WO2019208408A1 - Dispositif de génération de motif d'impulsion - Google Patents

Dispositif de génération de motif d'impulsion Download PDF

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Publication number
WO2019208408A1
WO2019208408A1 PCT/JP2019/016738 JP2019016738W WO2019208408A1 WO 2019208408 A1 WO2019208408 A1 WO 2019208408A1 JP 2019016738 W JP2019016738 W JP 2019016738W WO 2019208408 A1 WO2019208408 A1 WO 2019208408A1
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WIPO (PCT)
Prior art keywords
current
pulse pattern
motor
phase
voltage
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PCT/JP2019/016738
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English (en)
Japanese (ja)
Inventor
山根和貴
名和政道
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株式会社豊田自動織機
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Publication of WO2019208408A1 publication Critical patent/WO2019208408A1/fr

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    • 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

Definitions

  • the present invention relates to a pulse pattern generation device.
  • An inverter for driving a motor includes a plurality of switching elements.
  • the switching element is switched to convert DC power into AC power.
  • Patent Document 1 discloses an inverter that switches a switching element with a predetermined pulse pattern.
  • Non-Patent Document 1 discloses a pulse pattern generation method for generating a pulse pattern for reducing harmonic loss using a simple circuit.
  • the simple circuit is formed by connecting a voltage source that applies a line voltage and two coils to which the line voltage is applied.
  • an effective current value is calculated from a current flowing through a simple circuit, and a pulse pattern is generated so that the effective current value is minimized. Since the harmonic loss is reduced when the current effective value is reduced, the harmonic loss can be reduced by generating the pulse pattern so that the current effective value is minimized.
  • An object of the present invention is to provide a pulse pattern generation device capable of reducing a difference between a current actually flowing through a coil of a motor and a calculated current.
  • a pulse pattern generation device that solves the above-described problem is a pulse pattern generation device that generates a pulse pattern for controlling a plurality of switching elements included in an inverter that drives a motor, and is applied to a coil of the motor when the motor is driven.
  • a current calculation unit for calculating a current assumed to flow, a current effective value calculation unit for calculating a current effective value from the current calculated by the current calculation unit, and the current calculated by the current effective value calculation unit A pattern generation unit that generates the pulse pattern based on an effective value, and the current calculation unit includes a voltage applied to the coil when the motor is driven and an induced voltage generated when the motor is driven. To calculate the current flowing through.
  • the current generated by the induced voltage is a current in the opposite direction to the current that flows due to the voltage applied to the coil when the motor is driven.
  • the current calculation unit calculates the current in consideration of not only the voltage applied to the coil during driving of the motor but also the induced voltage. Compared to the case where the current is calculated without considering the induced voltage, it can be said that the current flowing in the coil is simulated when the actual motor is driven. As a result, the difference between the current actually flowing through the motor coil and the calculated current can be reduced.
  • the pattern generation unit may generate the pulse pattern so that the effective current value is minimized. Harmonic loss is reduced by reducing the current effective value. Harmonic loss can be reduced by generating a pulse pattern so that the effective current value is minimized and performing switching control of the switching element with this pulse pattern.
  • the difference between the current actually flowing in the motor coil and the calculated current can be reduced.
  • the block diagram which shows the motor and the inverter which drives a motor The block diagram which shows the structure of d, q / u, v, and w conversion circuit.
  • the block diagram of a pulse pattern generation apparatus The figure which shows the simple circuit by a line voltage application part and an induced voltage application part. The figure which shows the relationship between a line voltage and a current waveform. The figure which shows the map of the pulse pattern produced
  • the inverter 10 includes an inverter circuit 20 and an inverter control device 30.
  • the inverter control device 30 includes a drive circuit 31 and a control unit 32.
  • the inverter 10 of this embodiment is for driving the motor 60.
  • the inverter circuit 20 includes six switching elements Q1 to Q6 and six diodes D1 to D6. IGBTs are used as the switching elements Q1 to Q6. Between positive electrode bus Lp and negative electrode bus Ln, switching element Q1 constituting the u-phase upper arm and switching element Q2 constituting the u-phase lower arm are connected in series. Between positive electrode bus Lp and negative electrode bus Ln, switching element Q3 that constitutes the v-phase upper arm and switching element Q4 that constitutes the v-phase lower arm are connected in series. Between the positive electrode bus Lp and the negative electrode bus Ln, a switching element Q5 constituting a w-phase upper arm and a switching element Q6 constituting a w-phase lower arm are connected in series. Diodes D1 to D6 are connected in antiparallel to the switching elements Q1 to Q6. A battery B is connected to the positive electrode bus Lp and the negative electrode bus Ln via a smoothing capacitor C.
