WO2015177863A1 - 電動機の制御装置 - Google Patents
電動機の制御装置 Download PDFInfo
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- WO2015177863A1 WO2015177863A1 PCT/JP2014/063341 JP2014063341W WO2015177863A1 WO 2015177863 A1 WO2015177863 A1 WO 2015177863A1 JP 2014063341 W JP2014063341 W JP 2014063341W WO 2015177863 A1 WO2015177863 A1 WO 2015177863A1
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- switching
- loss
- power
- electric motor
- switching element
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/085—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/32—Arrangements for controlling wound field motors, e.g. motors with exciter coils
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
Definitions
- the present invention relates to an electric motor control device, and more particularly to an electric motor control device that changes a driving method of an electric power conversion device in accordance with an operation state of the electric motor.
- FIG. 13 is a diagram showing the relationship between the phase voltage command and the switching signal at the time of three-phase modulation driving and two-phase modulation driving.
- the phase voltage is (C)
- the upper switching signal is (D)
- the phase voltage is (E)
- the upper switching signal is (F).
- the period of the triangular wave (carrier frequency) is the same period.
- the three-phase modulation drive always performs a switching operation
- the two-phase modulation drive has a switching signal that is always on (or always off), and the switching operation is small. I understand that. Since the switching element has a start-up loss, an on-loss, and a start-stop loss in the switching operation, the fact that the switching operation is small means that the loss generated by the power conversion from the DC power to the AC power is small.
- Patent Document 1 detects the temperature of an inverter, switches PWM control as a driving method of the inverter from three-phase modulation to two-phase modulation according to the detected temperature, and further changes the frequency of the carrier signal.
- Technology is disclosed.
- the conventional device disclosed in Patent Document 1 requires a temperature sensor for detecting the temperature of the inverter, which increases the cost. Further, there is a problem that changing the carrier signal may increase the electromagnetic noise due to the switching operation and cause noise.
- An object of the present invention is to provide an electric motor control device capable of reducing the temperature rise of a switching element and generating a driving force in accordance with a driver's operation.
- the motor control device comprises a DC power supply for supplying DC power and a switching element, and the switching operation of the switching element by PWM control converts the DC power from the DC power supply to AC power to the motor.
- the motor control device includes a power conversion device that supplies electric power, and a control unit that controls driving of the power conversion device, wherein the control unit calculates and outputs the electrical angle ⁇ and the rotational speed Nm of the motor.
- a driving method of the power conversion device is set using an angle processing means, an electrical angle ⁇ and a rotational speed Nm from the rotation angle processing means, and the loss and switching loss integrated value of each switching element of the power conversion device are set.
- the driving method setting and element loss calculating means to be calculated, and the driving method setting and element loss calculating means Carrier frequency selection means for selecting a carrier frequency of a carrier signal set on the basis of the driven method and element loss, the driving method setting and element loss calculation means, the carrier frequency selection means, the rotation angle processing means, and A switching signal generating means for generating a switching signal for operating the switching element based on information from the command voltage and outputting the switching signal to the power converter, wherein the electric motor has a predetermined rotational speed or less.
- the increase in cost and generation of noise are suppressed, and the motor is caused by the switching operation of the switching element even when the motor is below a predetermined rotation speed (for example, in a non-rotatable or extremely low rotation state). It is possible to obtain an electric motor control device that can reduce the power loss and suppress the temperature rise of the switching element and generate the driving force according to the operation of the driver.
- FIG. 1 It is a figure which shows the whole structure of the control apparatus of the electric motor containing the power converter device in Embodiment 1 of this invention. It is a functional block diagram for demonstrating the structure and function of a control unit in Embodiment 1 of this invention. It is a flowchart which shows the control of the whole apparatus in Embodiment 1 of this invention, and the flow of a calculation. It is a flowchart which shows the flow of a calculation of the process performed by the rotation angle process means 15 in Embodiment 1 of this invention. It is a flowchart which shows the flow of the calculation of the process performed by the drive method setting and element loss calculation means in Embodiment 1 of this invention.
- Embodiment 3 is a map showing a relationship between an electrical angle ⁇ and switching signal switching during two-phase modulation driving in Embodiment 1 of the present invention. It is a timing chart which shows the operation
- FIG. 1 is a diagram showing an overall configuration of a motor control device including a power conversion device according to Embodiment 1 of the present invention.
- reference numeral 1 denotes a motor control unit (hereinafter referred to as MCU) which is a control unit for controlling a driving method of the power converter according to the present invention
- 2 is a battery for supplying DC power
- 30 is parallel to the battery 2.
- 4 is an electric motor that generates a driving force by the AC power from the inverter 30 and rotationally drives the motor 4. It is connected to a vehicle wheel (not shown) via a power transmission mechanism (not shown).
