WO2017199641A1 - Dispositif de commande de moteur électrique et véhicule électrique équipé dudit dispositif - Google Patents

Dispositif de commande de moteur électrique et véhicule électrique équipé dudit dispositif Download PDF

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Publication number
WO2017199641A1
WO2017199641A1 PCT/JP2017/014758 JP2017014758W WO2017199641A1 WO 2017199641 A1 WO2017199641 A1 WO 2017199641A1 JP 2017014758 W JP2017014758 W JP 2017014758W WO 2017199641 A1 WO2017199641 A1 WO 2017199641A1
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WIPO (PCT)
Prior art keywords
phase
zero
pulse width
control device
motor
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PCT/JP2017/014758
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English (en)
Japanese (ja)
Inventor
隆宏 荒木
利貞 三井
宮崎　英樹
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日立オートモティブシステムズ株式会社
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Publication of WO2017199641A1 publication Critical patent/WO2017199641A1/fr

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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
    • B60L9/00—Electric propulsion with power supply external to the vehicle
    • B60L9/16—Electric propulsion with power supply external to the vehicle using ac induction motors
    • B60L9/18—Electric propulsion with power supply external to the vehicle using ac induction motors fed from dc supply lines
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the present invention relates to a motor control device, and more particularly to a vehicle-mounted motor control device.
  • Hybrid vehicles and electric vehicles are required to have improved reliability from the viewpoint of preventing failure during vehicle travel and to improve output torque from the viewpoint of vehicle weight reduction.
  • a three-phase six-wire drive device has been considered, but since a motor with no neutral point connected is used, a zero-phase current is superimposed on the drive current that drives the motor, resulting in copper loss. There was a problem that losses such as increased.
  • Patent Document 1 JP-A-63-224693.
  • Patent Document 1 JP-A-63-224693.
  • This publication describes that “a current-carrying mode of the first and second voltage source inverters that reduces the current value of the zero-phase current is selected from a plurality of current-carrying modes”. As a result, the inverter operates so as to reduce the zero-phase current, so that the loss due to the zero-phase current can be reduced.
  • An object of the present invention is to reduce the number of times of switching when reducing the zero-phase current.
  • a motor control device controls a motor in which windings of each phase are independently connected, and controls a voltage to be applied to the motor based on an input torque command.
  • a motor control device that outputs a PWM control signal for the purpose, a pulse width of a zero-phase voltage consisting of the sum of output voltages based on a zero-phase voltage command for reducing the zero-phase current obtained from the AC current of the motor And controlling the amplitude.
  • the inverter control device can reduce the number of times of switching when the zero-phase current is reduced.
  • FIG. 4 is a diagram illustrating a flowchart of a switching signal generation unit 30.
  • FIG. It is a figure which shows the process of step 2 in the flowchart of FIG. 5, and has shown the hexagon part shown with the thick dotted line in the vector diagram of FIG.
  • FIG. 5 shows the process of step 4 in the flowchart of FIG. 5, and has shown the hexagon part shown with the thick dotted line in the vector diagram of FIG.
  • FIG. 1 is a diagram showing a configuration of a motor drive device according to an embodiment of the present invention.
  • the motor driving device includes a motor 200, a position sensor 210, a current sensor 220, an inverter 100, and the inverter control device 1.
  • the motor drive device functions as a motor drive system that drives the motor.
  • the motor 200 is constituted by an embedded magnet synchronous motor or the like to which a neutral point is not connected.
  • the U-phase winding 201 wound around the stator of the motor 200 is connected to the output terminal of the U-phase full bridge inverter 110.
  • the V-phase winding 202 wound around the stator of the motor 200 is connected to the output terminal of the V-phase full bridge inverter 111.
  • W phase winding 203 wound around the stator of motor 200 is connected to the output terminal of W phase full bridge inverter 112.
  • the current flowing in the U-phase winding 201, the V-phase winding 202, and the W-phase winding 203 can be controlled independently.
