrected second high efficiency torque curve B is stored.
  • the second high-efficiency torque curve table B is the d-axis target current for generating the target torque with the lowest power consumption, which is addressed to the target torque T * and the d-axis field weakening current ⁇ id, that is, the corrected second axis.
  • This is a memory area in which the target current value of the high-efficiency torque curve B is written, and this is also composed of a pair of a power running table B1 for power running and a regeneration table B2 for regeneration. Whether to use power running or regenerative power is determined based on the determination result by determining whether it is power running or regenerating based on the rotational speed ⁇ of the electric motor and the target torque T * .
  • the target torque T * and the q-axis target current iq * addressed to the d-axis field weakening current ⁇ id are read from the second high efficiency torque curve table B and used as the q-axis current command.
  • the first motor control device 30G calculates the current deviation ⁇ id between the d-axis target current id * and the d-axis current id and the current deviation ⁇ iq between the q-axis target current iq * and the q-axis current iq. Calculate and perform proportional control and integral control (PI calculation of feedback control) based on the current deviations ⁇ id and ⁇ iq, and based on the output, d-axis voltage that is a voltage target value for making the current deviation zero Command value Vd * and q-axis voltage command value Vq * are calculated.
  • PI calculation of feedback control proportional control and integral control
  • the target voltages Vd * and Vq * on the rotation coordinates are changed to 3 on the fixed coordinates according to the two-phase / three-phase conversion using the position angle ⁇ .
  • the phase target voltages VU * , VV * , and VW * are converted and sent to the PWM pulse generator 41.
  • the PWM pulse generator 41 converts the voltage of each value into PWM pulses MU, MV, and MW, and outputs them to the drive circuit 29G shown in FIG.
  • the drive circuit 29G generates six series of drive signals in parallel based on the PWM pulses MU, MV, and MW, and turns on / off each of the transistors Tr1 to Tr6 of the voltage type inverter 16 with each series of drive signals. . Thereby, each phase target voltage is applied to each of the stator coils 11 to 13 of the first electric motor 10G, and the phase currents iU, iV and iW flow.
  • the rotor rotation angle (magnetic pole position) ⁇ which is the position angle of the rotor, is calculated by the first position calculation 44 that is the low speed calculation means or the second position calculation 45 that is the high speed calculation means.
  • the second position calculation 45 that is the high speed calculation means.
  • the bandpass filter 43 extracts the harmonic voltage components Vdh * and Vqh * included in the motor voltage commands Vd * and Vq * of the first electric motor 10G, and the first position calculation 44, which is a low-speed calculation means, generates harmonics.
  • the position angle ⁇ is calculated by calculating the position angle based on the voltage components Vdh * and Vqh * .
  • the high frequency current generation (for low speed) 42 is energized to generate the harmonic current commands idh * and iqh * , and the output calculation 37 is generated.
  • Q-axis current commands id * , ih * are added. That is, a current command for passing a high-frequency current to the first electric motor 10G is superimposed on the d and q-axis current commands id * and ih * .
  • the second position calculation 45 which is a high-speed calculation means, calculates the position angle ⁇ by the position angle calculation via the two-phase conversion value of the three-phase current and voltage of the first electric motor 10G and the induced voltage estimated by them. calculate.
  • the d and q axis current values id and iq obtained by the three-phase / two-phase conversion 38 by the three-phase / two-phase conversion 38 and the target voltages Vd * and Vq * calculated by the motor current control 39 are given to the second position calculation 45.
  • the second position calculation 45 samples the currents id, iq and the voltages Vd * , Vq * at a predetermined period and calculates the induced voltage using them, and the induced voltage, the currents id, iq and the voltages Vd * , Vq.
  • the position angle is calculated using * .
  • the position angle calculation selection 46 which is a selection means.
  • the position angle calculation selection 46 includes the engine, first and second rotational speeds ⁇ e and ⁇ m of the engine 31 and the second electric motor 10M, and the transmission mechanism including the planetary gear mechanism 32 and the counter gear mechanism 33.
  • the rotational speed ⁇ g of the first electric motor 10G of the equation (1) is calculated, and the rotational speed ⁇ g is equal to or less than a set value ⁇ T.
  • the first position calculation 44 is used for the calculation of the position angle ⁇ if it is (motor stop or low speed rotation), and the second position calculation 45 is used if it exceeds ⁇ T (high speed).
  • the ⁇ g calculation 51 of the position angle calculation selection 46 calculates the rotational speed ⁇ g of the above equation (1), and the comparison 52 determines whether the rotational speed ⁇ g is high or low. If it is less than or equal to the threshold value (set value) ⁇ T, a low level L is generated, and if the threshold value ⁇ T is exceeded, a high level H is generated. If the speed determination signal is L (low speed), the first position calculation 44 is designated, and generation of harmonic current commands idh * and iqh * by “high frequency current generation (for low speed)” 42 is started, and the second position The calculation 45 is not specified. As a result, the first position calculation 44 calculates the position angle ⁇ , and the selection 53 selects the position angle ⁇ calculated by the first position calculation 44 in accordance with the speed determination signal L (low speed). And three-phase / two-phase conversion 38.
  • the second position calculation 45 calculates the position angle ⁇ , and the selection 53 selects the position angle ⁇ calculated by the second position calculation 45 in accordance with the speed determination signal H (high speed). And three-phase / two-phase conversion 38.
  • the rotational speed ⁇ g of the first electric motor 10G is then switched to the rotational speed ⁇ g generated by the speed calculation 54 and given to the comparison 52, and the ⁇ g calculation 51 is not executed.
  • a mode in which the ⁇ g calculation 51 is continued and the rotation speed ⁇ g calculated by the ⁇ g calculation 51 is given to the comparison 52 is also possible.
  • the position angle calculation selection 46 designates the first position calculation 44 for low speed, thereby the first position.
  • the calculation 44 calculates the position angle ⁇ and gives it to the 2-phase / 3-phase conversion 40 and the 3-phase / 2-phase conversion 38.
  • the position angle calculation selection 46 designates the second position calculation 45 for high speed, thereby A two-position calculation 45 calculates the position angle ⁇ and gives it to the two-phase / three-phase conversion 40 and the three-phase / 2-phase conversion 38.
  • the rotational speed ⁇ g of the first electric motor 10G is calculated based on the rotational speeds ⁇ e and ⁇ m of the engine 31 and the second electric motor 10M and the gear numbers Na to Nf of the transmission mechanisms 32 and 33.
  • the main controller of the vehicle travel control system gives the motor target torque TM * to the second motor control device 30M that performs vector control of the second electric motor 10M.
  • the main controller calculates a vehicle required torque TO * based on the vehicle speed and the accelerator opening of the vehicle, it generates a motor target torque TM * corresponding to the required vehicle torque TO *, the second motor control To device 30M.
  • the second motor control device 30M outputs the rotational speed ⁇ mrpm of the second electric motor 10M to the main controller and the first motor control device 30G.
  • the rotor of the resolver 10R for detecting the rotor position angle ⁇ is connected to the rotor of the second electric motor 10M.
  • the resolver 10R generates an analog voltage (rotation angle signal) SG ⁇ representing the rotation angle of the rotor, and supplies the analog voltage to the second motor control device 30M.
  • FIG. 4 shows an outline of the functional configuration of the second motor control device 30M.
  • the functions of the second motor control device 30M are the position angle calculation selection 46, the first and second position calculations 44, 45, the selection 53, the speed calculation 54, and the filter 42 from the function (FIG. 3) of the first motor control device 30G. 43, and instead, a position angle / speed calculation 54 is added.
  • the position angle / speed calculation 54 is based on the rotation angle signal SG ⁇ given by the resolver 10R, and the position of the second electric motor 10M.
  • the angle ⁇ and the rotational speed ⁇ m are calculated, and the position angle ⁇ is given to the 2-phase / 3-phase conversion 40m and the 3-phase / 2-phase conversion 38m.
  • the second motor control device 30M has a vector control function similar to the vector control function of the first motor control device 30G, and is equivalent to the vector control function element of the first motor control device 30G.
  • An element symbol obtained by adding “m” to the element symbol of the first motor control device 30G is attached to the 30M vector control functional element. Except for the difference in the calculation of the position angle, the vector control algorithm of the second motor control device 30M is the same as that described above for the first motor control device 30G, and a description thereof will be omitted.
  • the first electric motor 10G is sensorless vector-controlled, but a resolver is attached to the first electric motor 10G, the resolver 10R of the second electric motor 10M is omitted, and the first electric motor 10G is
  • vector control is performed by an electric motor control device equivalent to the second motor control device 30M
  • sensorless vector control is performed on the second electric motor 10M by an electric motor control device equivalent to the first motor control device 30G.

