WO2022209315A1 - 回転電機制御装置 - Google Patents
回転電機制御装置 Download PDFInfo
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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
- 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
- H02P27/085—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 wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency
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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
- H02M1/00—Details of apparatus for conversion
- H02M1/12—Arrangements for reducing harmonics from ac input or output
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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
- 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
- H02M7/53873—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 with digital control
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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
- H02M7/539—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 with automatic control of output wave form or frequency
- H02M7/5395—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 with automatic control of output wave form or frequency by pulse-width modulation
-
- 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
- H02P2209/00—Indexing scheme relating to controlling arrangements characterised by the waveform of the supplied voltage or current
- H02P2209/13—Different type of waveforms depending on the mode of operation
Definitions
- the present invention drives and controls a rotating electrical machine by switching-controlling a plurality of switching elements that constitute an inverter that is connected to a DC power supply and is connected to a rotating electrical machine to convert power between a direct current and a multi-phase alternating current. It relates to a rotary electric machine control device.
- Patent Document 1 As disclosed in Japanese Unexamined Patent Application Publication No. 2006-81287 (Patent Document 1), as a control method for driving and controlling a rotating electrical machine via an inverter, an asynchronous modulation control that is not synchronized with the rotation of the rotating electrical machine, and a rotating electrical machine. Synchronous modulation control that synchronizes with the rotation of is known. Generally, asynchronous modulation control is performed in an operation region where the rotation speed of the rotating electric machine is low, and synchronous modulation control is performed in an operation region where the rotation speed is high.
- a typical synchronous modulation control is one-pulse control (rectangular wave control) in which one pulse is output in one cycle of the electrical angle, and a typical asynchronous modulation control is so-called pulse width modulation control.
- the harmonic components contained in the pulses of the 1-pulse control may cause a shock to the rotating electrical machine.
- it is possible to switch the control method to 1-pulse control through 5-pulse control and 3-pulse control, which have less harmonic components than 1-pulse control. is being done.
- it is necessary to generate many modulation patterns such as 1 pulse, 3 pulses, and 5 pulses in synchronous modulation control, which may complicate the control and increase the cost of the rotary electric machine control device. .
- synchronous 1-pulse control and synchronous 5-pulse control are provided as synchronous modulation control to simplify the rotary electric machine control device.
- this rotary electric machine control device can switch the control method from asynchronous modulation control to synchronous 1-pulse control via synchronous 5-pulse control, and can switch from synchronous 1-pulse control to asynchronous 5-pulse control via synchronous 5-pulse control.
- the control method can be switched to pulse width modulation control.
- asynchronous pulse width modulation control pulses are generated based on a carrier that is independent of the rotating speed of the rotating electrical machine. Assuming that n pulses are generated in one cycle of the electrical angle of the rotating electrical machine at a certain rotational speed, when the rotating speed is doubled, one cycle of the electrical angle of the rotating electrical machine is halved. The number of pulses delivered will be n/2. That is, the resolution of carriers with respect to the electrical angle becomes low.
- the synchronous 5-pulse control can Therefore, a sufficient number of pulses are generated per electrical angle cycle regardless of the rotational speed of the rotating electric machine.
- the control method is switched from the synchronous 5-pulse control to the asynchronous pulse width modulation control while the rotation speed of the rotary electric machine is high, the carrier resolution of the asynchronous pulse width modulation control becomes low as described above.
- the number of pulses per electrical angle cycle may be less than in synchronous 5-pulse control. As a result, the voltage balance becomes unbalanced and the current distortion becomes large, which may exceed, for example, the overcurrent threshold of the inverter.
- switching control is performed on a plurality of switching elements that constitute an inverter that is connected to a DC power supply and a rotating electric machine to convert power between a DC power source and a plurality of phases of AC power.
- a rotary electric machine control device for driving and controlling the rotary electric machine includes at least asynchronous pulse width modulation control and synchronous 5-pulse control as control methods for the inverter, and the asynchronous pulse width modulation control is synchronized with the rotation of the rotary electric machine.
- the synchronous 5-pulse control is a control method in which the switching element is controlled by a plurality of switching pulses that are output based on a carrier that does not exist.
- the 5-pulse region which is an operation region in which the synchronous 5-pulse control is selected, has a higher rotational speed and a larger torque of the rotating electric machine than the PWM region, which is an operation region in which the asynchronous pulse width modulation control is selected.
- a region boundary between the 5-pulse region and the PWM region has a first boundary and a second boundary, and the second boundary is set at a rotational speed of the rotating electrical machine higher than the first boundary.
