WO2014103586A1 - モータ制御装置およびモータ制御方法 - Google Patents
モータ制御装置およびモータ制御方法 Download PDFInfo
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- WO2014103586A1 WO2014103586A1 PCT/JP2013/081536 JP2013081536W WO2014103586A1 WO 2014103586 A1 WO2014103586 A1 WO 2014103586A1 JP 2013081536 W JP2013081536 W JP 2013081536W WO 2014103586 A1 WO2014103586 A1 WO 2014103586A1
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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
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/02—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles characterised by the form of the current used in the control circuit
- B60L15/025—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles characterised by the form of the current used in the control circuit using field orientation; Vector control; Direct Torque Control [DTC]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2045—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for optimising the use of energy
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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
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
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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
- H02P21/06—Rotor flux based control involving the use of rotor position or rotor speed sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- 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
- B60L2240/427—Voltage
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- 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
- B60L2240/429—Current
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/52—Drive Train control parameters related to converters
- B60L2240/527—Voltage
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/52—Drive Train control parameters related to converters
- B60L2240/529—Current
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2260/00—Operating Modes
- B60L2260/40—Control modes
- B60L2260/42—Control modes by adaptive correction
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2270/00—Problem solutions or means not otherwise provided for
- B60L2270/10—Emission reduction
- B60L2270/14—Emission reduction of noise
- B60L2270/145—Structure borne vibrations
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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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/05—Torque loop, i.e. comparison of the motor torque with a torque reference
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Definitions
- the present invention relates to a motor control device and a motor control method.
- An object of the present invention is to provide a motor control device and a motor control method for suppressing torsional vibration.
- a motor control device calculates an instruction value of an AC voltage output from an inverter based on an inverter that supplies and drives a voltage to the AC induction motor and a target motor torque of the AC induction motor.
- the target motor torque of the AC induction motor is at least a first target motor torque that requires a high-speed response to suppress torsional vibration, and a lower-speed response than the first target motor torque, and is subjected to delay processing.
- the second target motor torque is included.
- the command value calculation means calculates a magnetic flux current command value having a slow current responsiveness to the input based on the target motor torque, and based on the target motor torque and the magnetic flux current command value A torque current command value having a quick response is calculated.
- FIG. 1 is a block diagram illustrating the configuration of the motor control device according to the first embodiment.
- FIG. 2 is a diagram for explaining the processing performed by the torque response improvement computing unit.
- FIG. 3 is a diagram illustrating another configuration example of the torque response improvement computing unit.
- FIG. 4 is a diagram showing still another configuration example of the current command value calculator and the torque response improvement calculator.
- FIG. 5 is a diagram showing a control result of the motor control device in the first embodiment shown in FIG.
- FIG. 6 shows a control result of a conventional motor control device in which the target motor torque is not divided into two T 1 * and T 2 * in the configuration shown in FIG. 1, and no torque response improvement calculator and filter are provided.
- FIG. 7 is a block diagram showing a configuration when the motor control device is applied to a winding field synchronous motor in which a winding for passing a field current is wound around a rotor.
- FIG. 8 is a diagram for explaining the processing performed by the torque response improvement computing unit in the configuration shown in FIG.
- FIG. 9 is a diagram illustrating another configuration example of the torque response improvement computing unit in the configuration illustrated in FIG. 7.
- FIG. 10 is a diagram showing a control result of the motor control device in the configuration shown in FIG.
- FIG. 11 shows a control result of a conventional motor control device that does not divide the target motor torque into two of T 1 * and T 2 * in the configuration shown in FIG. FIG. FIG.
- FIG. 12 is a block diagram illustrating a main configuration of the motor control device according to the second embodiment, and corresponds to FIG. 2 of the first embodiment.
- FIG. 13 is a diagram illustrating a control result of the motor control device according to the second embodiment.
- FIG. 14 is a block diagram showing a configuration when the limiter limits the ⁇ -axis current command value i ⁇ s * output from the torque response improvement computing unit by the upper limit value i ⁇ s_lim .
- FIG. 15 is a block diagram showing a configuration when a limiter is provided in the configuration shown in FIG.
- FIG. 16 is a block diagram illustrating a main configuration of a motor control device according to the third embodiment.
- FIG. 17 is a diagram illustrating a control result of the motor control device according to the third embodiment.
- FIG. 18 is a block diagram showing a configuration when a lower limiter is provided in the configuration shown in FIG.