- Reference numeral 5 denotes a rotation angle sensor that outputs a signal according to the rotation of the electric motor.
- the inverter 30 includes a smoothing capacitor 31 that smoothes a DC voltage from the battery 2 and a voltage sensor 32 that detects a voltage input to the inverter 30.
- U-phase upper switching element 3Q1, U-phase lower switching element 3Q2, V are operated as switching elements that operate in response to a switching signal from MCU1 and convert DC power from battery 2 into AC power supplied to electric motor 4.
- a phase upper switching element 3Q3, a V phase lower switching element 3Q4, a W phase upper switching element 3Q5, and a W phase lower switching element 3Q6 are provided.
- the switching elements 3Q1 to 3Q6 include U-phase upper diode element 3D1, U-phase lower diode element 3D2, V-phase upper diode element 3D3, V-phase lower diode element 3D4, W-phase upper diode element 3D5, W in reverse parallel.
- a phase lower diode element 3D6 is connected.
- one end of three coils of the U phase, V phase, and W phase of the electric motor 4 is connected to a neutral point, and the other end is connected to an intermediate point of the switching elements of each phase.
- an accelerator opening signal Ac1 and a brake depression signal Br1 indicating the operation of the driver are input to a vehicle control unit (hereinafter referred to as VEH-CU) 100, and a command torque Trrq is output.
- the command current calculation means 11 receives a command torque Trrq calculated by the VEH-CU 100 and an electrical angle ⁇ output from a rotation angle processing means 15 described later, performs d-axis and q-axis conversion, and performs a d-axis command current. I_d and q-axis command current I_q are output.
- the command voltage calculation means 12 includes d-axis command current I_d, q-axis command current I_q, and current sensors 33, 34, and 35 (see FIG. 1) that detect currents flowing in the U phase, V phase, and W phase of the motor 4.
- the command voltage is calculated using the current whose output is converted into two phases by the three-phase ⁇ two-phase conversion means 18 described later.
- the two-phase-> three-phase conversion means 13 inputs the command voltage calculated by the command voltage calculation means 12, the drive method setting described later, and the drive method information calculated by the element loss calculation means 16, and outputs the U phase, V The phase voltage of the phase and the W phase is calculated.
- the switching signal generation unit 14 is configured to calculate each switching element of the inverter 30 from the phase voltage of each phase calculated by the two-phase ⁇ three-phase conversion unit 13 and information on the carrier frequency calculated by the carrier frequency selection unit 17 described later. 3Q1 to 3Q6 switching signals are generated. The generated switching signal is sent to the inverter 30, and AC power is supplied to the electric motor 4.
- the rotation angle processing means 15 calculates the electrical angle ⁇ and the rotation speed Nm of the electric motor 4 from the output signal of the rotation angle sensor 5 provided in the electric motor 4.
- the drive method setting and element loss calculation means 16 determines the drive method of the inverter 30 from the electrical angle ⁇ and the rotation speed Nm from the rotation angle processing means 15 and detects a current flowing through each phase of the motor. , 34, 35 (see FIG. 1), the switching loss, the switching loss integrated value, and the always-on element change flag F1 of the corresponding elements of the switching elements 3Q1 to 3Q6 of the inverter 30 are calculated.
- the always-on element change flag F1 will be described in detail in the description of FIG.
- the carrier frequency selection means 17 calculates the carrier frequency based on the drive method setting and the drive method set by the element loss calculation means 16.
- the three-phase ⁇ two-phase conversion means 18 converts the output of the current sensors 33, 34, and 35 that detect the current flowing in each phase of the electric motor 4 into a two-phase current and inputs it to the command voltage calculation means 12. Is for.
- FIG. 3 is a flowchart showing a flow of control and calculation of the entire apparatus according to Embodiment 1 of the present invention.
- the drive determination of the electric motor 4 is performed in step S11. This determination is a determination as to whether or not there is a drive instruction to the electric motor 4, and is determined based on information resulting from the starting operation such as the depression of the brake or the depression amount of the accelerator pedal. If NO in step S11, the calculation is not performed and the process returns. If YES in step S11, the process proceeds to step S12, and the rotation angle processing means 15 is executed. Details of the rotation angle processing means 15 will be described later with reference to FIG. Next, in step S13, the driving method setting and element loss calculating means 16 are executed.
- step S14 the carrier frequency setting unit 17 is executed. This will be described in detail with reference to FIG.
- step S15 the switching signal generating unit 14 is executed. The details of the switching signal generation means 14 will be described with reference to FIG.
- FIG. 4 is a flowchart showing a calculation flow of the rotation angle processing means 15 executed in step S12 of FIG.
