WO2020003807A1 - モータ制御装置 - Google Patents

モータ制御装置 Download PDF

Info

Publication number
WO2020003807A1
WO2020003807A1 PCT/JP2019/019851 JP2019019851W WO2020003807A1 WO 2020003807 A1 WO2020003807 A1 WO 2020003807A1 JP 2019019851 W JP2019019851 W JP 2019019851W WO 2020003807 A1 WO2020003807 A1 WO 2020003807A1
Authority
WO
WIPO (PCT)
Prior art keywords
phase
motor
current
magnetomotive force
phases
Prior art date
Application number
PCT/JP2019/019851
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
勝洋 星野
Original Assignee
日立オートモティブシステムズ株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 日立オートモティブシステムズ株式会社 filed Critical 日立オートモティブシステムズ株式会社
Priority to CN201980028555.8A priority Critical patent/CN112292810B/zh
Priority to DE112019002548.1T priority patent/DE112019002548T5/de
Priority to JP2020527281A priority patent/JP7069313B2/ja
Publication of WO2020003807A1 publication Critical patent/WO2020003807A1/ja

Links

Images

Classifications

    • 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
    • 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
    • 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
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
    • H02P29/028—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the motor continuing operation despite the fault condition, e.g. eliminating, compensating for or remedying the fault
    • 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
    • H02M7/493—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 the static converters being arranged for operation in parallel