- FIG. 19 is a block diagram showing a configuration when a lower limiter is provided in the configuration of the winding field synchronous motor shown in FIG.
- FIG. 20 is a block diagram showing a configuration when a lower limiter is provided for another configuration of the winding field synchronous motor.
- Figure 21 shows the winding magnetic field motor, the control results when such torque command value T 1 * be zero or near zero, and outputs a predetermined amount of the field current i f * of slow response FIG.
- FIG. 1 is a block diagram illustrating the configuration of the motor control device according to the first embodiment.
- This motor control device is applied to, for example, an electric vehicle.
- the present invention can be applied to a hybrid vehicle or a system other than a vehicle.
- the motor 1 is a three-phase AC induction motor. When the motor control device is applied to an electric vehicle, the motor 1 serves as a vehicle drive source.
- the PWM converter 6 generates PWM_Duty drive signals D uu * and D ul * for the switching elements (IGBT and the like) of the three-phase voltage type inverter 3 based on the three-phase voltage command values V u * , V v * and V w * . , D vu * , D vl * , D wu * , and D wl * are generated.
- the inverter 3 converts the DC voltage of the DC power supply 2 into AC voltages V u , V v , V w based on the drive signal generated by the PWM converter 6 and supplies it to the motor 1.
- the DC power source 2 is, for example, a stacked lithium ion battery.
- the current sensor 4 detects at least two-phase current (for example, U-phase current i u and V-phase current i v ) among the three-phase AC current supplied from the inverter 3 to the motor 1.
- the detected two-phase currents i u and i v are converted into digital signals i us and i vs by the A / D converter 7 and input to the three-phase / ⁇ - ⁇ AC coordinate converter 11.
- the remaining one-phase current i ws can be obtained by the following equation (1).
- the magnetic pole position detector 5 outputs A-phase B-phase Z-phase pulses corresponding to the rotor position (angle) of the motor 1, and the rotor mechanical angle ⁇ rm is obtained through the pulse counter 8.
- Angular velocity calculator 9 inputs the rotor mechanical angle theta rm, the more the time rate of change, the rotor mechanical angular omega rm, and the rotor mechanical angular omega rm rotor electrical angular velocity multiplied by the motor pole pairs p in omega Find re .
- the ⁇ - ⁇ / 3-phase AC coordinate converter 12 performs conversion from an orthogonal two-axis DC coordinate system ( ⁇ - ⁇ axis) rotating at a power source angular velocity ⁇ described later to a three-phase AC coordinate system (UVW axis).
- the power source angle ⁇ obtained by integrating the ⁇ -axis voltage command value (magnetic flux voltage command value) V ⁇ s * , the ⁇ -axis voltage command value (torque voltage command value) V ⁇ s *, and the power source angular velocity ⁇ is input.
- the voltage command values V u * , V v * , and V w * for each UVW phase are calculated and output.
- ⁇ ′ in the formula (2) is the same as ⁇ .
- the three-phase / ⁇ - ⁇ AC coordinate converter 11 performs conversion from the three-phase AC coordinate system (UVW axis) to the orthogonal two-axis DC coordinate system ( ⁇ - ⁇ axis). Specifically, a U-phase current i us , a V-phase current i vs , a W-phase current i ws, and a power supply angle ⁇ obtained by integrating the power supply angular velocity ⁇ are input. ) I ⁇ s and ⁇ -axis current (torque current) i ⁇ s are calculated. The ⁇ -axis current has a slow response to the command value, and the ⁇ -axis current has a faster response to the command value than the ⁇ -axis current.
- the current command value calculator 13 inputs the target motor torque, the motor rotation speed (mechanical angular velocity ⁇ rm ), and the DC voltage Vdc of the DC power supply 2, and the ⁇ -axis current command value (flux current command value) i ⁇ s ** , ⁇
- the shaft current command value (torque current command value) i ⁇ s ** is calculated.
- the ⁇ -axis current command value i ⁇ s ** and the ⁇ -axis current command value i ⁇ s ** are respectively the target motor torque, motor rotational speed (mechanical angular velocity ⁇ rm ), DC voltage V dc , and ⁇ -axis current command value i ⁇ s *. *
- Map data defining a relationship with the ⁇ -axis current command value i ⁇ s ** is stored in advance in a memory, and can be obtained by referring to the map data.