  • the inverter circuit 20 having the switching elements Q1 to Q6 constituting the upper and lower arms can convert the DC voltage, which is the voltage of the battery B, into an AC voltage and supply it to the motor 60 in accordance with the switching operation of the switching elements Q1 to Q6. It can be done.
  • the motor 60 is a three-phase AC motor in which three coils U, V, and W are star-connected. As the motor 60, any type of motor such as an induction motor, an IPM motor, or an SPM motor may be used.
  • a drive circuit 31 is connected to the gate terminals of the switching elements Q1 to Q6.
  • the drive circuit 31 switches the switching elements Q1 to Q6 of the inverter circuit 20 based on the control signal.
  • the inverter 10 includes a position detector 61 that detects the electrical angle ⁇ of the motor 60, a current sensor 62 that detects the u-phase current Iu of the motor 60, a current sensor 63 that detects the v-phase current Iv of the motor 60, and a power source. And a voltage sensor 64 for detecting the voltage Vdc.
  • the control unit 32 is constituted by a microcomputer.
  • the control unit 32 includes a subtraction unit 33, a torque control unit 34, a torque / current command value conversion unit 35, subtraction units 36 and 37, a current control unit 38, and a d, q / u, v, and w conversion circuit. 39, a coordinate conversion unit 40, and a speed calculation unit 41.
  • the speed calculator 41 calculates the speed ⁇ from the electrical angle ⁇ detected by the position detector 61.
  • the subtraction unit 33 calculates a difference ⁇ between the command speed ⁇ * and the speed ⁇ calculated by the speed calculation unit 41.
  • the torque control unit 34 calculates the torque command value T * from the difference ⁇ of the speed ⁇ .
  • the torque / current command value conversion unit 35 converts the torque command value T * into a d-axis current command value Id * and a q-axis current command value Iq *.
  • the torque / current command value conversion unit 35 uses a table in which the target torque stored in advance in a storage unit (not shown) is associated with the d-axis current command value Id * and the q-axis current command value Iq *. Torque / current command value conversion.
  • the coordinate conversion unit 40 obtains the w-phase current Iw of the motor 60 from the u-phase current Iu and the v-phase current Iv by the current sensors 62 and 63, and based on the electrical angle ⁇ detected by the position detection unit 61, the u-phase current Iu, v-phase current Iv and w-phase current Iw are converted into d-axis current Id and q-axis current Iq.
  • the d-axis current Id is a current vector component for generating a field in the current flowing through the motor 60
  • the q-axis current Iq is a current vector component for generating torque in the current flowing through the motor 60. .
  • the subtraction unit 36 calculates a difference ⁇ Id between the d-axis current command value Id * and the d-axis current Id.
  • the subtraction unit 37 calculates a difference ⁇ Iq between the q-axis current command value Iq * and the q-axis current Iq.
  • the current control unit 38 calculates the d-axis voltage command value Vd * and the q-axis voltage command value Vq * based on the difference ⁇ Id and the difference ⁇ Iq.
  • the d, q / u, v, w conversion circuit 39 receives the electrical angle ⁇ , the d-axis voltage command value Vd *, the q-axis voltage command value Vq *, and the power supply voltage Vdc and inputs each of the switching elements Q1 to Q6.
  • the control signal is output to the drive circuit 31.
  • the d, q / u, v, w conversion circuit 39 includes a d, q / u, v, w conversion unit 50, a modulation factor calculation unit 51, a pulse pattern determination unit 52, and a signal. And a generating unit 53.
  • the d, q / u, v, w converter 50 converts the d-axis voltage command value Vd * and the q-axis voltage command value Vq * to u, u based on the electrical angle ⁇ that is angle information (rotor position). Coordinates are converted to voltage command values Vu *, Vv *, Vw * for v and w phases.
  • the modulation factor calculation unit 51 calculates the modulation factors Keu, Kev, and Kew based on the voltage command values Vu *, Vv *, and Vw * and the power supply voltage Vdc.
  • the modulation factor calculation unit 51 is a value obtained by dividing the voltage command values Vu *, Vv *, Vw * by the power supply voltage Vdc, and the ratio of the voltage command values (voltage amplitude) Vu *, Vv *, Vw * to the power supply voltage Vdc. It is.
  • the pulse pattern determination unit 52 determines a pulse pattern that is a switching pattern of the switching elements Q1 to Q6 based on the electrical angle ⁇ and the modulation factors Keu, Kev, and Kew.
  • the pulse pattern is stored as a map M1 in a storage unit such as a memory.
  • the pulse pattern is set in association with the electrical angle ⁇ and the modulation factors Keu, Kev, and Kew.
  • the map M1 is information in which each of the ON instruction signal and the OFF instruction signal is associated with the electrical angle ⁇ and the modulation factors Keu, Kev, and Kew.
  • FIG. 3 shows an example of a map M1 associated with the u-phase modulation factor Keu and the electrical angle ⁇ .
  • the on instruction signal is a signal for instructing to turn on the upper arm switching elements Q1, Q3, Q5 and to turn off the lower arm switching elements Q2, Q4, Q6.
  • the off instruction signal is a signal for instructing to turn off the upper arm switching elements Q1, Q3, and Q5 and to turn on the lower arm switching elements Q2, Q4, and Q6.
  • the map M1 indicates a pulse angle that is an electrical angle ⁇ that instructs switching from an on instruction signal to an off instruction signal and switching from an off instruction signal to an on instruction signal.