- step S101 it is determined whether or not input from the rotation angle sensor 5 is possible. If there is an input from the rotation angle sensor 5, the determination in step S101 is Yes and the process proceeds to step S102, and if there is no input, the process proceeds to S109. If it progresses to step S102, the rotation direction of the electric motor 4 will be determined next. This determination is made based on, for example, information on a shift position of a vehicle (not shown) or information on an acceleration sensor.
- step S102 When the rotation direction determination of the electric motor 4 is completed in step S102, the process proceeds to step S103, and the electrical angle ⁇ is calculated according to the rotation direction determination result in step S102.
- the electrical angle ⁇ is calculated by adding a predetermined value (for example, 0.5 degrees) for each input of the rotation angle sensor 5 when the determination in step S102 is forward rotation, and when the determination in step S102 is reverse rotation, the rotation angle sensor 5 is added. A predetermined value is subtracted for each input.
- a predetermined value for example, 0.5 degrees
- step S104 the calculated electrical angle ⁇ is determined.
- step S104 it is determined whether or not the electrical angle ⁇ is within the rotation angle range. If the rotation angle is 360 degrees per cycle and the electrical angle ⁇ calculated in step S103 is within the range of 0 (zero) to 360 degrees, step S104 is Yes and the process proceeds to step S105, where the electrical angle ⁇ is If it is 0 (zero) or 360, the process proceeds to step S107.
- step S107 when the electrical angle ⁇ is 0 (zero), it is 360 (360), and when it is 360, the process proceeds to step S105.
- step S105 the previous value of the rotational speed Nm is determined.
- step S106 the rotation speed Nm is calculated, and the process returns.
- step S108 the rotation speed Nm is set to a predetermined fixed value, and the process returns.
- the predetermined fixed value is set to a minute value (for example, ⁇ 0.1 rpm) that is not 0 (zero) according to the rotation direction determined in step S102.
- Step S110 the measurement timer t_c is determined.
- This measurement timer is a timer for measuring the input interval of the rotation angle sensor 5.
- the input interval of the rotation angle sensor 5 is measured using the previous input time of the rotation angle sensor 5.
- the predetermined time used for the determination in step S110 is set to a time (for example, 200 msec) in which the rotation stop of the electric motor 4 can be determined.
- step S110 When the determination in step S110 is Yes, there is no input from the rotation angle sensor 5, but it is impossible to determine that the motor 4 has stopped rotating. Therefore, the process proceeds to step S111, and the rotation speed Nm is held at the previous value and the process returns. On the other hand, when the determination in step S110 is No, there is no input from the rotation angle sensor 5 and the rotation of the electric motor 4 is stopped. Therefore, the process proceeds to step S112, and the rotation speed Nm is set to 0 (zero). At the same time, the measurement timer t_c is set to 0 (zero) and the process returns.
- FIG. 5 is a flowchart showing the flow of the driving method setting and element loss calculation means 16 executed in step S13 of FIG.
- the driving method setting and element loss calculation means 16 first reads the rotational speed Nm in step S201, proceeds to step S202, and compares it with a predetermined value ⁇ .
- the predetermined value ⁇ is set to a rotation speed that does not require two-phase modulation driving, for example, 50 rpm.
- the process proceeds to step S216, and an accumulated power loss ( ⁇ E_Loss1, ⁇ E_Loss2), an always-on element change flag F1, and a switching execution flag F3, which will be described later, are cleared, and the process proceeds to step S217.
- step S202 the process proceeds to step S203 to determine whether or not the rotational speed Nm is zero.
- step S203 the process proceeds to step S204, and next, the integrated value of element loss is determined.
- step S204 the initial loss calculation is performed, so the process proceeds to step S205 to perform a loss calculation element search.
- the loss calculation element search performed in step S205 will be described in detail later with reference to FIG.
- step S206 a current value (hereinafter referred to as a motor phase current) flowing through each phase of the electric motor 4 detected by the current sensors 33, 34, and 35 is read, and the process proceeds to step S207.
- step S207 the loss of each element is calculated based on the element searched in step S205 and the phase current value read in step S206.
- the loss of the switching element used in the inverter 30 can be obtained from the motor phase current, and has a relationship as shown in FIG. 6, for example. Therefore, if a switching element through which a large current flows can be specified, the switching loss can be calculated.
- step S207 the first switching loss E_Loss1, that is, the loss of the switching element having a large loss that is always on, and the second switching loss E_Loss2, that is, the loss of the element having the largest loss among the elements performing the switching operation are calculated.
- step S208 the driving method is set to two-phase modulation, and the process returns.
- step S214 the motor phase current is read in the same manner as in step S206, and in step S215, the first switching loss E_Loss1 and the second switching loss E_Loss2 are calculated using the relationship shown in FIG. 6, and the process proceeds to step S209.