- the target motor torque input to the current command value calculator 13 is obtained by adding the target motor torque T 1 * subjected to the time delay processing by the filter 19 and the target motor torque T 2 *. It is.
- the target motor torque T 1 * is a torque command value obtained according to the accelerator opening, and does not require a high-speed response.
- the target motor torque T 2 * is a torque command value that requires a high-speed response in order to suppress the torsional vibration of the driving force transmission system (drive shaft) from the motor 1 to the driving wheel.
- the filter 19 delays and outputs the target motor torque T 1 * for a time longer than the response time of the target motor torque T 1 * determined according to the accelerator opening.
- the non-interference controller 17 inputs the ⁇ -axis current (magnetic flux current) i ⁇ s , the ⁇ -axis current (torque current) i ⁇ s , and the power source angular frequency ⁇ to cancel the interference voltage between ⁇ - ⁇ orthogonal coordinate axes.
- Necessary non-interference voltages V * ⁇ s_dcpl and V * ⁇ s_dcpl are calculated from the following equation (4).
- ⁇ in the equation (4) is a time constant of the rotor magnetic flux, and is a very large value compared to the time constant of the current response.
- S is a Laplace operator.
- the magnetic flux current controller 15 causes the measured ⁇ -axis current (magnetic flux current) i ⁇ s to follow the ⁇ -axis current command value (flux current command value) i ⁇ s * with a desired response without a steady deviation. Further, the torque current controller 16 causes the measured ⁇ -axis current (torque current) i ⁇ s to follow the ⁇ -axis current command value (torque current command value) i ⁇ s * with a desired response without a steady deviation.
- the control for canceling the interference voltage between the ⁇ - ⁇ orthogonal coordinate axes by the non-interference controller 17 functions ideally, it becomes a simple control target characteristic of one input and one output, so a simple PI feedback compensator can be used.
- a value obtained by correcting (adding) each voltage command value output from the magnetic flux current controller 15 and the torque current controller 16 using the non-interference voltages V ⁇ s_dcpl and V ⁇ s_dcpl output from the non-interference controller 17 is obtained as ⁇
- the shaft voltage command value (magnetic flux voltage command value) V ⁇ s * and the ⁇ axis voltage command value (torque voltage command value) V ⁇ s * are used.
- the slip angular frequency controller 14 receives the ⁇ -axis current (magnetic flux current) i ⁇ s and the ⁇ -axis current (torque current) i ⁇ s , and calculates the slip angular velocity ⁇ se from the following equation (5).
- R r and L r are parameters of the induction motor, and indicate rotor resistance and rotor self-inductance, respectively.
- a value obtained by adding the slip angular velocity ⁇ se to the rotor electrical angular velocity ⁇ re is defined as a power source angular velocity ⁇ .
- the induction motor torque is proportional to the product of the ⁇ -axis current (magnetic flux current) i ⁇ s and the ⁇ -axis current (torque current) i ⁇ s .
- KT in equation (6) is a coefficient determined by parameters of the induction motor.
- FIG. 2 is a diagram for explaining the processing performed by the torque response improvement computing unit 18.
- the torque response improvement computing unit 18 inputs a target motor torque T 2 * and a slow response ⁇ -axis current command value (magnetic flux current command value) i ⁇ s ** , and an equation obtained by modifying equation (7) ( 9), the ⁇ -axis current correction value i ⁇ s_T2 is calculated, and the calculated ⁇ -axis current correction value i ⁇ s_T2 is added to the responsive ⁇ -axis current command value (torque current command value) i ⁇ s ** .
- the corrected ⁇ -axis current command value (torque current command value) i ⁇ s * is calculated.
- the ⁇ -axis current command value (flux current command value) i ⁇ s * output from the torque response improvement calculator 18 is the ⁇ -axis current command value (flux current command value) i input to the torque response improvement calculator 18. Same as ⁇ s ** .
- Gp (s) represents the induction motor 1
- Gc (s) represents a control model representing a control block between the torque response improvement computing unit 18 and the induction motor 1.
- FIG. 3 is a diagram showing another configuration example of the torque response improvement computing unit 18.
- the torque response improvement computing unit 18 includes a target magnetic flux computing unit 181, a magnetic flux estimation computing unit 182, and a torque current correction unit 183.