Definitions

  • the present invention relates to a motor control device.
  • Patent Document 1 discloses a motor drive device that controls the driving of a multiphase motor in which armature windings of each phase are provided independently of each other, and converts DC power supplied via a DC bus into a multiphase motor.
  • An inverter circuit that converts the power into AC power and outputs the AC power to each of the armature windings of the respective phases; and a controller for controlling the inverter circuit.
  • a motor that adjusts a phase difference between currents flowing through the normal-phase armature windings so that when the phase is lost, the alternating-current powers of the other normal phases except for the phase that has lost the phase are canceled out with each other.
  • a drive device is disclosed.
  • Patent Literature 1 When the motor driving device described in Patent Document 1 is applied to a three-phase motor, there is no particular problem when the U phase or the W phase is lost, but when the V phase is lost, the phase of the current is adjusted. This causes a problem that the rotation direction of the motor becomes the opposite direction. As described above, the technique of Patent Literature 1 has a problem that the phase of the current cannot be appropriately adjusted depending on the phase that has been lost.
  • a motor control device has a plurality of windings corresponding to each of a plurality of phases, and controls the driving of a motor in which each winding is independently connected to each other.
  • the phase of the current flowing through the normal phase other than the reference phase is defined as one of the normal phases excluding the missing phase, as the reference phase. Adjust so that there is no straddling.
  • the phase of the current can be appropriately adjusted even if any phase is lost in the multi-phase motor.
  • FIG. 1 is a diagram illustrating a configuration of a motor drive system including a motor control device according to an embodiment of the present invention.
  • the figure which shows the magnetomotive force vector after the phase adjustment in the motor at the time of W phase loss The figure which shows an example of the current waveform of each phase before and after the phase adjustment in the motor when the U phase is lost.
  • the figure which shows the magnetomotive force vector after the phase adjustment by the conventional method in the motor when a V phase is lost.
  • FIG. 3 is a diagram illustrating a phase adjustment method according to the method of the present invention. Diagram for explaining vector control of motor after phase adjustment at the time of phase loss
  • FIG. 1 is a diagram showing a configuration of a motor drive system including a motor control device according to one embodiment of the present invention.
  • the motor drive system 200 shown in FIG. 1 is connected to a motor 100 used in a hybrid vehicle (HEV), an electric vehicle (EV), or the like, and controls driving of the motor 100.
  • the motor drive system 200 has a DC power supply 201, a smoothing capacitor 202, a controller 203, and an inverter circuit 210.
  • the motor 100 is an independent winding type six-wire three-phase AC motor having three-phase armature windings 121a, 121b, and 121c respectively corresponding to the U-phase, the V-phase, and the W-phase. These armature windings 121a to 121c are connected to the motor drive system 200 independently of each other.
  • the motor drive system 200 can drive the motor 100 by independently controlling the current flowing through the armature windings 121a to 121c corresponding to the U phase, the V phase, and the W phase, respectively.
  • the armature winding 121a corresponding to the U-phase is referred to as “U-phase coil 121a”
  • the armature winding 121b corresponding to the V-phase is referred to as “V-phase coil 121b”
  • the armature corresponding to the W-phase is referred to as “W-phase coil 121c”.
  • a magnetic pole position detector 113 for detecting the magnetic pole position ⁇ of the motor 100 is attached to the output shaft 115 of the motor 100.
  • the magnetic pole position detector 113 is configured using, for example, a resolver or the like.
  • the detection result of the magnetic pole position ⁇ by the magnetic pole position detector 113 is output to the controller 203.
  • DC power supply 201 supplies DC power to inverter circuit 210 via DC buses 201a and 201b.
  • the DC power supply 201 for example, a secondary battery such as a lithium ion battery can be used.
  • the smoothing capacitor 202 is for suppressing a change in the DC voltage caused by the operation of the inverter circuit 210, and is connected between the DC bus 201a and the DC bus 201b in parallel with the inverter circuit 210.
  • the controller 203 outputs drive signals Gu, Gv, and Gw to the bridge circuits 210a, 210b, and 210c of each phase of the inverter circuit 210, respectively.
  • the controller 203 can control the inverter circuit 210 by operating the bridge circuits 210a, 210b, and 210c according to the drive signals Gu, Gv, and Gw, respectively.
  • the controller 203 corresponds to a motor control device according to an embodiment of the present invention.
  • the inverter circuit 210 has full-bridge type bridge circuits 210a, 210b, and 210c corresponding to the U phase, the V phase, and the W phase, respectively.
  • Each of the bridge circuits 210a, 210b, 210c has four IGBTs 211 functioning as switching elements of the upper and lower arms, and four diodes 212 provided in parallel with the IGBTs 211.
  • each IGBT 211 performs a switching operation according to the drive signals Gu, Gv, and Gw from the controller 203.
  • the DC power supplied from the DC power supply 201 is converted into three-phase AC power, and the armature windings of each phase of the motor 100 from the bridge circuits 210a, 210b, and 210c via the AC power cables 130 of each phase. It is output to 121a, 121b and 121c, respectively.
  • a current sensor 140 for detecting each current flowing through the armature windings 121a, 121b, 121c of the motor 100 is provided on the AC power cable 130 of each phase.
