WO2014104164A1 - Dispositif de commande de moteur et procédé de commande de moteur - Google Patents

Dispositif de commande de moteur et procédé de commande de moteur Download PDF

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Publication number
WO2014104164A1
WO2014104164A1 PCT/JP2013/084805 JP2013084805W WO2014104164A1 WO 2014104164 A1 WO2014104164 A1 WO 2014104164A1 JP 2013084805 W JP2013084805 W JP 2013084805W WO 2014104164 A1 WO2014104164 A1 WO 2014104164A1
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Prior art keywords
command value
current command
current
torque
value
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PCT/JP2013/084805
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English (en)
Japanese (ja)
Inventor
好博 飯島
志保 臼田
伊藤　健
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日産自動車株式会社
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Priority to JP2014554529A priority Critical patent/JP5930071B2/ja
Publication of WO2014104164A1 publication Critical patent/WO2014104164A1/fr

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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
    • 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
    • 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
    • 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
    • H02P31/00—Arrangements for regulating or controlling electric motors not provided for in groups H02P1/00 - H02P5/00, H02P7/00 or H02P21/00 - H02P29/00

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 includes an inverter that supplies a voltage to an AC induction motor to drive, a current command value calculation unit that calculates a current command value based on a target motor torque of the AC induction motor, a current command value Current correction means for correcting the inverter, and inverter control means for controlling the inverter based on the corrected current command value.
  • the target motor torque of the AC induction motor includes a first target motor torque and a second target motor torque that requires at least a faster response than the first target motor torque in order to suppress torsional vibration.
  • the current command value calculation means calculates the first current command value, which is a torque component of the AC induction motor having a fast current response to the input, and is calculated based on the first target motor torque, and the first current command A second current command value, which is an excitation component of the AC induction motor, whose current response is slower than the value is calculated, and the current correction means performs the first based on the second current command value and the second target motor torque. Current correction value is calculated and the first current command value is corrected by the first current correction value, thereby calculating the corrected first current command value.
  • FIG. 1 is a block diagram illustrating the configuration of the motor control device according to the first embodiment.
  • FIG. 2 is a block diagram showing a detailed configuration of the torque response improvement computing unit.
  • FIG. 3 is a diagram illustrating a control result of the motor control device according to the first embodiment.
  • FIG. 4 is a diagram showing 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 a torque response improvement computing unit is not provided. is there.
  • FIG. 5 shows a modification of the first embodiment in which the motor control device is applied to a winding field synchronous motor in which a field winding for passing a field current is wound around a rotor. It is a block diagram.
  • FIG. 1 is a block diagram illustrating the configuration of the motor control device according to the first embodiment.
  • FIG. 2 is a block diagram showing a detailed configuration of the torque response improvement computing unit.
  • FIG. 3 is a diagram illustrating a
  • FIG. 6 is a block diagram showing a detailed configuration of the torque response improvement computing unit in the configuration shown in FIG.
  • FIG. 7 is a diagram illustrating a control result of the motor control device in the configuration illustrated in FIGS. 5 and 6.
  • FIG. 8 is a diagram showing 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. 5 and a torque response improvement computing unit is not provided. is there.
  • FIG. 9 is a block diagram illustrating a detailed configuration of a torque response improvement computing unit of the motor control device according to the second embodiment.
  • FIG. 10 is a diagram showing a control result by the configuration shown in FIG. FIG.
  • FIG. 11 shows a first modification of the second embodiment, in which torque response improvement calculation is performed when an appropriate upper limit value is set for both the ⁇ -axis current command value and the ⁇ -axis current command value to limit the upper limit.
  • FIG. 12 is a block diagram illustrating a detailed configuration of the torque response improvement computing unit of the motor control device according to the second modification of the second embodiment.
  • FIG. 13 is a diagram showing a control result of the motor control device in the configuration shown in FIG.
  • FIG. 14 shows a third modification of the second embodiment, in which the torque response improvement computing unit has a d-axis current out of the d-axis current command value i d ** and the q-axis current command value i q **.