- the target magnetic flux calculator 181 obtains the target rotor magnetic flux ⁇ * ⁇ r from the following equation (10). Further, the magnetic flux estimation calculator 182 obtains the rotor magnetic flux estimated value ⁇ ⁇ ⁇ r from the following equation (11).
- the torque current correcting unit 183 A command value (torque current command value) i ⁇ s * is obtained.
- the corrected ⁇ -axis current command value i ⁇ s * is obtained by multiplying the ⁇ -axis current command value i ⁇ s ** by the ratio between the target rotor magnetic flux ⁇ * ⁇ r and the rotor magnetic flux estimated value ⁇ ⁇ ⁇ r .
- the upper limit of the ⁇ -axis current command value i ⁇ s * is limited by the upper limiter 184, and the upper limit of the ⁇ -axis current command value i ⁇ s * is limited by the upper limiter 185.
- FIG. 4 is a diagram showing still another configuration example of the current command value calculator 13 and the torque response improvement calculator 18.
- a current command value calculator 13 receives a target motor torque and calculates a ⁇ -axis current command value (magnetic flux current command value) i ⁇ s * .
- the torque response improvement calculator 18 adds the target motor torque T 1 * delayed by the filter 19 and the target motor torque T 2 * , and the ⁇ -axis current command value i. ⁇ s * is input, and a ⁇ -axis current command value i ⁇ s * is obtained from the following equation (12).
- K Te in Expression (12) is a coefficient determined by the parameter of the induction motor 1.
- FIG. 5 is a diagram showing a control result of the motor control device in the first embodiment shown in FIG.
- FIGS. 5A to 5J show a ⁇ -axis current i ⁇ s , a ⁇ -axis current i ⁇ s , a current vector Is, a ⁇ -axis voltage V ⁇ s , a ⁇ -axis voltage V ⁇ s , a feedforward torque command value T 1 * , Ford Forward A torque actual value T 1 , a feedback torque command value T 2 * , a feedback torque T 2 , and an overall torque are shown.
- the torque T 2 * requiring a high-speed response is subjected to a high-response process without a delay element (see FIGS. 5 (h) and (i)), so that a desired torque can be realized.
- the current command value is less likely to be limited by the current limit value (upper limit value) with respect to the torque T 2 * that requires a high-speed response.
- the current limit value is set so that the current limit values of the ⁇ -axis and the ⁇ -axis become the same value based on the allowable maximum current value Is_max .
- FIG. 6 shows a control result of a conventional motor control device in which the target motor torque is not divided into two T 1 * and T 2 * in the configuration shown in FIG. 1, and the torque response improvement calculator 18 and the filter 19 are not provided.
- FIG. FIGS. 6A to 6J show a ⁇ -axis current i ⁇ s , a ⁇ -axis current i ⁇ s , a current vector Is, a ⁇ -axis voltage V ⁇ s , a ⁇ -axis voltage V ⁇ s , a feedforward torque command value T 1 * , and a Ford forward.
- a torque actual value T 1 , a feedback torque command value T 2 * , a feedback torque T 2 , and an overall torque are shown.
- the ⁇ -axis current is calculated in consideration of the ⁇ -axis magnetic flux response delay, the ⁇ -axis current is easily limited by the current limit value (upper limit value) when the ⁇ -axis current is small or the torque command value is large (FIG. 6 ( b)). Since the ⁇ -axis current is limited by the current limit value, the feedback torque T 2 cannot follow the command value T 2 * (see FIG. 6 (i)), and the torque response becomes a gentle operation with respect to the target value. (See FIG. 6 (j)). Therefore, originally, such as torsional vibration of the vehicle, it can not be suppressed vibration affecting ⁇ -axis magnetic flux delay with respect to the torque T 2 required fast response (see FIG. 6 (i)). The torque T 1 determined by the accelerator operation by the driver may be slow response, but no problem becomes gentle response to the target value (see FIG. 6 (g)).
- a parameter variation compensator for compensating for this variation may be provided.
- FIG. 7 is a block diagram showing a configuration when the motor control device is applied to a winding field synchronous motor 1A in which a winding for passing a field current is wound around a rotor.
- the same components as those shown in FIG. 1 are denoted by the same reference numerals, and detailed description thereof is omitted.
- the configuration shown in FIG. 7 is different from the configuration shown in FIG. 1 in that a field current controller 20 is added and a slip angular frequency controller 14 is omitted.
