WO2014199891A1 - 電動車両の電源システム - Google Patents
電動車両の電源システム Download PDFInfo
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- WO2014199891A1 WO2014199891A1 PCT/JP2014/064940 JP2014064940W WO2014199891A1 WO 2014199891 A1 WO2014199891 A1 WO 2014199891A1 JP 2014064940 W JP2014064940 W JP 2014064940W WO 2014199891 A1 WO2014199891 A1 WO 2014199891A1
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- power
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- power supply
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- 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
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
- B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
- B60L58/15—Preventing overcharging
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
- B60K6/44—Series-parallel type
- B60K6/445—Differential gearing distribution type
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- B60L53/20—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by converters located in the vehicle
- B60L53/24—Using the vehicle's propulsion converter for charging
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- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
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- H—ELECTRICITY
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- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J1/00—Circuit arrangements for dc mains or dc distribution networks
- H02J1/10—Parallel operation of dc sources
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- H02M3/00—Conversion of dc power input into dc power output
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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
- B60L2240/80—Time limits
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J2310/00—The network for supplying or distributing electric power characterised by its spatial reach or by the load
- H02J2310/40—The network being an on-board power network, i.e. within a vehicle
- H02J2310/48—The network being an on-board power network, i.e. within a vehicle for electric vehicles [EV] or hybrid vehicles [HEV]
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/62—Hybrid vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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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
-
- 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
- Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
- Y02T10/92—Energy efficient charging or discharging systems for batteries, ultracapacitors, supercapacitors or double-layer capacitors specially adapted for vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
-
- 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
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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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
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/40—Application of hydrogen technology to transportation, e.g. using fuel cells
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S903/00—Hybrid electric vehicles, HEVS
- Y10S903/902—Prime movers comprising electrical and internal combustion motors
- Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
- Y10S903/904—Component specially adapted for hev
- Y10S903/906—Motor or generator
Definitions
- the present invention relates to a power supply system, and more particularly, to control of a power supply system using a drive system of an electric vehicle having a mechanism for generating charging power of a DC power supply while the vehicle is running as a load.
- Patent Document 1 describes control of a charging state of a power storage unit in a power supply device including a constant voltage source formed of a battery and a power storage unit formed of a power storage element. Specifically, the life of the power storage unit can be extended by performing voltage control so that the power storage unit is left at a voltage lower than the fully charged state while the power supply device is stopped.
- Patent Document 2 JP 2012-70514 A discloses an operation mode (series connection mode) in which DC / DC conversion is performed in a state where two DC power sources are connected in series under the control of a plurality of switching elements. There is described a configuration of a power converter capable of switching an operation mode (parallel connection mode) in which DC / DC conversion is performed in a state where two DC power supplies are used in parallel.
- Patent Document 2 describes that a power conversion device is applied to an electric vehicle.
- an electric vehicle typically, a hybrid vehicle
- a drive system configured to be able to generate charging power of a DC power source while the vehicle is running or stopped, by controlling the operation of the drive system, It is possible to control charging / discharging of the DC power supply while the vehicle is running.
- Patent Document 2 when the power conversion device configured such that the charging / discharging mode of the DC power supply varies depending on the operation mode as in Patent Document 2, the DC power supply is applied to the electric vehicle having the drive system as described above. If the charge / discharge control is uniformly executed between the operation modes, there is a possibility that the SOC (State of Charge) of each DC power supply cannot be properly controlled. However, Patent Document 2 does not particularly mention charge / discharge control of the DC power source under the selection of the operation mode.
- the present invention has been made to solve such problems, and an object of the present invention is configured to include a power converter connected between a plurality of DC power supplies and a common power line.
- a power converter connected between a plurality of DC power supplies and a common power line.
- a first motor generator for generating vehicle driving force is a power supply system that uses as a load a driving system of an electric vehicle that includes a first motor generator for generating vehicle driving force. Includes a power line, a plurality of DC power supplies, a power converter connected between the plurality of DC power supplies and the power lines, and a control device.
- the power line is electrically connected to the load.
- the controller is configured to control the operation of the load and the power converter.
- the load is configured to have a mechanism for generating electric power for charging a plurality of DC power sources while the vehicle is running or stopped in accordance with an operation command from the control device.
- the power converter includes a plurality of switching elements and operates by applying one operation mode among a plurality of operation modes having different modes of power conversion between the plurality of DC power supplies and the power line. It is configured to control the voltage of the power line.
- the control device includes a charge / discharge control unit and an operation command generation unit.
- the charge / discharge control unit sets the required charge / discharge power for the entire plurality of DC power supplies based on the state of the plurality of DC power supplies.
- the operation command generation unit generates a load operation command so as to secure the required drive power and the required charge / discharge power based on the running state of the moving vehicle.
- the charge / discharge control unit switches the setting of the charge / discharge required power according to the operation mode.
- the plurality of DC power supplies are constituted by first and second DC power supplies.
- the plurality of switching elements include first to fourth switching elements.
- the first switching element is electrically connected between the first node and the power line.
- the second switching element is electrically connected between the second node and the first node.
- the third switching element is electrically connected between the third node and the second node that are electrically connected to the negative terminal of the second DC power supply.
- the fourth switching element is electrically connected between the negative terminal of the first DC power supply and the third node.
- the power converter further includes first and second reactors.
- the first reactor is electrically connected between the second node and the positive terminal of the first DC power supply.
- the second reactor is electrically connected between the first node and the positive terminal of the second DC power supply.
- the capacity of the first DC power supply is larger than the capacity of the second DC power supply.
- the plurality of operation modes include a first mode and a second mode.
- the power converter performs DC voltage conversion in parallel between the first and second DC power sources and the power line by ON / OFF control of the first to fourth switching elements.
- the power converter fixes the third switching element on and controls the first, second and fourth switching elements on and off, thereby connecting the first and second DC power supplies in series. In this state, DC voltage conversion is performed with the power line.
- the charge / discharge control unit sets the required charge / discharge power to bring the SOC closer to the control target for each of the first and second DC power sources, while in the second mode, The charge / discharge required power is set so that the SOC of the DC power supply approaches the control target.
- the plurality of operation modes further include a third mode.
- the power converter fixes the first to fourth switching elements on and off, and maintains the state where the first and second DC power supplies are connected in series to the power line.
- the charge / discharge control unit sets the required charge / discharge power so that the SOC of the second DC power supply approaches the control target.
- the plurality of operation modes further include fourth and fifth modes.
- the power converter performs DC voltage conversion between one DC power source of the first and second DC power sources and the power line by on / off control of the first to fourth switching elements.
- the other DC power source of the first and second DC power sources is kept electrically disconnected from the power line.
- the power converter fixes the first to fourth switching elements on and off, and one of the first and second DC power supplies is electrically connected to the power line, while the first And the other of the second DC power supply is kept electrically disconnected from the power line.
- the charge / discharge control unit sets the required charge / discharge power so that the SOC of one of the DC power supplies approaches the control target.
- the control device forcibly selects the first mode when the current SOC reaches a control upper limit value or a control lower limit value.
- control device includes a control calculation unit, a power distribution ratio setting unit, a power command value calculation unit, a current control unit, and a pulse width modulation unit.
- the control calculation unit calculates the total input / output power from the entire plurality of DC power supplies to the power line based on the deviation between the voltage detection value of the power line and the voltage command value.
- the power distribution ratio setting unit switches the power distribution ratio among the plurality of DC power sources according to the change of the operation mode.
- the power command value calculation unit sets each power command value of the plurality of DC power supplies according to the overall input / output power and the power distribution ratio.
- the current control unit calculates a duty ratio for controlling the output from the DC power supply based on the deviation of the current detection value with respect to the current command value obtained by dividing the power command value by the output voltage for each of the plurality of DC power supplies.
- the pulse width modulation unit generates an on / off control signal for a plurality of switching elements based on a duty ratio calculated for each of a plurality of DC power supplies and a control pulse signal obtained according to pulse width modulation by comparison with a carrier wave. To do.
- control device further includes a first protection unit and a second protection unit.
- the first protection unit is provided corresponding to a predetermined DC power source among the plurality of DC power sources, and the power command value of the predetermined DC power source set in accordance with the power distribution ratio is set to an operation state of the predetermined DC power source.
- the second protection unit limits the total input / output power within a second power range set according to the operating states of the plurality of DC power supplies.
- the control device includes a control calculation unit, a power distribution ratio setting unit, a power command value calculation unit, first and second current control units, and a pulse width modulation unit.
- the control calculation unit calculates the total input / output power from the entire first and second DC power supplies to the power line based on the deviation between the voltage detection value of the power line and the voltage command value.
- the power distribution ratio setting unit switches the power distribution ratio between the first and second DC power sources according to the change of the operation mode.
- the power command value calculation unit sets the first power command value of the first DC power source and the second power command value of the second DC power source according to the overall input / output power and the power distribution ratio.
- the first current control unit is configured based on a deviation of a current detection value of the first DC power source from a first current command value obtained by dividing the first power command value by the output voltage of the first DC power source.
- the first duty ratio for controlling the output from the DC power source is calculated.
- the second current control unit is configured to change the second power command value based on the deviation of the current detection value of the second DC power supply from the second current command value obtained by dividing the second power command value by the output voltage of the second DC power supply.
- the second duty ratio for controlling the output from the DC power source is calculated.
- the pulse width modulation unit includes first and second obtained respectively according to the comparison of the first carrier wave and the first duty ratio, and the pulse width modulation by the comparison of the second carrier wave and the second duty ratio, respectively. On-off control signals for the first to fourth switching elements are generated based on the control pulse signal.
- control device further includes a carrier wave generator.
- the carrier wave generator generates a phase difference between the first carrier wave and the second carrier wave so that the transition edge of the first control pulse signal and the transition edge of the second control pulse signal overlap on the time axis.
- control is variably performed according to the calculated first and second duty ratios.
- the drive system further includes an engine and a second motor generator.
- the second motor generator is configured to generate power using the output of the engine.
- the operation command generator generates operation commands for the engine and the first and second motor generators so that the total required power according to the sum of the drive request power and the charge / discharge request power is distributed between the first and second motor generators and the engine. Generate.
- the drive system further includes a differential device including first to third rotating elements capable of relative rotation.
- the load further includes an inverter.
- the first rotating element is mechanically connected to the output shaft of the engine
- the second rotating element is mechanically connected to the output shaft of the second motor generator
- the third rotating element Is mechanically connected to a drive shaft mechanically connected to the drive wheels and an output shaft of the first motor generator.
- the inverter is connected between the power line and each of the first and second motor generators.
- the drive system is configured to have a mechanism for generating charging power of a plurality of DC power sources while the vehicle is running or stopped using an output of a power source that is separate from the first motor generator.
- a power supply system configured to include a power converter connected between a plurality of DC power supplies and a common power line generates charging power of the DC power supply while the vehicle is running or stopped.
- FIG. It is a block diagram which shows the structure of the electric system of the hybrid vehicle shown by FIG. It is a conceptual diagram for demonstrating the preferable structural example of the DC power supply in an electric vehicle (hybrid vehicle). It is a conceptual diagram for demonstrating the SOC behavior of each DC power supply in SB mode. It is a conceptual diagram for demonstrating the SOC behavior of each DC power supply in PB mode. It is a flowchart for demonstrating the control processing for the operation mode selection of the power converter from a viewpoint of SOC control. It is a conceptual diagram for demonstrating the electric power flow in the power supply system applied to the hybrid vehicle. It is a functional block diagram for demonstrating the control structure for the power management in the power supply system of the electric vehicle according to this Embodiment.
- FIG. 22 is a chart showing setting formulas for circulating power values in each operation mode by the power circulation control unit shown in FIG. 21.
- It is a wave form diagram which shows the control operation example of PB mode at the time of the carrier phase control by the power converter control according to the modification of this Embodiment 1.
- FIG. It is a wave form diagram explaining the electric current phase by the carrier phase control in PB mode.
- FIG. 28 is a circuit diagram illustrating a current path in a predetermined period of FIG.
- FIG. 31 is a current waveform diagram of the switching element at the current phase shown in FIG. 30. It is a chart for explaining carrier phase control in the PB mode in each operation state of the DC power supply. It is a figure explaining the state of two DC power supplies in SB mode. It is a wave form diagram which shows the control pulse signal in SB mode when carrier phase control is applied. It is a graph for demonstrating the setting of the control signal in SB mode.
- FIG. 11 is a first block diagram for illustrating power converter control according to the second embodiment.
- FIG. 11 is a second block diagram for illustrating power converter control according to the second embodiment.
- It is a conceptual diagram for demonstrating the power flow in the power supply system in the PB mode by the power converter control according to Embodiment 2.
- FIG. It is a table explaining the setting of control signals and control data in each operation mode belonging to the boost mode.
- It is a conceptual diagram for demonstrating the power flow in the power supply system in the aB mode by the power converter control according to Embodiment 2.
- FIG. 11 is a first block diagram for illustrating power converter control according to the second embodiment.
- FIG. 11 is a second block diagram for illustrating power converter control according to the second embodiment.
- It is a conceptual diagram for demonstrating the power flow in the power supply system in the PB mode by the power converter control according to Embodiment 2.
- FIG. It is a table explaining the setting of control signals and control data in each operation mode belonging to the boost mode
- FIG. 1 It is a conceptual diagram for demonstrating the power flow in the power supply system in bB mode by the power converter control according to Embodiment 2.
- FIG. 2 It is a conceptual diagram for demonstrating the power flow in the power supply system in SB mode by power converter control according to Embodiment 2.
- FIG. 1 It is a conceptual diagram for demonstrating the power flow in the power supply system in SB mode by power converter control according to Embodiment 2.