- step S204 the determination in step S204 is No, that is, when the initial element loss has been calculated, or after the calculation in step S215
- the process proceeds to step S209, and the set carrier frequency fc is read. Since the setting of the carrier frequency fc will be described with reference to FIG. 8, it is omitted here.
- step S210 calculates an integrated value of the first switching loss E_Loss1 and the second switching loss E_Loss2. Since the integrated value ⁇ E_Loss1 of the first switching loss is a loss of the always-on element, it is obtained from the energization time of the first switching loss E_Loss1 calculated in step S207, and the energization time is the control cycle (for example, 10 ⁇ sec) of FIG. ) To calculate the integrated value ⁇ E_Loss1.
- the calculation formula is as follows.
- step S210 When the loss integrated value ⁇ E_Loss1 of the first switching element and the loss integrated value ⁇ E_Loss2 of the second switching element are calculated in step S210, the process proceeds to step S211 to determine whether one of the calculated loss integrated values is greater than the predetermined value ⁇ . I do.
- This predetermined value ⁇ is set based on the current flowing at the maximum torque of the electric motor 4.
- step S211 the process proceeds to step S212, the process returns with the always-on element change flag F1 set to 1, and in the case of No determination, since the integrated loss value has not yet reached the predetermined value ⁇ , the process returns. .
- FIG. 7 is a flowchart showing a calculation flow of processing executed in the loss calculation element search in S205 of FIG.
- the electrical angle ⁇ is read in step S301, and the process proceeds to step S302. If the electrical angle ⁇ is in the range of ⁇ 1 to ⁇ 2 in step S302, the determination is Yes and the process proceeds to step S303. Advances to step S306. When the process proceeds to step S303, it is next determined whether or not the electrical angle ⁇ is equal to or smaller than ⁇ 2 / 2. If step S303 is Yes, the process proceeds to step S304, and the switching elements 3Q4 and 3Q5 become loss calculation elements.
- the calculated element information I_m is set to 1.
- step S303 the process proceeds to step S305, where the switching elements 3Q4 and 3Q1 become loss calculation elements, and the calculation element information I_m is set to 2 and the process returns.
- step S306 it is determined whether the electrical angle ⁇ is in the range from ⁇ 2 to ⁇ 3. If the determination is No, the process proceeds to step S310. If the determination is Yes, the process proceeds to step S307. In S307, it is determined whether the electrical angle ⁇ is equal to or smaller than ⁇ 3 / 2. If YES in step S307, the process proceeds to step S308, the calculated element information I_m becomes 3, and the calculated elements are determined to be 3Q1 and 3Q4. If step S307 is NO and the process proceeds to step S309, the calculated element information I_m is 4 At the same time, the calculation elements are determined as 3Q1 and 3Q6 and returned. Subsequently, the calculation element information I_m is updated and the calculation element is determined sequentially in accordance with the electrical angle ⁇ .
- FIG. 8 is a flowchart showing the calculation flow of the carrier frequency selection means 17 executed in S14 of FIG.
- the carrier frequency selection means 17 first determines the driving method (see FIG. 5) in step S401. If the two-phase modulation is set in step S401, the determination is Yes and the process proceeds to step S402. If the determination is No, that is, if the three-phase modulation is set, the process proceeds to step S404, and the carrier frequency fc is set to the predetermined value ⁇ . Set to and returned.
- the predetermined value ⁇ is a carrier frequency fc at the time of normal three-phase modulation driving, and is obtained in advance through experiments or the like, and is set to 7 kHz, for example.
- step S403 the carrier frequency fc is set from the relationship between the element loss and the carrier frequency fc.
- the relationship between the element loss and the carrier frequency fc is as shown in FIG. 9, and the carrier frequency fc corresponding to the element loss E_Loss1 is set and returned.
- FIG. 10 is a flowchart showing a calculation flow of the switching signal generation means 14 executed in S15 of FIG.
- the switching signal generation means 14 first reads the electrical angle ⁇ , the always-on element change flag F1, the calculated element information I_m, and the carrier frequency fc in step S501, and proceeds to step S502.
- the always-on element change flag F1 is determined. If the always-on element change flag F1 is zero in step S502, the determination is Yes and the process proceeds to step S503. If the constant element change flag F1 is 1, the determination is No and the process proceeds to step S505.
- step S503 Yes, the process proceeds to step S504, where a switching signal corresponding to the selected driving method is generated and returned.
- the determination in step S503 is No, the generation switching signal described later is switched, and the generation switching signal is not changed.
- step S502 If the determination in step S502 is No and the process proceeds to step S505, the map data map ( ⁇ ) is read according to the calculated element information I_m. This map data is used for changing the switching signal set in step S507, which will be described later, and is set by mapping the relationship as shown in FIG. 11 according to the electrical angle ⁇ .
