WO2014046235A1 - インバータ制御装置及びインバータ制御方法 - Google Patents
インバータ制御装置及びインバータ制御方法 Download PDFInfo
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- WO2014046235A1 WO2014046235A1 PCT/JP2013/075451 JP2013075451W WO2014046235A1 WO 2014046235 A1 WO2014046235 A1 WO 2014046235A1 JP 2013075451 W JP2013075451 W JP 2013075451W WO 2014046235 A1 WO2014046235 A1 WO 2014046235A1
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/50—Vector control arrangements or methods not otherwise provided for in H02P21/00- H02P21/36
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
-
- 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
- H02P21/06—Rotor flux based control involving the use of rotor position or rotor speed sensors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/15—Controlling commutation time
- H02P6/153—Controlling commutation time wherein the commutation is advanced from position signals phase in function of the speed
Definitions
- the present invention relates to an inverter control device and an inverter control method.
- a power converter that supplies AC power to the AC motor, and a two-phase rotary shaft that is detected at a predetermined sampling time and uses at least the rotation angle of the AC motor as a coordinate conversion angle in order to control the power converter
- a motor control device having a rotation coordinate conversion means for converting from a three-phase shaft to a three-phase shaft, a rotation angle delayed corresponding to the sampling time is added to at least the rotation angle of the AC motor detected every predetermined sampling time
- a control apparatus for an AC motor characterized in that a first rotation angle compensation means is provided and the added rotation angle is used as a coordinate conversion angle.
- the present invention calculates the phase advance amount based on the phase compensation time and the rotational speed of the motor, advances the phase based on the characteristic of the motor according to the phase advance amount, in the opposite direction to the phase, and The above problem is solved by compensating the phase of the dq axis non-interference voltage command value with the same compensation amount as the phase advance amount.
- the present invention it is possible to suppress the decrease in the gain margin while suppressing the decrease in the phase margin with respect to the change in the rotation speed of the motor, and to compensate for the phase difference between the non-interference voltage and the interference voltage. As a result, the control system can be stabilized.
- FIG. 1 It is a block diagram of the inverter control apparatus concerning embodiment of this invention. It is a block diagram of the stability compensator of FIG. It is a block diagram of the non-interference phase compensator of FIG. (A) is a graph which shows the gain characteristic of the inverter control apparatus of FIG. 1, and the gain characteristic of a comparative example, (b) is a graph which shows the phase characteristic of the inverter control apparatus of FIG. 1, and the phase characteristic of a comparative example.
- (a) is a graph showing the characteristics of the phase margin with respect to the phase compensation time (t pm )
- (b) is a graph showing the characteristics of the phase margin with respect to the phase advance amount ( ⁇ c). .
- (a) is a d-axis current characteristic with respect to time of the reference example
- (b) is a d-axis current characteristic with respect to time of the present invention
- (c) is a d-axis current characteristic with respect to time of the present invention. It is a graph which shows.
- (a) shows the q-axis current characteristic with respect to time of the reference example
- (b) shows the q-axis current characteristic with respect to the time of the present invention
- (c) shows the q-axis current with respect to the time of the present invention. It is a graph which shows a characteristic.
- FIG. 1 is a block diagram of a motor control device according to an embodiment of the invention. Although detailed illustration is omitted, when the inverter control device of this example is provided in an electric vehicle, the three-phase AC power permanent magnet motor 8 is driven as a travel drive source and is coupled to the axle of the electric vehicle.
- the motor control apparatus of this example is applicable also to vehicles other than electric vehicles, such as a hybrid vehicle (HEV), for example.
- HEV hybrid vehicle
- the inverter control device of this example is a control device that controls the operation of the motor 8, and is a current-voltage map 1, a current controller 2, a coordinate converter 3, a PWM (Pulse Width Modulation) converter 4, A battery 5, an inverter 6, a current sensor 7, a magnetic pole position detector 9, a coordinate converter 10, a rotation speed calculator 11, an LPF (Low Pass Filter) 12, an A / D converter 13, A pulse counter 14, a dead time compensator 15, a stability compensator 16, and a non-interfering phase compensator 17 are provided.
- a PWM Pulse Width Modulation
- a torque command value (T * ) input from the outside as an output target value of the motor 8 and an angular frequency ( ⁇ ) that is the rotation speed of the motor 8 that is the output of the rotation speed calculator 11.
- a voltage (V dc ) that is a detection voltage of the battery 5 is input.