Landscapes

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

Abstract

　エンジン，駆動輪，第１，第２電動機および伝動機構を備えるハイブリッド駆動装置の、一方の電動機のセンサレスベクトル制御の信頼性を向上。初期状態判定時間を短縮。トルク変動を防止。　第１電動機（１０Ｇ）をセンサレスベクトル制御する電動機制御装置（３０Ｇ）に、位置角を算出する低速用演算（４４）および高速用演算（４５）ならびに位置角演算選択（４６）を備えて、該位置角演算選択によって、エンジンおよび第２電動機（１０Ｍ）の回転速度（ωｅ，ωｍ）、ならびに、伝動機構のギア数（Ｎａ～Ｎｆ）、に基づいて第１電動機の回転速度（ωｇ）を算出し、それが設定値（ωＴ）以下であると低速用演算（４４）により算出する位置角を、設定値を超えると高速用演算（４５）により算出する位置角を、センサレスベクトル制御のための３相／２軸変換および２軸／３相変換に参照する位置角（θ）、とする。

Description

ハイブリッド車両の電動機制御装置および駆動装置
　本発明は、ハイブリッド車両の電動機制御装置に関し、特に、エンジンで駆動されて発電する電動機と駆動輪を駆動する電動機の一方を、センサレスベクトル制御により駆動制御する電動機制御装置に関する。本発明の電動機制御装置は、ハイブリッド車両の駆動装置に用いることができる。
　特許文献１は、同期電動機の、ベクトル制御の２軸（ｄ軸，ｑ軸）の電流，電圧を周期的にサンプリングして誘起電圧を算出し、該誘起電圧およびｄ，ｑ軸電流，電圧に基づいて回転子の位置角θを算出する、センサレス位置角検出を記載している。このセンサレス位置角検出は、誘起電圧を正確に算出できる速度で同期電動機が回転しているときに採用される高速用位置角演算である。誘起電圧が低い電動機停止中又は低速時は、位置角演算不能または演算誤差大となり、適用できない。特許文献１には更に、エンジン，駆動輪，第１電動機，第２電動機、および、エンジンに第１電動機を、駆動輪に第２電動機およびエンジンを連結する伝動機構、の組合せでなる、ハイブリッド車両の駆動装置が記載されている。
　特許文献２および３にも、ハイブリッド車両駆動装置が記載されているが、これらでは、位置角算出のために、回転子の位置角を表す位置角信号を発生するレゾルバを用いており、センサレス位置角検出は行っていない。
　特許文献４は、電動機ベクトル制御のｄ軸電圧指令，電動機のｄ，ｑ軸電流に基づいて電動機の誘起電圧を算出し、該誘起電圧ならびにｄ軸電圧指令およびｄ，ｑ軸電流に基づいて位置角θを算出する位置演算が記載されている。これも高速用位置角演算である。
特開平　１１－２７５８８４号公報 特開２００２－　３９００８号公報 特開２００５－１０５９５７号公報 特開２００７－２３６０１５号公報
　ベクトル制御による電動機のセンサレス駆動制御における位置角算出には、これらの他に、電動機に高周波電流を通電（注入）し、あるいは電動機電流の高調波成分に着目して、高周波電流又は高調波電流と電圧に基づいて直交２軸のインダクタンスＬｄ，Ｌｑを推定し、Ｌｄ，Ｌｑをパラメータとして位置角を算出する、高周波利用の位置角算出もある。これによれば、誘起電圧が低い電動機停止中又は低速時でも、注入する高周波電流又はＰＷＭ制御による駆動電圧印加により発生する高調波電流があるので、位置角演算が可能で演算精度が高い。しかし、高トルク（高電流）通電時は、磁気飽和によりインダクタンスＬｄ，Ｌｑの推定誤差が大きくなる。すなわち位置角演算誤差大となる。したがって、２軸インダクタンスに着目する位置角算出は、電動機が停止あるいは低速回転しているときに採用される低速用位置角演算である。
　そこで従来は、電動機駆動を開始するとき、３相を短絡して、所定時間の経過を待って３相電流を検出し、３相電流が閾値より大きいと電動機が明らかに回転しているとして高速用位置角演算を採用し、閾値以下であると停止又は回転が不明確として低速用位置角演算を採用する、初期状態判定が考えられている。
　しかし、該初期状態判定では、３相を短絡して所定時間の経過を待つので、初期状態判定に時間がかかり、電動機の駆動立上げに遅れを生ずる。また、３相短絡は、電動機が回転していると制動トルクを伝動機構に加えることになり、伝動機構にショックを生ずる。
　本発明は、エンジン，駆動輪，第１電動機，第２電動機およびこれらの間を連結する伝動機構を備えるハイブリッド駆動装置の、一方の電動機をセンサレスベクトル制御により駆動し、該センサレスベクトル制御の信頼性を高くすることを第１の目的とする。該一方の電動機の初期状態判定に要する時間を短縮することを第２の目と的とし、初期状態判定による該一方の電動機のトルク変動を防止することを第３の目的とする。
　（１）第１電動機(10G)，車両のエンジンに第１電動機を駆動連結する作動機構、及び、駆動輪に駆動連結した第２電動機(10M)を備えるハイブリッド駆動装置において、
　前記エンジンの回転速度を検出するエンジン回転速度センサと、
　前記第２電動機の磁極位置を検出する磁極位置センサ(10R)と、
　前記第１電動機に流れる電流を検出する電流センサ(14,15)と、
　該電流センサで検出した電流に基づいて第１電動機の磁極位置を推定して、第１電動機を駆動制御するセンサレス電動機制御装置(30G)と、
　前記磁極位置センサで検出した磁極位置に基づいて第２電動機を駆動制御する第２電動機制御装置(30M)と、を備えることを特徴とするハイブリッド駆動装置。
　なお、理解を容易にするためにカッコ内には、図面に示し後述する実施例の対応又は相当要素又は事項の符号を、例示として参考までに付記した。以下も同様である。
　第１電動機の磁極位置を検出する磁極位置センサ（レゾルバなど）が不要となるため低コスト化できる。駆動輪に直接駆動連結される第２電動機は磁極位置センサを用いるため、駆動輪に出力するトルクを高精度に制御できるため、運転者に違和感を与えることがない。
　（２）前記センサレス電動機制御装置(30G)は、
　前記電流センサ(14,15)で検出した電流に基づいて前記第１電動機(10G)の磁極位置を推定する高速用推定手段(45)および前記第１電動機に高周波電流を重畳して磁極位置を推定する低速用推定手段(44)と、
　前記磁極位置センサ(10R)で検出した前記第２電動機(10M)の磁極位置に基づいて前記第２電動機の回転速度を算出し、該第２電動機の回転速度と前記エンジン回転速度センサとに基づいて前記第１電動機(10G)の回転速度を算出する第１電動機回転速度算出手段(51)と、
　該第１電動機回転速度算出手段で算出した前記第１電動機の回転速度に基づいて前記高速用推定手段と前記低速用推定手段を選択する選択手段(46,53)と、
を含み、
　該選択手段で選択した前記高速用推定手段または前記低速用推定手段で推定した磁極位置に基づいて前記第１電動機を駆動制御する、ことを特徴とする上記（１）に記載ハイブリッド駆動装置。