- FIG. 1 is a circuit diagram showing a configuration of a power supply system for an electric vehicle according to Embodiment 1 of the present invention.
- power supply system 5 includes a plurality of DC power supplies 10a and 10b, a load 30, and a power converter 50.
- each of DC power supplies 10a and 10b is a secondary battery such as a lithium ion secondary battery or a nickel metal hydride battery, or a DC voltage excellent in output characteristics such as an electric double layer capacitor or a lithium ion capacitor. Consists of source elements.
- the DC power supply 10a and the DC power supply 10b correspond to a “first DC power supply” and a “second DC power supply”, respectively.
- the power converter 50 is connected between the DC power supplies 10 a and 10 b and the power line 20.
- Power converter 50 controls a DC voltage (hereinafter also referred to as output voltage VH) on power line 20 connected to load 30 in accordance with voltage command value VH *. That is, the power line 20 is provided in common for the DC power supplies 10a and 10b.
- the load 30 operates by receiving the output voltage VH of the power converter 50.
- Voltage command value VH * is set to a voltage suitable for the operation of load 30.
- the voltage command value VH * is preferably set variably according to the operating state of the load 30.
- the power supply system 5 of the present embodiment is applied to an electric system of an electric vehicle. Furthermore, the load 30 is configured to have a mechanism (hereinafter also referred to as “power generation mechanism”) for generating charging power of the DC power supplies 10a and 10b while the electric vehicle is running or stopped. According to the power generation mechanism, unlike the regenerative power generation when the vehicle is decelerated depending on the traveling state, the charging power of the DC power sources 10a and 10b can be generated spontaneously while the vehicle is traveling or stopped.
- a mechanism hereinafter also referred to as “power generation mechanism”
- charge / discharge control (hereinafter referred to as “SOC control”) for appropriately adjusting the SOC of the DC power supplies 10 a and 10 b by generating charging power of the DC power supplies 10 a and 10 b by the power generation mechanism. Can be executed).
- SOC control charge / discharge control
- a specific configuration example of the load 30 will be described in detail later.
- the power converter 50 includes switching elements S1 to S4 and reactors L1 and L2.
- an IGBT Insulated Gate Bipolar Transistor
- a power MOS Metal Oxide Semiconductor
- a power bipolar transistor or the like can be used as the switching element.
- Anti-parallel diodes D1 to D4 are arranged for switching elements S1 to S4.
- the switching elements S1 to S4 can control on / off in response to the control signals SG1 to SG4, respectively.
- the switching elements S1 to S4 are turned on when the control signals SG1 to SG4 are at a high level (hereinafter, H level), and are turned off when the control signals SG1 to SG4 are at a low level (hereinafter, L level).
- Switching element S1 is electrically connected between power line 20 and node N1.
- Reactor L2 is connected between node N1 and the positive terminal of DC power supply 10b.
- Switching element S2 is electrically connected between nodes N1 and N2.
- Reactor L1 is connected between node N2 and the positive terminal of DC power supply 10a.
- Switching element S3 is electrically connected between nodes N2 and N3.
- Node N3 is electrically connected to the negative terminal of DC power supply 10b.
- Switching element S4 is electrically connected between node N3 and ground line 21.
- the ground wiring 21 is electrically connected to the load 30 and the negative terminal of the DC power supply 10a.
- the power converter 50 has a boost chopper circuit corresponding to each of the DC power supply 10a and the DC power supply 10b. That is, for DC power supply 10a, a current bidirectional first step-up chopper circuit having switching elements S1 and S2 as upper arm elements and switching elements S3 and S4 as lower arm elements is configured. Similarly, for the DC power supply 10b, a current bidirectional second step-up chopper circuit is configured with the switching elements S1 and S4 as upper arm elements and the switching elements S2 and S3 as lower arm elements. .
- the control device 40 is constituted by, for example, a CPU (Central Processing Unit) (not shown) and an electronic control unit (ECU) with a built-in memory, and based on a map and a program stored in the memory, a detection value by each sensor is obtained. It is comprised so that the used arithmetic processing may be performed. Alternatively, at least a part of the control device 40 may be configured to execute predetermined numerical / logical operation processing by hardware such as an electronic circuit.
- a CPU Central Processing Unit
- ECU electronice control unit
- the control device 40 generates control signals SG1 to SG4 for controlling on / off of the switching elements S1 to S4 in order to control the output voltage VH to the load 30.
- Va voltage
- Ia current
- Vb voltage
- Ib current
- Ib output voltage
- Ta and Tb detectors
- switching elements S1 to S4 correspond to “first switching element” to “fourth switching element”, respectively, and reactors L1 and L2 correspond to “first reactor” and “second reactor”, respectively. Corresponds to “reactor” respectively.
- the power converter 50 has a plurality of operation modes in which DC power conversion modes between the DC power supplies 10a and 10b and the power line 20 are different.
- FIG. 2 shows a plurality of operation modes that the power converter 50 has.
- the operation modes include “boost mode (B)” in which the output voltage of DC power supplies 10a and / or 10b is boosted in accordance with periodic on / off control of switching elements S1 to S4, and switching element S1.
- B boost mode
- D direct connection mode
- the power converter 50 is connected in series to the “parallel boost mode (hereinafter referred to as PB mode)” in which the DC / DC conversion is performed in parallel between the DC power supplies 10 a and 10 b and the power line 20.
- PB mode parallel boost mode
- SB mode Series boost mode
- the PB mode corresponds to the “parallel connection mode” in Patent Document 2 in which DC / DC conversion is performed in a state where the DC power supplies 10a and 10b are connected in parallel.
- the SB mode corresponds to the “series connection mode” in Patent Document 2.
- a “single mode by DC power source 10a (hereinafter referred to as aB mode)” for performing DC / DC conversion with the power line 20 using only the DC power source 10a, and a power line using only the DC power source 10b.
- bB mode Single mode by DC power supply 10b
- the DC power supply 10b In the aB mode, as long as the output voltage VH is controlled to be higher than the voltage Vb of the DC power supply 10b, the DC power supply 10b is maintained in a state of being electrically disconnected from the power line 20 and is not used. Similarly, in the bB mode, as long as the output voltage VH is controlled to be higher than the voltage Va of the DC power supply 10a, the DC power supply 10a is maintained in an electrically disconnected state from the power line 20 and is not used.
- the output voltage VH of the power line 20 is controlled according to the voltage command value VH *. Control of the switching elements S1 to S4 in each of these modes will be described later.
- the “parallel direct connection mode” in which the DC power supplies 10 a and 10 b are connected in parallel to the power line 20 and the DC power supplies 10 a and 10 b in series with the power line 20 are connected.
- PD mode parallel direct connection mode
- SD mode Series direct connection mode
- the switching elements S1, S2, and S4 are fixed on, while the switching element S3 is fixed off.
- the output voltage VH becomes equal to the voltages Va and Vb of the DC power supplies 10a and 10 (strictly, the higher one of Va and Vb). Since the voltage difference between Va and Vb causes a short circuit current in the DC power supplies 10a and 10b, the PD mode can be applied only when the voltage difference is small.
- the switching elements S2 and S4 are fixed off, while the switching elements S1 and S3 are fixed on.
- direct connection mode of DC power supply 10a (hereinafter referred to as aD mode)” in which only DC power supply 10a is electrically connected to power line 20 and only DC power supply 10b is electrically connected to power line 20 “ "Direct connection mode (hereinafter referred to as bD mode) of DC power supply 10b”.
- the switching elements S1 and S2 are fixed on, while the switching elements S3 and S4 are fixed off.
- the DC power supply 10b is not used because it is kept electrically disconnected from the power line 20.
- Va> Vb is a necessary condition for applying the aD mode.
- the switching elements S1 and S4 are fixed on, while the switching elements S2 and S3 are fixed off.
- the DC power supply 10a is not used because it is kept disconnected from the power line 20.
- Va> Vb a short-circuit current is generated from the DC power supplies 10a to 10b via the diode D2. For this reason, Vb> Va is a necessary condition for applying the bD mode.
- the output voltage VH of the power line 20 is determined depending on the voltages Va and Vb of the DC power supplies 10a and 10b, and therefore must be directly controlled. Can not be. For this reason, in each mode included in the direct connection mode, the output voltage VH cannot be set to a voltage suitable for the operation of the load 30, so that the power loss in the load 30 may increase.
- the direct connection mode since the switching elements S1 to S4 are not turned on / off, the power loss of the power converter 50 is greatly suppressed. Therefore, depending on the operating state of the load 30, application of the direct connection mode increases the power loss reduction amount in the power converter 50 more than the power loss increase amount of the load 30, thereby reducing the power loss in the entire power supply system 5. There is a possibility that it can be suppressed.
- the PB mode corresponds to the “first mode”
- the SB mode corresponds to the “second mode”
- the SD mode corresponds to the “third mode”.
- the aB mode and the bB mode correspond to the “fourth mode”
- the aD mode and the bD mode correspond to the “fifth mode”.
- one of the plurality of operation modes shown in FIG. 3 is selected according to the operation state of DC power supplies 10a and 10b and / or load 30. .
- circuit operation in each operation mode Next, the circuit operation of the power converter 50 in each operation mode will be described. First, the circuit operation in the PB mode in which DC / DC conversion is performed in parallel between DC power supplies 10a and 10b and power line 20 will be described with reference to FIGS.
- DC power supplies 10 a and 10 b can be connected in parallel to power line 20 by turning on switching element S ⁇ b> 4 or S ⁇ b> 2.
- the equivalent circuit differs depending on the level of the voltage Va of the DC power supply 10a and the voltage Vb of the DC power supply 10b.
- the ON period and the OFF period of the lower arm element can be alternately formed by the ON / OFF control of the switching element S3.
- the ON and OFF periods of the lower arm element of the step-up chopper circuit can be alternately formed by controlling the switching elements S2 and S3 in common.
- the switching element S1 operates as a switch that controls regeneration from the load 30.
- the ON period and the OFF period of the lower arm element can be alternately formed by the ON / OFF control of the switching element S3.
- the switching elements S3 and S4 are commonly controlled to be turned on / off, whereby the on period and the off period of the lower arm element of the boost chopper circuit can be alternately formed.
- the switching element S1 operates as a switch that controls regeneration from the load 30.
- FIG. 5 shows DC / DC conversion (step-up operation) for the DC power supply 10a in the PB mode.
- a current path 150 for storing energy in reactor L1 is formed by turning on a pair of switching elements S3 and S4 and turning off a pair of switching elements S1 and S2. . Thereby, a state is formed in which the lower arm element of the boost chopper circuit is turned on.
- the pair of switching elements S3 and S4 is turned off and the pair of switching elements S1 and S2 is turned on, whereby the stored energy of reactor L1 is supplied to DC power supply 10a.
- a current path 151 is formed for output with energy.
- a state in which the upper arm element of the boost chopper circuit is turned on is formed.
- a step-up chopper circuit having a pair of switching elements S1 and S2 equivalently as an upper arm element and a pair of switching elements S3 and S4 equivalently as a lower arm element is configured for the DC power supply 10a.
- the DC power supplies 10a and 10b are non-interfering with each other. That is, it is possible to independently control power input / output to / from DC power supplies 10a and 10b.
- FIG. 6 shows DC / DC conversion (step-up operation) for the DC power supply 10b in the PB mode.
- a step-up chopper circuit having a pair of switching elements S1 and S4 equivalently as an upper arm element and a pair of switching elements S2 and S3 equivalently as a lower arm element is configured for the DC power supply 10b.
- DC power supplies 10a and 10b are non-interfering with each other. That is, it is possible to independently control power input / output to / from DC power supplies 10a and 10b.
- FIG. 7 is a waveform diagram for explaining an example of the control operation of the switching element in the PB mode.
- FIG. 7 shows an example in which the carrier wave CWa used for the PWM control of the DC power supply 10a and the carrier wave CWb used for the PWM control of the DC power supply 10b have the same frequency and the same phase.
- Feedback control voltage control
- the other output of the DC power supplies 10a and 10b can be feedback controlled (current control) so as to compensate the current deviation of the current Ia or the current command value of Ib.
- the current control command value Ia * or Ib *
- the current control command value can be set to control the power of the DC power supply.
- the output of the DC power supply 10b is voltage-controlled while the output of the DC power supply 10a is current-controlled.
- a control pulse signal SDa is generated based on a voltage comparison between the duty ratio Da for controlling the output of the DC power supply 10a and the carrier wave CWa.
- control pulse signal SDb is generated based on a comparison between duty ratio Db for controlling the output of DC power supply 10b and carrier wave CWb.
- Control pulse signals / SDa and / SDb are inverted signals of control pulse signals SDa and SDb.
- control signals SG1 to SG4 are set based on the logical operation of the control pulse signals SDa (/ SDa) and SDb (/ SDb).
- Switching element S1 forms an upper arm element in each of the step-up chopper circuits of FIG. 5 and FIG. Therefore, control signal SG1 for controlling on / off of switching element S1 is generated by the logical sum of control pulse signals / SDa and / SDb.
- the switching element S1 realizes both functions of the upper arm element of the boost chopper circuit (DC power supply 10a) in FIG. 5 and the upper arm element of the boost chopper circuit (DC power supply 10b) in FIG. ON / OFF controlled.
- Switching element S2 forms an upper arm element in the boost chopper circuit of FIG. 5, and forms a lower arm element in the boost chopper circuit of FIG. Therefore, control signal SG2 for controlling on / off of switching element S2 is generated by the logical sum of control pulse signals / SDa and SDb. Thereby, the switching element S2 realizes both functions of the upper arm element of the boost chopper circuit (DC power supply 10a) of FIG. 5 and the lower arm element of the boost chopper circuit (DC power supply 10b) of FIG. ON / OFF controlled.