  • FIG. 15 shows a fourth modification of the second embodiment, in which the torque response improvement computing unit calculates a q-axis current out of the d-axis current command value i d ** and the q-axis current command value i q **. It is a block diagram in the case of inputting only command value i q ** .
  • FIG. 16 is a fifth modification of the second embodiment, and shows a detailed torque response improvement calculator when correcting the q-axis current command value i q ** based on the q-axis current correction value i q_T2. It is a block diagram which shows a structure.
  • FIG. 15 shows a fourth modification of the second embodiment, in which the torque response improvement computing unit calculates a q-axis current out of the d-axis current command value i d ** and the q-axis current command value i q **. It is a block diagram in the case of inputting only command value i q ** .
  • FIG. 16 is a fifth modification
  • FIG. 17 is a diagram illustrating a detailed configuration of a current command value calculator and a torque response improvement calculator when the motor control device according to the third embodiment is applied to an induction motor.
  • FIG. 18 is a diagram illustrating a control result in the case where a predetermined amount of ⁇ -axis current i ⁇ s * having a slow response is output even when the torque T1 is zero or near zero in the induction motor.
  • FIG. 19 is a modified example of the third embodiment, and is a diagram showing a detailed configuration of a current command value calculator and a torque response improvement calculator when the motor control device is applied to a winding field motor.
  • FIG. 20 is a diagram illustrating a control result when a predetermined amount of a slow response ⁇ -axis current i ⁇ s * is output even when the torque T1 is zero or near zero in the wound field motor.
  • 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 source angle ⁇ obtained by integrating the power source angular velocity ⁇ are input, and the excitation current component of the motor 1 is obtained from the following equation (3).
  • ⁇ -axis current (magnetic flux current) i ⁇ s and ⁇ -axis current (torque current) i ⁇ s which is a torque current component of the motor 1 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 receives the first target motor torque T 1 * , the motor rotation speed (mechanical angular velocity ⁇ rm ), and the DC voltage Vdc of the DC power supply 2, and a ⁇ -axis current command value (magnetic flux current command value). i ⁇ s ** and ⁇ -axis current command value (torque current command value) i ⁇ s ** are calculated.
  • the ⁇ -axis current command value i ⁇ s ** and the ⁇ -axis current command value i ⁇ s ** are respectively the first target motor torque T 1 * , the motor rotation speed (mechanical angular velocity ⁇ rm ), the DC voltage V dc, and the ⁇ -axis Map data that defines the relationship between the current command value i ⁇ s ** and the ⁇ -axis current command value i ⁇ s ** is stored in a memory in advance, and can be obtained by referring to the map data.
  • the first target motor torque T 1 * is a torque command value obtained according to the accelerator opening, and a high-speed response is not required.
  • the target motor torque for the motor 1 includes the first target motor torque T 1 * and a second target motor torque T 2 * to be described later.
  • the second target motor torque T 2 * is a torque command value that requires a high-speed response in order to suppress torsional vibration of the driving force transmission system (drive shaft) from the motor 1 to the driving wheel.
  • the non-interference controller 17 inputs the ⁇ -axis current i ⁇ s , the ⁇ -axis current i ⁇ s , and the power supply angular frequency ⁇ , and is required to cancel the interference voltage between ⁇ - ⁇ orthogonal coordinate axes V * ⁇ s_dcpl.
  • V * ⁇ s_dcpl is 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 i ⁇ s to follow the ⁇ -axis current command value i ⁇ s * with a desired response without a steady deviation.
  • the torque current controller 16 causes the measured ⁇ -axis current i ⁇ s to follow the ⁇ -axis 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. It is feasible.
  • 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 V ⁇ s * and the ⁇ axis voltage command value V ⁇ s * are assumed.
  • the slip angular frequency controller 14 receives the ⁇ -axis current i ⁇ s and the ⁇ -axis current i ⁇ s , and calculates the slip angular velocity ⁇ se from the following equation (5).