　これによれば、第１電動機の回転速度をエンジンの回転速度と第２電動機の回転速度とに基づいて算出して高速用推定手段と低速用推定手段と選択して第１電動機の磁極位置を推定するため、第１電動機の初期状態判定に要する時間を短縮することができる。
　上記（１）および（２）の１実施態様では、第１電動機(10G)をセンサレスベクトル制御により駆動する電動機制御装置（30G）に、第１電動機(10G)の回転子の位置角(θ)を算出する低速用位置演算機能(44)および高速用位置演算機能(45)ならびに位置角演算選択機能(46,53)を備えて、該位置角演算選択機能(46,53)によって、エンジンおよび第２電動機(10M)の回転速度(ωe,ωm)、ならびに、前記伝動機構の、エンジン，第１電動機および第２電動機の連結に係わるギア数(Na～Nf)、に基づいて第１電動機の回転速度(ωg)を算出し、該回転速度が設定値(ωT)以下であると低速用位置演算機能(44)により算出する位置角(θ)を、設定値を超えると高速用位置演算機能(45)により算出する位置角(θ)を、前記電動機制御装置(30G)の、ベクトル制御のための３相／２軸変換および２軸／３相変換に参照する位置角(θ)、とする。この実施態様は、次の（３）項のものである。
　（３）前記センサレス電動機制御装置は更に、第１電動機の３相電流を直交２軸電流に変換し、該直交２軸電流を直交２軸目標電流と合わせるための２軸電圧指令値(Vd*,Vq*)を算出し、該２軸電圧指令値を３相電圧指令値に変換して前記第１電動機を制御するベクトル制御部と、前記２軸電圧指令値から高周波の電圧を抽出する電圧フィルタ；を備え、
　前記低速用推定手段(44)は、前記電圧フィルタが抽出した高周波の電圧に基づいて磁極位置である位置角を算出する；
上記（２）に記載のセンサレス電動機制御装置。
　後述の実施例では、次の（１）式で、第１電動機１０Ｇの回転速度ωｇを算出する：
Figure JPOXMLDOC01-appb-M000001
Ｎａ～Ｎｆ：ギア数（図２）
ωｅ：エンジンの回転速度
ωｍ：第２電動機の回転速度。
　これによれば、エンジンおよび第２電動機の回転速度(ωe,ωm)、ならびに、前記伝動機構のギア数(Na～Nf)、に基づいて第１電動機の回転速度(ωg：(1)式)を算出するので、従来の初期状態判定での所定時間の３相短絡はなく、電動機の駆動立上げに格別な遅れを生じない。また、従来の３相短絡によるトルクショックは、生じない。
　（４）前記高速用推定手段は、前記３相電流を直交２軸電流に変換した電流および前記電圧フィルタより前の前記２軸電圧指令値(Vd*,Vq*)に基づいて前記磁極位置である位置角(θ)を算出する；
上記（３）に記載のセンサレス電動機制御装置。
　（５）前記センサレス電動機制御装置(30G)は更に、前記３相／２軸変換および２軸／３相変換に参照する磁極位置に基づいて第１電動機の回転速度を算出する速度演算手段(54)を備え；
　前記選択手段(46,53)は、前記センサレス電動機制御装置(30G)への動作電圧印加直後に、前記低速用推定手段(44)又は前記高速用推定手段(45)が磁極位置を算出した後は、前記速度演算手段(54)が算出する回転速度が設定値(ωT)以下であると前記低速用推定手段(44)により算出する磁極位置を、設定値(ωT)を超えると前記高速用推定手段(45)により算出する磁極位置を、前記３相／２軸変換および２軸／３相変換に参照する磁極位置とする；上記（３）又は（４）に記載のセンサレス電動機制御装置。
図１は、本発明の１実施例のセンサレス電動機制御装置である第１モータ制御装置３０Ｇを装備したハイブリッド駆動装置の、伝動機構の歯車の組合せを示すブロック図である。 図２は、図１に示す第１，第２電気モータ１０Ｇ，１０Ｍの駆動システムを示すブロック図である。 図３は、図２に示す第１モータ制御装置３０Ｇのセンサレスベクトル制御機能を示すブロック図である。 図４は、図２に示す第２モータ制御装置３０Ｍのベクトル制御機能を示すブロック図である。
１０Ｇ，１０Ｍ：第１，第２電気モータ
１０Ｒ：レゾルバ
１１～１３：３相のステータコイル
１４，１５，１４Ｍ，１５Ｍ：電流センサ
１７：車両上のバッテリ
１８：１次側コンデンサ
１９：１次電圧センサ
２１：リアクトル
２２：スイッチング素子（昇圧用）
２３：スイッチング素子（降圧用）
２４，２５：ダイオード
２７：２次側コンデンサ
２８：２次電圧センサ
４２，４３：フィルタ
　本発明の他の目的および特徴は、図面を参照した以下の実施例の説明より明らかになろう。
　図１に、本発明の１実施例のセンサレス電動機制御装置である第１モータ制御装置３０Ｇを装備したハイブリッド駆動装置の、伝動機構の歯車の組合せを示す。エンジン３１には、プラネタリギア機構３２のピニオンが連結されており、ピニオンが噛み合うリングギアの歯数はＮｂである。ピニオンが噛み合うサンギアには第１電動機である第１電気モータ１０Ｇが連結されている。サンギアの歯数はＮａである。カウンタギア機構３３の、リングギアの反力トルクを受けるギアの歯数はＮｃ、このギアに噛み合う中継ギアの歯数はＮｄである。中継ギアと同軸の歯数Ｎｅのギアに噛み合う歯数Ｎｆのギアに、第２電動機である第２電気モータ１０Ｍが連結されている。中継ギアと同軸のもう１つの歯車が、駆動輪３５に連結したデファレンシャルギア３４を駆動する。
　第１電気モータ１０Ｇおよび第２電気モータ１０Ｍは、本実施例ではいずれも、永久磁石埋込み同期電動機である。第１電気モータ１０Ｇは、センサレス電動機制御装置である第１モータ制御装置３０Ｇによるセンサレスベクトル制御で、インバータ１６Ｇを介して駆動される。第２電気モータ１０Ｍは、ベクトル制御を行う電動機制御装置である第２モータ制御装置３０Ｍによって、インバータ１６Ｍを介して駆動される。第２モータ制御装置３０Ｍは、レゾルバ１０Ｒの電気角信号ＳＧθに基づいて、位置角θおよび回転速度ωｍを算出しそれらを用いてベクトル制御演算を行う。
　第２モータ制御装置３０Ｍがレゾルバ１０Ｒの位置角信号ＳＧθに基づいて算出した第２電気モータ１０Ｍの回転速度ωｍおよびエンジン３１の回転速度ωｅが、第１モータ制御装置３０Ｇに与えられ、第１モータ制御装置３０Ｇは、前記(1)式の回転速度ωｇを算出する。
　図２に、図１に示す、電気モータ，インバータおよびモータ制御装置、ならびに、インバータに給電するコンバータ、の間の電気結線すなわちモータ駆動システム、の概要を示す。第１電気モータ１０Ｇは、この実施例では、エンジン３１を始動するときにはモータ（スタータ）としてエンジン３１を回転駆動し、エンジン３１の回転（動作）中はエンジン３１で回転駆動されて発電する発電動機、として用いられる。第２電気モータ１０Ｍは、駆動輪３５を回転駆動する電動機として用いられており、発電制動にも用いられる。
　車両上の蓄電池であるバッテリ１７には、車両上の電装部が電源オンのときには、１次側コンデンサ１８が接続されて、バッテリ１７と共に１次側直流電源を構成する。電圧センサ１９が、１次側コンデンサ１８の電圧（車両上バッテリ１７の電圧）を表わす電圧検出信号Ｖｄｃをモータ制御装置３０に与える。この実施例では、電圧センサ１９に、分圧抵抗を用いた。１次側直流電源の正極（＋ライン）には、コンバータ２０のリアクトル２１の一端が接続されている。