- the torque response improvement calculator 18A shown in FIG. 7 corresponds to the torque response improvement calculator 18 shown in FIG. 1, and the d-axis current controller 15A and the q-axis current controller 16A are respectively magnetic flux current controllers shown in FIG. 15 and the torque current controller 16.
- the three-phase / dq AC coordinate converter 11A and the dq / 3-phase AC coordinate converter 12A are respectively a three-phase / ⁇ - ⁇ AC coordinate converter 11 and a ⁇ - ⁇ / 3-phase shown in FIG. This corresponds to the AC coordinate converter 12.
- the three-phase / dq AC coordinate converter 11A performs conversion from the three-phase AC coordinate system (UVW axis) to the orthogonal two-axis DC coordinate system (dq axis).
- the dq / 3-phase AC coordinate converter 12A performs conversion from the orthogonal two-axis DC coordinate system (dq axis) to the three-phase AC coordinate system (UVW axis).
- the d-axis current controller 15A causes the measured d-axis current i d to follow the d-axis current command value i d * with a desired response without a steady deviation. Further, the q-axis current controller 16A causes the measured q-axis current i q to follow the q-axis current command value i q * with a desired response without a steady deviation.
- the field current controller 20 causes the measured field current if to follow the field current command value if * with a desired response without a steady deviation.
- the control content performed by the torque response improvement computing unit 18A will be described below.
- a torque formula of a general salient pole type winding field motor is expressed by the following formula (13).
- M is a mutual inductance
- L d is a d-axis self-inductance
- L q is a q-axis self-inductance
- p is the number of pole pairs.
- FIG. 8 is a diagram for explaining the processing performed in the torque response improvement computing unit 18A.
- the torque response improvement calculator 18A shown in FIG. 8 performs the same processing as the torque response improvement calculator 18 shown in FIG.
- the ⁇ -axis current command value i ⁇ s ** in FIG. 2 corresponds to the field current command value i f * in FIG. 8
- the ⁇ -axis current command value i ⁇ s ** in FIG. 2 is the q-axis current in FIG. Corresponds to the command value i q ** .
- FIG. 9 is a diagram illustrating another configuration example of the torque response improvement computing unit 18A.
- the torque response improvement computing unit 18A includes a target motor torque obtained by adding the target motor torque T 1 * delayed by the filter 19 and the target motor torque T 2 * , and the field
- the current command value i f * is input, and the ⁇ -axis current command value i q * is obtained from the following equation (15).
- FIG. 10 is a diagram showing a control result of the motor control device in the configuration shown in FIG.
- FIGS. 10A to 10J show a d-axis current i d , a q-axis current i q , a current vector Ia, a field current I f , a field voltage V f , a feed forward torque command value T 1 * , and a Ford forward.
- a torque actual value T 1 , a feedback torque command value T 2 * , a feedback torque T 2 , and an overall torque are shown.
- the torque T 2 * requiring a high-speed response is subjected to a high-response process without a delay element (see FIGS. 10 (h) and (i)), so that a desired torque can be realized.
- the current command value is less likely to be limited by the current limit value (upper limit value) with respect to the torque T 2 * that requires a high-speed response.
- FIG. 11 shows a control result of a conventional motor control device in which the target motor torque is not divided into two T 1 * and T 2 * in the configuration shown in FIG. 7, and the torque response improvement computing unit 18A and the filter 19 are not provided.
- FIG. 11A to 11J show the d-axis current i d , q-axis current i q , current vector Ia, field current I f , field voltage V f , feedforward torque command value T 1 * , Ford forward A torque actual value T 1 , a feedback torque command value T 2 * , a feedback torque T 2 , and an overall torque are shown.
- Current command value calculator 13 and torque response improvement calculator 18 that function as command value calculation means for calculating the command value of the magnetic flux, and a magnetic flux current controller that functions as inverter control means for controlling the inverter based on the AC voltage command value 15, a torque current controller 16, a ⁇ - ⁇ / 3-phase AC coordinate converter 12, and a PWM converter 6.
- the target motor torque of the AC induction motor is a first target motor torque T 2 * that requires a high-speed response to suppress at least torsional vibration, and a lower-speed response than the first target motor torque, and is delayed.
- the processed second target motor torque T 1 * is included.
- the current command value calculator 13 and the torque response improvement calculator 18 calculate a magnetic flux current command value i ⁇ s ** having a slow current response with respect to the input based on the target motor torque, and the target motor torque and the magnetic flux current. Based on the command value i ⁇ s ** , a torque current command value i ⁇ s * having a faster current response than the magnetic flux current command value is calculated.
