WO2021033489A1 - モータ制御装置およびモータ制御方法 - Google Patents

モータ制御装置およびモータ制御方法 Download PDF

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Publication number
WO2021033489A1
WO2021033489A1 PCT/JP2020/028537 JP2020028537W WO2021033489A1 WO 2021033489 A1 WO2021033489 A1 WO 2021033489A1 JP 2020028537 W JP2020028537 W JP 2020028537W WO 2021033489 A1 WO2021033489 A1 WO 2021033489A1
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Prior art keywords
motor control
control device
harmonic component
frequency
electric motor
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Ceased
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PCT/JP2020/028537
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English (en)
French (fr)
Japanese (ja)
Inventor
友博 福村
林峰 蘭
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Nidec Corp
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Nidec Corp
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Priority to JP2021540687A priority Critical patent/JPWO2021033489A1/ja
Priority to DE112020003940.4T priority patent/DE112020003940T5/de
Priority to CN202080057939.5A priority patent/CN114270694A/zh
Priority to US17/633,969 priority patent/US20220294378A1/en
Publication of WO2021033489A1 publication Critical patent/WO2021033489A1/ja
Anticipated expiration legal-status Critical
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/04—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for damping motor oscillations, e.g. for reducing hunting
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters with pulse width modulation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of AC power input into DC power output; Conversion of DC power input into AC power output
    • H02M7/42—Conversion of DC power input into AC power output without possibility of reversal
    • H02M7/44—Conversion of DC power input into AC power output without possibility of reversal by static converters
    • H02M7/48—Conversion of DC power input into AC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
    • 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
    • H02P29/50—Reduction of harmonics