- control signal SG3 of the switching element S3 is generated by the logical sum of the control pulse signals SDa and SDb.
- the switching element S3 realizes both functions of the lower arm element of the boost chopper circuit (DC power supply 10a) in FIG. 5 and the lower arm element of the boost chopper circuit (DC power supply 10b) in FIG. ON / OFF controlled.
- control signal SG4 of the switching element S4 is generated by a logical sum of the control pulse signals SDa and / SDb.
- the switching element S4 realizes both functions of the lower arm element of the boost chopper circuit (DC power supply 10a) in FIG. 5 and the upper arm element of the boost chopper circuit (DC power supply 10b) in FIG. ON / OFF controlled.
- control signals SG1 to SG4 are generated based on control pulse signals SDa (/ SDa) and SDb (/ SDb) according to the logical operation expression shown in FIG.
- control signals SG1 to SG4 are generated based on control pulse signals SDa (/ SDa) and SDb (/ SDb) according to the logical operation expression shown in FIG.
- current I (L1) flowing through reactor L1 and current I (L2) flowing through reactor L2 are controlled.
- the current I (L1) corresponds to the current Ia of the DC power supply 10a
- the current I (L2) corresponds to the current Ib of the DC power supply 10b.
- the DC / DC conversion for inputting / outputting the DC power in parallel between the DC power supplies 10a, 10b and the power line 20 is executed, and then the output voltage VH is controlled to the voltage command value VH *. be able to. Furthermore, the input / output power of the DC power supply can be controlled according to the current command value of the DC power supply that is the target of current control.
- the load power PL are the discharges of the DC power supplies 10a, 10b.
- the power value at the time of powering operation of the load and the load 30 is represented by a positive value
- the power value at the time of charging the DC power sources 10a and 10b and the regenerative operation of the load 30 is represented by a negative value.
- circuit operation in aB mode and bB mode The circuit operation in the boost mode (aB mode, bB mode) using only one of the DC power supplies 10a, 10b is common to the circuit operations in FIGS.
- the DC power supply 10b is not used by the switching operation shown in FIGS. 5A and 5B, while bidirectional DC / DC between the DC power supply 10a and the power line 20 (load 30). Conversion is performed. Therefore, in the aB mode, switching elements S1 to S4 are controlled in accordance with control pulse signal SDa based on duty ratio Da for controlling the output of DC power supply 10a.
- switching elements S3 and S4 constituting the lower arm element of the step-up chopper circuit shown in FIGS. 5A and 5B are commonly turned on / off according to the control pulse signal SDa.
- switching elements S1 and S2 constituting the upper arm element of the step-up chopper circuit are commonly turned on / off in accordance with control pulse signal / SDa.
- the DC power supply 10a is not used by the switching operation shown in FIGS. 6A and 6B, while the DC power supply 10b and the power line 20 (load 30) are bidirectional. DC / DC conversion is performed. Therefore, in the bB mode, switching elements S1 to S4 are controlled in accordance with control pulse signal SDb based on duty ratio Db for controlling the output of DC power supply 10b.
- switching elements S2 and S3 constituting the lower arm element of the step-up chopper circuit shown in FIGS. 6A and 6B are commonly turned on / off according to the control pulse signal SDb.
- switching elements S1 and S4 constituting the upper arm element of the step-up chopper circuit are commonly turned on / off in accordance with control pulse signal / SDb.
- circuit operation in direct connection mode In the direct connection mode, it is understood that any of the PD mode, the SD mode, the aD mode, and the bD mode is realized by fixing the on / off states of the switching elements S1 to S4 according to FIG.
- the DC power supplies 10a and 10b can be connected in series to the power line 20 by fixing the switching element S3 to be on.
- An equivalent circuit at this time is shown in FIG. 9A.
- the switching elements S2 and S4 are commonly controlled on and off between the DC power supplies 10a and 10b connected in series and the power line 20, thereby lowering the boost chopper circuit.
- the on period and the off period of the arm element can be alternately formed.
- the switching element S1 operates as a switch that controls regeneration from the load 30 by being turned on during the off period of the switching elements S2 and S4.
- the wiring 15 that connects the reactor L1 to the switching element S4 is equivalently formed by the switching element S3 that is fixed on.
- switching element S3 is fixed on to connect DC power supplies 10a and 10b in series, while a pair of switching elements S2 and S4 is turned on and switching element S1 is turned off. . Thereby, current paths 170 and 171 for storing energy in reactors L1 and L2 are formed. As a result, a state in which the lower arm element of the boost chopper circuit is turned on is formed for the DC power supplies 10a and 10b connected in series.
- the relationship expressed by the following equation (3) is established among the voltage Va of the DC power supply 10a, the voltage Vb of the DC power supply 10b, and the output voltage VH of the power line 20.
- the duty ratio in the first period when the pair of switching elements S2 and S4 is turned on is Dc.
- VH 1 / (1-Dc). (Va + Vb) (3)
- Va and Vb are different, or when the inductances of reactors L1 and L2 are different, the current values of reactors L1 and L2 at the end of the operation in FIG. Therefore, immediately after the transition to the operation of FIG. 10B, when the current of reactor L1 is larger, a difference current flows through current path 173.
- the current of reactor L2 is larger, a difference current flows through current path 174.
- FIG. 11 shows a waveform diagram for explaining an example of the control operation of the switching element in the SB mode.
- DC / DC conversion between the DC voltage (Va + Vb) and the output voltage VH is executed by the boost chopper circuit shown in FIG.
- control signals SG1 to SG4 can be set based on the logical operation of the control pulse signal SDc (/ SDc).
- the control pulse signal SDc is used as the control signals SG2 and SG4 of the pair of switching elements S2 and S4 constituting the lower arm element of the boost chopper circuit.
- control signal SG1 of switching element S1 constituting the upper arm element of the boost chopper circuit is obtained by control pulse signal / SDc.
- the SB mode bidirectional DC / DC conversion is performed with the power line 20 (load 30) in a state where the DC power supplies 10a and 10b are connected in series. Therefore, the power Pa of the DC power supply 10a and the power Pb of the DC power supply 10b cannot be directly controlled. That is, the ratio between the electric power Pa and Pb of the DC power supplies 10a and 10b is automatically determined according to the following equation (4) according to the ratio between the voltages Va and Vb. Note that power is supplied to the load 30 by the sum of input and output power of the DC power supplies 10a and 10b (Pa + Pb), as in the PB mode.
- the power distribution of the DC power supplies 10a and 10b with respect to the total power PH can be controlled as described above. That is, in the PB mode, the power distribution ratio k can be set to an arbitrary value within the range of 0 to 1.0 by controlling the switching element. Therefore, it is understood that the SOC of DC power supplies 10a and 10b can be independently controlled in the PB mode.
- the control of the power generation mechanism enables SOC control with charging / discharging of the DC power supply 10a and / or 10b in use. It is.
- the electric power Pa and Pb are uniquely determined according to the voltages Va and Vb according to the above equation (4).
- the DC power supplies 10a and 10b are connected to the power line 20 in parallel.
- the power distribution ratio k is uniquely determined depending on the internal resistances of the DC power supplies 10a and 10b, the power Pa and Pb of each DC power supply 10a and 10b cannot be controlled independently.
- the SOCs of the DC power supplies 10a and 10b cannot be controlled independently.
- Example of load configuration Next, a configuration example of a load of the power supply system 5 applied to the electric vehicle will be described.
- the stored energy of the DC power sources 10a and 10b is used for traveling the vehicle. Therefore, it is important to appropriately control the SOC of the DC power sources 10a and 10b while the vehicle is traveling.
- FIG. 13 is a block diagram showing a schematic configuration of a drive system of a hybrid vehicle shown as an example of an electric vehicle to which power supply system 5 according to the present embodiment is applied.
- the drive system of hybrid vehicle 1000 includes an engine 115, a first motor generator (hereinafter simply referred to as “MG1”), and a second motor generator (hereinafter also simply referred to as “MG2”).
- the power split mechanism 130 and the speed reducer 140 are provided.
- Engine 115, MG1 and MG2 are controlled by control device 40.
- DC power supplies 10 a and 10 b included in power supply system 5 are mounted on hybrid vehicle 1000.
- control device of hybrid vehicle 1000 in FIG. 13 is also expressed as control device 40 in common with FIG. That is, in the present embodiment, the control device 40 is comprehensively described as a common functional block, but a plurality of ECUs obtained by dividing the function of the control device 40 can be arranged on an actual machine.
- the hybrid vehicle 1000 shown in FIG. 13 travels by driving force from at least one of the engine 115 and MG2.
- Engine 115, MG1 and MG2 are connected via power split mechanism 130.
- the power generated by the engine 115 is divided into two paths by the power split mechanism 130. One is a path for driving the drive wheels 145 via the speed reducer 140. The other is a path for driving MG1 to generate power.
- Engine 115 outputs power using hydrocarbon fuel such as gasoline or light oil.
- the engine 115 is stopped or started in accordance with a command from the control device 40.
- engine control such as fuel injection control, ignition control, and intake air amount control is executed so that the engine 115 operates at an operating point (torque / rotational speed) determined by the control device 40.
- the engine 115 is provided with various sensors that detect the operating state of the engine 115, such as a crank angle of a crankshaft and an engine speed (not shown). These sensor outputs are transmitted to the control device 40 as necessary.
- Each of MG1 and MG2 is typically a three-phase AC rotating electric machine.
- MG1 generates power using the power of engine 115 divided by power split device 130.
- the electric power generated by MG1 is properly used according to the running state of the vehicle and the SOC of DC power supplies 10a and 10b.
- MG1 When MG1 acts as a generator, MG1 generates negative torque.
- the negative torque means a torque that becomes a load on the engine 115.
- MG1 receives power supply and acts as an electric motor, MG1 generates a positive torque.
- the positive torque means torque that does not become a load on the engine 115, that is, torque that assists rotation of the engine 115. The same applies to MG2.
- MG1 outputs a positive torque for motoring engine 115.
- MG2 generates torque by at least one of the electric power from the power supply system 5 and the electric power generated by the MG1.
- the torque of MG2 is transmitted to the drive wheel 145 via the speed reducer 140. Thereby, the MG2 assists the engine 115 or causes the vehicle to travel by the driving force from the MG2.
- MG2 is driven by the drive wheels 145 via the speed reducer 140, and MG2 operates as a generator.
- MG2 operates as a regenerative brake that converts braking energy into electric power.
- the power split mechanism 130 includes a planetary gear including a sun gear 131, a pinion gear 132, a carrier 133, and a ring gear 134.
- Pinion gear 132 engages with sun gear 131 and ring gear 134.
- the carrier 133 supports the pinion gear 132 so that it can rotate.
- Sun gear 131 is coupled to the rotation shaft of MG1.
- the carrier 133 is connected to the output shaft (crankshaft) of the engine 115.
- Ring gear 134 is connected to the rotation shaft of MG 2 and reduction device 140.
- the power split mechanism 130 is shown as an example of a “differential device”. That is, the sun gear 131 and the ring gear 134 correspond to a “first rotating element”, a “second rotating element”, and a “third rotating element” that can be relatively rotated, respectively.
- the engine 115, MG1 and MG2 are connected via a power split mechanism 130 constituting a differential device, so that the rotational speed of the engine 115, MG1 and MG2 is a straight line in the collinear chart as shown in FIG. It becomes a relationship tied in.
- MG2 may be connected to ring gear 134 via a reduction gear or a transmission.
- the hybrid vehicle 1000 basically travels only by the driving force of the MG 2 while the engine 115 is stopped in an operation region where the efficiency of the engine 115 is low, such as at the time of starting or at a low vehicle speed.
- the engine 115 is operated in a highly efficient region and the power of the engine 115 is divided into two paths by the power split mechanism 130.
- the power transmitted to one path drives the drive wheel 145.
- the power transmitted to the other path drives MG1 to generate power.
- the electric power generated by MG1 can be used as electric power for driving MG2 as it is.
- MG2 assists driving of drive wheels 145 by outputting torque using the generated power of MG1.
- driving power can be added to the driving wheels 145 by increasing the torque of MG2 by further supplying power from DC power supplies 10a, 10b to MG2.
- MG2 driven by the drive wheel 145 functions as a generator to generate power by regenerative braking.
- the electric power recovered by the regenerative power generation can be used for charging the DC power supplies 10a and 10b.
- regenerative braking here means regenerative power generation by braking with regenerative power generation when a driver operating a hybrid vehicle has a foot brake operation or by turning off the accelerator pedal while driving without operating the foot brake. Including decelerating the vehicle (or stopping acceleration) while
- the output of the engine 115 is increased in response to the charging request, so that at least a part of the power generated by the MG1 is supplied to the DC power supply. It can be used for charging 10a and 10b.
- the power supply from the DC power supplies 10a and 10b can be promoted by reducing the output of the engine 115 according to the discharge request. .
- FIG. 15 shows the configuration of the electric system of hybrid vehicle 1000 shown in FIG. Power supply system 5 according to the present embodiment is included in the electric system.
- hybrid vehicle 1000 is provided with a first inverter 180 for driving and controlling MG1, and a second inverter 190 for driving and controlling MG2.
- Each of the first inverter 180 and the second inverter is composed of a general three-phase inverter, and includes a U-phase arm, a V-phase arm, and a W-phase arm connected in parallel.
- Each of the U-phase arm, the V-phase arm, and the W-phase arm has two switching elements (upper arm element and lower arm element) connected in series. An antiparallel diode is connected to each switching element.
- Each of MG1 and MG2 has a star-connected U-phase coil, V-phase coil, and W-phase coil as stator windings.
- One end of each phase coil of MG1 is connected to each other at a neutral point 182.
- the other end of each phase coil of MG1 is connected to the connection point of the switching element of each phase arm of first inverter 180, respectively.