　コンバータ２０には更に、該リアクトル２１の他端と１次側直流電源の負極（－ライン）の間をオン，オフする昇圧用スイッチング素子である昇圧用半導体スイッチ２２，２次側コンデンサ２７の正極と前記他端との間をオン，オフする回生用スイッチング素子である回生用半導体スイッチ２３、および、各半導体スイッチ２２，２３に並列に接続された各ダイオード２４，２５がある。
　昇圧用半導体スイッチ２２をオン（導通）にすると１次側直流電源（１７，１８）からリアクトル２１を介してスイッチ２２に電流が流れ、これによりリアクトル２１が蓄電し、スイッチ２２がオフ（非導通）に切換るとリアクトル２１がダイオード２５を通して２次側コンデンサ２７に高圧放電する。すなわち１次側直流電源の電圧よりも高い電圧を誘起して２次側コンデンサ２７を充電する。スイッチ２２のオン，オフを繰り返すことにより、２次側コンデンサ２７の高圧充電が継続する。すなわち、高い電圧で２次側コンデンサ２７が充電される。一定周期でこのオン，オフを繰り返すと、オン期間の長さに応じてリアクトル２１が蓄積する電力が上昇するので、該一定周期の間のオン時間（オンデューティ：該一定周期に対するオン時間比）を調整することによって、すなわちＰＷＭ制御によって、１次側直流電源１７，１８からコンバータ２０を介して２次側コンデンサ２７に給電する速度（力行用の給電速度）を調整することが出来る。
　回生用半導体スイッチ２３をオン（導通）にすると、２次側コンデンサ２７の蓄積電力が、スイッチ２３およびリアクトル２１を通して、１次側直流電源１７，１８に与えられる（逆給電：回生）。この場合も、一定周期の間のスイッチ２３のオン時間を調整することによって、すなわちＰＷＭ制御によって、２次側コンデンサ２７からコンバータ２０を介して１次側直流電源１７，１８に逆給電する速度（回生用の給電速度）を調整することができる。
　電圧型インバータ１６は、６個のスイッチングトランジスタＴｒ１～Ｔｒ６を備え、ドライブ回路２９が並行して発生する６連の駆動信号の各連によってトランジスタＴｒ１～Ｔｒ６をオン（導通）駆動して、２次側コンデンサ２７の直流電圧（コンバータ２０の出力電圧すなわち２次電圧）を３連の、位相差が２π／３の交流電圧、すなわち３相交流電圧に変換して、第１電気モータ１０Ｇの３相（Ｕ相，Ｖ相，Ｗ相）のステータコイル１１～１３のそれぞれに印加する。これにより第１電気モータ１０Ｇのステータコイル１１～１３のそれぞれに各相電流ｉＵ，ｉＶ，ｉＷが流れ、第１電気モータ１０Ｇのロータが回転する。ＰＷＭパルスによるトランジスタＴｒ１～Ｔｒ６のオン／オフ駆動（スイッチング）に対する電力供給能力を高くしかつ電圧サージを抑制するために、インバータ１６の入力ラインである、コンバータ２０の２次側出力ラインには、大容量の２次側コンデンサ２７が接続されている。これに対して１次側直流電源を構成する１次側コンデンサ１８は、小型かつ低コストの小容量のものであり、１次側コンデンサ１８の容量は、２次側コンデンサ２７の容量よりもかなり小さい。電圧センサ２８が、コンバータ２０の２次電圧Ｖｕｃを検出して第１モータ制御装置３０Ｇに与える。電気モータ１０のステータコイル１１，１２に接続した給電線には、ホールＩＣを用いた電流センサ１４，１５が装着されており、それぞれ、相電流ｉＶ，ｉＷを検出し電流検出信号（アナログ電圧）を発生し、第１モータ制御装置３０Ｇに与える。
　図３に、第１モータ制御装置３０Ｇの機能構成を示す。第１モータ制御装置３０Ｇは、本実施例では、ＤＳＰ(Digital Signal Processer)を主体とする電子制御装置であり、ドライブ回路２９Ｇ，電流センサ１４，１５，１次電圧センサ１９および２次電圧センサ２８との間の、図示しないインターフェイス（信号処理回路）を含み、さらに、前記車両上の図示しない車両走行制御システムのメインコントローラとの間の、図示しないインターフェイス（通信回路）も含む。
　図３を参照すると、低速用演算手段である第１位置演算４４又は高速用演算手段である第２位置演算４５が、第１電気モータ１０Ｇのロータの回転角度（位置角）θを算出し、速度演算５４が位置角θに基づいて回転速度（角速度）ωｇを算出する。なお、正確にいうと、第１電気モータ１０Ｇのロータの位置角と磁極位置とは同一ではないが、両者は比例関係にあり比例係数が電気モータ１０Ｇの磁極数ｐによって定まる。また、回転速度と角速度とは同一ではないが、両者も比例関係にあり比例係数が第１電気モータ１０Ｇの磁極数ｐによって定まる。本書においては、位置角θは磁極位置を意味する。回転速度ωは角速度を意味するが、回転速度を意味する場合もある。
　図示しない車両走行制御システムのメインコントローラが、モータ目標トルクＴＧ*を第１モータ制御装置３０Ｇに与える。なお、該メインコントローラは、前記車両の車速及びアクセル開度に基づいて車両要求トルクＴＯ*を算出し、該車両要求トルクＴＯ*に対応して、第１および第２モータ目標トルクＴＧ*およびＴＭ*を発生してそれぞれを、第１および第２モータ制御装置３０Ｇおよび３０Ｍに与える。エンジンスタート時は、第１モータ目標トルクＴＧ*は、第１電気モータ１０Ｇがエンジン３１を回転駆動（始動）するための正高値、第２モータ目標トルクＴＭ*は、駆動輪駆動なしの値（０）であるが、エンジンが動作（回転）しているときには、第１モータ目標トルクＴＧ*は所要の電力発生を指示する負値（発電指示値）となり、第２モータ目標トルクＴＭ*は駆動輪駆動に所要の正値となる。第１モータ制御装置３０Ｇは、第１電気モータ１０Ｇの回転速度ωｇrpmをメインコントローラに出力する。第２モータ制御装置３０Ｍは、第２電気モータ１０Ｍの回転速度ωｍrpmを、メインコントローラおよび第１モータ制御装置３０Ｇに出力する。
　第１モータ制御装置３０Ｇは、トルク指令制限３６によって、コンバータ２０の出力電圧（２次電圧）の上限値Ｖmaxおよび回転速度ωｇに対応する制限トルクＴＧ*maxを制限トルクテーブル（ルックアップテーブル）から読み出して、モータ目標トルクＴＧ*がＴＧ*maxを超えていると、ＴＧ*maxを目標トルクＴ*に定める。ＴＧ*max以下のときには、モータ目標トルクＴＧ*を目標トルクＴ*に定める。このような制限を加えて生成したモータ目標トルクＴ*が、出力演算３７に与えられ、また、２次目標電圧算出に用いられる。
　なお、制限トルクテーブルは、２次電圧の上限値Ｖmaxおよび回転速度範囲内の電圧の各値をアドレスとし、該各値で第１電気モータ１０Ｇに負荷（賦課）できる最大トルクを制限トルクＴＧ*maxとして書込んだメモリ領域であり、本実施例では第１モータ制御装置３０Ｇ内の図示しないＲＡＭの１メモリ領域を意味する。制限トルクＴＧ*maxは、２次電圧の上限値Ｖmaxが高いほど大きく、低いほど小さい。また、回転速度ωｇが低いほど大きく、高いほど小さい。