  • the current values i u , i v , and i w of each phase detected by the current sensor 140 are output to the controller 203.
  • the controller 203 performs a predetermined current control calculation based on the current values i u , iv , i w of each phase input from the current sensor 140 and the magnetic pole position ⁇ input from the magnetic pole position detector 113. Then, drive signals Gu, Gv, and Gw of each phase are output based on the calculation result.
  • FIG. 2 is a diagram showing an example of the structure of the motor 100.
  • motor 100 includes stator 120 in which armature windings 121a to 121c are electrically attached to each other so as to have a phase difference of 120 ° and output shaft 115, and a plurality of permanent magnets.
  • This is an embedded magnet type motor including a magnet 112 and a rotor 111 embedded therein.
  • An air gap 101 is provided between the stator 120 and the rotor 111.
  • FIG. 3 is a diagram illustrating an example of a current waveform of each phase in the motor 100 in a normal state.
  • the motor 100 having the internal structure shown in FIG. 2 is connected to the motor drive system 200 as shown in FIG. 1, the AC power supplied from the motor drive system 200 causes the armature windings 121a to 121c of the motor 100 to rotate.
  • An example is shown of current values i u , iv and i w of each phase flowing through 121c.
  • the rotor 111 of FIG. 2 rotates counterclockwise.
  • FIG. 4 is a diagram illustrating a magnetomotive force vector in the motor 100 in a normal state.
  • FIG. 4 shows magnetomotive force vectors in the motor 100 corresponding to the respective electrical angles A to E shown in FIG. 4, magnetomotive force vector F u represents the magnetomotive force created by the U-phase current i u flowing through the U-phase coil 121a, the magnetomotive force vector F v is raised to the V-phase current i v, flowing through the V-phase coil 121b is made represents magnetic, magnetomotive force vector F w is, W-phase current i w flowing through the W-phase coil 121c represents a magnetomotive force to make.
  • magnetomotive force vectors are alternating magnetic fields whose magnitude and positive / negative change with time of the current.
  • synthetic magnetomotive force vector F uvw is a three-phase magnetomotive force vector F u, F v, represents the magnetomotive force which is the sum of F w, which is a rotating magnetic field rotating remain constant magnitude with time change Become.
  • FIG. 4 shows the A magnetomotive force vector F u at each electrical angle of ⁇ E, F v, F w and synthetic magnetomotive force vector F uvw shown in FIG. 3, each of the remaining F ⁇ M magnetomotive force vector F u of an electrical angle, F v, are omitted F w and synthetic magnetomotive force vector F uvw.
  • v u , v v , v w and i u , iv , i w represent the voltage and current of the U phase, V phase, W phase, respectively, and R is one phase.
  • P represents a differential operator.
  • the induced voltages e u , e v , e w of each phase, the self inductances L u , L v , L w of each phase, and the mutual inductances M uv , M vw , M wu between the phases are as follows.
  • And are represented by the following equations (2), (3), and (4), respectively.
  • ⁇ e represents the electric angular rotation speed of the motor 100
  • ⁇ m represents the flux linkage of the windings of the permanent magnet 112.
  • l a denotes the leakage inductance of one phase of the formula (3)
  • L a, L as the mean value and amplitude components of the effective inductance of one phase Each is represented.
  • the shaft torque T output from the motor 100 to the output shaft 115 is represented by the following equation (5).
  • P OUT represents mechanical energy (shaft output) output from the motor 100 to the output shaft 115
  • ⁇ m represents a rotation angular velocity (shaft rotation speed) of the output shaft 115.
  • That shaft torque T is a value obtained by dividing the axial output P OUT in the axial rotational speed omega m. Therefore, if the shaft rotation speed ⁇ m and the motor shaft output P OUT are constant values, the shaft torque T also becomes constant.
  • the axis output P OUT of the motor 100 in the above equation (5) is represented by the following equation (6).
  • the shaft output P OUT represented by the equation (6) is equal to a value obtained by subtracting each loss such as copper loss and iron loss from the input power P IN of the motor 100.
  • the input power P IN of the motor 100 is obtained by adding the products of the instantaneous voltages v u , v v , v w of each phase and the instantaneous currents i u , iv , i w as shown in the following equation (7). Value.
  • FIG. 5 is a diagram illustrating an example of waveforms of the induced voltage, current, and power of each phase in the motor 100 in a normal state.
  • the phase difference of the induced voltage of each phase generated U-phase coil 121a, V-phase coil 121b, the W-phase coil 121c, respectively e u, e v, e w are both 120 °.
  • the controller 203 sets the currents i u , iv and i w of the respective phases flowing through the U-phase coil 121a, the V-phase coil 121b and the W-phase coil 121c to a phase difference of 120 ° from each other.
  • the operation timing of the IGBT 211 in each of the bridge circuits 210a, 210b, 210c is determined so that As a result, the electric powers P u , P v , and P w of each phase obtained by the product of the induced voltage and the current pulsate at a frequency twice the induced voltage and the current, as shown in FIG. Is 60 °.
  • three-phase power P u, P v, the input power P IN to the sum of P w is constant as shown in FIG. Therefore, it can be seen that if the induced voltage and current are sinusoidal, torque pulsation does not occur in principle.
  • the controller 203 can operate the motor 100 without any problem by treating the induced voltage waveform or the current waveform as a sine wave and controlling the motor 100.
  • the independent winding type motor 100 that can independently control the currents flowing through the U-phase coil 121a, the V-phase coil 121b, and the W-phase coil 121c, the state in which the three-phase currents are balanced. This makes it possible to rotate the motor 100 while generating a constant torque.