- one end of each phase coil of MG2 is connected to each other at a neutral point 192.
- the other end of each phase coil is connected to the connection point of the switching element of each phase arm of second inverter 190.
- the DC side of the first inverter 180 is connected to the power line 20 and the ground wiring 21 to which the output voltage VH from the power supply system 5 is transmitted.
- First inverter 180 controls the current or voltage of each phase coil of MG1 by on / off control of a switching element in accordance with a control signal from control device 40.
- the first inverter 180 converts the output voltage VH (DC voltage) from the power supply system 5 into an AC voltage and supplies it to the MG1, and converts the AC power generated by the MG1 into DC power to convert the power line 20 Bidirectional power conversion with the power conversion operation supplied to can be executed.
- the DC side of the second inverter 190 is connected to the power line 20 and the ground wiring 21 in common with the first inverter 180.
- Second inverter 190 controls the current or voltage of each phase coil of MG ⁇ b> 2 by on / off control of the switching element in accordance with a control signal from control device 40.
- the second inverter 190 converts the output voltage VH (DC voltage) from the power supply system 5 into an AC voltage and supplies it to the MG2, and converts the AC power generated by the MG2 into DC power to convert the power line 20 Bidirectional power conversion with the power conversion operation supplied to can be executed.
- VH DC voltage
- MG1 and MG2 are provided with a rotation angle sensor and a current sensor (not shown).
- Control device 40 causes MG1 and MG2 to operate in accordance with operation commands (typically torque command values) set to generate outputs required for vehicle travel (vehicle drive power, charge / discharge power, etc.).
- operation commands typically torque command values
- the power conversion of the first inverter 180 and the second inverter 190 is controlled. For example, for each of MG1 and MG2, the output torque is controlled by current feedback.
- first inverter 180, second inverter 190, MG1 and MG2 are included in load 30 of power supply system 5 according to the present embodiment. That is, driving power for MG1 and MG2 can be supplied by the DC power supplies 10a and 10b. Furthermore, since MG1 can generate electric power by the output of engine 115 while the vehicle is running, charging power of DC power supply 10a and / or 10b can be generated by controlling the output of engine 115 and MG1.
- power supply system 5 is configured to use a drive system of hybrid vehicle 1000 (electric vehicle) configured to include a motor generator for generating vehicle driving force as a load.
- the “power generation mechanism” can be configured by the engine 115 and MG1.
- MG1 is shown as an example of a “second motor generator” configured to generate power using the output of the engine.
- MG2 corresponds to an example of a “first motor generator”.
- the configuration of the drive system including the power generation mechanism serving as the load of the power supply system according to the present embodiment is not limited to the examples shown in FIGS. 13 and 15.
- FIG. 16 is a conceptual diagram for explaining a preferred configuration example of DC power supplies 10a and 10b in an electric vehicle.
- FIG. 16 is a conceptual diagram for explaining an example of characteristics of both DC power supplies when the DC power supplies 10a and 10b are configured with different types of power supplies.
- each DC power source is shown by a so-called Ragon plot in which energy is plotted on the horizontal axis and power is plotted on the vertical axis.
- one of the DC power supplies 10a and 10b is constituted by a so-called high-capacity type power supply with high stored energy, while the other is constituted by a so-called high-output type power supply with high output power. It is preferable. In this way, the energy stored in the high-capacity power supply is used for a long period of time, while the high-power power supply is used as a buffer to output the shortage due to the high-capacity power supply. Can do.
- the DC power supply 10a is configured with a high-capacity power supply, while the DC power supply 10b is configured with a high-output power supply. Therefore, the operating range 110 of the DC power supply 10a has a narrower power output range than the operating range 120 of the DC power supply 10b. On the other hand, the energy range that can be stored in the operation region 120 is narrower than that in the operation region 110.
- High power is required for a short time at the operating point 101 of the load 30.
- the operating point 101 corresponds to a sudden acceleration due to a user's accelerator operation.
- the operating point 102 of the load 30 a relatively low power is required for a long time.
- the operating point 102 corresponds to continuous high speed steady running.
- the operating point 101 can be dealt with mainly by the output from the high-power DC power supply 10b.
- the operating point 102 can be dealt with mainly by the output from the high-capacity DC power supply 10a.
- the stored energy can be used effectively in the entire system by utilizing the characteristics of each DC power supply.
- the DC power supply 10a is configured by a secondary battery and the DC power supply 10b is configured by a capacitor
- the capacity of the DC power supply 10a full charge capacity
- the combination of the DC power supplies 10a and 10b is not limited to this example, and can be configured by DC power supplies (power storage devices) of the same type and / or the same capacity.
- output voltage VH from power supply system 5 needs to be set to a certain voltage or higher according to the operating state of load 30.
- output voltage VH corresponding to the DC link side voltage of inverters 180 and 190 needs to be equal to or higher than the induced voltage generated in the coil windings of MG1 and MG2.
- the current phase when the same torque is output varies depending on the DC link voltage (output voltage VH) of inverters 180 and 190.
- the ratio of the output torque to the current amplitude in MG1 and MG2, that is, the motor efficiency changes in accordance with the current phase. Therefore, when the torque command values of MG1 and MG2 are set, the optimum current phase at which the efficiency of MG1 and MG2 is maximized, that is, the power loss at MG1 and MG2 is minimized, corresponding to the torque command value,
- the output voltage VH for realizing the optimum current phase can be determined.
- power converter 50 has a plurality of operations shown in FIG. 3 in accordance with the operating states of DC power supplies 10a, 10b and / or loads 30 (MG1, MG2).
- One of the operating modes is selected.
- an operation mode in which the loss in the entire power supply system 5 is minimized can be selected from among operation mode groups that can correspond to the range of VH ⁇ VHrq. it can.
- the step-up ratio in the power converter 50 can be reduced, so that power loss in the power converter 50 can be suppressed.
- currents Ia and Ib are common in the SB mode, the SOCs of DC power supplies 10a and 10b cannot be controlled independently.
- FIG. 17 is a conceptual diagram for explaining the SOC behavior of DC power supplies 10a and 10b in the SB mode.
- the vertical axis in FIG. 17 represents the amount of energy stored in the DC power source.
- the charge / discharge amount from the current SOC (SOCa) to the lower limit SOC (SOCamin) and the upper limit SOC (SOCamax) is relatively large.
- the upper limit SOC and the lower limit SOC correspond to a control upper limit value and a control lower limit value in the SOC control. That is, it is assumed that DC power supplies 10a and 10b have a margin with respect to the SOC upper limit value or SOC lower limit value on the specifications that actually lead to overdischarge or overcharge.
- the capacity of the high-power DC power supply 10b is smaller than that of the DC power supply 10a. Therefore, in DC power supply 10b, the amount of charge / discharge from the current SOC (SOCb) to the lower limit SOC (SOCbmin) and the upper limit SOC (SOCbmax) is relatively small.
- FIG. 18 is a conceptual diagram for explaining the SOC behavior of DC power supplies 10a and 10b in the PB mode.
- the outputs of the DC power supplies 10a and 10b can be controlled separately, so that the currents Ia and Ib are not common. For this reason, SOCa and SOCb can be controlled independently. Therefore, the PB mode has a higher degree of freedom in SOC control than the SB mode.
- control device 40 executes the following steps S110 to S140 when the SB mode or the SD mode is selected (YES in step S100).
- control device 40 determines whether or not the SOC current value (SOCb) of DC power supply 10b has a sufficient margin with respect to upper limit SOC (SOCbmax) and lower limit SOC (SOCbmin). For example, S110 is determined as YES when (SOCb ⁇ SOCbmin) and (SOCbmax ⁇ SOCb) are larger than a predetermined determination value Smth, and NO when not.
- control device 40 determines whether or not the SOC current value (SOCa) of DC power supply 10a has a sufficient margin with respect to upper limit SOC (SOCamax) and lower limit SOC (SOCamin). To do. For example, when (SOCa-SOCamin) and (SOCamax-SOCa) are larger than a predetermined determination value Smth, S120 is determined as YES, and when not, NO is determined.
- step S130 determines that the SB mode or the SD mode can be maintained. Thereby, when the SB mode or the SD mode is selected with priority given to the efficiency of the power supply system 5, the selection of the operation mode can be maintained.
- step S110 and S120 control device 40 proceeds to step S140 to forcibly shift the operation mode to the PB mode.
- the PB mode is forcibly selected when the SOCa or SOCb approaches the SOC upper limit or the SOC lower limit.
- FIG. 20 shows a conceptual diagram for explaining the power flow in the power supply system 5 applied to the hybrid vehicle 1000 shown in FIGS.
- the input / output power of MG1 is Pmg1
- the input / output power of MG2 is Pmg2.
- the powers Pmg1 and Pmg2 the power values when MG1 and MG2 are consumed are represented by positive values, and the power values during power generation are represented by negative values.
- PL * Tqcom1 ⁇ Nmg1 + Tqcom2 ⁇ Nmg2 (5)
- electric power can be generated by MG1 using the output of engine 115. Therefore, it is possible to charge the DC power supplies 10a and 10b while ensuring the driving power by outputting a power larger than the driving power for traveling the vehicle by the engine 115. In this case, operation commands for MG1 and MG2 are generated so that PL * ⁇ 0.
- the power supply system for the electric vehicle has a power generation mechanism in accordance with power management for ensuring the vehicle driving force of the electric vehicle while avoiding overcharge and overdischarge of DC power supplies 10a and 10b.
- An operation command for the load configured as described above is set.
- FIG. 21 is a functional block diagram for illustrating a control configuration for power management in the power supply system of the electric vehicle according to the present embodiment.
- the functions of the functional blocks described in the functional block diagrams including FIG. 21 are realized by software processing by the control device 40 and / or hardware processing by the operation of the electronic circuit.
- power management unit 500 includes a power upper limit setting unit 510, a power lower limit setting unit 510 #, arithmetic units 512, 512 #, and 545, a drive power setting unit 520, and an SOC control unit.
- 530a, 530b, charge / discharge required power setting unit 540, and travel control unit 550 The functions of the “charge / discharge control unit” are realized by the SOC control units 530a and 530b and the required charge / discharge power setting unit 540. Furthermore, the function of the “operation command generation unit” is realized by the travel control unit 550.
- the power upper limit setting unit 510 sets the power upper limit Pamax and Pbmax based on the state of the DC power supplies 10a and 10b.
- Each power upper limit value indicates the upper limit value of the discharge power, and is set to 0 or positive. When the power upper limit value is set to 0, it means that discharging from the DC power supply is prohibited.
- the power upper limit value Pamax is set based on the SOCa and the temperature Ta of the DC power supply 10a. Further, the power upper limit value Pamax is a voltage (Va) when the discharge power (Va ⁇ Ia) of the DC power supply 10a exceeds the steady upper limit value, when the discharge current (Ia) exceeds the upper limit value, or due to discharge. ) Decreases and falls below the lower limit value, it may be modified to limit the discharge power more than the set value based on SOCa and Ta. Similarly to Pamax, power upper limit value Pbmax can also be set based on the state of DC power supply 10b (SOCb, Tb, Ib, Vb).
- Power lower limit setting unit 510 # sets power lower limit values Pamin and Pbmin based on the state of DC power supplies 10a and 10b.
- Each power lower limit value indicates the upper limit value of the charging power, and is set to 0 or negative. When the power lower limit value is set to 0, it means that charging of the DC power supply is prohibited.
- the power lower limit Pamin is set based on the SOCa and temperature Ta of the DC power supply 10a.
- the power lower limit value Pamin is a voltage (Va) when the charging power (Va ⁇ Ia) of the DC power supply 10a exceeds the steady upper limit value, when the charging current (Ia) exceeds the upper limit value, or by charging. May be corrected so as to limit the charging power rather than the set value based on SOCa and Ta.
- power lower limit value Pbmin can also be set based on the state (SOCb, Tb, Ib, Vb) of DC power supply 10b.
- the calculation unit 512 sets the power upper limit value PHmax (total power upper limit value PHmax) for the entire DC power supplies 10a and 10b according to the power upper limit values Pamax and Pbmax.
- Arithmetic unit 512 # sets power lower limit value PHmin (total power lower limit value PHmin) for DC power supplies 10a and 10b as a whole in accordance with power lower limit values Pamin and Pbmin. Therefore, the total power upper limit value PHmax and the total power lower limit value PHmin are expressed by the following equations (6) and (7).
- Drive power setting unit 520 sets drive power Pdr necessary for vehicle travel according to the travel state of hybrid vehicle 1000 and user operation. Typically, a map (not shown) in which the relationship between the accelerator opening ACC and the vehicle speed V and the required driving force Tr * is determined in advance is created in advance. Then, when the accelerator opening degree ACC and the vehicle speed V are detected, the drive power setting unit 520 can calculate the required drive force Tr * by referring to the map.
- the driving power setting unit 520 can set the driving power Pdr according to the following equation (9).
- Nr indicates the rotational speed of the drive shaft
- Loss is a loss term.
- the SOC control unit 530a sets the required charging power Pchga based on the comparison between the SOCa of the DC power supply 10a and the SOC control target. For example, as shown in FIG. 22, when control center value Sr of SOC is set, SOC control unit 530a sets Pchga> 0 to request discharge in the SOCa> Sr region. On the other hand, in the SOCa ⁇ Sr region, Pchga ⁇ 0 is set to request charging.
- Pchga 0 is set when SOCa is within a certain range including the control center value Sr, while Pchga> 0 is set when SOCa is out of the range and Pchga is out of the range. It is also possible to configure the SOC control unit 530a so that ⁇ 0.
- the SOC control unit 530b sets the required charging power Pchgb based on a comparison between the SOCb of the DC power supply 10b and the SOC control target.