- the torque command value (T * ), the angular frequency ( ⁇ ), and the voltage (V dc ) are used as indexes, and the dq axis current command value (i * d , i * q ) and the dq axis non-interference voltage.
- a map for outputting command values (V * d_dcpl , V * q_dcpl ) is stored.
- the current-voltage map 1 refers to the dq-axis current command value (i * d ) corresponding to the input torque command value (T * ), angular frequency ( ⁇ ), and voltage (V * dc ) by referring to the map.
- I * q ) and dq axis non-interference voltage command values (V * d_dcpl , V * q_dcpl ) are calculated and output.
- the dq axis represents a component of the rotating coordinate system.
- dq-axis non-interference voltage command values (V * d_dcpl , V * q_dcpl )
- the command values (V * d_dcpl , V * q_dcpl ) are voltages for canceling the interference voltage.
- dq-axis interference voltage command value, the angular frequency (omega), the inductance (L d, L q) of the dq axes and the dq-axis current (i d, i q) is calculated by.
- the dq axis non-interference voltage command values (V * d_dcpl , V * q_dcpl ) are output to the non-interference phase compensator 17.
- the non-interference phase compensator 17 compensates the phase of the dq-axis non-interference voltage command values (V * d_dcpl , V * q_dcpl ) according to the phase compensation amount compensated by the stability compensator 16 described later.
- the phase difference between the interference voltage between the dq axes and the dq axis non-interference voltage is compensated.
- the detailed configuration of the non-interference phase compensator 17 will be described later.
- non-interference voltage control unit 18 includes the current-voltage map 1, the LPF 12, and the non-interference phase compensator 17.
- the current controller 2 includes a low-pass filter (LPF) 12, a PI controller 19, and an adder.
- LPF low-pass filter
- the LPF 12 receives the compensated dq-axis non-interference voltage command values (V * d_dcpl_c , V * q_dcpl_c ) compensated by the non-interference phase compensator 17, cuts the high frequency band, and outputs voltage command values (V * d_dcpl_flt , V * Q_dcpl_flt ) is output.
- PI controller 19 dq-axis current based on the detected current of the current sensor 7 (i d, i q) a, dq axis current command values (i * d, i * q ) to match the, dq-axis tracking voltage Command values (V * d_FB , V * q_FB ) are calculated.
- the PI controller 19 performing the dq-axis current (i d, i q) and, dq axis current command values (i * d, i * q ) from the deviation, proportional calculation and an integral calculation of (PI control calculation)
- the dq-axis current (i d , i q ) is feedback-controlled by the current controller 2 so that the dq-axis current follows the dq-axis current command value (i * d , i * q ).
- An adder provided between the LPF 12 and the stability compensator 16 and between the PI controller 19 and the stability compensator 16 includes voltage command values (V * d_dcpl_flt , V * q_dcpl_flt ) and a dq axis following voltage command.
- value (V * d_FB, V * q_FB ) by adding the, dq-axis voltage command value (V * d, V * q ) is calculated, dq-axis voltage command value to the stability compensator 16 (V * d, V * Q ) is output.
- the stability compensator 16 compensates the dq axis voltage command values (V * d , V * q ) based on the angular frequency ( ⁇ ), and the compensated dq axis voltage command values (V * d_c , V * q_c ). Is output to the coordinate converter 3. Details of the stability compensator 16 will be described later.
- the coordinate converter 3 receives the compensated dq-axis voltage command values (V * d_c , V * q_c ) of the stability compensator 16 and the phase amount ( ⁇ ′) output from the dead time compensator 15 as follows .
- the compensated dq-axis voltage command values (V * d_c , V * q_c ) of the rotating coordinate system are used as the u, v, and w-axis voltage command values (V * u , V * v ) of the fixed coordinate system. , V * w ).
- the PWM converter 4 drives drive signals (D * uu , D * ul , D * vu , D) of the inverter 6.
- Vl , D * wu , D * wl are generated and output to the inverter 6.
- the switching element switches on and off based on the PWM pulse signal.
- the battery 5 is a DC power source including a secondary battery, and serves as a power source for the vehicle in this example.
- the inverter 6 is configured by a three-phase inverter circuit in which a plurality of circuits in which switching elements (not shown) such as MOSFETs and IGBTs are connected in pairs are connected.
- a drive signal (D * uu , D * ul , D * vu , D * vl , D * wu , D * wl ) is input to each switching element.
- the DC voltage of the DC power supply is converted into AC voltage (V u , V v , V w ) by the switching operation of the switching element, and is input to the motor 8.