  • the neutral point of the motor 200 since the neutral point of the motor 200 is not connected, the drive current flowing through the U-phase winding 201, the V-phase winding 202, and the W-phase winding 203 is not included in Patent Document 1, as described in Patent Document 1. , Zero phase current is included.
  • the position sensor 210 detects the position of the rotor of the motor 200 and outputs the detected rotor position ⁇ .
  • the current sensor 220 detects currents flowing in the U-phase winding 201, the V-phase winding 202, and the W-phase winding 203 wound around the stator of the motor 200, and detects the detected three-phase currents iu, iv, iw is output.
  • the inverter 100 includes a U-phase full-bridge inverter 110, a V-phase full-bridge inverter 111, and a W-phase full-bridge inverter 112.
  • U-phase full-bridge inverter 110, V-phase full-bridge inverter 111, and W-phase full-bridge inverter 112 are connected in parallel to a DC power supply (not shown).
  • the U-phase full bridge inverter 110 is composed of switching elements 110a to 110d.
  • Switching element 110a is arranged on the U-phase left leg upper arm.
  • Switching element 110b is arranged on the U-phase left leg lower arm.
  • Switching element 110c is arranged on the U-phase right leg upper arm.
  • Switching element 110d is disposed on the U-phase right leg lower arm.
  • the V-phase full bridge inverter 111 is composed of switching elements 111a to 111d.
  • Switching element 111a is arranged on the V-phase left leg upper arm.
  • Switching element 111b is arranged on the lower arm of the V-phase left leg.
  • Switching element 111c is arranged on the V-phase right leg upper arm.
  • Switching element 111d is arranged on the lower arm of the V-phase right leg.
  • the W-phase full bridge inverter 112 is composed of switching elements 112a to 112d.
  • Switching element 112a is arranged on the W-phase left leg upper arm.
  • Switching element 112b is arranged on the lower arm of the W-phase left leg.
  • Switching element 112c is arranged on the W-phase right leg upper arm.
  • Switching element 112d is arranged on the lower arm of the W-phase right leg.
  • the inverter 100 By turning on or off the switching elements 110a to 110d, the switching elements 111a to 111d, and the switching elements 112a to 112d based on the switching signal generated by the inverter control device 1, the inverter 100 is connected to a DC power supply (not shown).
  • the applied DC voltage is converted into an AC voltage.
  • the converted AC voltage is applied to the U-phase winding 201, the V-phase winding 202 and the W-phase winding 203 wound around the stator of the motor 200 to generate a three-phase AC current. This three-phase alternating current generates a rotating magnetic field in the motor 200, and the rotor rotates.
  • Switching elements 110a to 110d, switching elements 111a to 111d, and switching elements 112a to 112d are configured by combining a metal oxide film type field effect transistor (MOSFET), an insulated gate bipolar transistor (IGBT), and the like with a diode.
  • MOSFET metal oxide film type field effect transistor
  • IGBT insulated gate bipolar transistor
  • the inverter control device 1 performs PWM control on the inverter 100 based on the torque command value T * from the outside, the three-phase currents iu, iv, iw detected by the current sensor 220, and the rotor position ⁇ detected by the position sensor 210. To do.
  • FIG. 2 is a diagram showing an example of an output voltage waveform of the motor drive device according to the present embodiment.
  • the U phase output voltage Vu is an output voltage of the U phase full bridge inverter 110.
  • V-phase output voltage Vv is an output voltage of V-phase full-bridge inverter 111.
  • W-phase output voltage Vw is an output voltage of W-phase full-bridge inverter 112.
  • the zero-phase output voltage V0 is obtained by the equation (1) from the U-phase output voltage Vu, the V-phase output voltage Vv, and the W-phase output voltage Vw.
  • the U-phase full-bridge inverter 110, the V-phase full-bridge inverter 111, and the W-phase full-bridge inverter 112 output either a positive power supply voltage Vdc, a negative power supply voltage ⁇ Vdc, or zero voltage. .
  • the amplitude of the zero-phase output voltage V0 is one of the following depending on the combination.
  • FIG. 3 is an output voltage vector diagram of the motor drive device according to the present embodiment.
  • the components of the output voltage vector are shown in the order of the U phase, the V phase, and the W phase, and the magnitudes are + when the output voltage is a positive power supply voltage Vdc, and negative power supply voltage ⁇
  • Vdc positive power supply voltage
  • ⁇ negative power supply voltage
  • FIG. 4 is a control block diagram for explaining the first embodiment.
  • the current command calculation unit 10 calculates the d-axis current command value id * and the q-axis current command value iq * based on the input torque command value T * and the angular velocity ⁇ .