  • This principle is also valid for independent winding type multi-phase motors other than three-phase motors. That is, assuming that the number of phases of the motor is n, the current of each phase is balanced by shifting the phase of the current of each phase by 360 / n °, and the motor can be rotated with a constant torque.
  • the motor drive system 200 can control the torque of the motor 100 to drive the motor 100 by rotating all the phases of the motor 100.
  • an abnormality occurs in the operation of the IGBT 211 in one of the bridge circuits 210a, 210b, and 210c, or an abnormality such as a disconnection occurs in the AC power cable 130 or the wiring in the motor 100 in any phase. If any of the phases is lost and the power cannot be supplied, the torque of the motor 100 cannot be appropriately controlled by the same control method as in the normal state.
  • the controller 203 controls each of the other normal phases excluding the missing phase.
  • the phase difference of the current flowing through the normal-phase armature winding is adjusted so that the AC powers cancel each other. Thereby, the pulsation of the output torque in the motor 100 is reduced, and the rotation of the motor 100 can be continued.
  • FIG. 6 is a diagram illustrating waveform examples of the induced voltage, current, and power of each phase in the motor 100 when the current phase is adjusted when the W phase is lost. If the W-phase is open phase, the controller 203 in the motor drive system 200 as shown in FIG. 6, by shifting the phase of the current i v of the V-phase from the normal to 60 ° advances direction (left direction in the drawing) , And the phase difference between the current and the U-phase current iu is adjusted to 60 °.
  • the current control operation by the control unit 203 performs, to adjust the phase of the V-phase current i v, to be output, in accordance with the the adjusted phase, the bridge circuit 210b of the V-phase from the controller 203 In response, it outputs drive signal Gv.
  • the valley portions of the U-phase power P peak portions u and the V-phase power P v, and U-phase power P u valleys and V-phase peak portions of the power P v of overlap respectively So that they cancel each other out.
  • the open-phase of the W-phase can be a constant three-phase power P u, P v
  • FIG. 7 is a diagram illustrating an example of the current waveform of each phase before and after the phase adjustment in the motor 100 when the W phase is lost.
  • (a) shows the waveform of the previous phase adjustment U-phase current i u and the V-phase current i v, as described in FIG. 5, they are as a phase difference of 120 °.
  • (B) both shows a waveform after the phase adjustment U-phase current i u and the V-phase current i v, as described in FIG. 6, these are as a phase difference of 60 ° I have.
  • FIG. 7B shows a case where the phase of the V-phase current iv is shifted by 60 ° from the normal time (leftward in the drawing), as described with reference to FIG.
  • FIG. 7 (c) shows a case where shifting the phase of the U-phase current i u from normal to 60 ° delayed direction (right direction in the drawing).
  • FIG. 8 is a diagram showing the magnetomotive force vector after the phase adjustment in the motor 100 when the W phase is lost.
  • FIG. 8 shows magnetomotive force vectors in the motor 100 corresponding to the electrical angles A to E shown in FIG. 7B.
  • the magnetomotive force vector F u represents the magnetomotive force created by the U-phase current i u flowing through the U-phase coil 121a
  • the magnetomotive force vector F v is raised to the V-phase current i v
  • flowing through the V-phase coil 121b is made Represents magnetic force.
  • These magnetomotive force vectors are alternating magnetic fields whose magnitude and positive / negative change with time of the current.
  • synthetic magnetomotive force vector F uv is the magnetomotive force vector F u, represents the magnetomotive force which is the sum of F v, which is a rotating magnetic field rotating remain constant magnitude with time change. Since the W-phase 8 is open-phase, W-phase current i w magnetomotive force vector F w by is not present.
  • the combined magnetomotive force vector Fuv rotates counterclockwise, and the rotor 111 rotates in synchronization with the magnetic field represented by the combined magnetomotive force vector Fuv . That is, the rotation direction of the rotor 111 after the phase adjustment when the W phase is lost coincides with the normal rotation direction of the rotor 111 described with reference to FIG. Therefore, when the W phase is lost, the phase of the U-phase current iu or the V-phase current iv is adjusted as described above, so that the rotor 111 can be rotated in the normal rotation direction while suppressing torque pulsation. I understand.
  • the controller 203 when the W phase has open phase is, FIG. 7 (b), the by any method (c), the phase difference between the U-phase current i u and the V-phase current i v, 60 ° to adjust.
  • the controller 203 when the W phase has open phase is, FIG. 7 (b), the by any method (c), the phase difference between the U-phase current i u and the V-phase current i v, 60 ° to adjust.
  • FIG. 9 is a diagram illustrating an example of the current waveform of each phase before and after the phase adjustment in the motor 100 when the U phase is lost.
  • (a) shows the waveform of the previous phase adjustment the V-phase current i v, and W-phase current i w, as described in FIG. 5, they are as a phase difference of 120 °.
  • (B) it has a phase difference of (c) are both shows the waveform of the V-phase current i v, and W-phase current i w after phase adjustment, these 60 °.
  • FIG. 9B shows a case where the phase of the W-phase current i w is shifted by 60 ° from the normal time (to the left in the drawing).
  • FIG. 10 is a diagram showing the magnetomotive force vector after the phase adjustment in the motor 100 when the U phase is lost.
  • FIG. 10 shows the magnetomotive force vector in the motor 100 corresponding to each of the electrical angles A to E shown in FIG. 9B.