  • Rr and Lr 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 ⁇ .
  • KT in equation (6) is a coefficient determined by parameters of the induction motor.
  • the torque response improvement calculator 18 is obtained by inputting the second target motor torque T 2 * that requires a high-speed response and the slow response ⁇ -axis current command value i ⁇ s ** , and transforming the equation (7).
  • the ⁇ -axis current correction value i ⁇ s_T2 is calculated by the equation (9), and the calculated ⁇ -axis current correction value i ⁇ s_T2 is added to the ⁇ -axis current command value i ⁇ s ** of the fast response, thereby obtaining the ⁇ -axis current command.
  • the value i ⁇ s ** is corrected.
  • FIG. 2 is a block diagram showing a detailed configuration of the torque response improvement computing unit 18.
  • the torque response improvement computing unit 18 includes a current correction value calculator 181 and an adder 182.
  • the current correction value calculator 181 calculates the ⁇ -axis current correction value i ⁇ s_T2 from Equation (9).
  • the adder 182 adds the ⁇ -axis current command value i ⁇ s ** to the corrected ⁇ -axis current command value i ⁇ s by adding the ⁇ -axis current correction value i ⁇ s_T2 calculated by the current correction value calculator 181. * Is calculated.
  • 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 a control result of the motor control device in the first embodiment shown in FIG. 3A to 3J 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 first target motor torque T 1 * , 1 actual motor torque T 1 , second target motor torque T 2 * , second actual motor torque T 2 , and overall torque.
  • the current command value is not easily limited by the current limit value (upper limit value). A desired torque can be obtained.
  • 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. 4 is a diagram showing 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 computing unit 18 is not provided. It is. 4A to 4J 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 first target motor torque T 1 * , 1 actual motor torque T 1 , second target motor torque T 2 * , second actual motor torque T 2 , and overall torque.
  • the ⁇ -axis current is calculated in consideration of the ⁇ -axis magnetic flux response delay, if the ⁇ -axis current is small or the target motor torque is large, the ⁇ -axis current is likely to be limited by the current limit value (upper limit value) (FIG. 4 ( b)). Since the ⁇ -axis current is limited by the current limit value, the second actual motor torque T 2 cannot follow the second target motor torque T 2 * (see FIG. 4 (i)), and the motor torque response is the target. The operation is gentle with respect to the value (see FIG. 4J).
  • the ⁇ -axis magnetic flux delay has an influence on the second actual motor torque T2, which originally requires a fast response, such as a torsional vibration of the vehicle, and cannot suppress the vibration (see FIG. 4 (i)).
  • the first actual motor torque T1 determined by the driver's accelerator operation may be slow in response and is a gentle response to the target value, but there is no problem (see FIGS. 4F and 4G).
  • FIG. 5 is a block diagram showing a configuration when the motor control device is applied to a winding field synchronous motor 1A in which a field 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. 5 is different from the configuration shown in FIG. 1 in that a field current controller 19 is added and a slip angular frequency controller 14 is omitted.
  • the torque response improvement calculator 18A shown in FIG. 5 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.
  • 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 19 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 (10). Where M is a mutual inductance, L d is a d-axis self-inductance, L q is a q-axis self-inductance, and p is the number of pole pairs.
  • the torque response improvement computing unit 18A is obtained by inputting the second target motor torque T 2 * that requires high response and the slow-response field current command value i f * , and transforming the equation (11).
  • the q-axis current correction value i q_T2 is calculated by the equation (12), and the calculated q-axis current correction value i q_T2 is added to the q-axis current command value i q ** having a fast response, thereby correcting q
  • the shaft current command value i q * is calculated.
  • FIG. 6 is a block diagram showing a detailed configuration of the torque response improvement computing unit 18A.
  • the torque response improvement calculator 18A includes a current correction value calculator 181A and an adder 182A.
  • the current correction value calculator 181A calculates the q-axis current correction value i q_T2 from Equation (12).