- step S506 the element switching determination F2 is determined.
- the process proceeds to step S507, the generated switching signal is switched with reference to the map map ( ⁇ ) read in step S505, and the process proceeds to step S508 to set the element switching determination F2 to 1.
- the process proceeds to step S509.
- step S509 since the switching signal is changed in steps S507 and S510, the always-on element change flag F1 is set to zero and the process returns.
- FIG. 11 shows an example in which the relationship between the electrical angle ⁇ and the switching signal switching during the two-phase modulation driving is mapped.
- the integrated element loss values ( ⁇ E_Loss1, ⁇ E_Loss2) have a predetermined value ⁇ . It shows an example of switching signal switching when exceeding.
- FIG. 12 is a timing chart showing operation waveforms of respective parts in the motor control apparatus according to Embodiment 1 of the present invention configured as described above.
- the brake information (B) is cleared at time T1
- the command torque (C) becomes a predetermined creep torque value, and then the electrical angle ⁇
- the calculated element information I_m (E) is updated. Since the motor rotation speed (F) cannot be calculated unless the electrical angle ⁇ (D) is updated more than twice, the motor rotation speed (F) is selected immediately after the command torque (C) is output.
- U-phase, V-phase, and W-phase voltage commands (G) are output according to the electrical angle ⁇ (D). Further, since the driving method by the two-phase modulation is selected, the carrier frequency fc is set to a high frequency, and the switching signal (H) is generated by comparison with the phase voltage command (G) of each phase, and each switching element 3Q1 ⁇ 3Q6 starts the switching operation, and the driving force is generated in the electric motor 4.
- the switching loss (E_Loss1, E_Loss2) of the corresponding element depends on the calculated element information.
- the electric motor 4 is driven at a motor rotational speed (F) lower than the predetermined value ⁇ , so that the element loss is sequentially calculated according to the electrical angle ⁇ (D), and the element loss integrated value (I ) ( ⁇ E_Loss1, ⁇ E_Loss2) increases.
- the always-on element change flag F1 (J) is set to 1, and each switching element The switching signal (H) to 3Q1 to 3Q6 is switched using the relationship between the electrical angle ⁇ (D) and FIG.
- the element switching determination F2 is set to 1
- the switching execution flag F3 is set to 1
- the element switching is performed, so the always-on element change flag F1 is reset to zero.
- the element loss integrated value ⁇ E_Loss1
- the element loss integrated value ⁇ E_Loss2
- the always-on element change flag F1 is set to 1 again, and this time the switching signals of the switching elements 3Q1 to 3Q6 (H) is switched to the normal two-phase modulation drive switching signal (H).
- the element switching determination F2 is reset to zero and the always-on element change flag F1 is reset to zero.
- one of the two-phase modulation driving and the three-phase modulation driving is selected as the motor driving method according to the operation (rotation) state of the motor.
- the control unit is configured based on the setting of the driving method and the calculation result in the element loss calculation means when the motor is not more than a predetermined rotation speed.
- the power converter is driven by the two-phase modulation drive, and the loss of the first switching element and the second switching element having a large switching loss of the power converter is calculated, and the first switching element or the second switching element is calculated.
- the switching signal from the switching signal generator is switched according to a preset map. Since to switch the switching operation of Sui'ingu element, it is possible to obtain the following excellent effects. (1) A temperature sensor for detecting the temperature of the power conversion device is not required, and an increase in cost can be suppressed. (2) Since the switching element switching operation is switched when the loss integrated value of the switching element exceeds a predetermined value at the time of two-phase modulation driving when the electric motor cannot rotate or in a very low rotation state, the temperature rise of the switching element can be suppressed. It is possible to obtain a control device for an electric motor that can suppress a decrease in power supplied to the electric motor due to an increase in temperature of the element and can generate a driving force according to the operation of the driver.
- the present invention is useful as a control device for an electric motor mounted on an electric vehicle such as a hybrid vehicle or an electric vehicle.
- 1 MCU motor control unit
- 2 battery 4 electric motor
- 5 rotation angle sensor 11 command current calculation means
- 12 command voltage calculation means 13 2 phase to 3 phase conversion means
- 14 switching signal generating means 15 rotation angle processing means
- 16 Drive method setting and element loss calculation means 17 carrier frequency selection means
- 18 3 phase to 2 phase conversion means 30 power converter, 31 smoothing capacitor, 32 voltage sensor, 33, 34, 35 Current sensor, 3Q1-3Q6 switching element, 100 Vehicle control unit.