  • the magnetomotive force vector F v is V-phase current i v that flows in V phase coil 121b
  • the magnetomotive force vector F w is caused to W-phase current i w flowing through the W-phase coil 121c is made
  • These magnetomotive force vectors are alternating magnetic fields whose magnitude and positive / negative change with time of the current.
  • synthetic magnetomotive force vector F vw is the magnetomotive force vector F v, represents the magnetomotive force which is the sum of F w, which is a rotating magnetic field rotating remain constant magnitude with time change. Since the U-phase in Figure 10 is open-phase, U-phase current i magnetomotive force vector F u by u does not exist.
  • the combined magnetomotive force vector Fvw rotates counterclockwise, and the rotor 111 rotates in synchronization with the magnetic field represented by the combined magnetomotive force vector Fvw . That is, the rotation direction of the rotor 111 after the phase adjustment when the U phase is lost is the same as the rotation direction of the rotor 111 in the normal state described with reference to FIG. I do. Therefore, when the U-phase is open phase, by adjusting the phase of the V-phase current i v, and W-phase current i w, as described above, while suppressing the torque ripple, can be rotating the rotor 111 in the forward direction I understand.
  • the controller 203 when the U-phase is open phase is, FIG. 9 (b), the by any method (c), the phase difference between the V-phase current i v, and W-phase current i w is 60 ° to adjust.
  • the phase difference between the V-phase current i v, and W-phase current i w is 60 ° to adjust.
  • FIG. 11 is a diagram illustrating an example of the current waveform of each phase in the motor 100 before the phase adjustment and after the phase adjustment by the conventional method when the V phase is lost.
  • (a) shows the waveforms of the U-phase current i u and the W-phase current i w before the phase adjustment, and these have a phase difference of 120 °.
  • (B) and (c) show the waveforms of the U-phase current i u and the W-phase current i w after the phase adjustment by the conventional method, and these have a phase difference of 60 °.
  • the W-phase current i w close to the U-phase current i u and shifted in the advance direction the phase shown in FIG.
  • FIG. 12 is a diagram showing the magnetomotive force vector of the motor 100 after the phase adjustment by the conventional method when the V phase is lost.
  • FIG. 12 shows magnetomotive force vectors in the motor 100 corresponding to the respective electric angles A to E shown in FIG. 11B. 12
  • the magnetomotive force vector F u represents the magnetomotive force created by the U-phase current i u flowing through the U-phase coil 121a
  • the magnetomotive force vector F w is caused to W-phase current i w flowing through the W-phase coil 121c is made Represents magnetic force.
  • These magnetomotive force vectors are alternating magnetic fields whose magnitude and positive / negative change with time of the current.
  • synthetic magnetomotive force vector F uw is the magnetomotive force vector F u, represents the magnetomotive force which is the sum of F w, which is a rotating magnetic field rotating remain constant magnitude with time change. Since the V-phase in Figure 12 is open-phase, V-phase current i v magnetomotive force vector F v by are not present.
  • the resultant magnetomotive force vector F uw rotates clockwise, and the rotor 111 rotates in synchronization with the magnetic field represented by the resultant magnetomotive force vector F uw . That is, in the conventional method, the rotation direction of the rotor 111 after the phase adjustment when the V phase is lost is different from the rotation direction when the U phase and the W phase are lost, as described with reference to FIG. The direction of rotation of the rotor 111 is opposite. Therefore, when the V phase is lost, if the phase adjustment of the U-phase current i u or the W-phase current i w is performed by the conventional method as described above, the rotor 111 rotates in the reverse direction with respect to the normal rotation direction. Will be done.
  • the phase of the rotor 111 is adjusted by a method different from the conventional method, thereby preventing the reverse rotation of the rotor 111.
  • the specific method will be described below.
  • FIG. 13 is a diagram showing an example of the current waveform of each phase before the phase adjustment and after the phase adjustment by the method of the present invention in the motor 100 when the V phase is lost.
  • (a) shows the waveforms of the U-phase current i u and the W-phase current i w before the phase adjustment, and these have a phase difference of 120 ° as in FIG. (B) and (c) show the waveforms of the U-phase current i u and the W-phase current i w after the phase adjustment by the method of the present invention, and these have a phase difference of 60 °.
  • FIG. 13B contrary to the case of FIG.
  • the phase of the W-phase current i w is shifted in the delay direction (rightward direction in the figure) from the normal time, and the W-phase current i w is shifted to the U-phase. close to the current i u, the phase of the U-phase current i u indicates a case where as delayed 60 ° with respect to W-phase current i w.
  • FIG. 14 is a diagram showing the magnetomotive force vector of the motor 100 after phase adjustment by the method of the present invention when the V phase is lost.
  • FIG. 14 shows magnetomotive force vectors in the motor 100 corresponding to the electrical angles A to E shown in FIG. 13B.
  • the magnetomotive force vector F u represents the magnetomotive force created by the U-phase current i u flowing through the U-phase coil 121a
  • the magnetomotive force vector F w is caused to W-phase current i w flowing through the W-phase coil 121c is made Represents magnetic force.
  • These magnetomotive force vectors are alternating magnetic fields whose magnitude and positive / negative change with time of the current.