  • the adder 182A adds the q-axis current command value i q ** and the q-axis current correction value i q_T2 calculated by the current correction value calculator 181A, thereby correcting the corrected q-axis current command value i q. * Is calculated.
  • the field current i f used to calculate the q-axis current correction value i Q_T2 can also be used an estimate rather than the actual current.
  • FIG. 7 is a diagram illustrating a control result of the motor control device in the configuration illustrated in FIGS. 5 and 6.
  • FIGS. 7A to 7J 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 first target motor torque T 1 * , a first 1 actual motor torque T 1 , second target motor torque T 2 * , second actual motor torque T 2 , and overall torque.
  • the current command value is not easily limited by the current limit value (upper limit value). A desired torque can be obtained.
  • FIG. 8 is a diagram showing 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. 5 and the torque response improvement computing unit 18A is not provided. It is. 8A to 8J show a d-axis current i d , q-axis current i q , current vector Ia, field current I f , field voltage V f , first target motor torque T 1 * , 1 actual motor torque T 1 , second target motor torque T 2 * , second actual motor torque T 2 , and overall torque.
  • a parameter variation compensator for compensating for the variation may be provided.
  • the current command value that calculates the current command value based on the inverter 3 that drives the AC motor 1 by supplying a voltage and the target motor torque of the AC motor 1.
  • the torque response improvement calculator 18 (current correction means) for correcting the current command value calculated by the current command value calculator 13, and the corrected current command value
  • a magnetic flux current controller 15 that functions as an inverter control means for controlling the inverter, a torque current controller 16, a ⁇ - ⁇ / 3-phase AC coordinate converter 12, and a PWM converter 6.
  • the target motor torque of the AC motor is a first target motor torque T 1 * and a second target motor that requires a higher speed response than the first target motor torque T 1 * in order to suppress at least torsional vibration. Includes torque T 2 * .
  • the current command value calculated by the current command value calculator 13 is calculated based on the first target motor torque T 1 * and is the ⁇ -axis that is the torque component of the AC motor 1 that has a fast current response to the input.
  • the current command value i ⁇ s ** and the ⁇ -axis current command value i ⁇ s ** which is the excitation component of the AC motor 1 whose current response is slower than the ⁇ -axis current command value i ⁇ s ** .
  • the torque response improvement computing unit 18 calculates a ⁇ -axis current correction value i ⁇ s_T2 based on the ⁇ -axis current command value i ⁇ s ** and the second target motor torque T 2 * , and a ⁇ -axis current command value i ⁇ s **. Is corrected with a ⁇ -axis current correction value i ⁇ s_T2 to calculate a corrected ⁇ -axis current command value i ⁇ s * .
  • the target motor torque includes the first target motor torque T 1 * and the second target motor torque T 2 * , and the vehicle vibration can be suppressed by the second target motor torque T 2 * . Comfort performance can be improved.
  • a current response is calculated by calculating a ⁇ -axis current correction value i ⁇ s_T2 based on the second target motor torque T 2 * for which a high-speed response is required and the ⁇ -axis current command value i ⁇ s ** having a slow current response. Since the ⁇ -axis current command value i ⁇ s ** having a high performance is corrected, the response of the second target motor torque T 2 * can be improved.
  • the second target motor torque T 2 requiring a high-speed response.
  • the q-axis current correction value i q_T2 is calculated based on * , and the field current command value i f * with a slow current response, and the calculated q-axis current correction value i q_T2 is used as the q-axis current command value i with a fast response. Since the corrected q-axis current command value i q * is calculated by adding to q ** , the responsiveness of the second target motor torque T 2 * can be improved.
  • FIG. 9 is a block diagram illustrating a detailed configuration of the torque response improvement computing unit 18B of the motor control device according to the second embodiment.
  • the motor 1 is an induction motor, and the same configuration as the configuration shown in FIG.
  • the torque response improvement calculator 18B includes a current correction value calculator 181, an adder 182, and a limiter 183.