- the inverter 6 converts the AC voltage output from the motor 8 into a DC voltage and outputs it to the battery 5. Thereby, the battery 5 is charged.
- the current sensor 7 is provided for each of the U phase and the V phase, detects the phase current (i u , i v ), and outputs it to the A / D converter 13.
- the A / D converter 13 samples the phase current (i u , i v ), and outputs the sampled phase current (i us , i vs ) to the coordinate converter 10.
- the w-phase current is not detected by the current sensor 7. Instead, the coordinate converter 10 uses the following equation 2 based on the input phase currents (i us , i vs ) to indicate the w-phase phase.
- the current (i ws ) is calculated.
- the w-phase current may be detected by the current sensor 7 provided in the w-phase.
- the motor 8 is a multiphase motor and is connected to the inverter 6.
- the motor 8 also operates as a generator.
- the magnetic pole position detector 9 is a detector that is provided in the motor 8 and detects the position of the magnetic pole of the motor 8, and outputs A-phase, B-phase, and Z-phase pulses corresponding to the position of the magnetic pole to the pulse counter 14.
- the pulse counter 14 counts the pulses output from the magnetic pole position detector 9 to obtain a detection value ( ⁇ ) that is position information of the rotor of the motor 8 and outputs the detection value ( ⁇ ) to the rotation speed calculator 11.
- the rotation speed calculator 11 calculates the angular frequency ( ⁇ ) of the motor 8 from the detection value ( ⁇ ) of the magnetic pole position detector 9.
- the coordinate converter 10 is a control unit that performs three-phase to two-phase conversion, and receives the phase current (i us , i vs , i ws ) and the detection value ( ⁇ ) of the pulse counter 14 as inputs according to the following equation (3): phase current of the fixed coordinate system (i us, i vs, i ws) converts the dq-axis current of the rotating coordinate system (i d, i q) to.
- the inverter control device of the present embodiment performs control by the current control loop.
- Dead time compensator 15 a voltage command value (V * u, V * v , V * w) from the determined AC voltage (V u, V v, V w) up is applied to the motor 8 Compensates for voltage output delay, delay due to dead time due to zero-order sampling hold in the current sensor 7 and A / D converter 13, delay due to noise cut filter, etc., and to detect the detected value ( ⁇ ) and angular frequency ( ⁇ ) As an input, the phase amount ( ⁇ ′) is output to the coordinate converter 3.
- FIG. 2 is a block diagram of the stability compensator 16.
- the stability compensator 16 uses the rotational coordinate transformation in orthogonal coordinates to calculate the compensated dq-axis voltage command values (V * d_c , V * q_c ) from the dq-axis voltage command values (V * d , V * q ). Arithmetic.
- the advance amount ( ⁇ ) of the phase rotated by the rotation coordinate conversion of the stability compensator 16 is calculated from the phase compensation time (t pm ) and the angular frequency ( ⁇ ).
- the phase compensation time (t pm ) is a value determined on the basis of the unique characteristics of the motor 8 and is a preset value.
- the torque command value (T * ) input from the outside, the detected voltage (V dc ) of the battery 5, the rotational speed ( ⁇ ) of the motor 8, the temperature of the motor, and the phase compensation time (t pm ) Is stored in the lookup table.
- phase compensation time (t pm ) is calculated. Further, the phase advance amount ( ⁇ ) is calculated by taking the product of the angular frequency ( ⁇ ) and the phase compensation time (t pm ) which is the output value of the table.
- FIG. 3 is a block diagram of the non-interfering phase compensator 17.
- the non-interference phase compensator 17 uses the rotation coordinate transformation to compensate the dq-axis non-interference voltage command value (V * d_dcpl_c , V * q_dcpl_c ) from the dq-axis non-interference voltage command value (V * d_dcpl , V * q_dcpl ). Is calculated.
- the q-axis non-interference voltage command value (V * q_dcpl ) is multiplied by sin (- ⁇ ) from the product obtained by multiplying the d-axis non-interference voltage command value (V * d_dcpl ) by cos ( ⁇ ).
- the compensated d-axis non-interference voltage command value (V * d_dcpl_c ) is calculated, and the q-axis non-interference voltage command value (V * q_dcpl ) is multiplied by cos ( ⁇ ), and d
- the compensated q-axis non-interference voltage command value (V * q_dcpl_c ) is calculated by adding a value obtained by multiplying the axis non-interference voltage command value (V * d_dcpl ) by sin ( ⁇ ).
