WO2019215891A1 - モータシステムの制御方法、及び、モータシステムの制御装置 - Google Patents
モータシステムの制御方法、及び、モータシステムの制御装置 Download PDFInfo
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- WO2019215891A1 WO2019215891A1 PCT/JP2018/018213 JP2018018213W WO2019215891A1 WO 2019215891 A1 WO2019215891 A1 WO 2019215891A1 JP 2018018213 W JP2018018213 W JP 2018018213W WO 2019215891 A1 WO2019215891 A1 WO 2019215891A1
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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
- H02M3/00—Conversion of dc power input into dc power output
- H02M3/02—Conversion of dc power input into dc power output without intermediate conversion into ac
- H02M3/04—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters
- H02M3/10—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M3/145—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M3/155—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
- H02M3/156—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators
- H02M3/158—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators including plural semiconductor devices as final control devices for a single load
- H02M3/1582—Buck-boost converters
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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
- H02M3/00—Conversion of dc power input into dc power output
- H02M3/02—Conversion of dc power input into dc power output without intermediate conversion into ac
- H02M3/04—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters
- H02M3/10—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M3/145—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M3/155—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
- H02M3/156—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators
- H02M3/158—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators including plural semiconductor devices as final control devices for a single load
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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
- H02M7/53—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 using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/537—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 using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
- H02M7/5387—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 using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
- H02M7/53871—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 using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current
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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
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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
- H02P2201/00—Indexing scheme relating to controlling arrangements characterised by the converter used
- H02P2201/09—Boost converter, i.e. DC-DC step up converter increasing the voltage between the supply and the inverter driving the motor
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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
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/74—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more ac dynamo-electric motors
Definitions
- the present invention relates to a motor system control method and a motor system control apparatus.
- JP2017-178055A discloses a technique for limiting the power passing through the converter when the temperature of the boost converter rises. According to this technology, the required power of the motor is ensured even when power is used outside of the motor by considering the power that may be used outside the motor for the limit value of the passing power. can do.
- the voltage on the inverter side may vibrate depending on the operating point of the motor. For this reason, even if the passing power is limited considering only the temperature rise as in JP2017-178055A, the motor system may become unstable due to overvoltage or overcurrent caused by the oscillation of the output voltage.
- the present invention was invented to solve such a problem, and an object thereof is to suppress the oscillation of the terminal voltage on the inverter side of the converter in the motor system.
- a motor system control method includes a battery, a boost converter configured to boost a DC voltage supplied from the battery, and connected to the boost converter to perform conversion between DC and AC.
- a control method of a motor system including an inverter and a motor generator connected to the inverter.
- the motor system control method includes a power limit determining step for determining a power limit that suppresses oscillation of the terminal voltage on the inverter side in the boost converter according to the operating point of the motor generator, and a power passing through the boost converter is limited. And a control step for controlling the operating point of the motor generator so as not to exceed the electric power.
- FIG. 1 is a schematic configuration diagram of a motor control system according to the present embodiment.
- FIG. 2 is a circuit diagram of the motor control system.
- FIG. 3 is a detailed circuit diagram in the vicinity of the boost converter.
- FIG. 4 is a graph showing the relationship between inverter-side voltage V 2 and inverter current I 0 in the motor generator.
- FIG. 5 is a flowchart showing the restriction control.
- FIG. 6 is a graph showing the relationship between the rotational speed N and the vibration frequency ⁇ 2 .
- FIG. 7 is a graph showing the relationship between the response characteristic delay d and the correction amount ⁇ .
- FIG. 8 is a graph showing the relationship between the inverter side voltage V 2 , the output limit power P out and the input limit power P in .
- FIG. 9A is a graph showing a change with time of the inverter-side voltage V 2 in the comparative example.
- FIG. 9B is a graph showing the change with time of the passing power P of the converter.
- FIG. 10A is a graph showing a change with time of the inverter-side voltage V 2 in the present embodiment.