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Abstract
Description
電動機に電力を供給する電力変換装置は、例えばIGBTなどのスイッチング素子を用いたPWM制御によるスイッチング動作によって直流電力を交流電力へ変換している。
ここで、このような電動機の制御装置に用いられる電力変換装置の3相変調駆動と2相変調駆動について説明する。
図13に示すような線間電圧(A)、モータ電流(B)を生成する場合、3相変調による駆動方法では、相電圧は(C)、上側スイッチング信号は(D)のようになり、2相変調による駆動方法では、相電圧は(E)、上側スイッチング信号は(F)のようになる。
なお三角波の周期(キャリア周波数)は同周期にしている。
図13からわかるように、3相変調駆動では常時スイッチング動作を行っているのに対して、2相変調駆動では常時オン(または常時オフ)となるスイッチング信号が存在すること、またスイッチング動作が少ないことがわかる。
スイッチング素子はスイッチング動作において、起動時損失、オン損失と起動停止時損失が存在するので、スイッチング動作が少ないということは直流電力から交流電力への電力変換で発生する損失が少ないということになる。
このようなスイッチング素子の温度上昇に起因する供給電力の低下、つまり電動機の出力低下を防止する手段として、特許文献1に記載の技術がある。
図1はこの発明の実施の形態1における電力変換装置を含む電動機の制御装置の全体構成を示す図である。図1において、1はこの発明に係わる電力変換装置の駆動方法などを制御する制御ユニットであるモータコントロールユニット(以下MCUと称す。)、2は直流電力を供給するバッテリ、30はバッテリ2に並列に設けられバッテリ2からの直流電力を交流電力に変換する電力変換装置(以下インバータとも称す。)、4はインバータ30からの交流電力によって駆動力を発生し回転駆動する電動機であり、電動機4は図示しない動力伝達機構を介して図示しない車両の車輪に接続されている。また5は電動機の回転に応じて信号を出力する回転角度センサである。
各スイッチング素子3Q1~3Q6には、逆並列にU相上側ダイオード素子3D1、U相下側ダイオード素子3D2、V相上側ダイオード素子3D3、V相下側ダイオード素子3D4、W相上側ダイオード素子3D5、W相下側ダイオード素子3D6が接続されている。また、電動機4のU相、V相、W相の3つのコイルの一端が中性点に接続されており、もう一端は各相のスイッチング素子の中間点に接続されている。
図2において、まず運転者の動作を示すアクセル開度信号Ac1とブレーキ踏込信号Br1は、車両コントロールユニット(以下VEH-CUと称す。)100に入力され、指令トルクTrrqが出力される。
指令電流演算手段11は、VEH-CU100で演算された指令トルクTrrqと、後述する回転角度処理手段15から出力される電気角θが入力され、d軸、q軸変換を行い、d軸指令電流I_dとq軸指令電流I_qを出力する。
指令電圧演算手段12は、d軸指令電流I_dとq軸指令電流I_qと、電動機4のU相、V相、W相に流れる電流を検出する電流センサ33、34、35(図1参照)の出力を後述する3相⇒2相変換手段18によって2相に変換した電流を用いて、指令電圧を演算する。
2相⇒3相変換手段13は、指令電圧演算手段12で演算された指令電圧と後述する駆動方法設定と素子損失算出手段16で演算される駆動方法の情報を入力して、U相、V相、W相の相電圧を演算する。
回転角度処理手段15は、電動機4に設けられた回転角度センサ5の出力信号から、電動機4の電気角θと回転速度Nmを演算する。
キャリア周波数選択手段17は駆動方法設定と素子損失算出手段16で設定された駆動方法に基づいて、キャリア周波数を演算する。
3相⇒2相変換手段18は、電動機4の各相に流れる電流を検出する電流センサ33、34、35の出力を2相の電流に変換演算をして、指令電圧演算手段12に入力するためのものである。
ステップS11でNo判定の時は演算を行わずリターンされる。ステップS11でYes判定の場合はステップS12に進み、回転角度処理手段15を実行する。この回転角度処理手段15の詳細は後述する図4にて説明を行う。次にステップS13に進むと、駆動方法設定と素子損失算出手段16を実行する。この駆動方法設定と素子損失算出手段16の詳細については後述する図5にて説明を行う。次にステップS14に進むと、キャリア周波数設定手段17を実行する、これについては図8にて詳細説明を行う。そしてステップS15でスイッチング信号生成手段14を実行する。このスイッチング信号生成手段14については図10にて詳細を説明する。
一方、ステップS110でNo判定の時は、回転角度センサ5の入力がない、かつ電動機4の回転が停止している事になるので、ステップS112に進み、回転速度Nmを0(ゼロ)にすると共に計測タイマt_cを0(ゼロ)にしてリターンする。