  • a method for calculating the d-axis current command value id * and the q-axis current command value iq * there are a maximum torque current control, a field weakening control, and the like. Note that a preset table may be used for calculating the d-axis current command value id * and the q-axis current command value iq *.
  • the dq-axis current control unit 20 receives the d-axis current command value id *, the q-axis current command value iq *, the d-axis current detection value id, and the q-axis current detection value iq, and performs proportional control and integral control. Used to output the d-axis voltage command value Vd * and the q-axis voltage command value Vq *.
  • the d-axis voltage command value Vd *, the q-axis voltage command value Vq *, and the zero-phase voltage command value V0 * are input to the switching signal generation unit 30, and the switching elements 110a to 110d, the switching elements 111a to 111d, A switching signal for turning on or off the switching elements 112a to 112d is generated.
  • the switching signal is input to the inverter 100, and the motor is operated by the above operation.
  • the dq converter 40 receives the three-phase currents iu, iv, iw detected by the current sensor 220 and the rotor position ⁇ detected by the position sensor 210, and detects the d-axis current detection value id, the q-axis current detection.
  • the value iq is output.
  • the zero-phase current calculation unit 50 receives the three-phase currents iu, iv, iw detected by the current sensor 220 and the rotor position ⁇ detected by the position sensor 210, and outputs the zero-phase current i0.
  • a formula for calculating the zero-phase current i0 is shown in Formula (3).
  • the zero phase current i0 may be calculated in consideration of the zero phase current value estimated from the angular velocity ⁇ .
  • the zero-phase current control unit 60 receives the zero-phase current i0 and outputs a zero-phase voltage command value V0 * using proportional control, integral control, or the like.
  • the speed converter 70 receives the rotor position ⁇ detected by the position sensor 210 and outputs an angular speed ⁇ .
  • FIG. 5 is a diagram showing a flowchart of the switching signal generation unit 30.
  • step 1 the switching signal generator 30 determines the polarity of the zero-phase voltage command value V0 * output from the zero-phase voltage controller 60. If the zero-phase voltage command value V0 * is positive, step 2 If the phase voltage command value V0 * is negative, the process of step 9 is performed.
  • Step 2 when the zero-phase voltage command value V0 * is positive, the switching signal generator 30 calculates the pulse width of the P1 mode.
  • step 3 it is determined whether the pulse width of the P1 mode calculated in step 2 is within the carrier period. If the pulse width of the P1 mode is within the carrier period, the process is completed, and the pulse width of the P1 mode is If the period is exceeded, the process of step 4 is performed.
  • step 4 when the pulse width of the P1 mode exceeds the carrier period, the switching signal generation unit 30 calculates the pulse width of the P2 mode.
  • step 5 it is determined whether the pulse width of the P2 mode calculated in step 4 is within the carrier period. If the pulse width of the P2 mode is within the carrier period, the process is completed, and the pulse width of the P2 mode is If the period is exceeded, the process of step 6 is performed.
  • step 6 when the pulse width of the P2 mode exceeds the carrier period, the switching signal generation unit 30 calculates the pulse width of the P3 mode.
  • step 7 it is determined whether the pulse width of the P3 mode calculated in step 6 is within the carrier period. If the pulse width of the P3 mode is within the carrier period, the process is completed, and the pulse width of the P3 mode is equal to the carrier period. If the period is exceeded, the process of step 8 is performed.
  • step 8 when the pulse width of the P3 mode exceeds the carrier period, the switching signal generation unit 30 calculates the pulse width of the P4 mode.
  • step 9 when the zero-phase voltage command value V0 * is negative, the switching signal generator 30 calculates the pulse width of the N1 mode. Thereafter, in step 10, it is determined whether the pulse width of the N1 mode calculated in step 9 is within the carrier period. If the pulse width of the N1 mode is within the carrier period, the process is completed, and the pulse width of the N1 mode is If the period is exceeded, the process of step 11 is performed.
  • step 11 when the pulse width of the N1 mode exceeds the carrier period, the switching signal generation unit 30 calculates the pulse width of the N2 mode.