- the target motor torque includes a first target motor torque T 2 * and a second target motor torque T 1 * that has been subjected to a delay process, and suppresses vehicle body vibration by the first target motor torque T 2 * .
- the ride performance of the occupant can be improved.
- the delay process is performed on the second target motor torque T 1 * having the low speed response, the current can be used for the first target motor torque T 2 * , and the first target requiring the high speed response.
- the current command value is less likely to be limited by the current limit value (upper limit value) with respect to the target motor torque T 2 * , and a desired torque can be realized.
- FIG. 12 is a block diagram illustrating a main configuration of the motor control device according to the second embodiment, and corresponds to FIG. 2 of the first embodiment.
- the motor 1 is an induction motor, and the same configuration as the configuration shown in FIG.
- a limiter 30 is provided at the subsequent stage of the torque response improvement computing unit 18.
- the limiter 30 performs a process of limiting the ⁇ -axis current command value i ⁇ s * output from the torque response improvement computing unit 18 with the upper limit value i ⁇ s_lim .
- Upper limit i Derutaesu_lim based on the maximum value I s_max and ⁇ -axis current value i gamma] s of the current motor 1 * is represented by the following formula (16)
- FIG. 13 is a diagram illustrating a control result of the motor control device according to the second embodiment. However, FIG. 13 also shows the control result of the motor control device in the first embodiment for comparison.
- FIGS. 13A to 13J show a ⁇ -axis current i ⁇ s , a ⁇ -axis current i ⁇ s , a current vector Is, a ⁇ -axis voltage V ⁇ s , a ⁇ -axis voltage V ⁇ s , a feedforward torque command value T 1 * , Ford Forward A torque actual value T 1 , a feedback torque command value T 2 * , a feedback torque T 2 , and an overall torque are shown.
- the ⁇ -axis current command value may be limited.
- the upper limit value i ⁇ s_lim for limiting the ⁇ -axis current command value is expressed by the following equation (17).
- FIG. 14 is a block diagram showing a configuration when the limiter 40 limits the ⁇ -axis current command value i ⁇ s * output from the torque response improvement computing unit 18 to the upper limit value i ⁇ s_lim .
- FIG. 15 is a block diagram showing a configuration when a limiter 50 is provided in the configuration shown in FIG.
- the limiter 50 limits the ⁇ -axis current command value i ⁇ s * output from the current command value calculator 13 with the upper limit value i ⁇ s_lim .
- the ⁇ -axis current command value may be limited by the upper limit value i ⁇ s_lim .
- the limiter value is based on at least one of the ⁇ -axis current command value i ⁇ s * and the ⁇ -axis current command value i ⁇ s * and the maximum command value I s_max.
- the ⁇ -axis current command value i ⁇ s * or the ⁇ -axis current command value i ⁇ s * is limited based on the calculated limiter value, so that overcurrent is prevented and the command values of both axes are equalized.
- the torque response can be realized with the maximum current as compared with the case of limiting with the limit value.
- the target motor torque obtained by adding the target motor torque T 1 * subjected to the delay process by the filter 19 and the target value motor torque T 2 * is zero or near zero. Even in the case of (predetermined torque or less), a predetermined amount larger than 0 is output as the current for generating the magnetic flux on the rotor side.
- FIG. 16 is a block diagram illustrating a main configuration of the motor control device according to the third embodiment.
- the same components as those shown in FIG. 2 are denoted by the same reference numerals, and detailed description thereof is omitted.
- a lower limiter 60 is provided at the subsequent stage of the current command value calculator 13.
- the lower limiter 60 performs a limiter process such that the ⁇ -axis current command value i ⁇ s ** output from the current command value calculator 13 becomes equal to or greater than a predetermined lower limit value greater than zero. That is, even when the target motor torque obtained by adding the target motor torque T 1 * subjected to the delay process and the target value motor torque T 2 * is zero or near zero, the ⁇ axis has a slow response.
- the current command value (magnetic flux current command value) i ⁇ s ** is set to be equal to or larger than a predetermined lower limit value greater than zero.
- FIG. 17 is a diagram illustrating a control result of the motor control device according to the third embodiment. However, in FIG. 17, the control result of the motor control device in the first embodiment is also shown for comparison.