- the operating point determined by the relationship between the torque and the rotation speed of the rotating electric machine changes from the state in which the asynchronous pulse width modulation control is being executed and exceeds the second boundary 2, when the control method is shifted from the asynchronous pulse width modulation control to the synchronous 5-pulse control, and the operating point changes and crosses the first boundary from the state in which the synchronous 5-pulse control is being executed,
- the control method is shifted from the synchronous 5-pulse control to the asynchronous pulse width modulation control, and the second boundary is the per unit rotation speed by the asynchronous pulse width modulation control immediately before the operating point crosses the second boundary.
- the number of switching pulses is set to be smaller than the number of switching pulses per unit rotation speed by the synchronous 5-pulse control immediately after the operating point crosses the second boundary, and the first boundary is , the number of switching pulses per unit rotational speed under the synchronous 5-pulse control immediately before the operating point crosses the first boundary is determined by the asynchronous pulse width modulation immediately after the operating point crosses the first boundary; the unit by control It is set to be smaller than the number of switching pulses per position rotation speed.
- the second boundary for switching the control method from the asynchronous pulse width modulation control to the synchronous 5-pulse control and the first boundary for switching the control method from the synchronous 5-pulse control to the asynchronous pulse width modulation control are different.
- hysteresis can be provided when the control method is switched between the two.
- this hysteresis makes it possible to reduce the difference in the number of switching pulses per unit rotation speed before and after switching the control method. As a result, distortion of alternating current is suppressed.
- the second boundary is defined as is set to be smaller than the number of switching pulses per unit rotation speed by synchronous 5-pulse control immediately after the operating point crosses the first boundary.
- the first boundary is the number of switching pulses per unit rotation speed by synchronous 5-pulse control immediately before the operating point crosses the first boundary when the operating point moves from the second boundary side to the first boundary side. The number is set to be less than the number of switching pulses per unit rotation speed with asynchronous pulse width modulation control immediately after the operating point crosses the first boundary.
- switching control is performed on a plurality of switching elements constituting an inverter connected to a DC power supply and to a rotating electric machine to convert power between a DC power source and a plurality of phases of AC power.
- a rotary electric machine control device for driving and controlling a rotary electric machine comprising at least asynchronous pulse width modulation control and synchronous five-pulse control as control methods for the inverter, wherein the asynchronous pulse width modulation control is applied to the rotation of the rotary electric machine.
- a control method in which the switching element is controlled by a plurality of switching pulses output based on asynchronous carriers.
- the switching element is controlled by the output switching pulse, and the control method of the inverter is selected based on the operating region set by the relationship between the torque and the rotation speed of the rotating electric machine.
- the 5-pulse region which is an operation region in which the synchronous 5-pulse control is selected
- the rotational speed of the rotating electric machine is high and the torque is high compared to the PWM region, which is an operation region in which the asynchronous pulse width modulation control is selected.
- the control method is switched for each AC phase of a plurality of phases at the region boundary between the 5 pulse region and the PWM region, and the asynchronous pulse width modulation control and the synchronous 5 pulse width modulation control at the region boundary are performed.
- Pulse control is a modulation method including a fixed period in which the switching element is fixed to an on state or an off state for each phase of a plurality of alternating currents, and the switching of the control method is performed during the fixed period in the control method after switching. Or, when the voltage waveform of each of the multiple phases of alternating current crosses the amplitude center, and when the multiple phases are N phases (N is a natural number of 2 or more), switching the control method in each phase , the switching pulse is changed by ⁇ /N or 2 ⁇ /N in electrical angle.
- Asynchronous pulse width modulation control is a modulation method that is not synchronized with the rotation of the rotating electrical machine
- synchronous 5-pulse control is a modulation method that is synchronized with the rotation of the rotating electrical machine. Therefore, the switching pulse by the asynchronous pulse width modulation control and the switching pulse by the synchronous 5-pulse control are not synchronized with each other. Therefore, when switching the control method between the two controls, depending on the phase at which the switching occurs, the switching pulse may be interrupted or the pulse width may be greatly extended or reduced. Such a phenomenon may occur only in some phases, and in that case, the balance of the switching pulses of multiple phases may be lost, and as a result, the balance of AC voltages and AC currents of multiple phases may become unbalanced.
- the switching pulse is switched over a fixed period, the current or voltage in that phase is relatively stable.
- the rotary electric machine control device switches the switching pulse at the timing as in this configuration, the distortion of the current and voltage due to the switching of the switching pulse is suppressed, and the disturbance of the balance of the alternating current and the alternating voltage of the multiple phases is also suppressed. be. That is, according to this configuration, when switching the control method between asynchronous pulse width modulation control and synchronous 5-pulse control in controlling an inverter that converts power between direct current and multi-phase alternating current, voltage and It is possible to smoothly switch control methods while suppressing current distortion.