- FIG. 10B is a graph showing a change in passing power P over time.
- FIG. 11 is a schematic configuration diagram of a modified motor control system.
- FIG. 12 is a circuit diagram of the motor control system.
- FIG. 1 is a schematic configuration diagram of a motor system 100 according to the present embodiment.
- motor generator 4 serves as a drive source for the vehicle.
- the motor system 100 includes a battery 1, a converter 2, an inverter 3, and a motor generator 4 connected in series.
- the motor system 100 further includes an output shaft 5 connected to the motor generator 4 and a controller 6.
- the battery 1 is a rechargeable secondary battery.
- the converter 2 is a step-up converter that is configured to step up DC power supplied from the battery 1 and supply the boosted power to the inverter 3.
- Inverter 3 converts the DC power supplied from converter 2 into AC power, and supplies the converted AC power to motor generator 4.
- the output shaft 5 is connected to the motor generator 4.
- the motor generator 4 functions as either a motor or a generator. When the motor generator 4 is in a power running operation, electric power is supplied from the converter 2 to the inverter 3 and the motor generator 4. When the motor generator 4 is regeneratively operated, the regenerative power generated by the motor generator 4 is charged to the battery 1 via the inverter 3 and the converter 2.
- the motor generator 4 is provided with a resolver 41 that detects the rotational angle and the rotational speed of the rotor.
- drive wheels (not shown) connected to output shaft 5 are driven with the rotational output of motor generator 4.
- the controller 6 controls the converter 2 and the inverter 3 and receives the rotation angle and the rotation speed of the motor generator 4 from the resolver 41.
- the controller 6 stores predetermined processing as a program, and is configured to execute processing corresponding to the program by executing the program.
- FIG. 2 is a circuit diagram of the motor system 100.
- the DC power supplied from the battery 1 is boosted in the converter 2 and supplied to the inverter 3.
- the battery side voltage V 1 which is the terminal voltage on the battery 1 side of the converter 2, and the current I 1 flowing through the converter 2 are acquired by a voltage sensor 22 and a current sensor 26 provided in the converter 2.
- an inverter side voltage V 2 that is a terminal voltage on the inverter 3 side of the converter 2 is acquired by a voltage sensor 28 provided in the vicinity of the converter 2.
- the electric power output from converter 2 to inverter 3 is referred to as inverter current I 0 .
- the inverter current I 0 is positive when output from the converter 2 to the inverter 3 and negative when input from the inverter 3 to the converter 2.
- the detailed configuration of converter 2 will be described later with reference to FIG.
- the inverter 3 is a three-phase inverter and includes a plurality of switching elements.
- the inverter 3 converts the DC power input from the converter 2 into three-phase AC power and supplies it to the motor generator 4.
- Inverter 3 converts AC regenerative power in motor generator 4 into DC power that can be charged by battery 1.
- the resolver 41 detects the rotation speed N of the motor generator 4 and transmits the detected rotation speed N to the controller 6.
- Current sensor 42 is provided between inverter 3 and motor generator 4, detects a UVW-phase current between inverter 3 and motor generator 4, and transmits drive current I p to controller 6.
- the drive current I p indicates the detected UVW phase current.
- the output shaft 5 connected to the motor generator 4 is omitted.
- the controller 6 outputs the torque command value T * for the motor generator 4 calculated by the host device, the rotational speed N detected by the resolver 41, the drive current I p detected by the current sensor 42, and the voltage sensor 28. A switching pattern is generated according to the inverter-side voltage V 2 detected in this way. The controller 6 outputs the generated switching pattern to the inverter 3 as a gate signal. When the inverter 3 is driven in accordance with the gate signal, the motor generator 4 rotates with a desired torque.
- the controller 6 determines a target inverter side voltage V 2 * of the converter 2 to be an applied voltage to the inverter 3 according to the torque command value T * of the motor generator 4 and the rotational speed N.
- the controller 6 generates a duty ratio D corresponding to the target inverter side voltage V 2 * , and outputs the generated duty ratio D to the converter 2 as a gate signal.