  • step 12 it is determined whether the pulse width of the N2 mode calculated in step 11 is within the carrier period. If the pulse width of the N2 mode is within the carrier period, the process is completed, and the pulse width of the N2 mode is If the period is exceeded, the process of step 13 is performed.
  • step 13 when the pulse width of the N2 mode exceeds the carrier period, the switching signal generation unit 30 calculates the pulse width of the N3 mode.
  • step 14 it is determined whether the pulse width of the N3 mode calculated in step 13 is within the carrier period. If the pulse width of the N3 mode is within the carrier period, the process is completed, and the pulse width of the N3 mode is equal to the carrier period. If the period is exceeded, the process of step 15 is performed.
  • step 15 when the pulse width of the N3 mode exceeds the carrier period, the switching signal generation unit 30 calculates the pulse width of the N4 mode.
  • FIG. 6 is a diagram showing the process of step 2 in the flowchart of FIG. 5, and shows a hexagonal portion indicated by a thick dotted line in the vector diagram of FIG.
  • the calculation can be performed by rotating the vector diagram of FIG. 6 by 60 ° and inverting the polarity.
  • Va and Vb are voltage command values obtained by converting dq-axis voltage command values Vd * and Vq * into fixed coordinates in FIG.
  • FIG. 7 is a diagram showing the processing of step 4 in the flowchart of FIG. 5, and shows the hexagonal portion indicated by the thick dotted line in the vector diagram of FIG.
  • calculation can be performed by rotating the vector diagram of FIG. 7 by 60 ° and inverting the polarity.
  • Va and Vb are voltage command values obtained by converting dq-axis voltage command values Vd * and Vq * into fixed coordinates in FIG.
  • FIG. 8 is a diagram showing the processing of step 6 and step 8 in the flowchart of FIG. 5, and shows the hexagonal portion indicated by the thick dotted line in the vector diagram of FIG.
  • the calculation can be performed by rotating the vector diagram of FIG. 8 by 60 ° and inverting the polarity.
  • Va and Vb are voltage command values obtained by converting dq-axis voltage command values Vd * and Vq * into fixed coordinates in FIG.
  • step 8 t1, t2 and t5 are obtained from the dq-axis voltage command values Vd * and Vq * and the zero-phase voltage command value V0 * by the equation (7).
  • Va and Vb are voltage command values obtained by converting dq-axis voltage command values Vd * and Vq * into fixed coordinates in FIG.
  • FIG. 9 is a diagram showing the processing of step 9 in the flowchart of FIG. 5, and shows the hexagonal portion indicated by the thick dotted line in the vector diagram of FIG.
  • calculation can be performed by rotating the vector diagram of FIG. 9 by 60 ° and inverting the polarity.
  • Va and Vb are voltage command values obtained by converting the dq-axis voltage command values Vd * and Vq * into fixed coordinates in FIG.
  • FIG. 10 is a diagram showing the processing of step 11 in the flowchart of FIG. 5, and shows the hexagonal portion indicated by the thick dotted line in the vector diagram of FIG.
  • the calculation can be performed by rotating the vector diagram of FIG. 10 by 60 ° and inverting the polarity.
  • Va and Vb are voltage command values obtained by converting the dq axis voltage command values Vd * and Vq * into fixed coordinates in FIG.
  • FIG. 11 is a diagram showing the processing of step 13 and step 15 in the flowchart of FIG. 5, and shows the hexagonal portion indicated by the thick dotted line in the vector diagram of FIG.
  • the calculation can be performed by rotating the vector diagram of FIG. 11 by 60 ° and inverting the polarity.
  • Va and Vb are voltage command values obtained by converting dq-axis voltage command values Vd * and Vq * into fixed coordinates in FIG.
  • step 15 t1, t2, and t8 are dq axis voltage command values Vd *, Vq *, It is obtained from the zero-phase voltage command value V0 * by the equation (11).
  • Va and Vb are voltage command values obtained by converting dq-axis voltage command values Vd * and Vq * into fixed coordinates in FIG.
  • the zero-phase voltage having a small amplitude can be obtained within a range in which the pulse width of the voltage output from the inverter of each phase does not exceed the carrier cycle.
  • the switching loss can be reduced by reducing the number of times of switching.
  • switching element 112 ... W-phase full bridge inverter, 112a ... switching element, 112b ... switching element, 112c ... switching element, 112d ... switching element , 20 ... Motor, 201 ... U phase winding, 202 ... V phase winding, 203 ... W phase winding, 210 ... Position sensor, 220 ... Current sensor, iu ... U phase current, iv ... V phase current, iw ... W phase Current, id * ... d-axis current command value, iq * ... q-axis current command value, i d ... d-axis current detection value, i q ... q-axis current detection value, i0 ...