　第１モータ制御装置３０Ｇ内には、該制限トルクテーブルのデータＴＧ*maxを書込んだ不揮発性メモリがあり、第１モータ制御装置３０Ｇに動作電圧が印加されて第１モータ制御装置３０Ｇが、自身および図１に示すモータ駆動システムを初期化する過程で、不揮発性メモリから読み出してＲＡＭに書き込む。第１モータ制御装置３０Ｇにはその他の同様なルックアップテーブルが複数あり後に言及するが、これらも、制限トルクテーブルと同様に、不揮発性メモリにあった参照データが書込まれた、ＲＡＭ上のメモリ領域を意味する。
　第１モータ制御装置３０Ｇは、目標トルクＴ*と回転速度ωｇに基づいて「力行」（電動機動作）か「回生」（発電機動作）かを判定して、「力行」であると「力行」グループ内の、「回生」であると「回生」グループ内の、目標トルクＴ*に割り当てられた２次目標電圧テーブルから、第１電気モータ１０Ｇの回転速度ωｇに割り当てられた２次目標電圧Ｖｕｃ*を読み出し、センサ２８が検出する２次電圧が目標電圧Ｖｕｃ*に合致するように、ドライブ回路２６を介してコンバータ２０を制御する。
　第１モータ制御装置３０Ｇは、出力演算３７およびモータ電流制御３９によって、第１電気モータ１０Ｇのロータにおける磁極対の方向にｄ軸を、該ｄ軸と直角の方向にｑ軸をそれぞれ採った、公知のｄ－ｑ軸モデル上のベクトル制御演算、による、モータ電流のフィードバック制御を行い、モータの電流値ｉｄ，ｉｑを目標値ｉｄ*，ｉｑ*に合わせるためのモータ印加電圧（目標電圧）Ｖｄ*，Ｖｑ*を算出し、該目標電圧を、位置角θを用いる２相／３相変換４０で、３相目標電圧ＶＵ*，ＶＶ*，ＶＷ*に変換して、ＰＷＭパルス発生４１で、目標電圧を第１電気モータ１０Ｇに印加するためのインバータ制御信号（ＰＷＭパルス）ＭＵ，ＭＶ，ＭＷを生成して、ドライブ回路２９Ｇに出力する。
　モータ電流をフィードバックするために第１モータ制御装置３０Ｇは、電流センサ１４，１５の電流検出信号ｉＶ，ｉＷをデジタル変換して読込み、電流帰還３８にて、位置角θを用いる公知の固定／回転座標変換である３相／２相変換を用いて、固定座標上の３相電流値ｉＵ，ｉＶ，ｉＷを、回転座標上のｄ軸およびｑ軸の２相電流値ｉｄ，ｉｑに変換する。なお、ｉＵ＋ｉＶ＋ｉＷ＝０であるので、これに基づいてｉＵは算出される。
　１つのルックアップテーブルである第１高効率トルク曲線テーブルＡが出力演算３７にあり、この第１高効率トルク曲線テーブルＡには、モータ速度ωｇおよびモータ目標トルクＴ*に対応付けられた、各モータ速度で各目標トルクＴ*を発生又は負荷するための各ｄ軸電流値ｉｄが書き込まれている。電動機動作ではトルク「発生」、発電機動作ではトルク負荷（印加）であるが、本書では、「目標トルク発生」には、両者を含む。
　ｄ軸電流ｉｄおよびｑ軸電流ｉｑの各値に対応して第１電気モータ１０Ｇの出力トルク（正値：電動機動作、負値：発電機動作）が定まるが、１つの回転速度値に対して、すなわち同一のモータ回転速度において、同一トルクを出力するためのｉｄ，ｉｑの組合せが無数にあり、定トルクカーブ上にある。定トルクカーブ上に、最も電力使用効率が高い（最低電力消費の）ｉｄ，ｉｑの組合せがあり、そこが高効率トルク点である。複数のトルクカーブ上の高効率トルク点を連ねる曲線が、高効率トルク曲線であって各回転速度に対して存在する。モータの回転速度宛ての高効率トルク曲線上の、与えられたモータ目標トルクＴ*の位置のｄ軸電流ｉｄおよびｑ軸電流ｉｑを目標電流値として第１電気モータ１０Ｇの付勢を行うことにより、目標トルクＴ*を第１電気モータ１０Ｇが出力／入力（受入れ）し、しかも電動／発電の電力効率が高い。
　本実施例では、高効率トルク曲線を、ｄ軸の値を表す第１高効率トルク曲線Ａと、ｑ軸の値を表わす第２高効率トルク曲線Ｂの、２系統に分け、しかも、第１高効率トルク曲線Ａは、力行領域に適用するものと回生領域に適用するものを対にしたものとし、いずれもモータ回転速度と目標トルクに対するｄ軸目標電流を表すものである。
　第１高効率トルク曲線テーブルＡは、目標トルクＴ*に宛てられた、最低電力消費で目標トルクを発生するためのｄ軸目標電流を書込んだメモリ領域であり、力行用の力行テーブルＡ１と、回生用の回生テーブルＡ２をあわせた１対で構成されている。力行用と回生用のいずれのテーブルを用いるかは、電気モータの回転速度ωと与えられる目標トルクＴ*に基づいて、力行（電動機）か回生（発電機）かを判定し、判定結果に従って決定する。
　第１モータ制御装置３０Ｇは、「出力演算」３７の中のｄ軸電流指令の算出では、トルク指令制限によって決定した目標トルクＴ*に対応して第１高効率トルク曲線テーブルＡから読出したｄ軸電流値ｉｄから、ｄ軸弱め界磁電流Δｉｄを減算して、ｄ軸目標電流ｉｄ*を、ｉｄ*＝ｉｄ－Δｉｄ、と算出する。
　ｑ軸電流指令の算出では、出力演算３７にある第２高効率トルク曲線テーブルＢを用いる。第２高効率トルク曲線テーブルＢは、高効率トルク曲線の、ｑ軸の値を表わす第２高効率トルク曲線Ｂを更に、ｄ軸弱め界磁電流Δｉｄと対のｑ軸弱め界磁電流Δｉｑを減算したｑ軸目標電流を表わす曲線に補正し、補正後の第２高効率トルク曲線Ｂのデータ、を格納したものである。第２高効率トルク曲線テーブルＢは、目標トルクＴ*およびｄ軸弱め界磁電流Δｉｄに宛てられた、最低電力消費で目標トルクを発生するためのｄ軸目標電流、すなわち、補正後の第２高効率トルク曲線Ｂの目標電流値、を書込んだメモリ領域であり、これも、力行用の力行テーブルＢ１と、回生用の回生テーブルＢ２をあわせた１対で構成されている。力行用と回生用のいずれを用いるかは、電気モータの回転速度ωと目標トルクＴ*に基づいて、力行か回生かを判定し、判定結果に従って決定する。
　ｑ軸電流指令の算出では、目標トルクＴ*およびｄ軸弱め界磁電流Δｉｄに宛てられたｑ軸目標電流ｉｑ*を、第２高効率トルク曲線テーブルＢから読み出してｑ軸電流指令とする。
　第１モータ制御装置３０Ｇは、モータ電流制御３９にて、ｄ軸目標電流ｉｄ*とｄ軸電流ｉｄとの電流偏差δｉｄ、及びｑ軸目標電流ｉｑ*とｑ軸電流ｉｑとの電流偏差δｉｑを算出し、各電流偏差δｉｄ，δｉｑに基づいて、比例制御及び積分制御（フィードバック制御のＰＩ演算）を行い、その出力に基づいて、電流偏差を零とするための電圧目標値であるｄ軸電圧指令値Ｖｄ*およびｑ軸電圧指令値Ｖｑ*を算出する。
　次に、回転／固定座標変換である２相／３相変換４０にて、回転座標上の目標電圧Ｖｄ*及びＶｑ*を、位置角θを用いる２相／３相変換に従って固定座標上の３相目標電圧ＶＵ*，ＶＶ*，ＶＷ*に変換して、ＰＷＭパルス発生４１に送る。ＰＷＭパルス発生４１は、各相目標電圧が与えられると、それら各値の電圧を出力するための、ＰＷＭパルスＭＵ，ＭＶ，ＭＷに変換して、図２に示されるドライブ回路２９Ｇに出力する。ドライブ回路２９Ｇは、ＰＷＭパルスＭＵ，ＭＶ，ＭＷに基づいて６連の駆動信号を並行して発生し、各連の駆動信号で、電圧型インバータ１６のトランジスタＴｒ１～Ｔｒ６のそれぞれをオン／オフする。これにより、第１電気モータ１０Ｇのステータコイル１１～１３のそれぞれに、各相目標電圧が印加され、相電流ｉＵ，ｉＶおよびｉＷが流れる。
　回転子の位置角であるロータの回転角度（磁極位置）θは、低速用演算手段である第１位置演算４４又は高速用演算手段である第２位置演算４５で算出されて、選択５３から、２相／３相変換４０および３相／２相変換に与えられる。