図5において、駆動方法設定と素子損失算出手段16では、まずステップS201で回転速度Nmを読み込み、ステップS202に進んで、所定値αとの比較を行う。この所定値αは2相変調駆動を行う必要がない回転速度、例えば、50rpmに設定されている。
ステップS202でNo判定の場合は、ステップS216に進み、後述する積算電力損失(ΣE_Loss1、ΣE_Loss2)及び、常時オン素子変更フラグF1、および切り替え実施フラグF3をクリアして、ステップS217に進み、駆動方法を3相変調に設定してリターンされる。
一方、ステップS202でYes判定の場合は、ステップS203に進み、回転速度Nmがゼロか否かの判定を行う。ステップS203でYes判定の場合はステップS204に進み、次は素子損失の積算値の判定を行う。
ステップS207に進むと、ステップS205で検索した素子と、ステップS206で読み込んだ相電流値をもとに各素子の損失を算出する。インバータ30に用いられるスイッチング素子の損失は、モータ相電流から求めることができ、例えば図6に示すような関係がある。従って、大きな電流が流れるスイッチング素子を特定できれば、スイッチング損失が計算できる。
ステップS204がNo判定、つまり初回素子損失が計算済みの時、もしくはステップS215の演算終了後はステップS209に進んで、設定しているキャリア周波数fcを読み込む。キャリア周波数fcの設定に関しては図8にて説明するのでここでは割愛する。
第一のスイッチング損失の積算値ΣE_Loss1は常時オン素子の損失であるので、ステップS207で算出した第一のスイッチング損失E_Loss1の通電時間で求まり、通電時間は図5のフローチャートの制御周期(例えば、10μsec)を用いて積算値ΣE_Loss1を算出する。その計算式は下記となる。
ΣE_Loss2(n)=ΣE_Loss2(n-1)+(E_Loss2×(制御周期/キャリア周波数fc)・・・・(式2)
ΣE_Loss1(n)=ΣE_Loss1(n-1)-(E_Loss1×制御周期-(E_Loss1×(制御周期/キャリア周波数fc))・・・・(式3)
ΣE_Loss2(n)=ΣE_Loss2(n-1)+(E_Loss2×制御周期)・・・・(式4)
ΣE_Loss1(n)=ΣE_Loss1(n-1)+(E_Loss1×制御周期)・・・・(式5)
ΣE_Loss2(n)=ΣE_Loss2(n-1)-(E_Loss2×制御周期-(E_Loss2×(制御周期/キャリア周波数fc))・・・・(式6)
図7において、まずステップS301で電気角θを読み込んで、ステップS302に進み、ステップS302で電気角θがθ1からθ2の範囲にいれば、Yes判定となってステップS303に進み、No判定の場合はステップS306に進む。
ステップS303に進むと次は電気角θがθ2/2以下か否かの判定を行い、ステップS303がYes判定であれば、ステップS304に進み、スイッチング素子3Q4と3Q5が損失算出素子となって、算出素子情報I_mを1にする。ステップS303がNo判定の場合はステップS305に進み、スイッチング素子3Q4と3Q1が損失算出素子となって、算出素子情報I_mを2にしてリターンされる。
ここで、電気角範囲の判定に用いるθ1からθ7は電気角1周期(360度)応じて設定しており、θ1=0度から始まり60度刻みでθ6まで設定し、θ7=359度に設定している。
ステップS307でYes判定時はステップS308に進み、算出素子情報I_mが3になるとともに、算出素子が3Q1と3Q4と決定され、ステップS307がNo判定でステップS309に進むと、算出素子情報I_mが4になるとともに、算出素子が3Q1と3Q6と決定され、リターンされる。
以下順次、電気角θに応じて、算出素子情報I_mが更新されると共に算出素子が決定される。
図8において、キャリア周波数選択手段17では、まずステップS401において駆動方法の判定(図5参照)を行う。ステップS401で2相変調が設定されていれば、Yes判定となってステップS402に進み、No判定、つまり3相変調が設定されている場合はステップS404に進んで、キャリア周波数fcを所定値γに設定してリターンされる。
ここで所定値γは通常の3相変調駆動時のキャリア周波数fcであり、あらかじめ実験等にて求められており、例えば、7kHzに設定される。
図10において、スイッチング信号生成手段14では、まずステップS501で、電気角θ、常時オン素子変更フラグF1、算出素子情報I_m、キャリア周波数fcを読み込んで、ステップS502に進む。ステップS502に進むと、常時オン素子変更フラグF1の判定を行う。ステップS502において常時オン素子変更フラグF1がゼロの場合は、Yes判定となってステップS503に進み、常時素子変更フラグF1が1の時は、No判定となってステップS505に進む。
この素子切り替え判定F2は後述するステップS508または511で設定される判定であり、常時素子オン変更フラグF1が未成立(F1=0)時は成立しない。