- Switching elements 24a in accordance with the duty ratio D, by 24b is controlled, it is possible to obtain a desired inverter side voltage V 2.
- FIG. 3 is a detailed circuit diagram in the vicinity of the converter 2 in FIG.
- the capacitor 21 is provided between the positive electrode and the negative electrode of the power supply line from the battery 1.
- the capacitor 21 suppresses noise included in the power supply from the battery 1 to the converter 2.
- a voltage sensor 22 is provided in the vicinity of the capacitor 21. When the voltage sensor 22 detects the battery-side voltage V 1 by measuring the voltage of the capacitor 21, the voltage sensor 22 transmits the detected battery-side voltage V 1 to the controller 6.
- Reactor 23 (inductance) has one end connected to the positive electrode of battery 1 and the other end connected to one end of switching element 24a and one end of switching element 24b.
- the other end of the switching element 24 a is a positive electrode on the output side of the inverter 3
- the other end of the switching element 24 b is a negative electrode on the output side of the inverter 3.
- the switching elements 24a and 24b are composed of, for example, an IGBT (Insulated Gate Bipolar Transistor).
- Diodes 25a and 25b are connected in parallel with the switching elements 24a and 24b, respectively.
- the diode 25a is provided such that the forward direction is a direction from one end of the switching element 24a to the other end.
- the diode 25b is provided such that the forward direction is a direction from one end to the other end of the switching element 24b.
- the switching elements 24a and 24b are controlled, and the boosting is performed by repeating a state called a turn-on state and a turn-off state. The details of this mechanism will be described below.
- the switching element 24a is turned on and the switching element 24b is turned off.
- the electric power stored in the reactor 23 is discharged, and the inverter current I 0 is supplied to the inverter 3 via the switching element 24a (route (b)). Due to this discharge, a voltage higher than the supply voltage of the battery 1 is applied to the inverter 3.
- the duty ratio D is the percentage of time the turn-on state for repetition period of the turn-on state and the off state, it controls the inverter side voltage V 2.
- a current sensor 26 is provided between the reactor 23 and the switching element 24a and the switching element 24b.
- the current sensor 26 detects the reactor current I l flowing through the reactor 23 and transmits the reactor current I l to the controller 6.
- Capacitor 27 is provided between the positive electrode and negative electrode terminals of converter 2 on the inverter 3 side.
- the capacitor 27 suppresses voltage ripple due to switching of the switching elements 24a and 24b.
- Voltage sensor 28 is provided in the vicinity of the condenser 27, obtains the inverter side voltage V 2 by measuring the voltage of the capacitor 27, and transmits the inverter side voltage V 2 to the controller 6.
- the converter 2 may be degraded in performance due to a rise in temperature caused by an increase in passing power or vibration of the inverter side voltage V 2 described below. Therefore, the controller 6 controls the operating point of the motor generator 4 so that the passing power P of the converter 2 does not exceed the limit power P lim .
- the controller 6 limits the power P that the converter 2 is responsible for (hereinafter, referred to as the passing power P of the converter 2) in accordance with the limited power Plim .
- the method of calculating the limit power P lim of the passing power P of the converter 2 differs depending on whether the motor generator 4 is in a power running operation or when the motor generator 4 is in a regenerative operation.
- the controller 6 calculates the output limit power P out as limit power P lim.
- constant power is supplied from the converter 2 to the inverter 3, so that the motor generator 4 is powered by constant power.
- the resistance component R 0 of the impedance of the motor generator 4 exhibits a negative resistance characteristic, and this negative resistance characteristic can cause a vibration of the inverter side voltage V 2. . Therefore, in the following, a description will be given of conditions for suppressing vibration caused by this negative resistance characteristic.
- FIG. 4 is a graph showing the relationship between the inverter side voltage V 2 and the inverter current I 0 .
- the electric power supplied to the motor generator 4 is substantially equal to the passing electric power P of the converter 2.