- the non-interference phase compensator 17 sets the rotating phase to ( ⁇ ), so that the dq-axis non-interference voltage command value is opposite to the rotation direction of the rotational coordinate conversion of the stability compensator 16.
- V * d_dcpl , V * q_dcpl is subjected to rotational coordinate conversion to calculate a compensated dq-axis non-interference voltage command value (V * d_dcpl_c , V * q_dcpl_c ).
- the compensation amount ( ⁇ ) of the phase rotated by the rotational coordinate transformation of the non-interference phase compensator 17 is the same compensation amount as the phase advance amount ( ⁇ ) which is the compensation amount of the stability compensator 16, and the phase advance amount The direction is opposite to the rotational direction of the quantity ( ⁇ ). Therefore, the compensation amount of the phase of the non-interference phase compensator 17 is calculated by the phase compensation time (t pm ) and the angular frequency ( ⁇ ) similarly to the compensation amount of the stability compensator 16. Thereby, the non-interference phase compensator 17 is configured to cancel the phase compensation by the stability compensator 16.
- FIG. 4 shows a round transfer characteristic boat diagram in the current control system of the inverter control device, where (a) shows the gain characteristic with respect to the angular frequency, and (b) shows the phase characteristic with respect to the angular frequency.
- graph a shows the characteristic of the present invention
- graph b shows the characteristic of the comparative example in which the phase compensation time (t pm ) is not set.
- the phase margin can be ensured while reducing the phase delay in the low frequency region, and the gain reduction in the high frequency region can be pushed, so that readjustment of the phase margin or gain margin can be omitted. Further, in this example, since the phase difference between the interference voltage and the non-interference voltage caused by the compensation of the phase margin that is lowered due to the inherent characteristic of the motor 8 is eliminated, the current response can be improved.
- FIG. 12 is a block diagram showing an inverter control device according to another embodiment of the invention.
- the non-interfering phase compensator 17 is omitted from the non-interfering voltage control unit 18 with respect to the first embodiment described above. Since the configuration other than this is the same as that of the first embodiment described above, the description thereof is incorporated as appropriate.
- FIG. 14 is a block diagram showing an inverter control device according to another embodiment of the invention. This example is different from the first embodiment described above in that a non-interference voltage command calculator 31 is provided. Since the configuration other than this is the same as that of the first embodiment described above, the descriptions of the first embodiment and the second embodiment are incorporated as appropriate.
- the non-interference voltage control unit 18 includes a current-voltage map 1, an LPF 12, and a non-interference voltage command calculation unit 31.
- Non-interference voltage command calculator 31 based on the input dq-axis current (i d, i q) and each frequency (omega), using the formula 4 below, dq-axis non-interacting voltage command value (V * d_dcpl , V * q_dcpl ), and outputs it to the non-interference voltage compensator 17.
- [Phi a indicates the intensity of the magnetic flux of the motor 8, shown L d, L q is inductance of dq-axis, respectively.
- the compensation amount equal to the phase advance amount ( ⁇ ) in the direction opposite to the phase of the stability compensator 16 using the phase advance amount ( ⁇ ) by the calculation by the non-interference voltage command calculating unit 31.
- the phases of the interference voltage and the non-interference voltage command value are compensated.
- the phase difference between the interference voltage and the non-interference voltage caused by the compensation of the phase margin that decreases due to the inherent characteristics of the motor 8 is eliminated, so that the current response can be improved.