- temperatures Ta and Tb of the DC power supplies 10a and 10b may be further reflected in the setting of the charging request powers Pchga and Pchgb.
- the required charge / discharge power setting unit 540 sets the required charge / discharge power value Pchg based on the required charge power Pchga, Pchgb set by the SOC control units 530a, 530b and the operation mode of the power converter 50. In order to charge the DC power supplies 10a and 10b with electric power from the load 30 for SOC control, the charge / discharge required power value Pchg is set to a negative value. On the other hand, when it is desired to promote the discharge of the DC power supplies 10a and 10b, the charge / discharge required power value Pchg is set to a positive value.
- the traveling control unit 550 determines whether or not the engine 115 needs to be operated by comparing the total required power Ptl with a predetermined threshold value Pth. Specifically, when Ptl ⁇ Pth (low output), the engine 115 is stopped to prevent the engine 115 from operating in the low efficiency region. In this case, the fuel command in engine 115 is stopped, and the torque command value of MG2 is set so that the necessary drive power Pdr is obtained by the output torque of MG2.
- the traveling control unit 550 determines the operating point of the engine 115 based on the engine required power Pe.
- FIG. 23 is a conceptual diagram for explaining the setting of the engine operating point.
- the engine operating point is defined by a combination of engine speed Ne and engine torque Te.
- the product of the engine speed Ne and the engine torque Te corresponds to the engine output power.
- the operation line 105 is determined in advance as a set of engine operating points that can operate the engine 115 with high efficiency.
- the operation line 105 corresponds to an optimum fuel consumption line for suppressing fuel consumption at the same power output.
- the traveling control unit 550 determines the intersection P0 between the predetermined operation line 105 and the equal power line 106 corresponding to the calculated engine required power Pe as the engine operating point (target rotational speed Ne *). And the target torque Te *).
- the output torque of MG1 is determined such that the engine speed is controlled to the target speed Ne * by the output torque of MG1 mechanically coupled to engine 115 by power split mechanism 130 shown in FIG.
- Travel control unit 550 calculates drive torque (direct torque) Tep that is mechanically transmitted to the drive shaft when engine 115 is operated according to the determined engine operating point.
- direct torque Tep is calculated from the gear ratio of power split device 130 and the torque command value of MG1.
- the traveling control unit 550 calculates the output torque of the MG 2 so as to compensate for the excess / deficiency (Tr * ⁇ Tep) of the direct torque Tep with respect to the required driving force Tr *. That is, when the output torque of MG2 is Tm2, the following equation (9) is established. Tm2 * is a torque acting on the drive shaft by the output of MG2. The torque command value of MG2 is set according to Tm2 *.
- traveling control unit 550 basically operates engine 115 (on / off command and Ne, Te control) and operation commands (torque of MG1, MG2) according to the control process described above.
- Command values Tqcom1, Tqcom2) are set.
- traveling control unit 550 allows Tqcom1 so that load power PL * (see equation (5)) according to the operation command (torque command values Tqcom1, Tqcom2) set in this way falls within the range of PHmin to PHmax. , Tqcom2 and Pe are limited.
- traveling control unit 550 generates operation commands for engine 115 and MG1 and MG2 such that PHmin ⁇ PL * ⁇ PHmax.
- the operation command for the load 30 having the power generation mechanism is set reflecting the charge / discharge required power value Pchg for SOC control.
- the load power PL is controlled so that the entire DC power supplies 10a and 10b are charged and discharged according to the charge / discharge required power value Pchg.
- Charging / discharging required power setting unit 540 sets charging / discharging required power value Pchg according to the operation mode of power converter 50 in order to reflect the difference in the charging / discharging mode of DC power supplies 10a, 10b between the operation modes. Switch.
- FIG. 24 shows a setting equation for the required charge / discharge power value Pchg in each operation mode by the required charge / discharge power setting unit 540.
- the SOC control can be executed so as to maintain the SOCb at the SOC control target, it is possible to avoid that the SB mode cannot be applied due to the SOC constraint. That is, in a state where the SB mode is advantageous in terms of efficiency, the loss of the power supply system 5 can be suppressed and the energy efficiency of the hybrid vehicle can be improved by applying the SB mode to the maximum.
- the SOCa can be controlled so as to approach the SOC control target.
- power management unit 500 further includes a power circulation control unit 560 and a power distribution ratio setting unit 570.
- each power of the DC power supplies 10a and 10b can be controlled independently.
- the PB mode it is possible to set a power command value Pa * of the DC power supply 10a that is a target of current control (power control).
- the power circulation control unit 560 sets the circulating power value Pr.
- the circulating power value Pr is set in order to realize the SOC control of the DC power supply 10b having a small capacity by shifting the power balance between the DC power supplies 10a and 10b or causing the power circulation.
- the circulating power value Pr is set to a positive value, the power Pa is shifted in the positive direction, while the power Pb is shifted in the negative direction. Therefore, when it is desired to promote charging of the DC power supply 10b, a positive value of Pr> 0 is set.
- FIG. 25 shows setting formulas for the circulating power value Pr in each operation mode by the power circulation control unit 560.
- power circulation control unit 560 multiplies “ ⁇ 1” by charge request power Pchgb of DC power supply 10b.
- the circulating power value Pr is set for the SOC control of the DC power supply 10b having a small capacity.
- the circulating power value Pr is set for the SOC control of the DC power supply 10a. It is also possible to do. In this case, if it is desired to promote the discharge of the DC power supply 10a, it is set to a positive value of Pr> 0. On the other hand, if it is desired to promote the charging of the DC power supply 10b, it is set to a negative value of Pr ⁇ 0. it can.
- the power distribution ratio setting unit 570 sets the power distribution ratio k at least in the PB mode. For example, the power distribution ratio setting unit 570 sets the power distribution ratio k so that the power loss in the power supply system 5 is minimized according to the total power command value PH *.
- the power loss in the power supply system 5 is indicated by the sum of the loss in the power converter 50 and the loss in the DC power supplies 10a and 10b.
- the currents Ia and Ib change, and the losses in the power converter 50 and the DC power supplies 10a and 10b also change.
- the loss greatly varies depending on the combination of the electric power Pa and Pb (that is, the electric power distribution ratio k) even for the same total electric power PH. Is understood.
- the loss in the power converter 50 also changes according to the balance of the currents Ia and Ib.
- the distribution of power Pa and Pb (power distribution ratio k) that minimizes the power loss in the power supply system 5 with respect to the total power command value PH * can be obtained in advance by actual machine experiments and simulations.
- a map for determining the power distribution ratio k from the efficiency aspect of the power supply system 5 can be created in advance for the total power command value PH *.
- the power distribution ratio setting unit 570 sets the power distribution ratio k for increasing the efficiency of the power supply system 5 in accordance with the load power PL * according to the operation command set by the travel control unit 550 by referring to the map. be able to.
- the power command value Pa * of the current-controlled DC power supply 10a can be set according to the following equation (10).
- the power Pa of the DC power supply 10a and the power Pb of the DC power supply 10b to be (PL-Pa) can be controlled according to the power distribution ratio k for increasing the efficiency. Furthermore, by correcting the power command value Pa * according to the charge request power Pchgb for SOC control of the DC power supply 10b by the power circulation control unit 560, the SOC control of the small-capacity DC power supply 10b can be further accelerated.
- the load power PL reflects the charge / discharge request power value Pchg according to the sum of the charge request powers Pchga and Pchgb, so that SOCa is SOC controlled through power control according to the power distribution ratio k.
- the SOC control can be executed so as to approach the target.
- the electric power Pa and Pb of the DC power supplies 10a and 10b cannot be controlled. Therefore, as described above, by setting the charge / discharge required power value Pchg according to the operation mode, Through the output voltage control (VH control) by the converter 50, the SOCs of the DC power supplies 10a and 10b are controlled so that the SOCa and SOCb do not deviate from the SOC control target.
- VH control output voltage control
- charging / discharging for the load from the entire DC power supply is possible in a configuration in which the charging power of the DC power supply can be supplied from the load configured to have a power generation mechanism.
- the required power can be appropriately set according to the operation mode of the power converter.
- the operation mode is continuously increased when the SOC of the small-capacity DC power supply reaches the SOC upper limit or the SOC lower limit. It can be prevented from becoming inapplicable. Therefore, by ensuring an opportunity to select the SD mode or the SB mode from the viewpoint of efficiency, it is possible to suppress the loss of the power supply system 5 and improve the energy efficiency of the electric vehicle.
- the DC power supply is protected from overcharge and overdischarge by selecting the operation mode so that the PB mode is forcibly applied. be able to.
- carrier wave phase control (hereinafter referred to as carrier phase control) in pulse width modulation control in PB mode and SB mode using both DC power supplies 10a and 10b will be described.
- FIG. 26 shows an example of control operation in the PB mode when a phase difference is intentionally provided between the carrier waves CWa and CWb.
- carrier wave CWa and carrier wave CWb have the same frequency, but a phase difference ⁇ is provided between them.
- the phase difference ⁇ 180 degrees.
- control pulse signal SDa is generated based on the comparison between the carrier wave CWa and the duty ratio Da, and based on the comparison between the carrier wave CWb and the duty ratio Db.
- a control pulse signal SDb is generated.
- the duty ratios Da and Db are the same values as in FIG. Therefore, the control pulse signal SDa in FIG. 26 is different in phase from the control pulse signal SDa in FIG. 7, but the length of the H level period is the same. Similarly, the control pulse signal SDb in FIG. 26 is different in phase from the control pulse signal SDb in FIG. 7, but the length of the H level period is the same.
- the control signals SG1 to SG4 in FIG. 26 have waveforms different from the control signals SG1 to SG4 in FIG. From the comparison between FIG. 7 and FIG. 26, it is understood that the phase relationship (current phase) between the current I (L1) and the current I (L2) changes by changing the phase difference ⁇ between the carrier waves CWa and CWb. Is done.
- the switching loss of the switching elements S1 to S4 is reduced by carrier phase control that appropriately adjusts the phase difference ⁇ between the carrier waves CWa and CWb.
- FIG. 27 is a waveform diagram for explaining a current phase by carrier phase control in the PB mode in the power converter 50.
- switching elements S2 to S4 are turned on until time Ta, so that the lower arm element of the boost chopper circuit is turned on for both DC power supplies 10a and 10b. Therefore, both currents I (L1) and I (L2) rise.
- the switching element S2 is turned off, so that the lower arm element of the step-up chopper circuit is turned off with respect to the DC power supply 10b. Therefore, the current I (L2) starts to decrease. Instead of switching off the switching element S2, the switching element S1 is turned on.
- the lower arm element of the boost chopper circuit is turned on with respect to the DC power supply 10a, and the lower arm element of the boost chopper circuit is turned off with respect to the DC power supply 10b. That is, the current I (L1) increases while the current I (L2) decreases. At this time, the current path in the power converter 50 is as shown in FIG.
- the switching element S4 When the switching element S4 is turned off in the state of FIG. 28A, the current when the switching element S4 is turned off, that is, the switching loss can be reduced. Further, by turning on the switching element S2 in the state of FIG. 28B, the current at the time of turning on the switching element S2, that is, the switching loss can be reduced.
- the current phase that is, the phase difference ⁇ between the carrier waves CWa and CWb is set so that the falling start timing (maximum point) of the current I (L1) and the rising timing (minimum point) of the current I (L2) overlap. adjust.
- switching element S2 is turned on and switching element S4 is turned off.
- switching element S1 is turned off and switching element S4 is turned on.
- the lower arm element of the step-up chopper circuit is turned on for each of the DC power supplies 10a and 10b.
- both currents I (L1) and I (L2) rise.
- FIG. 29 shows current waveforms of the switching elements S2 and S4 in the current phase shown in FIG.
- FIG. 29A shows the waveform of the current I (S2) of the switching element S2
- FIG. 29B shows the waveform of the current I (S4) of the switching element S4.
- I (S2) I (L2) in the period up to time Ta and the period after time Tc.
- I (S2) 0.
- I (S2) ⁇ (I (L1) ⁇ I (L2)).
- I (S4) I (L1) in the period up to time Ta and the period after time Tc.
- I (S4) ⁇ (I (L2) ⁇ I (L1)).
- I (S4) 0.
- both the currents I (L1) and I (L2) increase.
- the switching element S4 is turned off at time Tx, whereby the current I (L1) starts to decrease.
- the switching element S1 is turned on instead of the switching element S4 being turned off.
- FIG. 31 shows current waveforms of the switching elements S2 and S4 in the current phase shown in FIG.
- FIG. 31 (a) shows the waveform of the current I (S2) of the switching element S2
- FIG. 31 (b) shows the waveform of the current I (S4) of the switching element S4.
- I (S2) ⁇ (I (L1) ⁇ I (L2)).
- I (S2) ⁇ I (L1).
- I (S2) ⁇ (I (L2) ⁇ I (L1)).
- the phase difference ⁇ is set to be the current phase in FIG. It is understood that by adjusting, the turn-on current of the switching element S2, that is, the switching loss at the time of turn-on is reduced. Further, from the comparison of the current I (S2) at times Tb to Tc in FIG. 29A and the current I (S2) at times Ty to Tz in FIG. Is also reduced.
- phase difference ⁇ between the carrier waves CWa and CWb
- loss in the switching elements S1 to S4 can be reduced.
- the current I (L1) starts to fall (maximum point) and the current I (L2) rises (minimum point).
- the phase difference ⁇ so that they overlap, that is, the turn-on timing of the switching element S2 and the turn-off timing of the switching element S4 coincide with each other, loss in the switching elements S1 to S4 is suppressed.
- phase difference ⁇ the falling timing (or rising timing) of the control pulse signal SDa and the rising timing (or falling timing) of the control pulse signal SDb overlap.