- This passing power P is obtained by the product of the inverter side voltage V 2 and the inverter current I 0 . Since the motor generator 4 is controlled at constant power and the passing power P is constant, the inverter side voltage V 2 and the inverter current I 0 are in an inversely proportional relationship.
- the inverter current I 0 decreases as the inverter side voltage V 2 increases.
- This characteristic is referred to as a negative resistance characteristic, and exhibits a characteristic opposite to a characteristic in which current increases in accordance with a general applied voltage.
- Resistance component R 0 of the impedance of motor generator 4 is positive when passing power P of converter 2 is positive.
- I ofs is the intercept of the I 0 axis of a linear approximation line.
- the resistance component R 0 of the motor generator 4 is expressed by the following equation: Indicated.
- L [H] is the inductance of the reactor 23
- C [F] is the capacitance of the capacitor 27
- R [ ⁇ ] is the resistance component of the converter 2 in the turn-on state
- D is the duty ratio.
- the transfer characteristic from the battery-side voltages V 1 to the inverter side voltage V 2 in the converter 2 can also be shown by the formula other than Formula (3).
- the transfer characteristic may be obtained in consideration of the response characteristic G having the inverter side voltage V 2 as an input and the inverter current I 0 flowing to the inverter 3 as an output.
- This response characteristic G can also be expressed as the response characteristic G of the inverter current I 0 that flows into the inverter 3 when the electric power P that the converter 2 is responsible for is applied to the inverter 3.
- the controller 6 calculates the input limit power P in as the limit power P lim .
- the inverter current I 0 flowing from the inverter 3 toward the converter 2 is shown as negative. Therefore, resistance component R 0 of motor generator 4 is negative. This is because the resistance component R 0 is calculated from the inverter side voltage V 2 and the inverter current I 0 . Similarly, the passing power P of the converter 2 is negative because it is calculated by the inverter side voltage V 2 and the inverter current I 0 .
- the response characteristic G of the inverter current I 0 in the inverter 3 includes a delay, and the inverter side voltage V 2 may vibrate due to the delay of the response characteristic G.
- This response characteristic G can be represented by a second-order lag system of the following equation.
- ⁇ 2 is a damping coefficient of a second-order lag system
- f 2 is a natural vibration frequency in the second-order lag system.
- Both ⁇ 2 and f 2 are determined by the operating point of the motor generator 4. Note that the lower the natural vibration frequency f 2 is (the higher the vibration frequency ⁇ 2 corresponding to the natural vibration frequency f 2 is), the smaller the response characteristic G is, and the higher the natural frequency f 2 is (the vibration frequency ⁇ 2 is low).
- the response characteristic G has a larger delay.
- R 0max is the maximum negative value obtained from Equation (9).
- FIG. 5 is a flowchart showing the restriction control.
- step S ⁇ b > 1 the controller 6 includes the battery side voltage V 1 acquired by the voltage sensor 22, the inverter side voltage V 2 acquired by the voltage sensor 28, and the rotational speed N of the motor generator 4 acquired by the resolver 41. A parameter detected in the motor system 100 is read.
- step S ⁇ b> 2 the controller 6 determines parameters necessary for calculating the response characteristic G shown in the equation (8). Specifically, the controller 6 determines the damping coefficient ⁇ 2 according to the operating point of the motor generator 4. The controller 6 obtains a vibration frequency ⁇ 2 corresponding to the rotational speed N of the motor generator 4. The rotational speed N and the vibration frequency ⁇ 2 have a correlation shown in FIG. Therefore, the controller 6 may obtain the vibration frequency ⁇ 2 from the correlation and the rotation speed N. The controller 6 obtains the natural vibration frequency f 2 according to the vibration frequency ⁇ 2 .
- step S3 the controller 6 obtains the limit power P lim .
- Step S3 includes the processes of steps S31 and S32.
- step S31 the controller 6, the input limit power P in the case passing power P is negative, determined using equation (12) based on the R 0max calculated by the equation (9).