- FIGS. 17A to 17J show a ⁇ -axis current i ⁇ s , a ⁇ -axis current i ⁇ s , a current vector Is, a ⁇ -axis voltage V ⁇ s , a ⁇ -axis voltage V ⁇ s , a feedforward torque command value T 1 * , Ford forward.
- a torque actual value T 1 , a feedback torque command value T 2 * , a feedback torque T 2 , and an overall torque are shown.
- the slow-response magnetic flux current command value i ⁇ s * is set to be equal to or greater than the predetermined lower limit value greater than zero (FIG. 17 (a )), It is possible to prevent the torque shaft current command value from being excessive in the vicinity of zero magnetic flux, and to reduce the magnetic flux delay, thereby realizing a desired torque response (see FIG. 17 (i)).
- FIG. 18 shows a magnetic flux current command value i ⁇ s * having a slow response even when the target motor torque obtained by adding the target motor torques T 1 * and T 2 * is zero or near zero with respect to the configuration shown in FIG.
- It is a block diagram which shows the structure at the time of providing the lower limiter 70 so that it may become more than the predetermined
- the limiter 70 performs limiter processing such that the ⁇ -axis current command value i ⁇ s ** output from the current command value calculator 13 is equal to or greater than a predetermined lower limit value.
- FIG. 19 shows a slow response even when the target motor torque obtained by adding the target motor torques T 1 * and T 2 * is zero or near zero with respect to the configuration of the winding field synchronous motor shown in FIG. It is a block diagram which shows the structure at the time of providing the lower limiter 80 so that the field current if * may become more than the predetermined lower limit value larger than 0.
- FIG. 20 shows a field response with a slow response even when the target motor torque obtained by adding the target motor torques T 1 * and T 2 * is zero or close to zero in another configuration of the winding field synchronous motor. It is a block diagram which shows the structure at the time of providing the lower limiter 90 so that electric current i f * may become more than the predetermined
- FIG. 21 is a diagram showing a control result of the configuration shown in FIG. FIG. 21 also shows the control result of the configuration shown in FIG. 9 for comparison.
- FIGS. 21A to 21J show the d-axis current i d , q-axis current i q , current vector Ia, field current I f , field voltage V f , feedforward torque command value T 1 * , Ford forward A torque actual value T 1 , a feedback torque command value T 2 * , a feedback torque T 2 , and an overall torque are shown.
- the slow-response field current i f * is output by a predetermined amount larger than 0 (see FIG. 21D). It is possible to prevent a torque axis current command value from being excessive in the vicinity of zero magnetic flux and to reduce a magnetic flux delay, thereby realizing a desired torque response (see FIG. 21 (i)).
- the magnetic flux current command value i ⁇ s * is set to a predetermined value greater than 0, so It is possible to prevent a shaft current command value from being excessive and reduce a magnetic flux delay to realize a desired torque response.