Definitions

  • the present invention relates to, for example, a motor control device and a motor control method for an electric motor used in an electric vehicle, a hybrid vehicle, or the like.
  • the current flowing through the electric motor contains harmonic components in addition to the fundamental wave component. Torque ripple is generated due to this harmonic component, which causes vibration and noise. Therefore, in controlling the electric motor, it is important to suppress the occurrence of ripples appearing in the output torque.
  • Patent Document 1 prepares an induced voltage ripple table using a voltage on the dq axis that cancels torque ripple components other than the fundamental sinusoidal wave from the induced voltage waveform obtained by magnetic field analysis of the motor, and sets the rotation angle of the motor. Accordingly, a motor control device for reducing the torque ripple of the motor by adding the voltage on the dq axis read from the table to the dq axis voltage command is disclosed.
  • Patent Document 2 extracts the torque ripple component of the motor, learns and tabulates the compensation current for suppressing the torque ripple based on this, and applies the compensation current to the inverter of the motor to torque ripple for each frequency component.
  • the torque ripple suppression system that suppresses the above is disclosed.
  • the fundamental wave becomes 800 Hz, and its 6th harmonic reaches 4.8 kHz.
  • the upper limit of the switching frequency of the inverter is about 20 kHz due to an increase in switching loss, iron loss of the motor, and the like. Further, since the switching frequency is limited by the frequency of the switching element used, it is about 10 kHz when an insulated gate bipolar transistor (IGBT: Insulated Gate Bipolar Transistor) is used.
  • IGBT Insulated Gate Bipolar Transistor
  • the switching frequency of the inverter is 10 to 20 kHz
  • the above-mentioned 4.8 kHz harmonic cannot be generated as the harmonic component to be superimposed.
  • the switching frequency is 10 kHz
  • the frequency determined based on the Nyquist frequency according to the sampling theorem is 1 kHz
  • the inverter cannot handle harmonics of 1 kHz or more (the above-mentioned 4.8 kHz sixth harmonic). Since it is difficult to reproduce the ideal sinusoidal signal waveform to be applied, there is a problem that torque ripple cannot be reduced.
  • the present invention has been made in view of the above-mentioned problems, and an object of the present invention is to suppress torque ripple by making it possible to superimpose high-frequency harmonic components exceeding the switching frequency of an inverter in a motor control device.
  • the first exemplary invention of the present application is a motor control device for driving an electric motor, which converts a power source and a voltage input from the power source into a predetermined voltage, and converts the converted voltage into a predetermined frequency. It is characterized by including a first power conversion unit that superimposes components and outputs the power, and a second power conversion unit that converts the output from the first power conversion unit into the driving power of the electric motor.
  • the second exemplary invention of the present application is a vehicle, and includes an electric motor for driving the vehicle and means for driving and controlling the electric motor by the motor control device according to the first exemplary invention. It is characterized by.
  • An exemplary third invention of the present application is a motor control method for an electric motor driven by receiving electric power from a power source, which includes a signal generation step of generating a signal of a predetermined frequency component and input from the power source.
  • torque ripple in an electric motor can be suppressed by superimposing high-frequency harmonic components without being limited by the switching frequency of the switching element used in the inverter.
  • FIG. 1 is a block diagram showing an overall configuration of a motor control device according to an embodiment of the present invention.
  • FIG. 2 is a flowchart showing an operation example of the electric motor in the motor control device according to the embodiment.
  • FIG. 3A is an output voltage waveform of a conventional DCDC converter in which harmonic components are not superimposed.
  • FIG. 3B is an output voltage waveform of a DCDC converter in which harmonic components are superimposed.
  • FIG. 4A is a conventional inverter output voltage waveform in which harmonic components are not superimposed in the DCDC converter.
  • FIG. 4B is an inverter output voltage waveform when harmonic components are superimposed in the DCDC converter.
  • FIG. 5A shows the torque ripple in the conventional example in which the harmonic component is not superimposed in the DCDC converter.
  • FIG. 5B shows the torque ripple when harmonic components are superimposed in the DCDC converter.
  • FIG. 1 is a block diagram showing an overall configuration of a motor control device according to an embodiment of the present invention.
  • the motor control device is mounted on, for example, a vehicle whose drive source is an electric motor.
  • the motor control device 1 shown in FIG. 1 has, for example, a motor control unit 10 that functions as a drive control unit for an electric motor 15 that is a three-phase brushless DC motor.
  • the motor control unit 10 includes an external battery BT, a DCDC converter 31, an inverter 23, and the like.
  • the DCDC converter 31 is a converter that is arranged between the external battery BT and the inverter 23 and is capable of stepping up and down the input voltage. That is, the DCDC converter 31 boosts or lowers the voltage V bat supplied from the external battery BT via the power supply relay 24 by switching and controlling the built-in semiconductor element, and inverts the voltage V dc after the boost or step down. Supply to 23.
  • the semiconductor switching element used in the DCDC converter 31 for example, a switching element made of a wide bandgap semiconductor such as silicon carbide (SiC) or gallium nitride (GaN) can be adopted. This makes it possible to reduce the size of the DCDC converter 31.
  • a wide bandgap semiconductor such as silicon carbide (SiC) or gallium nitride (GaN)
  • the motor control device 10 removes torque ripple due to the 6th harmonic component of the fundamental frequency of PWM control or a high frequency component that is an integral multiple of the 6th harmonic component that appears in the output shaft torque of the electric motor 15. Therefore, the DCDC converter 31 has a high-frequency harmonic signal (for example, a 6nth harmonic component, n is an integer of 1 or more) generated by the harmonic signal generation unit 35 in the control unit (CPU) 30. .) Is entered.
  • a high-frequency harmonic signal for example, a 6nth harmonic component, n is an integer of 1 or more
  • the switching control unit 33 of the DCDC converter 31 performs DC / DC power conversion according to a predetermined voltage command value, and converts the 6nth harmonic component input from the harmonic signal generation unit 35 into the output Vdc from the DCDC converter 31. Control to overlap.