  • the limiter 183 performs a process of limiting the ⁇ -axis current command value corrected by the current correction value calculator 181 and the adder 182 with the upper limit value i ⁇ s_lim .
  • the upper limit value i ⁇ s_lim is expressed by the following equation (13) based on the maximum current value I s_max and the ⁇ -axis current command value i ⁇ s * .
  • FIG. 10 is a diagram showing a control result by the configuration shown in FIG. FIGS. 10A to 10J show the ⁇ -axis current i ⁇ s , the ⁇ -axis current i ⁇ s , the current vector Is, the ⁇ -axis voltage V ⁇ s , the ⁇ -axis voltage V ⁇ s , the first target motor torque T 1 * , the first 1 actual motor torque T 1 , second target motor torque T 2 * , second actual motor torque T 2 , and overall torque.
  • 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 (14).
  • FIG. 11 is a first modification of the second embodiment, and a torque response improvement computing unit in a case where an appropriate upper limit value is set for both the ⁇ -axis current command value and the ⁇ -axis current command value to limit the upper limit.
  • the torque response improvement computing unit 18C includes a current correction value calculator 181, an adder 182, and limiters 183A and 183B.
  • the current surplus ⁇ I s 2 is obtained from the following equation (15).
  • the ⁇ -axis current upper limit value i ⁇ s_lim and the ⁇ -axis current upper limit value i ⁇ s_lim can be calculated using an arbitrary ⁇ -axis current ratio K.
  • the relationship between the corrected ⁇ -axis current command value i ⁇ s * and the ⁇ -axis current command value i ⁇ s * is expressed by the following equation (17):
  • ⁇ -axis current upper limit value i ⁇ s_lim and ⁇ -axis current upper limit value i ⁇ s_lim is expressed by the following equation (18).
  • the ⁇ -axis current command value i ⁇ s ** as the first current command value and the ⁇ -axis current as the second current command value A limiter value is calculated based on at least one of the command values i ⁇ s ** and the maximum command value I s_max, and the current command value of at least one of the ⁇ axis and the ⁇ axis is limited based on the calculated limiter value.
  • the torque response improvement computing unit 18A is based on the second target motor torque T 2 * that needs to be highly responsive and the field current command value i f * of the slow response.
  • the q-axis current correction value i q_T2 was calculated to correct the quick response q-axis current command value i q ** .
  • the torque response improvement computing unit 18D has a second target motor torque T 2 * that requires high response, and a slow-response field current command value if.
  • the motor control device in the present modification is applied to a winding field synchronous motor in which a field winding for passing a field current is wound around a rotor.
  • FIG. 12 is a block diagram showing a detailed configuration of the torque response improvement computing unit 18D of the motor control device according to this modification.
  • the torque response improvement calculator 18D includes a current correction value calculator 181D, an adder 182D, and an adder 183D.
  • the current correction value calculator 181D calculates the q-axis current correction value i q_T2 and the d-axis current correction value i d_T2 obtained by multiplying the q-axis current correction value i q_T2 by K from the equation (21).
  • the adder 182D adds the q-axis current command value i q ** and the q-axis current correction value i q_T2 calculated by the current correction value calculator 181D, thereby correcting the corrected q-axis current command value i q. * Is calculated.
  • the adder 183D adds the d-axis current command value i d ** and the d-axis current correction value i d_T2 calculated by the current correction value calculator 181D, thereby correcting the d-axis current command value i d. * Is calculated.
  • FIG. 13 is a diagram showing a control result of the motor control device in the configuration shown in FIG. FIGS. 13A to 13J show the d-axis current i d , the q-axis current i q , the current vector Ia, the field current I f , the field voltage V f , the first target motor torque T 1 * , the first 1 actual motor torque T 1 , second target motor torque T 2 * , second actual motor torque T 2 , and overall torque.
  • the current correction value calculator 181D has been described as receiving d-axis current command value i d ** and q-axis current command value i q ** as shown in FIG. However, if one of the d-axis current command value i d ** and the q-axis current command value i q ** is known from the equation (19), the other value can be obtained by calculation. One of the current command values can also be input.