- the present invention is not limited to the above-described embodiments, and for example, can be configured by appropriately combining the features of each embodiment.
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Abstract
Description
図1は、第1の実施形態におけるモータ制御装置の構成を示すブロック図である。このモータ制御装置は、例えば、電気自動車に適用される。なお、電気自動車以外に、例えば、ハイブリッド自動車や、自動車以外のシステムに適用することも可能である。
図7は、モータ制御装置を、界磁電流を流すための巻線がロータに巻かれている巻線界磁同期モータ1Aに適用した場合の構成を示すブロック図である。図1に示す構成と同一の構成要素については、同一の符号を付して詳しい説明は省略する。
図12は、第2の実施形態におけるモータ制御装置の主要構成を示すブロック図であって、第1の実施形態の図2に対応するものである。図2に示す構成と同様に、モータ1は誘導モータとし、図2に示す構成と同様の構成については、同一の符号を付して詳しい説明は省略する。
第3の実施形態におけるモータ制御装置では、フィルタ19で遅延処理が行われた目標モータトルクT1 *と、目標値モータトルクT2 *とを加算して得られる目標モータトルクがゼロまたはゼロ近傍(所定トルク以下)の場合でも、ロータ側の磁束を生成する電流を0より大きい所定量出力する。
図19は、図9に示す巻線界磁同期モータの構成に対して、目標モータトルクT1 *とT2 *とを加算した目標モータトルクがゼロまたはゼロ近傍であっても、遅い応答の界磁電流if *が0より大きい所定の下限値以上となるように下限リミッタ80を設けた場合の構成を示すブロック図である。
Claims (5)
- 交流誘導モータに電圧を供給して駆動するインバータと、
前記交流誘導モータの目標モータトルクに基づいて、前記インバータから出力される交流電圧の指令値を算出する指令値算出手段と、
前記交流電圧の指令値に基づいて、前記インバータを制御するインバータ制御手段と、
を備え、
前記交流誘導モータの目標モータトルクは、少なくとも捻り振動を抑制するために高速応答が要求される第1の目標モータトルク、および、前記第1の目標モータトルクよりも低速応答であって、遅延処理が施された第2の目標モータトルクを含み、
前記指令値算出手段は、前記目標モータトルクに基づいて、入力に対して電流応答性が遅い磁束電流指令値を算出するとともに、前記目標モータトルクおよび前記磁束電流指令値に基づいて、前記磁束電流指令値よりも電流応答性が速いトルク電流指令値を算出する、
モータ制御装置。 - 請求項1に記載のモータ制御装置において、
前記指令値算出手段は、前記目標モータトルクに基づいて、前記磁束電流指令値よりも電流応答性が速いトルク電流指令値を算出し、算出したトルク電流指令値を前記磁束電流指令値に基づいて補正することにより、補正後のトルク電流指令値を算出する、
モータ制御装置。 - 請求項1または請求項2に記載のモータ制御装置において、
前記磁束電流指令値および前記トルク電流指令値のうちの少なくとも一方の指令値と、電流指令値の最大値とに基づいて、リミッタ値を算出するリミッタ値算出手段と、
前記リミッタ値に基づいて、前記磁束電流指令値または前記トルク電流指令値を制限する電流指令値制限手段と、
をさらに備えるモータ制御装置。 - 請求項1から請求項3のいずれか一項に記載のモータ制御装置において、
前記指令値算出手段は、前記目標モータトルクが所定トルク以下の場合でも、前記磁束電流指令値を0より大きい所定値以上とする、
モータ制御装置。 - 交流誘導モータの目標モータトルクに基づいて、インバータから出力される交流電圧の指令値を算出し、前記交流電圧の指令値に基づいて前記インバータを制御することによって、前記交流誘導モータを制御するモータ制御方法であって、
前記交流誘導モータの目標モータトルクは、少なくとも捻り振動を抑制するために高速応答が要求される第1の目標モータトルク、および、前記第1の目標モータトルクよりも低速応答であって、遅延処理が施された第2の目標モータトルクを含み、
前記目標モータトルクに基づいて前記交流電圧の指令値を算出する際に、前記目標モータトルクに基づいて、入力に対して電流応答性が遅い磁束電流指令値を算出するとともに、前記目標モータトルクおよび前記磁束電流指令値に基づいて、前記磁束電流指令値よりも電流応答性が速いトルク電流指令値を算出する、
モータ制御方法。
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CN201380064634.7A CN104838581B (zh) | 2012-12-28 | 2013-11-22 | 电动机控制装置以及电动机控制方法 |
US14/655,229 US20150333683A1 (en) | 2012-12-28 | 2013-11-22 | Motor control apparatus and motor control method |
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WO2020194637A1 (ja) * | 2019-03-27 | 2020-10-01 | 日産自動車株式会社 | 電動車両の制御方法、及び、制御装置 |
WO2020217438A1 (ja) * | 2019-04-26 | 2020-10-29 | 三菱電機株式会社 | モータ制御装置 |
JPWO2020217438A1 (ja) * | 2019-04-26 | 2021-11-04 | 三菱電機株式会社 | モータ制御装置 |
CN113767567A (zh) * | 2019-04-26 | 2021-12-07 | 三菱电机株式会社 | 电动机控制装置 |
JP7055241B2 (ja) | 2019-04-26 | 2022-04-15 | 三菱電機株式会社 | モータ制御装置 |
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EP2940858A4 (en) | 2016-01-27 |
CN104838581B (zh) | 2016-08-31 |
CN104838581A (zh) | 2015-08-12 |
EP2940858B1 (en) | 2019-06-19 |
EP2940858A1 (en) | 2015-11-04 |
JPWO2014103586A1 (ja) | 2017-01-12 |
US20150333683A1 (en) | 2015-11-19 |
JP5900656B2 (ja) | 2016-04-06 |
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