  • the switching frequency of the switching control unit 33 is, for example, 150 to 300 kHz.
  • the control unit (CPU) 30 includes, for example, a microprocessor operated by a control program (software) stored in a memory (not shown).
  • the CPU 30 adjusts the amplitude and phase of the 6nth-order frequency component superimposed on the output of the DCDC converter 31 by the harmonic signal generation unit 35 to match the amplitude and phase of the 6nth-order harmonic component of the drive frequency of the electric motor 15. Has a function as.
  • the signal of the frequency component generated according to the harmonic component (6nth harmonic component) to be reduced in torque ripple can be superimposed on the output of the DCDC converter, whereby the motor can be superposed.
  • a remarkable reduction effect of torque ripple can be obtained in the control device.
  • the inverter 23 functions as a motor drive circuit that generates alternating current that drives the electric motor 15 from the voltage on which the 6nth harmonic component is superimposed, which is supplied from the DCDC converter 31.
  • the power relay 24 is configured to be able to cut off the electric power from the battery BT, and can also be configured by a semiconductor relay.
  • the PWM signal generation unit 21 generates ON / OFF control signals (PWM signals) of a plurality of semiconductor switching elements (FETs 1 to 6) constituting the inverter 23 according to a voltage command value described later. These semiconductor switching elements correspond to each phase (a phase, b phase, c phase) of the electric motor 15.
  • the switching element is also called a power element, and for example, a switching element such as a MOSFET (Metal-Oxide Semiconductor Field-Effect Transistor) or an IGBT (Insulated Gate Bipolar Transistor) is used.
  • MOSFET Metal-Oxide Semiconductor Field-Effect Transistor
  • IGBT Insulated Gate Bipolar Transistor
  • the motor drive current supplied from the inverter 23 as a motor drive circuit to the electric motor 15 is detected by a current detection unit 25 composed of current sensors (not shown) arranged corresponding to each phase.
  • the current detection unit 25 detects, for example, the direct current flowing through the shunt resistor for detecting the motor drive current by using an amplifier circuit including an operational amplifier or the like.
  • the output signal (current detection signal) from the current detection unit 25 is input to the A / D conversion unit (ADC) 27.
  • the ADC 27 converts an analog current value into a digital value by its A / D conversion function, and the three-phase currents Ia, Ib, and Ic obtained by the conversion are input to the coordinate conversion unit 28.
  • the coordinate conversion unit 28 has a three-phase / two-phase conversion function, and the current Id on the d-axis and the current on the q-axis are obtained from the rotation angle ⁇ and the three-phase currents Ia, Ib, and Ic detected by the rotation angle sensor 29. Calculate Iq. That is, the coordinate conversion unit 28 calculates the d-axis current and the q-axis current based on the actual current.
  • the current command value calculation unit 12 obtains a current command value (target current value) from the externally indicated torque Tq. Specifically, the current command value calculation unit 12 calculates the d-axis command current Id * , which is a magnetic field component, and the q-axis command current Iq * , which is a torque component, based on the indicated torque Tq. Then, the subtractor 13a calculates the difference between the q-axis command current Iq * and the q-axis current Iq (referred to as Dq), and the subtractor 13b calculates the difference between the d-axis command current Id * and the d-axis current Id (with Dd). ) Is calculated.
  • the PI control units 16a and 16b obtain the voltage command values of the d-axis and the q-axis so that the difference between the current command value of the d-axis and the q-axis and the detected current value becomes zero. Then, the coordinate conversion unit 17 calculates the motor applied voltage V * from the voltage command value and the rotation angle of the electric motor 15.
  • Dq is input to the PI control unit 16a
  • Dd is input to the PI control unit 16b.
  • the PI control unit 16a performs PI (proportional + integration) control so as to converge Dq to zero, and calculates the q-axis voltage command value Vq *, which is the command value of the q-axis voltage.
  • the PI control unit 16b calculates the d-axis voltage command value Vd * , which is the command value of the d-axis voltage, by performing PI (proportional + integration) control so as to converge Dd to zero.
  • the q-axis voltage command value Vq * and the d-axis voltage command value Vd * are input to the coordinate conversion unit 17 having a two-phase / three-phase conversion function.
  • the coordinate conversion unit 17 converts Vq * and Vd * into voltage command values Va * , Vb * , and Vc * , which are voltage command values for each of the three phases, based on the rotation angle ⁇ .
  • the converted voltage command values Va * , Vb * , and Vc * are input to the PWM signal generation unit 21.
  • the PWM signal generation unit 21 generates a drive signal (PWM signal) of the electric motor 15 based on these current command values.
  • the DCDC converter 31 may have a built-in harmonic signal generation unit 35. Further, a noise removing filter may be arranged between the DCDC converter 31 and the inverter 23. In that case, the output voltage on which the harmonic component from the DCDC converter 31 is superimposed is indirectly input to the inverter 23 via the filter.
  • FIG. 2 is a flowchart showing drive / control (operation example) of the electric motor in the motor control device according to the present embodiment.
  • the motor control device 10 calculates the angular velocity ⁇ of the electric motor 15 based on the electric angle (rotation angle) ⁇ detected by the rotation angle sensor 51 in step S11 of FIG. In the following step S13, the motor current is detected.
  • the current detection signal from the current detection unit 25 is A / D converted by the ADC 27 to obtain the three-phase currents Ia, Ib, and Ic as digital values.
  • step S15 the rotation angles ⁇ detected in step S11 by the three-phase / two-phase conversion by the coordinate conversion unit 28 and the three-phase currents Ia, Ib, and Ic obtained in step S13 show the currents Id and q on the d-axis. Calculate the current Iq on the axis.
  • step S17 after the d-axis command current Id * and the q-axis command current Iq * are calculated by the current command value calculation unit 12 based on the indicated torque Tq, the q-axis command current Iq * and the above q-axis current Iq are combined. PI control is performed on the difference between the two, and the q-axis voltage command value Vq * , which is the command value of the q-axis voltage, is calculated. Further, PI control is performed on the difference between the d-axis command current Id * and the above-mentioned d-axis current Id, and the d-axis voltage command value Vd * , which is the command value of the d-axis voltage, is calculated.