- Schematic block diagram showing a configuration example of a rotating electrical machine control system including a rotating electrical machine control device A simple and schematic block diagram of a rotary electric machine control device using vector control
- a diagram showing an example of an operating region and a control method of a rotating electrical machine A diagram showing a comparative example of the operating range and control method of a rotating electrical machine
- Waveform diagram showing an example of turbulence in the current waveform when switching the control method waveform example when the control method is switched from synchronous 5-pulse control to asynchronous pulse width modulation control at the first boundary according to the operating region of FIG. 6 during regeneration (Fig.
- FIG. 11 is a diagram showing an example of a control region when the DC link voltage is higher than the example of FIG. 10;
- FIG. 12 is a diagram showing an example of a control region when the DC link voltage is higher than the example of FIG. 11;
- a diagram showing an example of switching pulses in synchronous 5-pulse control A diagram showing the relationship between a parameter that defines a switching pulse in synchronous 5-pulse control and a modulation factor.
- a diagram showing an example of switching pulses in synchronous 5-pulse control with an expanded range of modulation factors that can be handled A waveform diagram showing an example of a switching pulse when the control method is switched from synchronous 5-pulse control to asynchronous pulse width modulation (discontinuous pulse width modulation) at a relatively high modulation rate (higher modulation rate than that of FIG. 17 for comparison).
- a rotating electrical machine control system 100 includes a rotating electrical machine control device 10 and an inverter 30 .
- the inverter 30 is connected to the DC power supply 4 (high-voltage DC power supply) and to the rotary electric machine 8 to convert power between DC and multi-phase AC.
- the rotating electrical machine 8 is a three-phase alternating current rotating electrical machine, and the inverter 30 converts power between direct current and three-phase alternating current.
- the rotating electric machine 8 is, for example, a driving force source for wheels in a vehicle such as an electric vehicle or a hybrid vehicle.
- the rotary electric machine 8 has the functions of both an electric motor that is powered by the DC power supply 4 and a power generator that generates power using power from wheels and the like and regenerates the power to the DC power supply 4 side.
- the power supply voltage of the DC power supply 4 is, for example, 200 to 400 [V].
- the voltage on the DC side of the inverter 30 (the voltage between the positive electrode P and the negative electrode N) will be referred to as a DC link voltage.
- DC power supply 4 is preferably configured by a secondary battery (battery) such as a nickel-metal hydride battery or a lithium ion battery, an electric double layer capacitor, or the like.
- the DC side of the inverter 30 is provided with a smoothing capacitor (DC link capacitor 5) that smoothes the DC link voltage.
- the DC link capacitor 5 stabilizes the DC voltage (DC link voltage Vdc) that fluctuates according to fluctuations in the power consumption of the rotary electric machine 8 .
- the inverter 30 is configured with a plurality of switching elements 3 .
- the switching element 3 includes IGBT (Insulated Gate Bipolar Transistor), power MOSFET (Metal Oxide Semiconductor Field Effect Transistor), SiC-MOSFET (Silicon Carbide - Metal Oxide Semiconductor FET), SiC-SIT (SiC - Static Induction Transistor), GaN - Power semiconductor devices such as MOSFETs (Gallium Nitride - MOSFETs) are preferred.
- IGBT Insulated Gate Bipolar Transistor
- MOSFET Metal Oxide Semiconductor Field Effect Transistor
- SiC-MOSFET Silicon Carbide - Metal Oxide Semiconductor FET
- SiC-SIT SiC - Static Induction Transistor
- GaN - Power semiconductor devices such as MOSFETs (Gallium Nitride - MOSFETs) are preferred.
- this embodiment exemplifies a mode in which an IGB
- the inverter 30 includes a plurality of sets (here, three sets) of arms 3A for one phase of alternating current each configured by a series circuit of an upper switching element 3H and a lower switching element 3L.
- a bridge circuit is configured in which a series circuit (arm 3A) corresponds to each of the stator coils corresponding to the U-phase, V-phase, and W-phase of the rotary electric machine 8 .
- An intermediate point of the arm 3A that is, a connection point between the upper switching element 3H and the lower switching element 3L, is connected to a three-phase stator coil of the rotary electric machine 8, respectively.
- the rotary electric machine control device 10 controls an inverter 30 that is connected to the DC power supply 4 and to the rotary electric machine 8 and converts electric power between DC and multi-phase AC.
- An inverter control device 1 (INV-CTRL) that generates switching control signals for each of the switching elements 3 and controls the inverter 30, and a drive circuit 2 ( DRV-CCT).
- the inverter 30 is controlled by the inverter control device 1.
- the inverter control device 1 is constructed with a logic processor such as a microcomputer as a core member.
- the current sensor 61 detects the actual current flowing through the stator coil of each phase of the rotating electric machine 8, and the inverter control device 1 acquires the detection result.
- the magnetic pole position and rotational speed of the rotor of the rotating electrical machine 8 at each point in time are detected by a rotation sensor such as the resolver 62, and the inverter control device 1 acquires the detection results.
- the DC link voltage is detected by a voltage sensor (not shown) or the like, and the inverter control device 1 acquires the detection result.