  • synthetic magnetomotive force vector F uw is the magnetomotive force vector F u, represents the magnetomotive force which is the sum of F w, which is a rotating magnetic field rotating remain constant magnitude with time change. Since the V-phase in Figure 14 is open-phase, V-phase current i v magnetomotive force vector F v by are not present.
  • the combined magnetomotive force vector F uw rotates counterclockwise, and the rotor 111 rotates in synchronization with the magnetic field represented by the combined magnetomotive force vector F uw . That is, according to the method of the present invention, the rotation direction of the rotor 111 after the phase adjustment when the V phase is lost is the same as that in the case where the U phase and the W phase are lost. The rotation direction can be matched. Therefore, when the V-phase is lost, the phase of the U-phase current i u or the W-phase current i w is adjusted by the method of the present invention as described above, so that the torque pulsation is suppressed and the rotor 111 is moved. It turns out that it can rotate in the forward direction.
  • the controller 203 sets the phase difference between the U-phase current i u and the W-phase current i w to 60 by one of the methods shown in FIGS. ° to adjust.
  • the controller 203 sets the phase difference between the U-phase current i u and the W-phase current i w to 60 by one of the methods shown in FIGS. ° to adjust.
  • FIG. 15 is a diagram illustrating a phase adjustment method according to the method of the present invention.
  • FIG. 15A shows the phase relationship among the currents i u , iv and i w of each phase when the three phases in the motor 100 are sound without any phase loss.
  • the currents i u , iv and i w of each phase have a phase difference of 120 °.
  • FIG. 15 (b) represents the phase relationship between the V-phase current i v, and W-phase current i w of the phase-adjustment in the case of open-phase is the U phase of the three-phase in the motor 100.
  • the controller 203 shifts the phase of the W-phase current i w by 60 ° from the normal time as described with reference to FIG. 9B, for example. That is, when the U phase is lost, the controller 203 sets the V phase which is one of the normal phases excluding the missing U phase among the three phases as the reference phase, as shown in FIG.
  • the phase of the W-phase current i w flowing through the remaining W-phases is shifted in the leading direction (clockwise direction) by a shift amount of 60 °.
  • the phase of the W-phase current i w is adjusted without straddling the U-phase which is out of phase.
  • the rotation of the motor 100 can be maintained in the normal rotation direction while suppressing the torque pulsation.
  • the phase adjustment method described with reference to FIG. 9B that is, the case where the phase of the W-phase current i w is shifted by 60 ° in the leading direction (clockwise) with the V phase as the reference phase.
  • the phase adjustment method described with reference to FIG. 9C may be used.
  • the controller 203 sets the W phase, which is the other of the normal phases excluding the missing U phase among the three phases, as the reference phase, and sets the remaining V phases to the remaining V phases.
  • the phase of the V-phase current i v, flowing may be shifted by a shift amount of 60 ° to the delay direction (counterclockwise direction). Phase of this time the V-phase current i v, is adjusted without cross the open phase and U-phase.
  • FIG. 15 (c) represents the phase relationship between the U-phase current i u and the V-phase current i v, after the phase adjustment in the case of open-phase is the W phase of the three-phase in the motor 100.
  • the controller 203 for example as described in the previous FIG. 7 (b), the shifting in the direction of the phase advances 60 ° from normal the V-phase current i v. That is, when the W phase is lost, the controller 203 sets the U phase which is one of the normal phases excluding the missing W phase among the three phases as the reference phase, as shown in FIG. as the phase of the V-phase current i v, flowing to the rest of the V-phase, thereby advances the shift amount of shift of 60 ° in the direction (clockwise direction). Phase of this time the V-phase current i v, is adjusted without cross the open phase was W-phase. Accordingly, even when the W phase is lost, the rotation of the motor 100 can be maintained in the normal rotation direction while suppressing the torque pulsation.
  • the phase adjustment method described with reference to FIG. 7B that is, the case where the phase of the V-phase current iv is shifted by 60 ° in the advancing direction (clockwise) with the U-phase as the reference phase.
  • the phase adjustment method described with reference to FIG. 7C may be used.
  • the controller 203 sets the V phase, which is the other of the normal phases excluding the missing W phase among the three phases, as the reference phase, and sets the remaining U phases to the remaining U phases.
  • the phase of the flowing U-phase current iu may be shifted in the delay direction (counterclockwise) by a shift amount of 60 °. Phase of this time the U-phase current i u is adjusted without cross the open phase was W-phase.
  • FIG. 15D shows the phase relationship between the U-phase current i u and the W-phase current i w after the phase adjustment when the V phase is lost in the three phases in the motor 100.
  • the controller 203 shifts the phase of the W-phase current i w in a direction delayed by 60 ° from the normal time, for example, as described with reference to FIG. That is, when the V phase is lost, the controller 203 sets the U phase which is one of the normal phases excluding the missing V phase among the three phases as the reference phase, as shown in FIG.
  • the phase of the W-phase current i w flowing through the remaining W-phase is shifted by 60 ° in a delay direction (counterclockwise direction) opposite to the U-phase open phase shown in FIG. Shift. Phase of this time the W-phase current i w is adjusted without cross the V-phase that is open-phase.
  • the rotation of the motor 100 can be maintained in the normal rotation direction while suppressing torque pulsation.