  • step S19 3 is based on the q-axis voltage command value Vq * and d-axis voltage command value Vd * calculated in step S17 and the rotation angle ⁇ by the two-phase / three-phase conversion in the coordinate conversion unit 17.
  • the voltage command values Va * , Vb * , and Vc * which are the voltage command values for each phase, are obtained.
  • the sixth harmonic component of the fundamental frequency which is the main component of the higher-order torque ripple component, or a high-frequency component that is an integral multiple of the fundamental frequency is removed.
  • step S21 the CPU 30 of the motor control device 10 matches the amplitude and phase of the 6nth harmonic component of the drive frequency of the electric motor 15 with the output voltage Vdc of the DCDC converter as represented by the following equation (1). Adjusts the amplitude and phase of the 6nth harmonic (n is an integer of 1 or more) in.
  • V dc V dc0 + V dc6n sin (6n ⁇ + ⁇ )... (1)
  • V dc0 is the voltage of the fundamental wave
  • V dc6n is the voltage (amplitude) of the 6nth harmonic
  • ⁇ is the electric angle of the rotor of the electric motor 15
  • ⁇ is the phase.
  • the amplitude V dc6n and the phase ⁇ of the equation (1) are calculated by using a method conventionally known as a method of suppressing torque ripple. For example, it is calculated based on the voltage and phase of the sixth harmonic component on the dq axis to be added to the dq axis voltage command based on the externally indicated torque Tq. Alternatively, the voltage and phase of the sixth harmonic component may be tuned (adjusted) according to the magnitude of the torque ripple generated by the electric motor.
  • step S23 the voltage obtained by superimposing the 6nth harmonic component represented by the above equation (1) in the DCDC converter 31 is applied to the inverter 23 as the output voltage Vdc from the DCDC converter 31.
  • the CPU 30 controls so that the order n of the 6nth frequency component increases as the rotation speed (angular velocity ⁇ ) of the electric motor 15 increases.
  • step S25 the voltage command values Va * , Vb * , and Vc * for each of the three phases obtained in step S19 are input to the PWM signal generation unit 21.
  • the PWM signal generation unit 21 generates a drive signal (PWM signal) of the electric motor 15 based on those current command values.
  • the harmonic component that is difficult to superimpose on the inverter 23 can be superposed on the DCDC converter 31, and the 6nth harmonic component, which is the target harmonic component for torque ripple reduction, is superposed on the fundamental wave component.
  • the output voltage of the DCDC converter 31 is supplied to the inverter 23. Therefore, since the output power of the DCDC converter 31 on which the 6nth harmonic component is superimposed serves as the driving power source for the electric motor 15, it is possible to obtain the effect of reducing the torque ripple caused by the 6nth harmonic component in the electric motor 15. it can.
  • FIGS. 3 to 5 simulate the effects of not superimposing the harmonic component on the output voltage and superimposing the sixth harmonic component on the output voltage in the DCDC converter, and show them in comparison.
  • FIG. 3A is an output voltage waveform of a conventional DCDC converter in which harmonic components are not superimposed
  • FIG. 3B is an output voltage waveform of a DCDC converter 31 in which harmonic components are superimposed.
  • the horizontal axis is time.
  • the harmonic component here, the 6th harmonic component
  • the voltage on which the 6th harmonic component is superimposed on the fundamental wave component Vdc described above. Is output.
  • FIG. 4A is a conventional inverter output voltage waveform in which the harmonic component is not superimposed in the DCDC converter
  • FIG. 4B is a simulation result of the inverter output voltage waveform when the harmonic component is superimposed in the DCDC converter 31.
  • the horizontal axis is time.
  • FIG. 5A is a simulation result of torque ripple in the conventional example in which the harmonic component is not superimposed in the DCDC converter
  • FIG. 5B is a simulation result of torque ripple when the harmonic component is superimposed in the DCDC converter 31.
  • the horizontal axis is time.
  • the motor control device When the motor control device according to the present embodiment is mounted on a vehicle such as an electric vehicle or a hybrid vehicle, it is possible to reduce the torque ripple in the electric motor that is the power source of these vehicles.
  • the motor control device is a DCDC converter and a DCDC converter that converts a voltage input from a power source into a predetermined voltage, superimposes a harmonic component in a high frequency region on the converted voltage, and outputs the voltage.
  • the DCDC converter is not limited by the upper limit of the switching frequency of the inverter, and the power with the harmonic components superimposed on it. It can drive an electric motor.
  • the frequency of the superimposed harmonic component can be adjusted to the upper limit of the switching frequency of the DCDC converter instead of the upper limit of the switching frequency of the inverter, thereby reducing the torque ripple caused by the harmonic component of the electric motor. Is possible.
  • the superimposed harmonic component as the 6nth harmonic component
  • the 6nth order torque ripple which is a factor of torque ripple
  • the torque ripple can be significantly reduced at high rotation of the electric motor. Is obtained.
  • the inverter control method and carrier frequency can be changed by simply adding a configuration for superimposing harmonic components to the existing power conversion configuration. Therefore, the cost and size of the motor control device for reducing torque ripple can be reduced.
  • the 6nth harmonic component to be superimposed is a frequency (for example, 1 kHz) determined based on the Nyquist frequency according to the sampling theorem for the carrier frequency (switching frequency) of the PWM drive signal in the inverter control in the inverter 23.
  • the output in which the 6nth harmonic component is superimposed is supplied to the inverter 23 in the DCDC converter 31 to suppress the torque ripple of the electric motor, and if the 6nth harmonic component is 1 kHz or less, as in the conventional case.
  • Harmonic components may be superimposed on the current or voltage command to the inverter to suppress the torque ripple of the electric motor.
  • Motor control device 10: Motor control unit, 12: Current command value calculation unit, 15: Electric motor, 16a, 16b: PI control unit, 17, 28: Coordinate conversion unit, 21: PWM signal generation unit, 23: Inverter, 24: Power supply relay, 25: Current detector, 27: A / D converter (ADC), 29: Rotation angle sensor, 30: CPU, 31: DCDC converter, 33: Switching control unit, 35: Harmonic signal Generator, BT: External battery