- the controller 6 determines the battery side voltage V 1 and the inverter side voltage V 2 acquired in step S1, the damping coefficient ⁇ 2 calculated in step S2, and the natural vibration frequency f 2.
- R 0max is calculated using Equation (9).
- Controller 6, the damping coefficient zeta 2, the natural frequency f 2, the battery side voltage V 1, and an inverter-side voltage V 2 stores a map showing the correspondence relationship between the input limit power P in, the parameters it may determine the input limit power P in by using the map with.
- step S32 the controller 6 determines the output limit power P out in the case of passing electric power P is positive.
- Step S32 includes processing of steps S321 and S322.
- step S321 the controller 6, a predetermined R, L, and the value of C, and using the the inverter side voltage V 2 obtained at step S1, the output limit power P out * from equation (7) calculate.
- step S322 the controller 6, to take into account a delay in response characteristic G, and calculates an output limit power P Out_fin by correcting the output limit power P out.
- the greater the delay d of the response characteristic G the larger the correction amount ⁇ becomes.
- the controller 6 obtains a correction amount ⁇ corresponding to the delay d using FIG. 6, and calculates the output limit power P out_fin by adding the correction amount ⁇ to the output limit power P out .
- “ _fin ” is added to the output limiting power P out as a suffix.
- step S321 the output limited power Pout is obtained using Expression (7), but the present invention is not limited to this.
- the output limit power P out is obtained as in Expression (11) using R 0max obtained from Expression (9) based on the response characteristic G shown in Expression (8). Also good.
- step S4 controller 6 determines the operating point of motor generator 4 so that passing power P of converter 2 does not exceed limiting power Plim . Specifically, when the passing power P of converter 2 is positive, controller 6 determines the operating point of motor generator 4 so that passing power P does not exceed output limiting power Pout on the positive side. Controller 6, when the passing electric power P is negative, as the passing power P does not exceed the input limit power P in the negative side, determining the operating point of the motor generator 4. Thus, the operating point of the motor generator 4 is controlled so that the passing power P satisfies the vibration suppression standard determined by the limit power P lim .
- Figure 8 is a characteristic diagram showing the relationship between the output limit power P out and the input limit power P in and the inverter side voltage V 2. According to this figure, the output limit power P out and the input limit power P in the absolute value becomes larger when both increases the inverter side voltage V 2. This is shown in equations (7) and (12).
- the output limit power P out and the input limit power P in can be changed also in response to the delay in the response characteristic G.
- the output limit power P out and the input limit power P in are calculated based on the passing power P and the response characteristic G.
- the output limit power P out and the input limit power P in, taking into account the variation may be set strictly to have a margin of about 10%, for example.
- FIGS. 9A, 9B, 10A, and 10B there is shown a time chart when the inverter side voltage V 2 is decreased according to the target inverter side voltage V 2 * when the passing power of the converter 2 is positive.
- 9A and 9B are time charts in the comparative example.
- the vertical axis indicates the inverter side voltage V 2
- the vertical axis indicates the passing power P.
- FIG. 10A and 10B are time charts in the present embodiment.
- the vertical axis represents the inverter side voltage V 2
- the vertical axis in FIG. 10B shows the passing power P.
- the passing power P of the converter 2 is not limited and is constant.
- 9A since the passing power P of the converter 2 is positive, even if the target inverter side voltage V 2 * is controlled to be small as shown by the solid line, the negative voltage of the motor generator 4 can be reduced. Due to the characteristic resistance characteristic, the inverter side voltage V 2 oscillates as shown by the dotted line.
- the passing power P of the converter 2 is positive, the passing power P of the converter 2 is limited by the output limiting power Pout .
- the target inverter side voltage V 2 * is limited and reduced, thereby suppressing the oscillation of the inverter side voltage V 2 due to the negative resistance characteristic.
- the vibration of the inverter side voltage V 2 can be suppressed by limiting the passing power P.