  • Figure 14 is a third modification of the second embodiment, among the d-axis current command value i d ** and the q-axis current command value i q **, only d-axis current command value i d **
  • FIG. 15 is a configuration diagram in the case of inputting, and FIG. 15 is a configuration diagram in the case of inputting only the q-axis current command value i q ** , which is a fourth modification of the second embodiment.
  • FIG. 16 is a fifth modification of the second embodiment, and shows a detailed configuration of the torque response improvement computing unit 18G when correcting the q-axis current command value without correcting the d-axis current command value.
  • the torque response improvement calculator 18G includes a current correction value calculator 181G and an adder 182G.
  • the current correction value calculator 181G calculates the q-axis current correction value i q_T2 from Equation (23).
  • the adder 182G adds the q-axis current command value i q ** and the q-axis current correction value i q_T2 calculated by the current correction value calculator 181G, thereby correcting the corrected q-axis current command value i q. * Is calculated.
  • the AC motor has the winding field synchronization in which the field winding for flowing the field current is wound around the rotor.
  • the d-axis current correction value and the q-axis current correction value are calculated based on the second target motor torque T 2 *
  • the d-axis current command value i d ** and the q-axis current command are the first current command values.
  • the corrected d-axis current command value and q-axis current command value are calculated. Therefore, even when the field voltage Vf is applied to the voltage limiter, it is possible to realize a high response of the second target motor torque T 2 * that requires a high-speed response. Further, it is possible to realize a high torque response while suppressing the peak of the current vector Ia.
  • FIG. 17 is a diagram illustrating a detailed configuration of the current command value calculator 13A and the torque response improvement calculator 18B when the motor control device according to the third embodiment is applied to an induction motor.
  • the same components as those shown in FIG. 9 are given the same reference numerals, and detailed description thereof is omitted.
  • the current command value calculator 13A inputs the first target motor torque T 1 * , the motor rotation speed (mechanical angular velocity ⁇ rm ), and the DC voltage Vdc, the ⁇ -axis current command value i ⁇ s * , the ⁇ -axis current command value i. ⁇ s ** is calculated and output. However, even if the first target motor torque T 1 * is zero or near zero, a predetermined amount of the ⁇ -axis current command value i ⁇ s * with a slow response is output.
  • FIG. 18 shows a control result when a predetermined amount of a slow response ⁇ -axis current command value i ⁇ s * is output even if the first target motor torque T 1 * is zero or near zero in the induction motor.
  • FIG. FIGS. 18A to 18J show the ⁇ -axis current i ⁇ s , the ⁇ -axis current i ⁇ s , the current vector Is, the ⁇ -axis voltage V ⁇ s , the ⁇ -axis voltage V ⁇ s , the first target motor torque T 1 * , the first 1 actual motor torque T 1 , second target motor torque T 2 * , second actual motor torque T 2 , and overall torque.
  • the ⁇ -axis current command value i ⁇ s * having a slow response is output by a predetermined amount (see FIG. 18A). ), It is possible to prevent the ⁇ -axis 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. 18 (i)).
  • the ⁇ -axis current command value i ⁇ s * that is the second current command value is set to 0 even when the first target motor torque T 1 * is equal to or less than the predetermined torque. Since the predetermined value is larger than the predetermined value, it is possible to prevent the ⁇ -axis current command value from being excessive in the vicinity of the magnetic flux zero and reduce the magnetic flux lag, thereby realizing a desired torque response.
  • FIG. 19 is a diagram showing a detailed configuration of the current command value calculator 13B and the torque response improvement calculator 18D when applied to a winding field motor.
  • the same components as those shown in FIG. 12 are denoted by the same reference numerals, and detailed description thereof is omitted.