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)
  • Inverter Devices (AREA)
PCT/JP2020/028537 2019-08-21 2020-07-22 モータ制御装置およびモータ制御方法 Ceased WO2021033489A1 (ja)

Priority Applications (4)

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JP2021540687A JPWO2021033489A1 (https=) 2019-08-21 2020-07-22
DE112020003940.4T DE112020003940T5 (de) 2019-08-21 2020-07-22 Motorsteuervorrichtung und Motorsteuerverfahren
CN202080057939.5A CN114270694A (zh) 2019-08-21 2020-07-22 马达控制装置和马达控制方法
US17/633,969 US20220294378A1 (en) 2019-08-21 2020-07-22 Motor control device and motor control method

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JP2019151274 2019-08-21
JP2019-151274 2019-08-21

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US20250030361A1 (en) * 2021-11-25 2025-01-23 Vitesco Technologies GmbH Method For Noise Reduction During Operation Of An Electric Motor, And Motor Control Device For Controlling The Operation Of An Electric Motor Involving Noise Reduction

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JP2018093603A (ja) * 2016-12-01 2018-06-14 日産自動車株式会社 磁石温度推定システム、及び、モータ

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20250030361A1 (en) * 2021-11-25 2025-01-23 Vitesco Technologies GmbH Method For Noise Reduction During Operation Of An Electric Motor, And Motor Control Device For Controlling The Operation Of An Electric Motor Involving Noise Reduction
WO2024023920A1 (ja) * 2022-07-26 2024-02-01 三菱電機株式会社 インバータ制御装置、モータ駆動装置、送風機及び空気調和機

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