- the motor control method system 100 of the first embodiment includes a limit power calculating step of obtaining a limited according to the operating point of the motor-generator 4 power P lim (input limit power P in and the output limit power P out) (S3), A control step (S4) for limiting the passing power P of the converter 2 so as not to exceed the limiting power Plim by controlling the operating point of the motor generator 4.
- the controller 6 controls the operating point of the motor generator 4 so that the passing power P satisfies the power standard for suppressing the vibration indicated as the limited power P lim .
- the inverter side voltage V 2 may oscillate.
- the passing power P of the converter 2 does not exceed the limit power P lim so as to avoid such an operating point
- vibration of the inverter side voltage V 2 can be suppressed. .
- the limit power P lim of the converter 2 increases as the inverter-side voltage V 2 of the converter 2 increases. Is set as follows.
- the limit power P lim is input with the inverter side voltage V 2 and the output of the inverter current I 0 flowing to the inverter 3. It is changed according to the response characteristic G to be performed.
- step S31 the formula based on the response characteristic G (12) is used.
- step S322 the correction by the correction amount ⁇ corresponding to the delay d of the response characteristic G is performed.
- the delay of the response characteristic G affects the stability of the motor system 100. Therefore, the oscillation of the inverter side voltage V 2 can be suppressed by calculating or correcting the limit power P lim of the converter 2 according to the delay of the response characteristic.
- step S322 when the passing power P of the converter 2 is positive, in step S322, a correction amount ⁇ that increases according to the delay d of the response characteristic is added to perform correction. Done.
- the stability of the motor system 100 decreases due to the negative resistance characteristic of the resistance component R 0 resulting from the constant power control of the motor generator 4.
- the smaller the delay of response characteristics the stronger the influence of negative resistance characteristics. Therefore, the correction amount ⁇ in the positive direction is reduced, and the output limit power P out is reduced.
- the smaller the response characteristic delay the more the inverter-side voltage V 2 can be prevented from oscillating even with a smaller output limiting power P out .
- step S31 when the passing power P of the converter 2 is negative, the calculation is performed in step S31 in consideration of the response characteristic G expressed by the equation (8).
- the response delay characteristic G is the dominant cause of oscillation of the inverter side voltage V 2. Therefore, since the more the system delay of the response characteristic G is small is stabilized, the absolute value of the input limit power P in a negative value smaller Ku can be set. Thus, as the delay in the response characteristic G is small, even increases input limit power P in is possible prevent vibration of the inverter side voltage V 2.
- FIG. 11 is a diagram illustrating a configuration of a motor system 100 according to a modification.
- the motor system 100 is used for a hybrid vehicle or the like.
- the motor system 100 of the present modification includes a first inverter 3A and a first motor generator 4A that are used to drive the output shaft 5 in the same manner as the motor system 100 shown in FIG.
- the motor system 100 further includes a second inverter 3B and a second motor generator 4B.
- Second inverter 3B boosts the voltage supplied from converter 2 and supplies the boosted voltage to second motor generator 4B.
- the second motor generator 4B functions as a starter for the engine 7.
- a torque transmission device may be provided between the engine 7 and the output shaft 5, and the output torque of the engine 7 may be transmitted to the output shaft 5.
- the second motor generator 4B is provided with a resolver 41B.
- the engine 7 is provided with a resolver 71 that detects the rotation angle or rotation speed of the crankshaft.
- the controller 6 is configured to be able to control the converter 2, the first inverter 3A, and the second inverter 3B, and the rotational speed of the first motor generator 4A from the resolver 41A, the rotational speed of the second motor generator 4B from the resolver 41B, and The rotational speed of the engine 7 is received from the resolver 71.
- FIG. 12 is a circuit diagram of the motor system 100.
- the controller 6 includes a torque command value T a * for the first motor generator 4A and a torque command value T b * for the second motor generator 4B calculated by the host device, and the rotation speed N a detected by the resolvers 41A and 41B. , N b , drive currents I pa and I pb detected based on the current sensors 42A and 42B, an inverter side voltage V 2 detected by the voltage sensor 28, and the like. Based on these inputs, the controller 6 controls the converter 2, the first inverter 3A, the second inverter 3B, and the like.