- the DC link voltage is used, for example, to set a modulation rate that indicates the ratio of the effective value of AC power to DC power.
- the inverter control device 1 uses the detection results of the current sensor 61 and the resolver 62 to perform current feedback control by, for example, a vector control method. to control the rotating electrical machine 8 via the inverter 30 .
- the inverter control device 1 is configured to have various functional units for motor control, and each functional unit is realized by cooperation of hardware such as a microcomputer and software (program).
- the rotary electric machine control device 10 includes a torque control section 11 , a current control section 12 and a voltage control section 13 .
- the torque control unit 11 sets the current command based on the required torque (torque command) provided from the vehicle control device 90 .
- the current control unit 12 performs feedback control based on the deviation between the detection result of the current sensor 61 and the current command, and calculates the voltage command.
- Voltage control unit 13 generates a switching control signal for switching element 3 of inverter 30 based on the voltage command. Since vector control and current feedback control are well known, detailed description thereof is omitted here.
- the rotary electric machine control device 10 employs, as a switching pattern form (voltage waveform control form) of the switching element 3 constituting the inverter 30, for example, a pulse width modulation (a form of voltage waveform control) in which a plurality of pulses with different patterns are output in one cycle of the electrical angle.
- PWM Pulse Width Modulation
- rectangular wave control (1 pulse control (1 pulse) in which one pulse is output in one cycle of the electrical angle can be executed. That is, the rotary electric machine control device 10 can perform pulse width modulation control and rectangular wave control as control methods for the inverter 30 .
- Pulse width modulation also includes continuous pulse width modulation (CPWM), such as sinusoidal pulse width modulation (SPWM) and space vector pulse width modulation (SVPWM), as well as discontinuous pulse width modulation (CPWM).
- CPWM continuous pulse width modulation
- SPWM sinusoidal pulse width modulation
- SVPWM space vector pulse width modulation
- CPWM discontinuous pulse width modulation
- DPWM Discontinuous PWM
- pulse width modulation control that can be executed by the rotating electrical machine control device 10 includes continuous pulse width modulation control and discontinuous pulse width modulation as control methods.
- Continuous pulse width modulation is a modulation method in which pulse width modulation is continuously performed for all of the arms 3A of multiple phases
- discontinuous pulse width modulation is a modulation method in which switching elements are turned on or off for some arms 3A of multiple phases.
- This is a modulation method that performs pulse width modulation including a fixed state period.
- discontinuous pulse width modulation for example, the signal level of a switching control signal for an inverter corresponding to one phase of three-phase AC power is sequentially fixed, and switching control signals corresponding to the other two phases are fixed. Vary the signal level of the In continuous pulse width modulation, all phases are modulated without such a fixed switching control signal corresponding to any phase.
- These modulation methods are based on operating conditions such as rotational speed and torque required of the rotating electric machine 8, and the modulation rate (effective value of the three-phase AC line voltage with respect to the DC voltage) required to satisfy the operating conditions. percentage).
- a pulse is generated based on the magnitude relationship between the amplitude of an AC waveform as a voltage command and the amplitude of a triangular (including sawtooth) carrier (CA) waveform.
- CA triangular carrier
- the PWM waveform is directly generated by digital calculation without comparison with the carrier, but even in that case, there is a correlation between the amplitude of the AC waveform as the command value and the amplitude of the virtual carrier waveform.
- the carrier In pulse width modulation by digital computation, the carrier is determined according to the control cycle of the rotary electric machine control device 10, such as the computation cycle of a microcomputer or the operation cycle of an electronic circuit.
- the carrier Even when multi-phase AC power is used to drive the AC rotary electric machine 8, the carrier has a cycle (unsynchronized cycle) that is not constrained by the rotation speed or rotation angle (electrical angle) of the rotary electric machine 8. have. Therefore, neither the carrier nor each pulse generated based on the carrier are synchronized with the rotation of the rotating electrical machine 8 . Therefore, modulation schemes such as sinusoidal pulse width modulation, space vector pulse width modulation, etc. are sometimes referred to as asynchronous modulation.
- a modulation method in which pulses are generated in synchronization with the rotation of the rotating electric machine 8 is called synchronous modulation.
- synchronous modulation a modulation method in which pulses are generated in synchronization with the rotation of the rotating electric machine 8
- one pulse is output for one electrical angle cycle of the rotating electric machine 8, so the rectangular wave modulation is synchronous modulation.
- the maximum modulation factor for sinusoidal pulse width modulation is about 0.61 ( ⁇ 0.612), and the maximum modulation factor for space vector pulse width modulation control is about 0.71 ( ⁇ 0.707).
- a modulation scheme having a modulation factor greater than about 0.71 is referred to as an "overmodulation pulse width modulation” as a modulation scheme having a higher than normal modulation factor.