　第１電気モータ１０Ｇのモータ電圧指令Ｖｄ*，Ｖｑ*に含まれる高調波電圧成分Ｖｄｈ*，Ｖｑｈ*をバンドパスフィルタ４３が抽出し、低速用演算手段である第１位置演算４４が、高調波電圧成分Ｖｄｈ*，Ｖｑｈ*に基く位置角演算によって、位置角θを算出する。この、第１位置演算４４による位置角θ算出のときには、高周波電流生成（低速用）４２が付勢されて、高調波電流指令ｉｄｈ*，ｉｑｈ*を発生して、出力演算３７が発生するｄ，ｑ軸電流指令ｉｄ*，ｉｈ*に加算する。すなわち、高周波電流を第１電気モータ１０Ｇに通電するための電流指令をｄ，ｑ軸電流指令ｉｄ*，ｉｈ*に重畳する。
　高速用演算手段である第２位置演算４５は、第１電気モータ１０Ｇの３相電流と電圧の２相変換値、および、それらにより推定される誘起電圧を介する位置角演算によって、位置角θを算出する。３相／２相変換３８が３相／２相変換したｄ，ｑ軸電流値ｉｄ，ｉｑおよびモータ電流制御３９が算出した目標電圧Ｖｄ*，Ｖｑ*が、第２位置演算４５に与えられる。第２位置演算４５は、所定周期で電流ｉｄ，ｉｑおよび電圧Ｖｄ*，Ｖｑ*をサンプリングしてそれらを用いて誘起電圧を算出し、該誘起電圧と該電流ｉｄ，ｉｑおよび電圧Ｖｄ*，Ｖｑ*を用いて、位置角を算出する。
　いずれの位置演算４４，４５を用いて位置角θを算出するかは、選択手段である位置角演算選択４６が決定する。大要では、位置角演算選択４６は、エンジン３１および第２電気モータ１０Ｍの回転速度ωｅ，ωｍ、ならびに、プラネタリギア機構３２およびカウンタギア機構３３でなる伝動機構の、エンジン，第１および第２電気モータ１０Ｇ，１０Ｍの連結に係わるギア数Ｎａ～Ｎｆ（図１）に基づいて、前記(1)式の第１電気モータ１０Ｇの回転速度ωｇを算出し、該回転速度ωｇが設定値ωＴ以下（モータ停止又は低速回転）であると第１位置演算４４を、ωＴを超える（高速である）と第２位置演算４５を、位置角θの算出に用いる。
　第１モータ制御装置３０Ｇに動作電圧が加わると、位置角演算選択４６のωｇ算出５１が、前記(1)式の回転速度ωｇを算出し、比較５２が、回転速度ωｇが、高，低速判定用の閾値（設定値）ωＴ以下であると低レベルＬの、閾値ωＴを越えると高レベルＨの、速度判定信号を発生する。速度判定信号がＬ（低速）であると、第１位置演算４４を指定しかつ「高周波電流生成（低速用）」４２による高調波電流指令ｉｄｈ*，ｉｑｈ*の生成を開始し、第２位置演算４５は指定しない。これにより第１位置演算４４が位置角θを算出し、選択５３が、速度判定信号Ｌ（低速）に応じて、第１位置演算４４が演算した位置角θを、２相／３相変換４０および３相／２相変換３８に与える。
　速度判定信号がＨ（高速）であると、第２位置演算４５を指定しかつ、「高周波電流生成（低速用）」４２による高調波電流指令ｉｄｈ*，ｉｑｈ*の生成は停止し、第１位置演算４４は指定しない。これにより第２位置演算４５が位置角θを算出し、選択５３が、速度判定信号Ｈ（高速）に応じて、第２位置演算４５が演算した位置角θを、２相／３相変換４０および３相／２相変換３８に与える。この場合は本実施例では、その後第１電気モータ１０Ｇの回転速度ωｇは、速度演算５４が発生する回転速度ωｇに切換えて比較５２に与え、ωｇ算出５１は実行しない。しかし、その後もωｇ算出５１を継続して、ωｇ算出５１が算出した回転速度ωｇを比較５２に与える態様も、可能である。
　以上のように、第１電気モータ１０Ｇの回転速度が閾値ωＴ以下（停止又は低速）であると、位置角演算選択４６が、低速用の第１位置演算４４を指定し、これにより第１位置演算４４が位置角θを算出し、２相／３相変換４０および３相／２相変換３８に与える。しかし、第１電気モータ１０Ｇの回転速度が閾値ωＴを超えていると（高速であると）、位置角演算選択４６が、高速用の第２位置演算４５を指定し、これにより高速用の第２位置演算４５が位置角θを算出し、２相／３相変換４０および３相／２相変換３８に与える。
　以上のように、エンジン３１および第２電気モータ１０Ｍの回転速度ωｅ，ωｍ、ならびに、伝動機構３２，３３のギア数Ｎａ～Ｎｆ、に基づいて第１電気モータ１０Ｇの回転速度ωｇを算出するので、従来の初期状態判定での所定時間の３相短絡はなく、第１電気モータ１０Ｇの駆動立上げに格別な遅れを生じない。また、従来の３相短絡によるトルクショックは生じない。第１電気モータ１０Ｇの動作速度範囲全域において比較的に信頼性が高い位置角が得られるので、該位置角を用いるベクトル制御の信頼性が高い。
　再度図２を参照する。第２電気モータ１０Ｍをベクトル制御する第２モータ制御装置３０Ｍには、図示しない車両走行制御システムのメインコントローラが、モータ目標トルクＴＭ*を与える。なお、該メインコントローラは、車両の車速及びアクセル開度に基づいて車両要求トルクＴＯ*を算出し、該車両要求トルクＴＯ*に対応してモータ目標トルクＴＭ*を発生して、第２モータ制御装置３０Ｍに与える。第２モータ制御装置３０Ｍは、第２電気モータ１０Ｍの回転速度ωｍrpmを、メインコントローラおよび第１モータ制御装置３０Ｇに出力する。
　第２電気モータ１０Ｍのロータに、ロータの位置角θを検出するためのレゾルバ１０Ｒのロータが連結されている。レゾルバ１０Ｒは、そのロータの回転角を表すアナログ電圧（回転角信号）ＳＧθを発生し、第２モータ制御装置３０Ｍに与える。
　図４に、第２モータ制御装置３０Ｍの機能構成の概要を示す。第２モータ制御装置３０Ｍの機能は、第１モータ制御装置３０Ｇの機能（図３）から、位置角演算選択４６，第１，第２位置演算４４，４５，選択５３，速度演算５４およびフィルタ４２，４３を除去し、代わりに、位置角，速度演算５４を加えたものであり、該位置角，速度演算５４が、レゾルバ１０Ｒが与える回転角信号ＳＧθに基づいて、第２電気モータ１０Ｍの位置角θおよび回転速度ωｍを算出し、位置角θを２相／３相変換４０ｍおよび３相／２相変換３８ｍに与える。
　第２モータ制御装置３０Ｍには、第１モータ制御装置３０Ｇのベクトル制御機能と同様なベクトル制御機能が備わっており、第１モータ制御装置３０Ｇのベクトル制御機能要素と同等の、第２モータ制御装置３０Ｍのベクトル制御機能要素には、第１モータ制御装置３０Ｇの要素記号に「ｍ」を付加した要素記号を付した。位置角算出が異なる点を除き、第２モータ制御装置３０Ｍのベクトル制御アルゴリズムは、第１モータ制御装置３０Ｇの上述のものと同様であるので、説明を省略する。
　なお、上述の実施例では、第１電気モータ１０Ｇをセンサレスベクトル制御するが、第１電気モータ１０Ｇにレゾルバを付設し、第２電気モータ１０Ｍのレゾルバ１０Ｒを省略して、第１電気モータ１０Ｇを第２モータ制御装置３０Ｍ相当の電動機制御装置でベクトル制御し、第２電気モータ１０Ｍを第１モータ制御装置３０Ｇ相当の電動機制御装置でセンサレスベクトル制御する実施態様もある。
                                                                                