  • FIG. 3 illustrates ⁇ 1, ⁇ 2, ⁇ 3, ⁇ 4, ⁇ 5, and ⁇ 6 as pulse angles for switching between the on instruction signal and the off instruction signal.
  • FIG. 3 shows a map M1 in which the electrical angle ⁇ is 0 ° to 90 ° in the u-phase map M1.
  • the map M1 is line-symmetrical at the position where the electrical angle ⁇ is 0 °, it becomes a map from 0 ° to -90 °, and if the map where the electrical angle ⁇ is -90 ° to 90 ° is reversed to be point-symmetrical, 90 ° to The map is 270 °.
  • the v-phase and w-phase maps M1 are obtained by shifting the electrical angle ⁇ by 120 ° and 240 ° with respect to the u-phase map M1.
  • the signal generation unit 53 generates a control signal based on the pulse pattern determined by the pulse pattern determination unit 52. Based on the pulse pattern, the signal generation unit 53 sets a dead time for switching on / off of the upper arm switching elements Q1, Q3, Q5 and the lower arm switching elements Q2, Q4, Q6, and generates a control signal. . As a result, switching elements Q1 to Q6 of inverter 10 are subjected to switching control with a predetermined pulse pattern.
  • the pulse pattern generation device 70 includes a line voltage application unit 71 that applies a line voltage to the coil of the motor 60, and an induced voltage application unit 72 that applies an induction voltage to the coil of the motor 60. .
  • the coils are two coils to which a line voltage is applied. In this embodiment, the coils are two coils, a u-phase coil U and a v-phase coil V.
  • the pulse pattern generation device 70 is a device that generates a pulse pattern by simulating the driving state of the motor 60.
  • the line voltage application unit 71 virtually applies to the coils U and W a line voltage that is a voltage applied to the coils U and W when the motor 60 is driven.
  • the induced voltage application unit 72 virtually applies the induced voltage generated when the motor 60 is driven to the coils U and W.
  • the line voltage is determined from the voltage of the battery B.
  • the induced voltage is derived by analysis or actual measurement. For example, the induced voltage can be derived by calculating the voltage generated when the motor 60 is rotated using magnetic field analysis or by measuring the terminal of the motor 60 with a measuring instrument such as an oscilloscope.
  • the current that flows when the line voltage is applied to the coils U and V and the current that flows when the induced voltage is applied to the coils U and V are opposite to each other. As shown in FIG.
  • the line voltage application unit 71 and the induced voltage application unit 72 are a series connection body 75 of coils U and V, a voltage source that generates a line voltage, and a voltage source that applies an induced voltage. Can be expressed as a simple circuit C1.
  • the pulse pattern generation device 70 includes a current calculation unit 73 that calculates a current i that flows through the coils U and V (simple circuit C1) when the line voltage and the induced voltage are applied to the coils U and V, and the current i.
  • the current calculation unit 73 calculates the current i from the following equation (1).
  • L is a combined inductance of the coil U and the coil V
  • the current i takes into account the induced voltage in addition to the line voltage.
  • the current i is a current assumed to flow through the coils U and V of the motor 60 when the motor 60 is driven.
  • the slope of the current waveform obtained from the current i changes depending on the magnitude relationship between the line voltage and the induced voltage.
  • the current effective value calculation unit 74 calculates the current effective value Irms from the current waveform obtained from the current i calculated by the current calculation unit 73. Since the current i takes the induced voltage into consideration, a current waveform closer to the actual driving state of the motor 60 can be obtained as compared with the current waveform not taking the induced voltage into consideration.
  • FIG. 6 shows the correspondence between the waveform L1 due to the line voltage and the current waveform L2 obtained from the current i.
  • the current waveform L2 when the induced voltage is taken into consideration, when the line voltage is 0 [V], the line voltage is less than the induced voltage, and the slope of the current waveform L2 is negative.
  • the current due to the induced voltage is not taken into account, and the current value is maintained when the line voltage becomes 0 [V]. That is, the slope of the current waveform becomes zero.
  • the current waveform differs between the case where the induced voltage is considered and the case where the induced voltage is not considered.
  • the pulse pattern generation device 70 includes a pattern generation unit 76.
  • the pattern generator 76 generates a pulse pattern based on the current effective value Irms. It can be said that the pulse pattern is generated from an evaluation function using the current effective value Irms as an evaluation item.
  • the pattern generation unit 76 generates a pulse pattern so that the current effective value Irms is minimized. Thereby, the map M1 shown in FIG. 3, that is, the pulse pattern is generated.
  • a map M2 shown in FIG. 7 is a map of a pulse pattern generated using only the line voltage without considering the induced voltage. As can be understood from FIG. 7, the pulse pattern generated without considering the induced voltage is different from the pulse pattern generated considering the induced voltage with the pulse angles ⁇ 11, ⁇ 12, ⁇ 13, ⁇ 14, ⁇ 15, and ⁇ 16. I understand.
  • the switching elements Q1 to Q6 of the inverter 10 are subjected to switching control with the pulse pattern generated by the pulse pattern generation device 70.
  • This pulse pattern is a pulse pattern determined so that the current effective value Irms is minimized.
  • a switching operation is performed so that the current effective value Irms becomes small.