- the maximum modulation factor for "overmodulation pulse width modulation” is about 0.78. This 0.78 is a physical (mathematical) limit value in DC to AC power conversion.
- overmodulation pulse width modulation when the modulation rate reaches 0.78, it becomes rectangular wave modulation (one pulse modulation) in which one pulse is output in one cycle of the electrical angle.
- the modulation factor would be fixed at a physical limit of about 0.78.
- the modulation factor values exemplified here are physical (mathematical) values that do not consider dead time.
- the dead time means that the switching control signal (switching pulse) for the upper switching element 3H of the same arm 3A and the switching control signal for the lower switching element 3L are in an effective state in which the switching element 3 transitions to the ON state. It is a period during which both switching control signals are in an ineffective state so that they are not at the same time. Therefore, when the dead time is set, the actual modulation rate will be low if the switching control signal is simply modulated based on the voltage command corresponding to the command value of the modulation rate.
- Overmodulation pulse width modulation with a modulation factor of less than 0.78 can be realized using either the principle of a synchronous modulation method or an asynchronous modulation method.
- a typical modulation scheme for overmodulation pulse width modulation is discontinuous pulse width modulation.
- Discontinuous pulse width modulation can be realized using either the principle of synchronous modulation or asynchronous modulation. For example, when the synchronous modulation method is used, one pulse is output in one cycle of electrical angle in square wave modulation, but a plurality of pulses are output in one cycle of electrical angle in discontinuous pulse width modulation. If there are a plurality of pulses in one period of the electrical angle, the effective period of the pulses is reduced by that amount, so the modulation rate is lowered.
- any modulation rate less than 0.78 can be realized by the synchronous modulation scheme, not limited to the modulation rate fixed at about 0.78.
- multiple-pulse modulation such as 9-pulse modulation (9Pulses) that outputs 9 pulses and 5-pulse modulation (5Pulses) that outputs 5 pulses, can be used in one cycle of the electrical angle.
- the rotary electric machine control device 10 uses continuous pulse width modulation (CPWM), discontinuous pulse width modulation (DPWM), 5 pulse modulation (5Pulses), square wave modulation, and the like by space vector pulse width modulation (SVPWM) described above.
- (1Pulse) drives and controls the inverter 30 .
- discontinuous pulse width modulation adopts an asynchronous modulation method.
- a control method using space vector pulse width modulation (continuous pulse width modulation) is "asynchronous pulse width modulation control”
- a control method using 5-pulse modulation is “synchronous 5-pulse control”
- the control method using is "synchronized one-pulse control (rectangular wave control)".
- FIG. 3 illustrates the operating regions of the rotating electric machine 8 indicated by torque and rotational speed.
- K1, K2, and K3 indicate the boundary of each motion area.
- continuous pulse width modulation control CPWM
- CPWM continuous pulse width modulation control
- discontinuous pulse width modulation control is executed among the asynchronous pulse width modulation control.
- Synchronous 5-pulse control is executed in a region where the rotation speed is higher than the second region boundary K2 and the park opening speed is lower than the third region boundary K3.
- Synchronous 1-pulse control is executed in the region where the rotational speed is the highest among the regions where the rotational speed is higher than the third region boundary K3.
- the operation area on the lower rotation speed side than the second area boundary K2 is called the "PWM area”
- the operation area between the second area boundary K2 and the third area boundary K3 is called the "5 pulse area”.
- FIG. 3 illustrates the waveform of the voltage command and the waveform of the switching control signal (switching pulse) for asynchronous pulse modulation.
- the discontinuous pulse width modulation voltage command has a fixed period of 60° of phase ( ⁇ /3 minutes).
- the voltage phase (0 to 2 ⁇ ) and the waveform of the switching control signal (switching pulse) are illustrated.
- the rotating electrical machine control device 10 includes a plurality of switching elements that constitute the inverter 30 that is connected to the DC power supply 4 and to the rotating electrical machine 8 to convert power between DC and multi-phase AC. 3 is switching-controlled to drive and control the rotary electric machine 8 .
- the rotary electric machine control device 10 includes at least asynchronous pulse width modulation control and synchronous 5-pulse control as control methods for the inverter 30 .
- the asynchronous pulse width modulation control is a control method in which the switching element 3 is controlled by a plurality of switching pulses output based on carriers that are not synchronized with the rotation of the rotary electric machine 8 .
- Synchronous five-pulse control is a control method in which the switching element 3 is controlled by five switching pulses that are output in one cycle of the electrical angle in synchronization with the rotation of the rotary electric machine 8 .
- the rotating electrical machine control device 10 selects a control method for the inverter 30 based on the operating region set by the relationship between the torque and the rotation speed of the rotating electrical machine 8 .