ステップS503がYes判定時はステップS504に進み、選択された駆動方法に応じたスイッチング信号を生成してリターンされる。
一方ステップS503でNo判定の時は、後述する生成スイッチング信号を切り替えており、その生成スイッチング信号を変更しないのでリターンされる。
一方、ステップS506でNo判定の場合は、すでに常時オン素子変更フラグF1が成立(F1=0)かつ、生成スイッチング信号を切り替え済み、であるので、ステップS510に進み、通常のスイッチング信号に切り替えてステップS511に進み、ステップS511では素子切り替え判定F2をゼロに設定してステップS509に進む。
ステップS509に進むと、ステップS507、ステップS510でスイッチング信号を変更しているので、常時オン素子変更フラグF1をゼロにしてリターンされる。
図12において、時刻T1でブレーキ情報(B)がクリア、つまり運転者がブレーキを離すと発進動作の開始を判定して、指令トルク(C)が所定のクリープトルク値となり、次に電気角θ(D)に応じて、算出素子情報I_m(E)が更新される。モータ回転速度(F)は電気角θ(D)が2回以上更新されないとモータ回転速度(F)が算出不可であるので、指令トルク(C)出力直後は、2相変調による駆動方法が選択されるとともに、電気角θ(D)に応じてU相、V相、W相の各相電圧指令(G)が出力される。また、2相変調による駆動方法が選択されるのでキャリア周波数fcが高周波に設定され、各相の相電圧指令(G)との比較により、スイッチング信号(H)が各々生成され、各スイッチング素子3Q1~3Q6がスイッチング動作を開始して、電動機4に駆動力が発生する。
(1)電力変換装置の温度を検出するための温度センサを必要とせず、コストアップを抑制できる。
(2)電動機が回転不可または極低回転状態における2相変調駆動時にスイッチング素子の損失積算値が所定値を超えるとスイッチング素子のスイッチング動作を切り替えることでスイッチング素子の温度上昇を抑制できるので、スイッチング素子の温度上昇に伴う電動機への供給電力の低下を抑制でき、運転者の操作に応じた駆動力を発生することのできる電動機の制御装置を得ることができる。
4 電動機、5 回転角度センサ、11 指令電流演算手段、
12 指令電圧演算手段、13 2相⇒3相変換手段、
14 スイッチング信号生成手段、15 回転角度処理手段、
16 駆動方法設定と素子損失算出手段、
17 キャリア周波数選択手段、18 3相⇒2相変換手段、
30 電力変換装置、31 平滑コンデンサ、32 電圧センサ、
33、34、35 電流センサ、3Q1~3Q6 スイッチング素子、
100 車両コントロールユニット。
Claims (3)
- 直流電力を供給する直流電源、スイッチング素子によって構成されPWM制御によるスイッチング素子のスイッチング動作によって、前記直流電源からの直流電力を交流電力に変換して電動機に電力を供給する電力変換装置、および前記電力変換装置の駆動を制御する制御ユニットを備えた電動機の制御装置であって、
前記制御ユニットは、
電動機の電気角θと回転速度Nmを演算し出力する回転角度処理手段と、
前記回転角度処理手段からの電気角θと回転速度Nmを用いて前記電力変換装置の駆動方法を設定すると共に、前記電力変換装置の各スイッチング素子の損失とスイッチング損失積算値を演算する駆動方法設定および素子損失算出手段と、
前記駆動方法設定および素子損失算出手段で演算された駆動方法と素子損失に基づいて設定されるキャリア信号のキャリア周波数を選択するキャリア周波数選択手段と、
前記駆動方法設定および素子損失算出手段と前記キャリア周波数選択手段と前記回転角度処理手段、および指令電圧からの情報とに基づいて前記スイッチング素子を動作させるスイッチング信号を生成し、前記電力変換装置に前記スイッチング信号を出力するスイッチング信号生成手段とを備え、
前記電動機が所定の回転速度以下の場合は、前記制御ユニットの演算結果に基づき、2相変調駆動で前記電力変換装置を駆動すると共に、スイッチング損失が大きい第1のスイッチング素子と、第2のスイッチング素子の損失を算出し、前記第1のスイッチング素子または前記第2のスイッチング素子の損失積算値が所定値を超えた場合は、予め設定されたマップに従って前記スイッチング信号生成手段からのスイッチング信号を切り換えて、前記スイッイング素子の前記スイッチング動作を切替えるようにしたことを特徴とする電動機の制御装置。 - 前記損失積算値の所定値は、最大トルク時に流れる電流に基づいて設定することを特徴とする請求項1に記載の電動機の制御装置。
- 2相変調駆動時のキャリア周波数は、前記第1のスイッチング素子の損失に基づいて設定することを特徴とする請求項1に記載の電動機の制御装置。
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