- the pulse transition timing of the control pulse signal SDa matches the pulse transition timing of the control pulse signal SDb.
- the transition timing indicates the timing at which the H level / L level of the pulse is switched.
- phase difference ⁇ at which the current phase as shown in FIG. 27 can be realized that is, the phase difference ⁇ by the carrier phase control is also determined according to the duty ratios Da and Db.
- phase difference map the relationship between the duty ratios Da and Db and the phase difference ⁇ by the carrier phase control is obtained in advance, and the corresponding relationship is preliminarily mapped (hereinafter also referred to as “phase difference map”) or a function equation (hereinafter referred to as “level” It can be stored in the control device 40 as a “phase difference calculation formula”.
- the phase difference ⁇ for carrier phase control can be calculated based on the calculated duty ratios Da and Db. Then, by generating the carrier waves CWa and CWb so as to have the calculated phase difference ⁇ , high-efficiency DC / DC conversion with suppressed loss in the switching elements S1 to S4 can be realized.
- FIGS. 27 to 31 have described the state in which both DC power supplies 10a and 10b are in a power running state, but similar carrier phase control can be executed in other states.
- FIG. 32 is a chart for explaining carrier phase control according to the first embodiment of the present invention in each operation state of the DC power supply.
- both DC power supplies 10a and 10b described above are in a powering state.
- the current I (L1) falls so that the current I (L1) falls at the maximum phase and the current I (L2) rises at the minimum (minimum) at a current phase that overlaps with Tb.
- the phase difference ⁇ of the carrier wave is adjusted.
- the turn-on loss of switching element S2 and the turn-off loss of switching element S4 in Tb can be reduced.
- the conduction loss of the switching element S4 during the period from Ta to Tb and the conduction loss of the switching element S2 during the period from Tb to Tc can be reduced.
- both DC power supplies 10a and 10b are in a regenerative state.
- the carrier wave has a current phase so that the rising timing (minimum point) of the current I (L1) and the falling timing (maximum point) of the current I (L2) overlap at Tb in the figure. Adjust the phase difference ⁇ .
- the turn-on loss of switching element S4 and the turn-off loss of switching element S2 in Tb can be reduced.
- the conduction loss of the switching element S2 during the period from Ta to Tb and the conduction loss of the switching element S4 during the period from Tb to Tc can be reduced.
- state C the DC power supply 10a is in a regenerative state, while the DC power supply 10b is in a powering state.
- the carrier wave has a current phase such that the fall timing (maximum point) of the current I (L1) and the fall timing (minimum point) of the current I (L2) overlap with Ta in the figure. Adjust the phase difference ⁇ .
- the turn-on loss of switching element S3 and the turn-off loss of switching element S1 in Ta can be reduced.
- the conduction loss of the switching element S1 during the period from Ta to Tb and the conduction loss of the switching element S3 during the period from Tc to Ta can be reduced.
- the DC power supply 10a is in a power running state, while the DC power supply 10b is in a regenerative state.
- the phase difference ⁇ of the carrier wave is adjusted so that the rising timing of the current I (L1) and the rising timing of the current I (L2) have a current phase overlapping at Tc in the drawing.
- the turn-on loss of the switching element S1 and the turn-off loss of the switching element S3 at Tc can be reduced.
- the conduction loss of the switching element S1 during the period Tb to Tc and the conduction loss of the switching element S3 during the period Tc to Ta can be reduced.
- phase difference ⁇ for reducing the loss in the switching elements S1 to S4 differs depending on the combination of the power running / regenerative state of the DC power supplies 10a and 10b. Therefore, it is preferable to set the above-described phase difference map or phase difference calculation formula for each power running / regenerative state combination (states A to D in FIG. 32).
- the above-described carrier phase control can be combined in the DC / DC conversion in the PB mode for controlling the output voltage VH to the voltage command value VH *.
- the loss of the switching elements S1 to S4 is reduced by enjoying the effect of canceling out the currents in the DC / DC conversion by each of the DC power supplies 10a and 10b shown in FIGS.
- highly efficient DC / DC conversion can be performed.
- the phase difference ⁇ between the carrier waves is switched so that the turn-on of the switching element S2 and the turn-off of the switching element S4 overlap as shown in the states A and B of FIG. It is set so that the turn-on of the element S4 and the turn-off of the switching element S2 overlap.
- the positions of the carrier waves CWa and CWb are such that the falling timing of the control pulse signal SDa and the rising timing of the control pulse signal SDb, or the rising timing of the control pulse signal SDa and the falling timing of the control pulse signal SDb overlap.
- the phase difference ⁇ By setting the phase difference ⁇ , the current phases shown in the states A and B in FIG. 32 are realized.
- the control signal SG3 in the PB mode is generated based on the logical sum of the control pulse signals SDa and SDb. Therefore, when the phase difference ⁇ is set so that the falling (or rising) timing of the control pulse signal SDa and the rising (or falling) timing of the control pulse signal SDb overlap, when VH> (Va + Vb) is satisfied, It is understood that the ratio of the H level period of the control signal SG3 in the PB mode exceeds 1.0. That is, when VH> (Va + Vb), the control signal SG3 is fixed to the H level also by PWM control common to the PB mode with the duty ratios Da and Db.
- FIG. 34 shows a waveform diagram showing a control pulse signal in the SB mode when carrier phase control is applied.
- the control signal SG1 in the PB mode is generated based on the logical sum of the control pulse signals / SDa and / SDb.
- the phase difference ⁇ is set as described above, the rising timing of the control pulse signal / SDa and the rising timing of the control pulse signal / SDb overlap. Therefore, the duty ratio DSG1 of the control signal SG1 is represented by (1 ⁇ Da) + (1 ⁇ Db). That is, DSG1 is expressed by the following equation (13).
- the logical operation based on the control pulse signals SDa and SDb based on the duty ratios Da and Db specifically, the logical sum of / SDa and / SDb.
- a signal having the same duty ratio as the control pulse signal / SDc based on the duty ratio Dc can be generated. That is, the control signal SG1 in the SB mode can be generated based on the control pulse signals SDa and SDb.
- control signals SG2 and SG4 in the SB mode are inverted signals of the control signal SG1.
- the logical operation result of not (/ SDb or / SDa) is the logical product (SDb and SDa) of SDa and SDb. Therefore, control signals SG2 and SG4 to be set according to control pulse signal SDc can also be generated based on the logical operation of control pulse signals SDa and SDb.
- control signals SG1 to SG4 to be set based on the duty ratio Dc in the SB mode are It can be generated from the control pulse signals SDa and SDb based on the duty ratios Da and Db.
- control signal SG3 is a signal fixed at the H level by the logical sum of the control pulse signals SDa and SDb.
- Control signal SG1 can be generated to have a duty equivalent to that of PWM control based on duty ratio Dc by the logical sum of control pulse signals / SDa and / SDb.
- the control signals SG2 and SG4 set complementarily to the control signal SG1 can also be generated by the logical product of the control pulse signals SDa and SDb.
- phase difference ⁇ in the SB mode also follows a preset phase difference map or phase difference calculation formula that stores the relationship between the duty ratios Da and Db and the phase difference ⁇ , as in the carrier phase control in the PB mode. , And can be calculated based on the duty ratios Da and Db calculated in the SB mode.
- FIG. 36 shows a waveform diagram showing an operation example of the PB mode and the SB mode in the power converter control according to the modification of the first embodiment.
- a command for switching from the PB mode to the SB mode is issued at the peak of the carrier wave CWa.
- control signals SG1 to SG4 are generated based on the duty ratios Da and Db calculated by the current control of the DC power supplies 10a and 10b.
- the control signal in the SB mode is immediately calculated based on the control pulse signals SDa and SDb at that time without newly calculating the duty ratio Dc according to the logical operation expression shown in FIG. SG1 to SG4 can be generated.
- control signals SG1 to SG4 in the SB mode can be generated using the duty ratios Da and Db in common with other operation modes belonging to the boost mode including the PB mode.
- the switching process between the PB mode and the SB mode can be executed without causing a control delay.
- one of the features of the power converter control according to the second embodiment is that a common control calculation is applied in each operation mode of the power converter 50.
- the smoothing capacitor CH connected to the power line 20 is charged / discharged by subtracting the load power PL from the total power PH (PH-PL).
- the output voltage VH corresponding to the voltage across the terminals of the smoothing capacitor CH can be controlled by increasing or decreasing the total power PH.
- the total power command value PH * is set according to the voltage deviation ⁇ VH of the output voltage VH with respect to the voltage command value VH *. Further, by distributing the total power command value PH * between the output powers Pa and Pb, the outputs of the DC power supplies 10a and 10b are subjected to power control (current control).
- FIGS. 37 and 38 are block diagrams for illustrating power converter control according to the second embodiment.
- FIG. 37 shows a configuration for a control calculation for setting the power command value of each DC power supply
- FIG. 38 shows a control calculation for controlling the output of each DC power supply in accordance with the set power command value. The configuration of is shown.
- power management unit 500 is configured in the same manner as shown in FIG.
- the power management unit 500 outputs the power upper limit values PHmax and Pamax, the power lower limit values PHmin and Pamin, the power distribution ratio k, and the circulating power value Pr to the voltage control unit 200.
- the voltage controller 200 sets the power command values Pa * and Pb * of the DC power supplies 10a and 10b based on the voltage deviation of the output voltage VH.
- the voltage control unit 200 includes a deviation calculation unit 210, a control calculation unit 220, a limiter 230, a power distribution unit 240, a circulating power addition unit 250, a limiter 260, and a subtraction unit 270.
- the deviation calculation unit 210 and the control calculation unit 220 realize the function of “control calculation unit”
- the power distribution unit 240 and the subtraction unit 270 realize the function of “power command value calculation unit”.
- the limiter 230 corresponds to a “second protection unit”
- the limiter 260 corresponds to a “first protection unit”.
- the power distribution ratio setting unit 570 (FIG. 21) corresponds to a “power distribution ratio setting unit”.
- the control calculation unit 220 calculates the total power PHr required for voltage control based on the voltage deviation ⁇ VH. For example, the control calculation unit 220 sets PHr according to the following equation (16) by PI calculation.
- total power command value PH * is defined in voltage control unit 200 that is lower than power management unit 500.
- the power distribution unit 240 calculates the power k ⁇ PH * to be shared by the DC power supply 10a based on the total power command value PH * and the power distribution ratio k from the power management unit 500.
- FIG. 39 is a conceptual diagram for describing the power flow in the power supply system in the PB mode by the power converter control according to the second embodiment.
- the DC power supplies 10a and 10b can be forcibly charged and discharged by setting the circulating power value Pr.
- Pr>0 it is possible to increase the output power of the DC power supply 10a and promote the charging of the DC power supply 10b.
- Pr ⁇ 0 the output power of the DC power supply 10a can be reduced and the discharge of the DC power supply 10b can be promoted.
- the DC power supply 10a can be protected from overpower. That is, overcharge and overdischarge of the DC power supply 10a can be prevented.
- the load power PL is limited within the range of PHmin to PHmax by the power management unit 500 (running control unit 550), and the total power command value PH * is reliably limited within the range of PHmax to PHmin by the limiter 230.
- the DC power supply 10b can be indirectly protected from overpower.
- control device 40 controls current outputs 300 and 310, PWM control unit 400, and carrier wave for controlling the output from DC power supplies 10a and 10b in accordance with power command values Pa * and Pb *.
- a generator 410 is included.
- the current controller 300 includes a current command generator 302, a deviation calculator 304, a control calculator 306, and an FF adder 308.
- the control calculation unit 306 calculates a control amount Dfba for current feedback control based on the current deviation ⁇ Ia. For example, the control calculation unit 306 calculates the control amount Dfba according to the following equation (18) by PI calculation.
- the FF adder 308 calculates the duty ratio Da related to the output control of the DC power supply 10a by adding the FB control amount Dfba and the FF control amount Dffa.
- the duty ratio Da is the lower arm element (switching element) of the step-up chopper circuit (FIG. 5) when performing DC / DC conversion between the voltage Va of the DC power supply 10a and the output voltage VH, as in the equation (1). This corresponds to the duty ratio during a period in which S3, S4) are turned on.
- the current control unit 310 corresponding to the DC power supply 10b includes a current command generation unit 312, a deviation calculation unit 314, a control calculation unit 316, and an FF addition unit 318.
- the control calculation unit 316 calculates a control amount Dfbb for current feedback control based on the current deviation ⁇ Ib. For example, the control calculation unit 316 calculates the control amount Dfbb according to the following equation (20) by PI calculation.
- Dfbb Kp ⁇ ⁇ Ib + ⁇ (Ki ⁇ ⁇ Ib) (20)
- Kp is a proportional control gain
- Ki is an integral control gain.
- the voltage command value VH * may be a detected value of the output voltage VH.
- the FF adder 318 calculates the duty ratio Db related to the output control of the DC power supply 10b by adding the FB control amount Dfbb and the FF control amount Dffb.
- the duty ratio Db corresponds to the duty ratio during the period when the lower arm elements (switching elements S2 and S3) of the boost chopper circuit (FIG. 6) are turned on, as in Expression (2).
- the PWM control unit 400 controls the switching elements S1 to S4 by pulse width modulation control based on the duty ratios Da and Db set by the current control units 300 and 310 and the carrier waves CWa and CWb from the carrier wave generation unit 410.
- Control signals SG1 to SG4 are generated. Since pulse width modulation control and generation of control signals SG1 to SG4 by PWM control unit 400 are performed in the same manner as described with reference to FIGS. 7 and 8, detailed description thereof will not be repeated.
- Carrier wave generation unit 410 preferably generates carrier waves CWa and CWb by applying the carrier phase control described in the modification of the first embodiment.