- the 5-pulse region which is the operating region in which the synchronous 5-pulse control is selected, is set on the side where the rotation speed of the rotary electric machine 8 is high and the torque is large with respect to the PWM region, which is the operating region in which the asynchronous pulse width modulation control is selected. It is
- asynchronous pulse width modulation control pulses are generated based on a carrier that is independent of the rotation speed of the rotating electric machine 8 . Assuming that n pulses are generated in one cycle of the electrical angle of the rotating electrical machine 8 at a certain rotational speed, when the rotating speed is doubled, one cycle of the electrical angle of the rotating electrical machine 8 is halved. , the number of pulses generated will be n/2. That is, the resolution of carriers with respect to the electrical angle becomes low.
- FIG. 5 the rotating electrical machine 8 is in regenerative operation, the rotational speed of the rotating electrical machine 8 decreases, and the control method switches from synchronous 5-pulse control to asynchronous pulse width modulation control beyond the second area boundary K2. (regeneration/down).
- FIG. 5 the rotating electrical machine 8 is in regenerative operation, the rotational speed of the rotating electrical machine 8 decreases, and the control method switches from synchronous 5-pulse control to asynchronous pulse width modulation control beyond the second area boundary K2. (regeneration/down).
- FIG. 5 shows, from the top, 3-phase current waveforms (U-phase current Iu, V-phase current Iv, W-phase current Iw), the switching control signal for the 3-phase upper-stage switching element 3H (shown as “3Phase_Pulse_H", from the top U-phase, V-phase, W-phase, and so on), switching control signal (3Phase_Pulse_L) for 3-phase lower-side switching element 3L, control method switching signal (shown as “PWM_sel”, synchronous 5-pulse control at "Hi”, “Low” indicates asynchronous pulse width modulation control (the same applies hereinafter), and the voltage phase of synchronous control (indicated as "sPos”, the same applies hereinafter).
- All horizontal axes are time (t). As shown in FIG. 5, immediately before the control method is switched, pulses are generated in synchronization with the rotation of the rotating electric machine 8, so a sufficient number of pulses are generated per electrical angle cycle. On the other hand, immediately after the control method is switched to the asynchronous pulse width modulation control, the carrier resolution is low as described above. less than pulse control. As a result, the voltage balance deteriorates, and as shown in FIG. 5, the distortion of the three-phase currents immediately after switching the control method increases. In this example, W-phase current Iw exceeds overcurrent threshold OC.
- FIG. 4 exemplifies the operating region of a conventional rotary electric machine as a comparative example.
- a comparison of FIGS. 3 and 4 reveals that the torque in the operating region where, for example, the second region boundary K2 is set is much lower in FIG. 4 than in FIG.
- the rotating electric machine is required to be driven at a higher torque than at a higher rotational speed, and as a result, the current also increases, so the above-described problems are likely to occur.
- the second area boundary K2 which is the area boundary between the 5-pulse area and the PWM area, has a first boundary K21 and a second boundary K22.
- the second boundary K22 is set on the side where the rotational speed of the rotating electric machine 8 is higher and the torque is larger than the first boundary K21.
- the rotary electric machine control device 10 has an operating point determined by the relationship between the torque and the rotation speed of the rotary electric machine 8 located in the PWM region, and the operating point changes from the state in which the asynchronous pulse width modulation control is being executed to the second boundary.
- K22 is exceeded, the control system is shifted from asynchronous pulse width modulation control to synchronous 5-pulse control.
- the rotating electrical machine control device 10 changes the operating point and goes beyond the first boundary K21. to asynchronous pulse width modulation control. In other words, hysteresis is provided when switching the control method at the second area boundary K2.
- FIG. 6 shows a conventional example of the operating range of the rotating electrical machine 8
- FIG. 7 shows an example of the operating range of the rotating electrical machine 8 according to this embodiment.
- the second area boundary K2 is set to have hysteresis.
- the hysteresis is smaller than in the operating region of this embodiment (FIG. 7).
- FIG. 8 shows a case where the rotating electric machine 8 increases its rotational speed during regenerative operation, and the control method is switched from the asynchronous pulse width modulation control to the synchronous 5-pulse control at the second boundary K22 according to the operation region of FIG.
- It is a waveform example (regeneration/up). 5 referred to above corresponds to a waveform example when the control method is switched from the synchronous 5-pulse control to the asynchronous pulse width modulation control at the first boundary K21 according to the operation region of FIG. 6 during regeneration.
- discontinuous pulse width modulation DPWM
- DPWM discontinuous pulse width modulation
- the number of pulses increases when the rotation speed increases and exceeds the second boundary K22. That is, the number of pulses increases during the transition from asynchronous pulse width modulation control to synchronous 5-pulse control.
- the distortion of the AC voltage is reduced, and the distortion of the AC current is also reduced.
- FIG. 8 shows that even when the control method is switched, there is a low possibility that an overcurrent or the like will occur.