  • the current calculation unit 73 calculates a current i that flows when a line voltage and an induced voltage are applied to the coils U and V. When the motor 60 is driven, an induced voltage is generated.
  • the current calculation unit 73 calculates the current i in consideration of not only the voltage applied to the coils U and V when driving the motor 60 but also the induced voltage. For this reason, it can be said that the current flowing through the coils U and V when the actual motor 60 is driven is simulated as compared with the case where the current i is calculated without considering the induced voltage. Thereby, the difference between the current actually flowing through the coils U and V of the motor 60 and the calculated current i can be reduced.
  • the pattern generator 76 generates a pulse pattern so that the current effective value Irms is minimized. Since the harmonic loss is proportional to the current effective value Irms, the harmonic loss can be reduced by switching control of the switching elements Q1 to Q6 with a pulse pattern that minimizes the current effective value Irms.
  • the pulse pattern generation device according to the second embodiment is different from the first embodiment in the method for calculating the current.
  • Other configurations are the same as those of the first embodiment.
  • a pulse pattern is generated assuming a coil for two phases, whereas in the second embodiment, a pulse pattern is assumed assuming a coil for three phases. Is generated. More specifically, a simple arrangement comprising three-phase coils U, V, W, three-phase induced voltage application units 91, 92, 93, and three-phase phase voltage application units 81, 82, 83. A pulse pattern is generated assuming the circuit C2.
  • the phase voltage application units 81, 82, 83 virtually apply phase voltages, which are voltages applied to the coils U, V, W when the motor 60 is driven, to the coils U, V, W.
  • the phase voltage can be calculated from the voltage of the battery B.
  • FIG. 9 shows the correspondence between the space vector and the u-phase current as an example.
  • the space vector can also be said to be a switching pattern of the three-phase switching elements Q1 to Q6.
  • 0 and 1 of V0 to V7 indicate ON / OFF of the switching elements Q1 to Q6 of each phase, respectively.
  • 0 indicates that the upper arm switching elements Q1, Q3, and Q5 are off, and the lower arm switching elements Q2, Q4, and Q6 are on.
  • 1 indicates a state in which the upper arm switching elements Q1, Q3, and Q5 are on and the lower arm switching elements Q2, Q4, and Q6 are off.
  • V0 to V7 Three 0s and 1s of V0 to V7 correspond to the u phase, the v phase, and the w phase in order from the left.
  • L is the inductance of the coil U
  • E is the voltage of the battery B
  • Vemf is the induced voltage.
  • the current calculation unit 73 can calculate the u-phase current according to the space vector.
  • FIG. 10 shows a current waveform L21 obtained by space vector transition and a current waveform L22 obtained by analysis. It can be seen that the current waveform L21 approximates the current waveform L22 obtained by the analysis. That is, it can be said that the u-phase current (current i) obtained by considering the space vector and the induced voltage has a small difference from the current that actually flows through the coil U when the motor 60 is driven.
  • the current calculation unit 73 calculates the current i in consideration of the space vector and the induced voltage. For this reason, the electric current which flows into the coil U at the time of the drive of the actual motor 60 can be simulated more.
  • the inductance of the coils U, V, W when generating the pulse pattern may be variable.
  • the inductances of the coils U, V, and W vary depending on the value of the current flowing through each of the coils U, V, and W and the rotational position of the motor 60.
  • the pulse pattern generation device 70 may be mounted on the inverter 10.
  • the inductance of the coil U used for generating the pulse pattern is corrected by providing a detection unit that can detect the deterioration degree of the coil U and an estimation unit that can estimate the deterioration degree of the coil U.
  • the pulse pattern in consideration of the deterioration degree of the coil U can be generated.
  • switching control of the switching elements Q1 to Q6 can be performed with a pulse pattern suitable for the inverter 10.
  • the pattern generator 76 is not limited to a pulse pattern that minimizes the current effective value Irms, and may generate a pulse pattern that can output an arbitrary current waveform.
  • the modulation factor may be calculated for only one phase.
  • the control is performed using the modulation rate for one phase as the modulation rate common to the three phases.
  • the pulse pattern generation device 70 may generate a pulse pattern when driving a three-phase AC motor in which three coils U, V, and W are delta-connected.
  • the current calculation unit 73 calculates a current (phase current) that flows when a phase voltage and an induced voltage are applied to a coil for one phase. That is, the line voltage application unit 71 of the simple circuit C1 is a phase voltage application unit, and the series connection body 75 is a coil for one phase.
  • the pulse pattern generation device 70 may generate a pulse pattern when driving a three-phase AC motor in which three coils U, V, and W are delta-connected.
  • the simple circuit C3 includes three-phase coils U, V, and W that are delta-connected, three-phase induced voltage application units 91, 92, and 93, and three-phase coils.
  • a phase voltage application unit (line voltage application unit) 81, 82, 83 In this case, the slope of the u-phase current corresponding to the space vector is as shown in the table of FIG. Note that 1 of V0 to V6 shown in FIG.