- the first motor-generator 4A and, when the second motor generator 4B has a power running operation, respectively, P a and P b are both a positive (P a> 0, P b > 0).
- the controller 6 performs limit control shown in FIG. 5 on the passing power P of the converter 2.
- step S4 the controller 6, so as to satisfy the criterion that the sum of P a and P b are shown in power limit P lim, the first motor-generator 4A, and controls the second motor generator 4B.
- passing electric power P when the passing electric power P is negative, the first motor-generator 4A, and, by a power running operation to one of the second motor generator 4B, passing power P is the sum of P a and P b it may be not less than the input limit power P in.
Abstract
Description
上述の実施形態においては、モータシステム100に、1つのモータジェネレータ4が設けられる例について説明したが、これに限らない。本変形例においては、モータシステム100に、2つの第1モータジェネレータ4A、及び、第2モータジェネレータ4Bが設けられる例について説明する。
Claims (6)
- バッテリと、
前記バッテリから供給される直流電圧を昇圧するように構成される昇圧コンバータと、
前記昇圧コンバータに接続され、直流と交流との変換を行うインバータと、
前記インバータと接続されるモータジェネレータと、を有するモータシステムの制御方法であって、
前記モータジェネレータの動作点に応じて、前記昇圧コンバータにおける前記インバータ側の端子電圧の振動が抑制されるような制限電力を決定する制限電力決定ステップと、
前記昇圧コンバータの通過電力が前記制限電力を超えないように、前記モータジェネレータの動作点を制御する、制御ステップと、を有する、モータシステムの制御方法。 - 請求項1に記載のモータシステムの制御方法であって、
前記制限電力決定ステップにおいて、前記端子電圧が高いほど、前記制限電力は絶対値が大きくなるように設定される、モータシステムの制御方法。 - 請求項1または2に記載のモータシステムの制御方法であって、
前記制限電力決定ステップにおいて、
前記制限電力は、前記端子電圧を入力とし前記インバータへと流れる電流を出力とする応答特性における遅れに応じて変更される、モータシステムの制御方法。 - 請求項3に記載のモータシステムの制御方法であって、
前記制限電力決定ステップにおいて、
前記昇圧コンバータが前記インバータに対して電力を出力する場合には、前記遅れが小さいほど、前記制限電力は小さく設定される、モータシステムの制御方法。 - 請求項3に記載のモータシステムの制御方法であって、
前記制限電力決定ステップにおいて、
前記昇圧コンバータに対して前記インバータから電力が入力される場合には、前記遅れが小さいほど、前記制限電力は大きく設定される、モータシステムの制御方法。 - バッテリと、
前記バッテリから供給される直流電圧を昇圧するように構成される昇圧コンバータと、
前記昇圧コンバータに接続され、直流と交流との変換を行うインバータと、
前記インバータと接続されるモータジェネレータと、
前記モータジェネレータを制御可能なコントローラと、を有するモータシステムの制御装置であって、
前記コントローラは、
前記モータジェネレータの動作点に応じて、前記昇圧コンバータにおける前記インバータ側の端子電圧の振動が抑制されるような制限電力を決定し、
前記昇圧コンバータの通過電力が前記制限電力を超えないように、前記モータジェネレータの動作点を制御する、モータシステムの制御装置。
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EP18917631.6A EP3793083B1 (en) | 2018-05-10 | 2018-05-10 | Control method for motor system, and control device for motor system |
US17/050,898 US11394333B2 (en) | 2018-05-10 | 2018-05-10 | Control method for a motor system and a control device for a motor system |
PCT/JP2018/018213 WO2019215891A1 (ja) | 2018-05-10 | 2018-05-10 | モータシステムの制御方法、及び、モータシステムの制御装置 |
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