- the distortion of the AC voltage is not large when the control method is switched, and the distortion of the AC current is not large (details will be described later, but it is smaller than the example of FIG. 5). ). Therefore, the possibility of overcurrent or the like occurring at the time of switching the control method is also reduced.
- the U-phase current Iu, the V-phase current Iv, and the W-phase current Iw are all less than the overcurrent threshold OC, and no overcurrent state has occurred.
- a second boundary K22 in FIG. 6 corresponds to an operating point corresponding to a modulation factor of 0.7455, for example.
- the second boundary K22 is a unit of asynchronous pulse width modulation control immediately before the operating point crosses the second boundary K22 when the operating point moves from the first boundary K21 side to the second boundary K22 side.
- the number of switching pulses per rotation speed is set to be smaller than the number of switching pulses per unit rotation speed by the synchronous 5-pulse control immediately after the operating point crosses the second boundary K22.
- the state changes from a state in which the number of pulses is small to a state in which the number of pulses is large, so that stable switching is realized.
- FIG. 5 illustrates a case where the W-phase current is equal to or higher than the overcurrent threshold OC and an overcurrent state has occurred.
- a first boundary K21 in FIG. 6 corresponds to an operating point corresponding to a modulation factor of 0.7055, for example.
- the first boundary K21 is moved to the lower rotational speed side (the second boundary K22 is the same as in FIG. 6).
- the second boundary K22 is the same as in FIG. 6.
- the first boundary K21 is the unit rotation by the synchronous five-pulse control just before the operating point crosses the first boundary K21.
- the number of switching pulses per speed is set to be smaller than the number of switching pulses per unit rotation speed by asynchronous pulse width modulation control immediately after the operating point crosses the first boundary K21.
- the second region boundary K2 especially the first boundary K21, according to the DC link voltage Vdc.
- the improvement as described above with reference to FIGS. 5, 6, 7, and 9 was performed as an example when the DC link voltage Vdc is relatively high (for example, 700 [V] or higher).
- the maximum current of the three-phase current is suppressed to a relatively small value, but when the DC link voltage Vdc becomes low, the rotation speed at the time of switching the control method decreases, and synchronous 5-pulse control is performed at a lower rotation speed. will be executed. Therefore, the maximum current increases in the steady state of synchronous 5-pulse control.
- the second area boundary K2, particularly the first boundary K21 is set according to the DC link voltage Vdc.
- 10 to 12 illustrate control regions when the DC link voltage Vdc is different.
- FIG. 10 shows an example of the control region when the DC link voltage Vdc is relatively low among these three (for example, about 500 [V])
- FIG. 12 shows an example of the control region when the DC link voltage Vdc is higher than the example in FIG. 11 (for example, about 700 [V]).
- 4 shows an example of a control region;
- the first boundary K21 and the second boundary K22 are separated from each other as the DC link voltage Vdc, which is the voltage on the DC side of the inverter 30, increases. It is set so that the interval is long.
- the modulation rate at the second boundary K22 is the same, and the modulation rate at the first boundary K21 increases as the DC link voltage Vdc decreases, so that the first boundary K21 becomes the second As it approaches the boundary K22 side, the distance between the two becomes narrower.
- the rotation speed of the rotary electric machine 8 when switching the control method from the synchronous 5-pulse control to the asynchronous pulse width modulation control becomes substantially constant even if the DC link voltage Vdc is different. , an increase in current during steady-state synchronous 5-pulse control is suppressed.
- the modulation factor at the second boundary K22 is, for example, 0.7455 in common to FIGS.
- the modulation factor at the first boundary K21 in FIG. 10 is, for example, 0.7 in common during power running and regeneration.
- the modulation factor at the first boundary K21 in FIG. 11 is, for example, 0.6 in common during power running and regeneration.
- the modulation factor at the first boundary K21 in FIG. 12 is, for example, 0.55 during power running and 0.5 during regeneration.
- both the first boundary K21 and the second boundary K22 may be changed according to the DC link voltage Vdc. Further, of course, if the increase in current as described above does not pose a problem, the first boundary K21 and the second boundary K22 may be fixed regardless of the DC link voltage Vdc.
- FIG. 13 shows an example of switching pulses in synchronous 5-pulse control.
- FIG. 13 shows one cycle of the electrical angle in synchronous modulation. The upper part shows the range from "0" to "2 ⁇ " of the synchronous control voltage phase (corresponding to "sPos" in FIGS. 5, 8 to 10, etc.).
- a U-phase switching pulse an example of a V-phase switching pulse, and an example of a W-phase switching pulse are shown.
- the fixed period ⁇ f needs to be smaller than "2/3 ⁇ ". Since the modulation rate by the synchronous five-pulse control can be determined by the first period ⁇ 1 and the second period ⁇ 2 (the fixed period ⁇ f also changes depending on the first period ⁇ 1), the first period ⁇ 1 and the second period ⁇ 1 are obtained as follows. A period ⁇ 2 is obtained.