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Ac Motors In General (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Inverter Devices (AREA)

Abstract

La présente invention a pour but de réduire le nombre d'opérations de commutation à effectuer lors de la réduction d'un courant de phase nulle. Le dispositif de commande de moteur électrique commande un moteur électrique dont les phases sont reliées indépendamment les unes des autres, et qui possède un moyen de commande qui émet un signal de commande PWM destiné à commander une tension à appliquer au moteur électrique sur la base d'une commande de couple d'entrée. Le moyen de commande régule, sur la base d'une commande de tension de phase nulle obtenue d'un courant alternatif du moteur électrique et destinée à réduire un courant de phase nulle, la largeur d'impulsion et l'amplitude d'une tension de phase nulle consistant en la somme des tensions de sortie.
PCT/JP2017/014758 2016-05-17 2017-04-11 Dispositif de commande de moteur électrique et véhicule électrique équipé dudit dispositif WO2017199641A1 (fr)

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JP2016-098366 2016-05-17
JP2016098366A JP6681266B2 (ja) 2016-05-17 2016-05-17 電動機の制御装置及びそれを備えた電動車両

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JP7154873B2 (ja) * 2018-08-20 2022-10-18 株式会社東芝 オープン巻線モータ駆動装置及び冷凍サイクル装置

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009254122A (ja) * 2008-04-07 2009-10-29 Fuji Electric Systems Co Ltd 電力変換装置の制御回路
CN101902860A (zh) * 2009-11-21 2010-12-01 英飞特电子（杭州）有限公司 多路恒流驱动电路
CN102064558A (zh) * 2010-11-30 2011-05-18 张家港市沙洲特种变压器制造有限公司 三相电磁平衡节电器
WO2015199104A1 (fr) * 2014-06-26 2015-12-30 日立オートモティブシステムズ株式会社 Dispositif d'attaque de moteur
US20150377930A1 (en) * 2014-06-30 2015-12-31 Lsis Co., Ltd. Neutral pole current transformer module for circuit breaker and neutral pole current detecting apparatus for circuit breaker

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009254122A (ja) * 2008-04-07 2009-10-29 Fuji Electric Systems Co Ltd 電力変換装置の制御回路
CN101902860A (zh) * 2009-11-21 2010-12-01 英飞特电子（杭州）有限公司 多路恒流驱动电路
CN102064558A (zh) * 2010-11-30 2011-05-18 张家港市沙洲特种变压器制造有限公司 三相电磁平衡节电器
WO2015199104A1 (fr) * 2014-06-26 2015-12-30 日立オートモティブシステムズ株式会社 Dispositif d'attaque de moteur
US20150377930A1 (en) * 2014-06-30 2015-12-31 Lsis Co., Ltd. Neutral pole current transformer module for circuit breaker and neutral pole current detecting apparatus for circuit breaker

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JP6681266B2 (ja) 2020-04-15

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