  • phase of the W-phase current i w is shifted in the leading direction (clockwise direction), which is the same direction as in the U-phase open phase shown in FIG.
  • the phase of the W-phase current i w is adjusted with a shift amount of 180 ° over the missing V phase.
  • the resultant magnetomotive force vector F uw that rotates clockwise in the rotor 111 is generated, so that the rotation direction of the motor 100 is reversed with respect to the normal state.
  • the phase adjustment method described with reference to FIG. 13B that is, the phase of the W-phase current i w is shifted by 60 ° in the delay direction (counterclockwise) with the U phase as the reference phase.
  • the controller 203 sets the W phase, which is the other of the normal phases excluding the missing V phase among the three phases, as a reference phase, and sets the remaining U phases to the remaining U phases.
  • the phase of the flow the U-phase current i u, the time W Aiketsu phase may be shifted by a shift amount of 60 ° in the direction opposite to the leading direction (clockwise direction). Phase of this time the U-phase current i u is adjusted without cross the V-phase that is open-phase.
  • FIG. 16 is a diagram illustrating the vector control of the motor 100 after the phase adjustment at the time of the phase loss.
  • the controller 203 determines which one of the currents i u , iv , and i w of each phase flows through the normal phase excluding the missing phase.
  • the phase difference between the combined magnetomotive force vectors F uv , F vw , and F uw of the normal phase and the magnetic pole position of the rotor 111 always becomes a certain value. Then, the amplitude and phase of the current flowing in the normal phase are controlled.
  • the motor 100 can be driven by changing the rotational position of the rotor 111 from, for example, FIG. 16A to FIG. 16B and continuing the same control.
  • the phase difference between the resultant magnetomotive force vector and the magnetic pole position at this time can be changed according to, for example, the operating state (torque, rotation speed) of the motor 100.
  • the magnetic pole position can be detected by the magnetic pole position detector 113.
  • the reduction of torque pulsation by the current phase adjustment at the time of phase loss as described above can be applied to a multi-phase motor of an independent winding type other than three phases. That is, assuming that the number of phases of the motor to be controlled is n and the number of missing phases is m, the motor control device according to the present invention provides each normal Are adjusted so that the phase difference Dp (°) of the above satisfies the following equation (8). At this time, with any one of the normal phases as a reference phase, the phases of the currents flowing through the normal phases other than the reference phase are adjusted so as not to cross over the missing phase.
  • the phase difference Di (°) of each current flowing through the normal-phase armature winding may be adjusted so as to satisfy the following expression (9).
  • Di 360 / (nm) -360 / n (9)
  • the controller 203 which is a motor control device, controls driving of the motor 100.
  • the motor 100 has a plurality of armature windings 121a, 121b, 121c corresponding to each of a plurality of phases, and the armature windings are connected independently of each other.
  • the controller 203 sets the phase of the current flowing through the normal phase other than the reference phase as one of the normal phases excluding the missing phase as a reference phase. , So that there is no straddling over the missing phase. With this configuration, the phase of the current can be appropriately adjusted even if any phase is lost in the multiphase motor.
  • the plurality of phases of the motor 100 correspond to the U phase, the V phase, and the W phase, respectively.
  • the controller 203 sets one of the non-out-of-phase V-phase or W-phase as a reference phase and the remaining W-phase or V-phase as described with reference to FIGS. current flowing through the phase i w, the phase of the i v, shifting by a predetermined shift amount (60 °) in a predetermined shifting direction (leading direction or the delay direction).
  • a predetermined shift amount 60 °
  • the W phase is lost, as described with reference to FIG. 7 and FIG. 15C, one of the U phase and the V phase that is not lost is used as a reference phase and flows into the remaining V phase or U phase.
  • the phases of the currents iv and iu are shifted by the shift amount (60 °) in the shift direction (leading direction or lagging direction).
  • the V phase is lost, as described with reference to FIG. 13 and FIG. 15D, one of the U phase and the W phase that is not missing is used as a reference phase and flows into the remaining W phase or U phase.
  • the phases of the currents i w and i u are shifted by the shift amount (60 °) in the direction opposite to the shift direction (the delay direction or the advance direction).
  • the phase of the current can be appropriately adjusted even if any of the U, V, and W phases is lost.
  • the shift amount when the controller 203 adjusts the phases of the currents i u , iv and i w at the time of phase loss is 60 ° in phase angle.
  • the magnetic pole position detector 113 for detecting the magnetic pole position of the rotor 111 of the motor 100 is attached to the motor 100.
  • the controller 203 drives the motor 100 by controlling the amplitude and phase of the current flowing in the normal phase based on the magnetic pole position detected by the magnetic pole position detector 113. With this configuration, the driving of the motor 100 can be appropriately continued even during the phase loss.
  • motor 111 rotor 113: magnetic pole position detector
  • stator 121a armature winding (U-phase coil)
  • 121b armature winding (V-phase coil)
  • 121c armature winding (W-phase coil)
  • AC power cable 140 Current sensor 200: Motor drive system 201: DC power supply 201a, 201b: DC bus 202: Smoothing capacitor 203: Controller 210: Inverter circuit 210a, 210b, 210c: Bridge circuit 211: IGBT 212: diode