- the current control units 300 and 310 correspond to “current control units”.
- the current control unit 300 corresponds to a “first current control unit”
- the current control unit 310 corresponds to a “second current control unit”.
- the PWM control unit 400 corresponds to a “pulse width modulation unit”.
- the power converter control according to the second embodiment in the DC / DC conversion in the PB mode, the voltage deviation of the output voltage VH is converted into the power command value, and the output of each DC power supply 10a, 10b. , The output voltage VH can be controlled to the voltage command value VH *.
- the power command value of each DC power supply 10a, 10b is set according to the power distribution ratio k, the power management reflecting the SOC control described in the first embodiment (FIG. It is understood that it is suitable for combination with 21).
- FIG. 40 is a chart for explaining the setting of control signals and control data in each operation mode belonging to the boost mode.
- the control configuration shown in FIGS. 37 and 38 is shared in each operation mode in the boost mode. Then, by changing the power distribution ratio k, the DC power source to be subjected to the current feedback control, and the arithmetic logic of the control signals SG1 to SG4, it is possible to cope with the difference in the operation mode.
- the power distribution ratio k can be arbitrarily set within the range of 0 ⁇ k ⁇ 1.0, and the circulating power value Pr is also set to an arbitrary value in terms of control. can do.
- both currents Ia and Ib of DC power supplies 10a and 10b are controlled according to current command values Ia * and Ib * set based on a power command value for controlling output voltage VH. Is done.
- the DC power source 10b and the power line 20 () are not used by the boost chopper circuit formed by the switching elements S1 to S4 by the switching operation shown in FIGS. Bidirectional DC / DC conversion is performed between the loads 30). Therefore, in the aB mode, switching elements S1 to S4 are controlled in accordance with control pulse signal SDa based on duty ratio Da for controlling the output of DC power supply 10a. Specifically, the switching elements S3 and S4 constituting the lower arm element of the step-up chopper circuit shown in FIGS. 5A and 5B are commonly turned on / off according to the control pulse signal SDa. Similarly, switching elements S1 and S2 constituting the upper arm element of the step-up chopper circuit are commonly turned on / off in accordance with control pulse signal / SDa.
- the total power command value is calculated based on the voltage deviation ⁇ VH of the output voltage VH by the deviation calculation unit 210, the control calculation unit 220, and the limiter 230, as in the PB mode.
- PH * is set. Since DC power supply 10b is not used, power upper limit PHmax and power lower limit PHmin given to limiter 230 can be set equal to power upper limit Pamax and power lower limit Pamin of DC power supply 10a.
- the operation command for the load 30 is generated within the range of Pamin ⁇ PL * ⁇ Pamax.
- the limiter 260 can also protect the power command value Pa * from being out of the range of Pamax to Pamin, that is, prevent the DC power supply 10a from being overpowered. Therefore, in the aB mode, one of limiters 230 and 260 can be deactivated.
- the control pulse signal SDb is unnecessary as described above, so that the operation of the current control unit 310 can be stopped. That is, the calculation of the duty ratio Db is stopped.
- FIG. 41 is a conceptual diagram for explaining the power flow in the power supply system in the aB mode.
- power command value PH * for controlling output voltage VH to voltage command value VH * is all distributed to DC power supply 10a. That is, the load power PL is covered only by the DC power supply 10a. Further, since the circulating power value Pr is fixed at 0, charging / discharging between the DC power supplies 10a and 10b does not occur.
- the power command value Pa * is reliably limited within the range of Pamax to Pamin by the limiters 260 and / or 290. For this reason, the direct-current power supply 10a used alone can be protected from overpower. Further, in the aB mode, by calculating the duty ratio Da by feedback control of the current Ia of the DC power supply 10a, the voltage deviation ⁇ VH can be quickly compared with the control for calculating the duty ratio Da by feedback control of the output power VH. Can be resolved.
- the switching operation shown in FIGS. 6A and 6B makes the DC power supply 10a not used by the boost chopper circuit formed by the switching elements S1 to S4, while the DC power supply 10b and the power line 20 ( Bidirectional DC / DC conversion is performed between the loads 30). Therefore, in the bB mode, switching elements S1 to S4 are controlled in accordance with control pulse signal SDb based on duty ratio Db for controlling the output of DC power supply 10b. Specifically, the switching elements S2 and S3 constituting the lower arm element of the step-up chopper circuit shown in FIGS. 6A and 6B are commonly turned on / off according to the control pulse signal SDb. Similarly, switching elements S1 and S4 constituting the upper arm element of the step-up chopper circuit are commonly turned on / off in accordance with control pulse signal / SDb.
- the limiter 260 does not need to be restricted. That is, in the bB mode, the limiter 230 can directly protect the DC power supply 10b from overpower.
- power command value PH * necessary for controlling output voltage VH to voltage command value VH * is all distributed to DC power supply 10b. That is, the load power PL is covered only by the DC power supply 10b. Further, since the circulating power value Pr is fixed at 0, charging / discharging between the DC power supplies 10a and 10b does not occur.
- the power upper limit value PHmax and the power lower limit value PHmin given to the limiter 230 can be set equal to the power upper limit value Pbmax and the power lower limit value Pbmin of the DC power supply 10b.
- power command value Pb * is reliably limited within the range of Pbmax to Pbmin.
- the operation command for the load 30 is generated while being limited within a range of Pbmin ⁇ PL ⁇ Pbmax.
- the DC power supply 10b that is used alone can be protected from overpower.
- the generated voltage deviation ⁇ VH can be quickly eliminated as compared with the control in which the DC voltage VH is canceled by direct feedback control.
- FIG. 43 is a conceptual diagram for explaining the power flow in the power supply system in the SB mode.
- power distribution ratio k is the current values (detected values) of voltages Va and Vb of DC power supplies 10a and 10b according to equation (22) obtained along equation (4). Is set based on
- the total power command value PH * is set based on the voltage deviation ⁇ VH of the output voltage VH, as in the SB mode.
- Total power command value PH * can be set within the range of PHmax to PHmin by limiter 230.
- the total power command value PH * is changed to the power command value Pa * and Distributed to Pb *.
- the limiter 260 limits the power command value Pa * within the range of Pamax to Pamin.
- the current control unit 300 is based on the equation (12) based on the current deviation between the current command value Ia * set according to the power command value Pa * and the detected value of the current Ia.
- the FF control amount Dffb can be set according to the equation (21).
- the PWM control unit 400 controls the switching elements S1 to S4 by pulse width modulation control based on the duty ratios Da and Db set by the current control units 300 and 310 and the carrier waves CWa and CWb from the carrier wave generation unit 410.
- Control signals SG1 to SG4 are generated.
- the control pulse signals SDa (/ SDa) and SDb (/ SDb) are used by combining the carrier phase difference control described in the modification of the first embodiment (FIG. 35). , Control signals SG1 to SG4 in the SB mode can be generated.
- the duty ratio Da can be calculated by the current feedback control of the DC power supply 10a, the voltage deviation ⁇ VH in the SB mode can be quickly eliminated as compared with the control for calculating the duty ratio (Dc) by the feedback control of the output voltage VH. can do. Further, by sharing the control calculation among the operation modes, the operation modes can be smoothly switched, so that the controllability can be further improved.
- each operation belonging to the boost mode for controlling output voltage VH to voltage command value VH * is belonging to the boost mode for controlling output voltage VH to voltage command value VH *.
- the control configuration shown in FIGS. 37 and 38 can be shared between the modes.
- the common control calculation according to FIGS. 37 and 38 is applied between the operation modes by switching the power distribution ratio k and the control gain of the current control units 300 and 310 between the operation modes. Is possible. For this reason, it is possible to reduce the control calculation load in control of the power converter 50 which selectively applies a plurality of operation modes.
- the hybrid vehicle 1000 is described as an example of an electric vehicle equipped with a drive system having a power generation mechanism, but the application of the present invention is not limited to such a case.
- the configuration of the drive system mounted on the electric vehicle is a mechanism (power generation mechanism) that can spontaneously generate the charging power of the DC power sources 10a and 10b while the vehicle is running or stopped.
- a power source for example, an engine exemplified in the present embodiment, a fuel cell, or the like
- a power source that is separate from a motor generator that generates vehicle driving force by the power of a plurality of DC power sources
- the electric vehicle includes both a hybrid vehicle equipped with an engine and an electric motor (motor generator) and a fuel cell vehicle equipped with no engine.