Claims (5)

  1. 　第１電動機，車両のエンジンに第１電動機を駆動連結する作動機構、及び、駆動輪に駆動連結した第２電動機を備えるハイブリッド駆動装置において、
    　前記エンジンの回転速度を検出するエンジン回転速度センサと、
    　前記第２電動機の磁極位置を検出する磁極位置センサと、
    　前記第１電動機に流れる電流を検出する電流センサと、
    　該電流センサで検出した電流に基づいて第１電動機の磁極位置を推定して、第１電動機を駆動制御するセンサレス電動機制御装置と、
    　前記磁極位置センサで検出した磁極位置に基づいて第２電動機を駆動制御する第２電動機制御装置と、を備えることを特徴とするハイブリッド駆動装置。
  2. 　前記センサレス電動機制御装置は、
    　前記電流センサで検出した電流に基づいて前記第１電動機の磁極位置を推定する高速用推定手段および前記第１電動機に高周波電流を重畳して磁極位置を推定する低速用推定手段と、
    　前記磁極位置センサで検出した前記第２電動機の磁極位置に基づいて前記第２電動機の回転速度を算出し、該第２電動機の回転速度と前記エンジン回転速度センサとに基づいて前記第１電動機の回転速度を算出する第１電動機回転速度算出手段と、
    　該第１電動機回転速度算出手段で算出した前記第１電動機の回転速度に基づいて前記高速用推定手段と前記低速用推定手段を選択する選択手段と、
    を含み、
    　該選択手段で選択した前記高速用推定手段または前記低速用推定手段で推定した磁極位置に基づいて前記第１電動機を駆動制御する、ことを特徴とする請求項１に記載ハイブリッド駆動装置。
  3. 　前記センサレス電動機制御装置は更に、第１電動機の３相電流を直交２軸電流に変換し、該直交２軸電流を直交２軸目標電流と合わせるための２軸電圧指令値を算出し、該２軸電圧指令値を３相電圧指令値に変換して前記第１電動機を制御するベクトル制御部と、前記２軸電圧指令値から高周波の電圧を抽出する電圧フィルタ；を備え、
    　前記低速用推定手段は、前記電圧フィルタが抽出した高周波の電圧に基づいて磁極位置である位置角を算出する；
    請求項２に記載のセンサレス電動機制御装置。
  4. 　前記高速用推定手段は、前記３相電流を直交２軸電流に変換した電流および前記電圧フィルタより前の前記２軸電圧指令値に基づいて前記磁極位置である位置角を算出する；請求項３に記載のセンサレス電動機制御装置。
  5. 　前記センサレス電動機制御装置は更に、前記３相／２軸変換および２軸／３相変換に参照する磁極位置に基づいて第１電動機の回転速度を算出する速度演算手段を備え；
    　前記選択手段は、前記センサレス電動機制御装置への動作電圧印加直後に、前記低速用推定手段又は前記高速用推定手段が磁極位置を算出した後は、前記速度演算手段が算出する回転速度が設定値以下であると前記低速用推定手段により算出する磁極位置を、設定値を超えると前記高速用演算手段により算出する磁極位置を、前記３相／２軸変換および２軸／３相変換に参照する磁極位置とする；請求項３又は４に記載のセンサレス電動機制御装置。
PCT/JP2009/069872 2008-12-24 2009-11-25 ハイブリッド車両の電動機制御装置および駆動装置 WO2010073866A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
DE112009001967T DE112009001967T5 (de) 2008-12-24 2009-11-25 Motorsteuervorrichtung und Antriebsvorrichtung für ein Hybridfahrzeug
JP2010543985A JP5195923B2 (ja) 2008-12-24 2009-11-25 ハイブリッド駆動装置
CN2009801314018A CN102119096A (zh) 2008-12-24 2009-11-25 混合动力车辆的电机控制装置以及驱动装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2008327238 2008-12-24
JP2008-327238 2008-12-24