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Inverter Devices (AREA)
PCT/JP2019/019851 2018-06-27 2019-05-20 モータ制御装置 WO2020003807A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN201980028555.8A CN112292810B (zh) 2018-06-27 2019-05-20 马达控制装置
DE112019002548.1T DE112019002548T5 (de) 2018-06-27 2019-05-20 Motorsteuervorrichtung
JP2020527281A JP7069313B2 (ja) 2018-06-27 2019-05-20 モータ制御装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2018-121809 2018-06-27
JP2018121809 2018-06-27

Publications (1)

Publication Number Publication Date
WO2020003807A1 true WO2020003807A1 (ja) 2020-01-02

Family

ID=68984817

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2019/019851 WO2020003807A1 (ja) 2018-06-27 2019-05-20 モータ制御装置

Country Status (4)

Country Link
JP (1) JP7069313B2 (zh)
CN (1) CN112292810B (zh)
DE (1) DE112019002548T5 (zh)
WO (1) WO2020003807A1 (zh)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006042511A (ja) * 2004-07-28 2006-02-09 Matsushita Electric Ind Co Ltd モータ駆動装置及びモータ駆動方法
JP2015109777A (ja) * 2013-12-05 2015-06-11 シンフォニアテクノロジー株式会社 モータ制御装置
JP6194113B2 (ja) * 2014-06-26 2017-09-06 日立オートモティブシステムズ株式会社 モータ駆動装置

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01321899A (ja) * 1988-06-21 1989-12-27 Fuji Electric Co Ltd 巻線形誘導機の駆動方式
CN100525009C (zh) * 2007-09-21 2009-08-05 东南大学 双通道容错式磁通切换永磁电机及其控制方法
CN101335499B (zh) * 2008-07-24 2011-03-30 江苏大学 一种四相永磁容错电动机的控制方法
JP6111656B2 (ja) * 2012-12-26 2017-04-12 ダイキン工業株式会社 三相出力配線の欠相検知装置
JP2016092992A (ja) * 2014-11-06 2016-05-23 ダイキン工業株式会社 電動機制御装置
JP6726840B2 (ja) * 2016-09-05 2020-07-22 パナソニックＩｐマネジメント株式会社 インバータ制御装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006042511A (ja) * 2004-07-28 2006-02-09 Matsushita Electric Ind Co Ltd モータ駆動装置及びモータ駆動方法
JP2015109777A (ja) * 2013-12-05 2015-06-11 シンフォニアテクノロジー株式会社 モータ制御装置
JP6194113B2 (ja) * 2014-06-26 2017-09-06 日立オートモティブシステムズ株式会社 モータ駆動装置

Also Published As

Publication number Publication date
JPWO2020003807A1 (ja) 2021-06-10
DE112019002548T5 (de) 2021-02-04
CN112292810B (zh) 2024-04-05
CN112292810A (zh) 2021-01-29
JP7069313B2 (ja) 2022-05-17

Similar Documents

Publication Publication Date Title
JP6194113B2 (ja) モータ駆動装置
CN107005181B (zh) 电动机驱动控制装置
JP6159659B2 (ja) 電力変換器の制御装置及び電気車
CN113892230A (zh) 旋转电机控制系统
US10263557B2 (en) Drive system
WO2016190093A1 (ja) インバータ制御装置
JP5511700B2 (ja) インバータ装置、ファン駆動装置、圧縮機駆動装置および空気調和機
JP6173516B1 (ja) 電動機制御装置および電動機制御方法
JP6113651B2 (ja) 多相電動機駆動装置
WO2020196719A1 (ja) 回転電機制御システム
JP6674765B2 (ja) 電動機の制御装置及びそれを用いた電動車両
WO2020003807A1 (ja) モータ制御装置
US20230155533A1 (en) Motor control device, electric vehicle, and motor control method
JP3961791B2 (ja) 電動機制御装置及び方法
JP2006050705A (ja) 電動機制御装置
JP7053335B2 (ja) モータ制御装置、電動車両
JP6839896B2 (ja) モータ制御装置および電動車両
JP2011130525A (ja) 電動機駆動システム
JP2017175824A (ja) インバータ制御装置およびインバータ制御方法
JP6681266B2 (ja) 電動機の制御装置及びそれを備えた電動車両
US20240291417A1 (en) Inverter control device and inverter control method
JP4526628B2 (ja) 交流モータの制御装置
Wu et al. Comparative study of remediation methods for open circuit fault in a novel symmetric six-phase fault-tolerant PM machine drives for EVs
JP2020156274A (ja) 回転電機制御装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19825939

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 2020527281

Country of ref document: JP

122 Ep: pct application non-entry in european phase

Ref document number: 19825939

Country of ref document: EP

Kind code of ref document: A1