  • the current command value calculator 13B inputs the first target motor torque T 1 * , the motor rotation speed (mechanical angular velocity ⁇ rm ), and the DC voltage Vdc, the field current command value i f * , and the d-axis current command value i. d ** and q-axis current command value iq ** are calculated and output. However, even if the first target motor torque T 1 * is zero or near zero, the field current command value if * with a slow response is output by a predetermined amount.
  • FIGS. 20A to 20J 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 first target motor torque T 1 * , a first 1 actual motor torque T 1 , second target motor torque T 2 * , second actual motor torque T 2 , and overall torque.
  • the field response command value if * with a slow response is output by a predetermined amount (see FIG. 20D). )
  • the d-axis current command value and the q-axis current command value in the vicinity of zero magnetic flux can be prevented, and the magnetic flux delay can be relaxed to achieve a desired torque response (see FIG. 20 (i)).
  • the motor control device As described above, according to the motor control device according to a modification of the third embodiment, even if the first target motor torque T 1 * is equal to or less than a predetermined torque, the field current command value i f * 0 is greater than a predetermined value or more Therefore, it is possible to prevent the d-axis current command value and the q-axis 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.
  • 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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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

La présente invention concerne un dispositif de commande de moteur qui calcule une valeur de commande de courant en se basant sur un couple moteur cible pour un moteur à induction à courant alternatif, et qui commande un onduleur en se basant sur une valeur de commande de courant obtenue en corrigeant la valeur de commande de courant calculée. Le couple moteur cible pour le moteur à induction à courant alternatif comprend un premier couple moteur cible, et un second couple moteur cible pour lequel une réponse plus élevée que le premier couple moteur cible est requise afin de supprimer au moins une oscillation de torsion. Les valeurs de commande de courant sont une première valeur de commande de courant calculée en se basant sur le premier couple moteur cible, et présentant une sensibilité au courant rapide sur une entrée, et une seconde valeur de commande de courant présentant une sensibilité au courant plus lente que la première valeur de commande de courant. Le dispositif de commande de moteur calcule une première valeur de correction de courant en se basant sur la seconde valeur de commande de courant et sur le second couple moteur cible, et calcule une première valeur de commande de courant corrigée en corrigeant la première valeur de commande de courant avec la première valeur de correction de courant.
PCT/JP2013/084805 2012-12-28 2013-12-26 Dispositif de commande de moteur et procédé de commande de moteur WO2014104164A1 (fr)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020194637A1 (fr) * 2019-03-27 2020-10-01 日産自動車株式会社 Procédé de commande et dispositif de commande pour véhicule électrique
CN113261199A (zh) * 2018-12-28 2021-08-13 日立安斯泰莫株式会社 马达控制装置

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06225566A (ja) * 1993-01-21 1994-08-12 Hitachi Ltd モータの速度制御装置
JPH09289800A (ja) * 1996-04-24 1997-11-04 Meidensha Corp 誘導電動機のベクトル制御装置
JP2003009566A (ja) * 2001-06-18 2003-01-10 Nissan Motor Co Ltd 電動モータを用いた車両の制振制御装置
JP2003333710A (ja) * 2002-05-13 2003-11-21 Nissan Motor Co Ltd 車両の駆動力制御装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06225566A (ja) * 1993-01-21 1994-08-12 Hitachi Ltd モータの速度制御装置
JPH09289800A (ja) * 1996-04-24 1997-11-04 Meidensha Corp 誘導電動機のベクトル制御装置
JP2003009566A (ja) * 2001-06-18 2003-01-10 Nissan Motor Co Ltd 電動モータを用いた車両の制振制御装置
JP2003333710A (ja) * 2002-05-13 2003-11-21 Nissan Motor Co Ltd 車両の駆動力制御装置

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113261199A (zh) * 2018-12-28 2021-08-13 日立安斯泰莫株式会社 马达控制装置
CN113261199B (zh) * 2018-12-28 2024-03-19 日立安斯泰莫株式会社 马达控制装置
WO2020194637A1 (fr) * 2019-03-27 2020-10-01 日産自動車株式会社 Procédé de commande et dispositif de commande pour véhicule électrique

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