Publications (1)

Publication Number Publication Date
WO2010073866A1 true WO2010073866A1 (ja) 2010-07-01

Family

ID=42265021

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2009/069872 WO2010073866A1 (ja) 2008-12-24 2009-11-25 ハイブリッド車両の電動機制御装置および駆動装置

Country Status (5)

Country Link
US (1) US8188695B2 (ja)
JP (1) JP5195923B2 (ja)
CN (1) CN102119096A (ja)
DE (1) DE112009001967T5 (ja)
WO (1) WO2010073866A1 (ja)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2019118175A (ja) * 2017-12-26 2019-07-18 東洋電機製造株式会社 トルク制御装置及びトルク制御システム

Families Citing this family (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4434184B2 (ja) * 2006-08-17 2010-03-17 アイシン・エィ・ダブリュ株式会社 電気モータのフィードバック制御方法および装置
DE102011078958B4 (de) * 2011-06-30 2024-05-29 Seg Automotive Germany Gmbh Verfahren zum Betreiben einer mit einer Brennkraftmaschine gekoppelten elektrischen Maschine in einem Kraftfahrzeug
JP6097056B2 (ja) * 2012-11-16 2017-03-15 株式会社デンソー モータ制御装置
JP2014176157A (ja) * 2013-03-07 2014-09-22 Toshiba Corp モータ回転位置検出装置，洗濯機及びモータ回転位置検出方法
US9897985B2 (en) 2013-06-12 2018-02-20 David Zeltzer Energy exchange systems having actuators with multi-parametric control
JP6062324B2 (ja) * 2013-06-14 2017-01-18 日立オートモティブシステムズ株式会社 エンジン始動装置およびエンジン始動制御方法
DE102013212177B4 (de) * 2013-06-26 2022-06-23 Robert Bosch Gmbh Verfahren und System zum Bestimmen von Zustandsgrößen eines Elektromotors zum Antrieb eines Fahrzeugs
CN103684185B (zh) * 2013-11-25 2016-08-17 同济大学 一种电动助力转向系统用助力电机控制方法及系统
JP5858058B2 (ja) * 2014-01-10 2016-02-10 ダイキン工業株式会社 モータ制御装置
JP6203784B2 (ja) * 2015-06-11 2017-09-27 ファナック株式会社 同期電動機の制御装置
US10020759B2 (en) * 2015-08-04 2018-07-10 The Boeing Company Parallel modular converter architecture for efficient ground electric vehicles
DE102015117702A1 (de) * 2015-10-16 2017-04-20 Volkswagen Aktiengesellschaft Verfahren und Vorrichtung zur Rotorlageermittlung in einem Mehrfachelektromaschinensystem
DE102016201746A1 (de) * 2016-02-05 2017-08-10 Robert Bosch Gmbh Verfahren, Winkelbestimmungsvorrichtung und Steuervorrichtung
CN106230342B (zh) * 2016-07-22 2019-04-30 北京精密机电控制设备研究所 一种板级驱动控制器
CN106655944B (zh) * 2016-09-22 2019-06-28 格至控智能动力科技（上海）有限公司 一种永磁同步电机的控制方法及系统
DE102017205489A1 (de) * 2017-03-31 2018-10-04 Robert Bosch Gmbh Verfahren und Vorrichtung zur Schwingungskompensation eines an einer Welle wirkenden Drehmomentes
JP6568158B2 (ja) * 2017-07-28 2019-08-28 株式会社Ｓｕｂａｒｕ 車両用制御装置
KR102331768B1 (ko) * 2017-09-21 2021-11-26 현대자동차주식회사 하이브리드 자동차 및 그 전기 모터 제어 방법
KR102383246B1 (ko) * 2017-10-20 2022-04-05 현대자동차 주식회사 하이브리드 차량의 제어 방법
US10355631B1 (en) * 2018-02-21 2019-07-16 GM Global Technology Operations LLC Methods, systems and apparatus for controlling current supplied to control a machine
JP7041397B2 (ja) * 2018-03-20 2022-03-24 マツダ株式会社 車両駆動装置
KR20210041712A (ko) * 2019-10-08 2021-04-16 현대자동차주식회사 공기압축기용 센서리스 모터 제어 방법

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003092802A (ja) * 2001-09-18 2003-03-28 Aisin Aw Co Ltd 電動車両駆動制御装置、電動車両駆動制御方法及びそのプログラム
JP2008011616A (ja) * 2006-06-28 2008-01-17 Sanyo Electric Co Ltd モータ制御装置
JP2008220100A (ja) * 2007-03-06 2008-09-18 Jtekt Corp モータ制御装置

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3206444B2 (ja) 1996-07-26 2001-09-10 トヨタ自動車株式会社 動力出力装置
JP2904210B1 (ja) 1998-03-20 1999-06-14 トヨタ自動車株式会社 モータ制御装置および方法並びにハイブリッド車両
JP3449226B2 (ja) * 1998-07-03 2003-09-22 日産自動車株式会社 ハイブリッド車両のバッテリー制御装置
US6573675B2 (en) * 2000-12-27 2003-06-03 Transportation Techniques Llc Method and apparatus for adaptive energy control of hybrid electric vehicle propulsion
US7122979B2 (en) * 2000-12-27 2006-10-17 Transportation Techniques, Llc Method and apparatus for selective operation of a hybrid electric vehicle in various driving modes
JP3485905B2 (ja) * 2001-04-26 2004-01-13 本田技研工業株式会社 モータ制御装置
JP3797354B2 (ja) 2003-09-30 2006-07-19 アイシン・エィ・ダブリュ株式会社 電動車両駆動制御装置及び電動車両駆動制御方法
JP5025142B2 (ja) 2006-02-27 2012-09-12 株式会社東芝 モータ制御装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003092802A (ja) * 2001-09-18 2003-03-28 Aisin Aw Co Ltd 電動車両駆動制御装置、電動車両駆動制御方法及びそのプログラム
JP2008011616A (ja) * 2006-06-28 2008-01-17 Sanyo Electric Co Ltd モータ制御装置
JP2008220100A (ja) * 2007-03-06 2008-09-18 Jtekt Corp モータ制御装置

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2019118175A (ja) * 2017-12-26 2019-07-18 東洋電機製造株式会社 トルク制御装置及びトルク制御システム

Also Published As

Publication number Publication date
DE112009001967T5 (de) 2011-07-14
JP5195923B2 (ja) 2013-05-15
CN102119096A (zh) 2011-07-06
US8188695B2 (en) 2012-05-29
JPWO2010073866A1 (ja) 2012-06-14
US20100156333A1 (en) 2010-06-24

Similar Documents

Publication Publication Date Title
JP5195923B2 (ja) ハイブリッド駆動装置
JP4985780B2 (ja) 電動機制御装置，駆動装置およびハイブリッド駆動装置
JP5151965B2 (ja) センサレス電動機制御装置
JP5018516B2 (ja) 回転電機制御装置
JP4978429B2 (ja) 電動機制御装置，電気自動車およびハイブリッド電気自動車
US7701156B2 (en) Electric motor drive control system and control method thereof
JP4434184B2 (ja) 電気モータのフィードバック制御方法および装置
US8054031B2 (en) Converter device, rotating electrical machine control device, and drive device
US9590551B2 (en) Control apparatus for AC motor
JP5803951B2 (ja) 回転電機駆動システム
US9007009B2 (en) Control apparatus for AC motor
JP2007228700A (ja) モータ制御装置
JP2010154598A (ja) センサレス電動機制御装置および駆動装置
JP2009112163A (ja) 電動機制御装置，駆動装置およびハイブリッド駆動装置
JP2009112164A (ja) 電動機制御装置，駆動装置およびハイブリッド駆動装置
JP3985550B2 (ja) 電動車両駆動制御装置、電動車両駆動制御方法及びそのプログラム
JP5418416B2 (ja) モータ制御装置
JP2020178446A (ja) 変調方式切替装置
JP2009124837A (ja) 電動機制御装置および駆動装置
JP2015082853A (ja) モータ制御システム
JP4899536B2 (ja) 電力変換装置

Legal Events

Date Code Title Description
WWE Wipo information: entry into national phase

Ref document number: 200980131401.8

Country of ref document: CN

121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 09834670

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 2010543985

Country of ref document: JP

122 Ep: pct application non-entry in european phase

Ref document number: 09834670

Country of ref document: EP

Kind code of ref document: A1