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Abstract
Description
図1は、発明の実施形態に係るモータ制御装置のブロック図である。詳細な図示は省略するが、本例のインバータ制御装置を電気自動車に設ける場合に、三相交流電力の永久磁石モータ8は、走行駆動源として駆動し、電気自動車の車軸に結合されている。なお本例のモータ制御装置は、例えばハイブリッド自動車(HEV)等の電気自動車以外の車両にも適用可能である。
図12は、発明の他の実施形態に係るインバータ制御装置を示すブロック図である。本例では上述した第1実施形態に対して、非干渉電圧制御部18から、非干渉位相補償器17を省いた点である。これ以外の構成は上述した第1実施形態と同じであるため、その記載を適宜、援用する。
図14は、発明の他の実施形態に係るインバータ制御装置を示すブロック図である。本例では上述した第1実施形態に対して、非干渉電圧指令演算器31を設けている点が異なる。これ以外の構成は上述した第1実施形態と同じであるため、第1実施形態及び第2の実施形態の記載を適宜、援用する。
2…電流制御器
21…電流制御部
22…非干渉制御部
3…座標変換器
4…PWM変換器
5…バッテリ
6…インバータ
7…電流センサ
8…モータ
9…磁極位置検出器
10…座標変換器
11…回転数演算器
13…A/D変換器
14…パルスカウンタ
15…むだ時間補償器
16…安定性補償器
17…非干渉位相補償器
18…非干渉電圧制御部
19…PI制御器
31…非干渉電圧指令演算器
Claims (6)
- 直流電源から入力される直流電力を交流電力に変換し、モータに供給するインバータと、
前記インバータから出力される交流電圧の指令値を、交流電流の検出値に基づき算出する指令値算出手段と、
前記指令値又は前記検出値の位相を補償する位相補償手段と、
前記位相補償手段により補償された指令値に基づき前記インバータを制御するインバータ制御手段と、
前記モータの回転速度を検出するモータ回転速度検出手段と、
dq軸間で互いに干渉する干渉電圧を打ち消すdq軸非干渉電圧指令値を演算し、前記指令値算出手段に出力するdq軸非干渉電圧指令値演算手段と、
前記位相補償手段によって補償された位相の補償量に応じて位相を補償する逆位相補償手段とを備え、
前記位相補償手段は、
所定の位相余裕を得るために設定された位相補償時間及び前記回転速度に基づき位相進み量を算出し、前記位相進み量で、前記モータの固有の特性に基づく位相を補償し、
前記逆位相補償手段は、
前記位相補償手段によって補償される位相と逆方向に、前記位相進み量と同じ補償量で、前記dq軸非干渉電圧指令値の位相を補償する
ことを特徴とするインバータ制御装置。 - 前記モータの相電流を検出する電流検出手段をさらに備え、
前記逆位相補償手段の前記補償量は、
少なくとも前記電流検出手段の電流検出の無駄時間により生じる位相差に相当する
ことを特徴とする請求項1記載のインバータ制御装置。 - 前記モータのトルク指令値及び前記回転速度に基づき、前記交流電流の指令値であるdq軸電流指令値を演算するdq軸電流指令値演算手段をさらに備え、
前記位相補償手段は、dq軸追従電圧指令値を補償し、
前記指令値算出手段は、
前記交流電流の検出値であるdq軸電流を前記dq軸電流指令値に追従させる前記dq軸追従電圧指令値を演算し、
前記位相補償手段により補償された前記dq軸追従電圧指令値及び前記逆位相補償手段により補償された前記dq軸非干渉電圧指令値に基づき、前記交流電圧の指令値を演算する
ことを特徴とする請求項1又は2記載のインバータ制御装置。 - 前記位相補償手段は、
前記位相補償時間と前記回転速度とを乗算することで前記位相進み量を算出する
ことを特徴とする請求項1~3のいずれか一項に記載のインバータ制御装置。 - 前記位相補償手段は、
前記回転速度、前記モータの電流、外部から入力されるトルク指令値、前記モータの温度、または、前記インバータへの入力電圧のうち少なくとも一つの値と、前記位相補償時間とを対応づけるマップを格納する
ことを特徴とする請求項1~4のいずれか一項に記載のインバータ制御装置。 - インバータにより直流電源から入力される直流電力を交流電力に変換し、モータに供給する工程と、
前記インバータから出力される交流電流を検出する検出工程と、
前記インバータから出力される交流電圧の指令値を、前記検出工程により検出される検出値に基づいて算出する指令値演算工程と、
前記指令値又は前記検出値の位相を補償する位相補償工程と、
前記位相補償工程により補償された指令値に基づき前記インバータを制御するインバータ制御工程と、
前記モータの回転速度を検出する回転速度検出工程と、
dq軸間で互いに干渉する干渉電圧を打ち消すdq軸非干渉電圧指令値を演算するdq軸非干渉電圧指令値演算工程と、
前記位相補償工程により補償された位相の補償量に応じて位相を補償する逆位相補償工程とを含み、
前記指令値演算工程は、
前記dq軸非干渉電圧指令値に基づき、前記交流電圧の前記指令値を演算する工程を含み、
前記位相補償工程は、
所定の位相余裕を得るために設定された位相補償時間及び前記回転速度に基づき位相進み量を算出し、前記位相進み量で、前記モータの固有の特性に基づく位相を補償する工程を含み、
前記逆位相補償工程は、
前記位相補償手段によって補償された位相と逆方向に、前記位相進み量と同じ補償量で、前記dq軸非干渉電圧指令値の位相を補償する工程を含む
ことを特徴とするインバータ制御方法。
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