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  • Power Engineering (AREA)
  • Inverter Devices (AREA)

Abstract

Dispositif de génération de motif d'impulsion comprenant : une unité de transmission de tension de ligne qui transmet une tension de ligne à une bobine d'un moteur ; et une unité de transmission de tension induite qui transmet une tension induite à une bobine du moteur. Le dispositif de génération de motif d'impulsion comprend : une unité de calcul de courant qui calcule un courant (i) qui circule lorsque la tension de ligne et la tension induite sont transmises à une bobine ; et une unité de calcul de valeur effective de courant qui calcule une valeur effective de courant (Irms) à partir du courant (i). Le dispositif de génération de motif d'impulsion est pourvu d'une unité de génération de motif. L'unité de génération de motif génère un motif d'impulsion sur la base de la valeur effective de courant (Irms).
PCT/JP2019/016738 2018-04-27 2019-04-19 Dispositif de génération de motif d'impulsion WO2019208408A1 (fr)

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JP2018-087749 2018-04-27
JP2018087749A JP6962267B2 (ja) 2018-04-27 2018-04-27 パルスパターン生成装置

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002252995A (ja) * 2001-02-23 2002-09-06 Honda Motor Co Ltd ブラシレスｄｃモータの制御装置
JP2014158402A (ja) * 2013-02-18 2014-08-28 Toyota Motor Corp 電力変換装置
WO2017110855A1 (fr) * 2015-12-21 2017-06-29 日産自動車株式会社 Procédé de diagnostic de moteur et équipement de conversion de puissance électrique l'utilisant

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002252995A (ja) * 2001-02-23 2002-09-06 Honda Motor Co Ltd ブラシレスｄｃモータの制御装置
JP2014158402A (ja) * 2013-02-18 2014-08-28 Toyota Motor Corp 電力変換装置
WO2017110855A1 (fr) * 2015-12-21 2017-06-29 日産自動車株式会社 Procédé de diagnostic de moteur et équipement de conversion de puissance électrique l'utilisant

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