- the fuel cell operation command (output power command) can be set reflecting the SOC control (charge / discharge required power value Pchg) in the present embodiment.
- the configuration of the drive system is not limited to the example in the present embodiment to which a power split mechanism using planetary gears is applied, including the number of motor generators arranged.
- a power generation mechanism is configured using a motor generator for generating vehicle driving force.
- the power generation mechanism is not necessarily a separate element from the traveling motor generator.
- a motor generator dedicated to power generation based on engine output may be provided separately from the traveling motor generator.
- operation commands for the engine and the motor generator can be set reflecting the SOC control (charge / discharge required power value Pchg) in the present embodiment.
- power converter 50 # that performs DC / DC conversion between two DC power supplies 10a and 10b and common power line 20 is illustrated, but the configuration of the power converter is also illustrated. It is not limited to such an example. That is, a power converter connected between any plurality of DC power supplies and a power line connected to a load mounted on the electric vehicle has a mode of power conversion between the plurality of DC power supplies and the power lines. As long as the power converter is used in a power supply system of an electric vehicle as long as the power converter is configured to control the voltage of the power line by operating by applying one of the different operation modes, The present invention can be applied.
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Abstract
Description
(電力変換器の回路構成)
図1は、本発明の実施の形態1に従う電動車両の電源システムの構成を示す回路図である。
電力変換器50は、直流電源10a,10bと電力線20との間での直流電力変換の態様が異なる複数の動作モードを有する。
図2を参照して、動作モードは、スイッチング素子S1~S4の周期的なオンオフ制御に伴って直流電源10aおよび/または10bの出力電圧を昇圧する「昇圧モード(B)」と、スイッチング素子S1~S4のオンオフを固定して直流電源10aおよび/または10bを電力線20と電気的に接続する「直結モード(D)」とに大別される。
次に、各動作モードにおける電力変換器50の回路動作を説明する。まず、直流電源10aおよび10bと電力線20との間で並列なDC/DC変換を行なうPBモードでの回路動作について、図3~図6を用いて説明する。
図3および図4に示されるように、スイッチング素子S4またはS2をオンすることによって、直流電源10aおよび10bを電力線20に対して並列に接続することができる。ここで、並列接続モードでは、直流電源10aの電圧Vaと直流電源10bの電圧Vbとの高低に応じて等価回路が異なってくる。
図6には、PBモードにおける直流電源10bに対するDC/DC変換(昇圧動作)が示される。
図7には、PBモードにおけるスイッチング素子の制御動作例を説明するための波形図が示される。図7には、直流電源10aのPWM制御に用いられるキャリア波CWaと、直流電源10bのPWM制御に用いられるキャリア波CWbとは、同一周波数かつ同一位相であるときの例が示される。
直流電源10a,10bの一方のみを用いる昇圧モード(aBモード,bBモード)における回路動作は、図5および図6における回路動作と共通する。
直結モードでは、図3に従ってスイッチング素子S1~S4のオンオフを固定することによって、PDモード、SDモード、aDモードおよびbDモードのいずれかが実現されることが理解される。
次に、SBモードでの回路動作を、図9および図10を用いて説明する。
図10(a)を参照して、直流電源10aおよび10bを直列接続するためにスイッチング素子S3がオン固定される一方で、スイッチング素子S2,S4のペアがオンし、スイッチング素子S1がオフされる。これにより、リアクトルL1,L2にエネルギを蓄積するための電流経路170,171が形成される。この結果、直列接続された直流電源10a,10bに対して、昇圧チョッパ回路の下アーム素子をオンした状態が形成される。
ただし、VaおよびVbが異なるときや、リアクトルL1,L2のインダクタンスが異なるときには、図10(a)の動作終了時におけるリアクトルL1,L2の電流値がそれぞれ異なる。したがって、図10(b)の動作への移行直後には、リアクトルL1の電流の方が大きいときには電流経路173を介して差分の電流が流れる。一方、リアクトルL2の電流の方が大きいときには電流経路174を介して、差分の電流が流れる。
再び図3を参照して、直流電源10a,10b間の電力分配比率kは、総電力PH(PH=Pa+Pb)に対する直流電源10aの電力Paの比で定義される(k=Pa/PH)。図3の最右欄に示されるように、電力分配比率kは、動作モード間で異なる。
次に、電動車両に適用された電源システム5の負荷の構成例について説明する。電動車両では、直流電源10a,10bの蓄積エネルギが車両走行に用いられるため、車両走行中に直流電源10a,10bのSOCを適切に制御することが重要である。
再び図15を参照して、電源システム5からの出力電圧VHは、負荷30の動作状態に応じて、一定の電圧以上に設定することが必要となる。たとえば、ハイブリッド車両1000では、インバータ180,190の直流リンク側電圧に相当する出力電圧VHが、MG1,MG2のコイル巻線に生じる誘起電圧以上であることが必要である。
次に、各動作モードにおける直流電源10a,10bの充放電制御について説明する。
ハイブリッド車両1000では、エンジン115の出力を用いてMG1によって発電できる。したがって、車両走行のための駆動パワーよりも大きいパワーをエンジン115によって出力することにより、駆動パワーを確保した上で、直流電源10a,10bを充電することが可能である。この場合には、PL*<0となるように、MG1,MG2の動作指令が生成される。
PHmin=Pamin+Pbmin …(7)
駆動パワー設定部520は、ハイブリッド車両1000の走行状態およびユーザ操作に応じて、車両走行のために必要な駆動パワーPdrを設定する。代表的には、アクセル開度ACCおよび車速Vと要求駆動力Tr*との関係を予め定めたマップ(図示せず)が予め作成されている。そして、駆動パワー設定部520は、アクセル開度ACCおよび車速Vが検出されると、当該マップを参照することによって要求駆動力Tr*を算出できる。
SOC制御部530aは、直流電源10aのSOCaとSOC制御目標との比較に基づいて、充電要求パワーPchgaを設定する。たとえば、図22に示されるように、SOCの制御中心値Srが設定されている場合には、SOC制御部530aは、SOCa>Srの領域では、放電を要求するためにPchga>0に設定する一方で、SOCa<Srの領域では、充電を要求するためにPchga<0に設定する。あるいは、SOCaが制御中心値Srを含む一定範囲内であるときにはPchga=0に設定する一方で、SOCaが当該範囲を高め側に外れたときにPchga>0とし、低め側に外れたときにPchga<0とするように、SOC制御部530aを構成することも可能である。
図23を参照して、エンジン動作点は、エンジン回転数NeおよびエンジントルクTeの組み合わせで定義される。エンジン回転数NeおよびエンジントルクTeの積は、エンジン出力パワーに相当する。
再び図21を参照して、走行制御部550は、基本的には、上記の制御処理に従って、エンジン115の動作指令(オン/オフ指令およびNe,Te制御)ならびにMG1,MG2の動作指令(トルク指令値Tqcom1,Tqcom2)を設定する。
これにより、PBモードにおいて、直流電源10aの電力Paおよび、(PL-Pa)となる直流電源10bの電力Pbを、効率を高めるための電力分配比率kに従って制御することができる。さらに、電力循環制御部560によって、直流電源10bのSOC制御のための充電要求パワーPchgbに従って電力指令値Pa*を修正することにより、小容量の直流電源10bのSOC制御をさらに高速化できる。また、上述のように、負荷電力PLには、充電要求パワーPchgaおよびPchgbの和に従う充放電要求電力値Pchgが反映されているので、電力分配比率kに従った電力制御を通じて、SOCaをSOC制御目標に近付けるようにSOC制御を実行することができる。
実施の形態1の変形例では、直流電源10a,10bの両方を使用するPBモードおよびSBモードでのパルス幅変調制御におけるキャリア波の位相制御(以下、キャリア位相制御)について説明する。
図33に示されるように、SBモードでは直流電源10aおよび10bが直列に接続されるので、直流電源10aおよび10bの両方が力行となる状態(図32での状態A)および直流電源10aおよび10bの両方が回生となる状態(図32の状態B)のいずれかの状態しか存在しない。
同様に、式(2)を変形することにより、Dbについて下記(12)式が得られる。
図8に示されるように、PBモードにおける制御信号SG3は、制御パルス信号SDaおよびSDbの論理和に基づいて生成される。したがって、制御パルス信号SDaの立下り(または立上り)タイミングと、制御パルス信号SDbの立上り(または立下り)タイミングとが重なるように位相差φを設定すると、VH>(Va+Vb)が成立するとき、PBモードにおける制御信号SG3のHレベル期間の比率が1.0を超えることが理解される。すなわち、VH>(Va+Vb)のときには、デューティ比Da,DbによるPBモードと共通のPWM制御によっても、制御信号SG3がHレベルに固定される。
一方で、デューティ比Dcは、式(3)を変形することにより、下記(14)式で示される。
したがって、図35のSBモードでの論理演算に従って、SG1=/SGcとすると、制御信号SG1のデューティ比DSG1は、下記(15)式で示される。
このように、上述のキャリア位相制御に従って位相差φを設定した場合には、デューティ比Da,Dbによる制御パルス信号SDa,SDbに基づく論理演算、具体的には、/SDaおよび/SDbの論理和によって、デューティ比Dcに基づく制御パルス信号/SDcとデューティ比が等しい信号を生成することができる。すなわち、制御パルス信号SDa,SDbに基づいて、SBモードにおける制御信号SG1を生成することができる。
実施の形態2では、実施の形態1で説明した総電力指令値PH*に従って直流電源10a,10bの出力を制御するための電力変換器制御について説明する。実施の形態2に従う電力変換器制御では、出力電圧制御(VH制御)を通じて、各直流電源10a,10bの出力が電力指令値Pa*,Pb*に従って制御されるので、直流電源10a,10bのそれぞれでSOC制御を実行するPBモードにおいて、好適な制御演算ロジックを提供することができる。
まず、電力変換器50の複数の動作モード(図3)のうち、直流電源10a,10bの各電力Pa,Pbを制御可能であるPBモードにおける電力変換器制御について説明する。
式(16)中のKpは比例制御ゲインであり、Kiは積分制御ゲインである。これらの制御ゲインには、平滑コンデンサCHの容量値も反映される。式(16)に従って総電力PHrを設定することにより、電圧偏差ΔVHを低減するためのフィードバック制御を実現できる。負荷30の動作状態および動作指令に従って予測された負荷電力PL*を反映して、式(17)に従って要求される総電力PHrを設定することも可能である。このようにすると、負荷30での電力消費をフィードフォワードする形で出力電圧VHを制御することができる。
このように、実施の形態2に従う電力変換制御では、総電力指令値PH*が、パワー管理部500よりも下位の電圧制御部200において定義される。実施の形態2において、パワー管理部500で電力分配比率を決定する際の総電力指令値PH*については、負荷電力PL*に従って設定されるものとする(PH*=PL*)。
式(18)中のKpは比例制御ゲインであり、Kiは積分制御ゲインである。これらの制御ゲインは、式(16)とは別個に設定される。
FF加算部308は、FB制御量DfbaおよびFF制御量Dffaを加算することによって、直流電源10aの出力制御に関するデューティ比Daを算出する。デューティ比Daは、式(1)と同様に、直流電源10aの電圧Vaと出力電圧VHとの間でDC/DC変換を行なう際の、昇圧チョッパ回路(図5)の下アーム素子(スイッチング素子S3,S4)がオンされる期間のデューティ比に相当する。
式(20)中のKpは比例制御ゲインであり、Kiは積分制御ゲインである。これらの制御ゲインは、式(16)および式(18)とは別個に設定される。
FF加算部318は、FB制御量DfbbおよびFF制御量Dffbを加算することによって、直流電源10bの出力制御に関するデューティ比Dbを算出する。デューティ比Dbは、式(2)と同様に、昇圧チョッパ回路(図6)の下アーム素子(スイッチング素子S2,S3)がオンされる期間のデューティ比に相当する。
図3に示したように、出力電圧VHが電圧指令値VH*へ制御される昇圧モードとして、PBモードの他にも、aBモード、bBモードおよびSBモードが存在する。aBモード、bBモードおよびSBモードについても、図37および図38に従う制御構成を共有して、出力電圧VHが電流指令値VH*へ制御される。
図43には、SBモードでの電源システム内のパワーフローを説明するための概念図が示される。
なお、SBモードでは、直流電源10a,10b間での充放電はできないので、循環電力値Pr=0に設定される。
Claims (8)
- 車両駆動力を発生するための第1のモータジェネレータを含んで構成された電動車両の駆動系を負荷とする電源システムであって、
前記負荷に対して電気的に接続された電力線と、
複数の直流電源と、
前記複数の直流電源および前記電力線の間に接続された電力変換器と、
前記負荷および前記電力変換器の動作を制御するための制御装置とを備え、
前記負荷は、前記制御装置からの動作指令に応じて、車両走行中または停車中に前記複数の直流電源を充電するための電力を発電するための発電機構を有するように構成され、
前記電力変換器は、複数のスイッチング素子を含み、かつ、前記複数の直流電源と前記電力線との間での電力変換の態様が異なる複数の動作モードのうちの1つの動作モードを適用されて動作することによって前記電力線の電圧を制御するように構成され、
前記制御装置は、
前記複数の直流電源の状態に基づいて、前記複数の直流電源全体での充放電要求電力を設定するための充放電制御部と、
前記電動車両の走行状態に基づく駆動要求パワーと前記充放電要求電力とを確保するように前記負荷の動作指令を生成するための動作指令生成部とを含み、
前記充放電制御部は、前記動作モードに応じて、前記充放電要求電力の設定を切換える、電動車両の電源システム。 - 前記複数の直流電源は、第1および第2の直流電源によって構成され、
前記複数のスイッチング素子は、
第1のノードおよび前記電力線の間に電気的に接続された第1のスイッチング素子と、
第2のノードおよび前記第1のノードの間に電気的に接続された第2のスイッチング素子と、
前記第2の直流電源の負極端子と電気的に接続された第3のノードおよび前記第2のノードの間に電気的に接続された第3のスイッチング素子と、
前記第1の直流電源の負極端子および前記第3のノードの間に電気的に接続された第4のスイッチング素子とを含み、
前記電力変換器は、
前記第2のノードおよび前記第1の直流電源の正極端子の間に電気的に接続された第1のリアクトルと、
前記第1のノードおよび前記第2の直流電源の正極端子の間に電気的に接続された第2のリアクトルとをさらに含む、請求項1記載の電動車両の電源システム。 - 前記第1の直流電源の容量は、前記第2の直流電源の容量よりも大きく、
前記複数の動作モードは、
前記第1から第4のスイッチング素子のオンオフ制御によって、前記第1および第2の直流電源が前記電力線との間で並列に直流電圧変換を実行する第1のモードと、
前記第3のスイッチング素子をオン固定するとともに前記第1、第2および第4のスイッチング素子をオンオフ制御することによって、前記第1および前記第2の直流電源が直列接続された状態で前記電力線との間で直流電圧変換を実行する第2のモードとを含み、
前記充放電制御部は、前記第1のモードにおいて、前記第1および第2の直流電源の各々についてSOCを制御目標に近付けるように前記充放電要求電力を設定する一方で、前記第2のモードにおいて、前記第2の直流電源のSOCを制御目標に近付けるように前記充放電要求電力を設定する、請求項2記載の電動車両の電源システム。 - 前記複数の動作モードは、前記第1から第4のスイッチング素子のオンオフを固定して、前記電力線に対して前記第1および第2の直流電源が直列に接続された状態を維持する第3のモードをさらに含み、
前記充放電制御部は、前記第3のモードにおいて、前記第2の直流電源のSOCを制御目標に近付けるように前記充放電要求電力を設定する、請求項3記載の電動車両の電源システム。 - 前記複数の動作モードは、
前記第1から第4のスイッチング素子のオンオフ制御によって、前記第1および第2の直流電源の一方の直流電源と前記電力線との間で直流電圧変換を実行するとともに、前記第1および第2の直流電源の他方の直流電源が前記電力線から電気的に切り離された状態を維持する第4のモードと、
前記第1から第4のスイッチング素子のオンオフを固定して、前記第1および第2の直流電源の一方が前記電力線に電気的に接続される一方で、前記第1および第2の直流電源の他方が前記電力線から電気的に切り離された状態を維持する第5のモードとを含み、
前記充放電制御部は、前記第4および第5のモードの各々において、前記一方の直流電源のSOCを制御目標に近付けるように前記充放電要求電力を設定する、請求項4記載の電動車両の電源システム。 - 前記制御装置は、前記第1または第2の直流電源において、現在のSOCが制御上限値または制御下限値に達すると前記第1のモードを強制的に選択する、請求項3~5のいずれか1項に記載の電動車両の電源システム。
- 前記制御装置は、
前記電力線の電圧検出値と電圧指令値との偏差に基づいて、前記複数の直流電源全体から電力線への全体入出力電力を算出するための制御演算部と、
前記動作モードの変更に応じて前記複数の直流電源間での電力分配比を切替えるための電力分配比設定部と、
前記全体入出力電力および前記電力分配比に従って、前記複数の直流電源のそれぞれの電力指令値を設定するための電力指令値演算部と、
前記複数の直流電源の各々について、前記電力指令値を出力電圧で除算した電流指令値に対する電流検出値の偏差に基づいて、当該直流電源からの出力を制御するためのデューティ比を演算するための電流制御部と、
前記複数の直流電源のそれぞれについて演算された前記デューティ比と、キャリア波との比較によるパルス幅変調に従って得られた制御パルス信号に基づいて、前記複数のスイッチング素子のオンオフ制御信号を生成するためのパルス幅変調部とを含む、請求項1記載の電動車両の電源システム。 - 前記制御装置は、
前記電力線の電圧検出値と電圧指令値との偏差に基づいて、前記第1および第2の直流電源全体から電力線への全体入出力電力を算出するための制御演算部と、
前記動作モードの変更に応じて前記第1および第2の直流電源間での電力分配比を切替えるための電力分配比設定部と、
前記全体入出力電力および前記電力分配比に従って、前記第1の直流電源の第1の電力指令値および前記第2の直流電源の第2の電力指令値を設定するための電力指令値演算部と、
前記第1の電力指令値を前記第1の直流電源の出力電圧で除算した第1の電流指令値に対する前記第1の直流電源の電流検出値の偏差に基づいて、前記第1の直流電源からの出力を制御するための第1のデューティ比を演算するための第1の電流制御部と、
前記第2の電力指令値を前記第2の直流電源の出力電圧で除算した第2の電流指令値に対する前記第2の直流電源の電流検出値の偏差に基づいて、前記第2の直流電源からの出力を制御するための第2のデューティ比を演算するための第2の電流制御部と、
第1のキャリア波および前記第1のデューティ比の比較、ならびに、第2のキャリア波および前記第2のデューティ比の比較によるパルス幅変調に従ってそれぞれ得られた第1および第2の制御パルス信号に基づいて、前記第1から第4のスイッチング素子のオンオフ制御信号を生成するためのパルス幅変調部とを含む、請求項2~5のいずれか1項に記載の電動車両の電源システム。
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