- FIG. 14 shows the relationship between the parameters ( ⁇ 1, ⁇ 2) that define switching pulses in synchronous 5-pulse control and the modulation factor.
- the plotted points indicate the values of ⁇ 1 and ⁇ 2 obtained based on Equation (1).
- a curve without plot points is a characteristic curve obtained by filtering an approximate curve obtained by connecting plot points using a filter based on the factor obtained by Equation (3). By creating a map from this specific curve, it is possible to generate switching pulses in synchronous 5-pulse control.
- ⁇ f the fixed period
- FIG. 15 shows an example of switching pulses in synchronous 5-pulse control with an expanded range of modulation factors that can be handled in this way.
- FIGS. 16 and 17 show an example of an uplink, showing an example of switching pulses when the control method is switched from synchronous 5-pulse control to asynchronous pulse width modulation (discontinuous pulse width modulation) at the first boundary K21.
- the control method is switched at a lower modulation rate in FIG. 17 than in FIG. 16, and FIG. there is FIGS.
- FIG. 18 and 19 are examples of downlink, and show an example of switching pulses when the control method is switched from asynchronous pulse width modulation (discontinuous pulse width modulation) to synchronous 5-pulse control at the second boundary K22.
- the control method is switched at a higher modulation rate in FIG. 18 than in FIG. 19, and FIG. there is
- the control method is switched from synchronous 5-pulse control to asynchronous pulse width modulation at high modulation rate and high rotational speed, and the number of pulses is greatly reduced after switching. Therefore, as described above with reference to FIG. 5, the three-phase currents are disturbed immediately after the switching of the control method, causing a jump, and a current exceeding the overcurrent threshold value OV at its maximum value flows.
- the control method is switched at a lower modulation rate and lower rotation speed than in FIG. 16, and the number of pulses increases after switching. Therefore, even immediately after switching the control method, there is little disturbance in the three-phase currents, and there is no current surge that exceeds the overcurrent threshold value OV.
- the control method is switched from asynchronous pulse width modulation to synchronous 5-pulse control at high modulation rate and high rotational speed, and the number of pulses increases after switching. Therefore, even immediately after the switching of the control method, there is little disturbance in the three-phase current, and there is no surge of the large current exceeding the overcurrent threshold value OV.
- the control method is switched at a lower modulation rate and lower rotation speed than in FIG. Therefore, the number of pulses before switching is greater in FIG. 19 than in FIG. Therefore, in the case of FIG. 19 as compared with FIG. 18, the pulse increase after switching is suppressed, and the stability of the three-phase current is lower than in FIG. Therefore, the maximum value of the three-phase current is larger in FIG. 19 than in FIG. However, in the case of FIG. 19 as well, the current does not rise so large as to exceed the overcurrent threshold OV.
- the arm 3A for one AC phase is composed of a series circuit of the upper switching element 3H and the lower switching element 3L.
- a switching control signal switching pulse
- switching pulse a switching control signal for the upper switching element 3H of the same arm 3A and a switching control signal for the lower switching element 3L are put into an effective state for transitioning the switching element 3 to the ON state.
- a dead time is provided as a period during which both switching control signals are in an ineffective state so that they do not occur at the same time. Therefore, even if the inverter 30 is controlled by the switching pulse generated according to the designated modulation rate, the modulation rate is lower than the designated modulation rate.
- the rotating electrical machine control device 10 can perform dead time compensation for compensating for a decrease in the actual modulation rate due to the dead time with respect to the command value of the modulation rate.
- the rotary electric machine control device 10 performs a compensation process to increase the command value of the modulation rate so that the modulation rate to be output becomes a desired modulation rate by considering the dead time in advance for the dead time. executed.
- dead time is provided in the asynchronous pulse width modulation control, and dead time is not provided in the synchronous 5-pulse control. That is, dead time compensation is performed when the operating point is in the PWM region, and dead time compensation is not performed when the operating point is in the 5-pulse region (and 1-pulse region).
- FIG. 21 is a waveform diagram showing an example in which the modulation rate is lowered when the control method is switched from asynchronous pulse width modulation control to synchronous 5-pulse control due to dead time compensation.
- FIG. 20 is a waveform diagram showing an example in which the modulation factor does not decrease when switching the control method from pulse width modulation control to synchronous 5-pulse control, and
- FIG. 20 is a graph showing the relationship between the dead time compensation value and the modulation factor.
- the modulation rate drops sharply as the control method is switched. This causes abrupt voltage changes and large distortions in the three-phase currents.
- FIG. 22 there is no significant change in the modulation factor when the control method is switched. Therefore, sudden changes in voltage are suppressed, and distortion of three-phase currents is also suppressed.
- the restriction on dead time compensation may be not to execute dead time compensation, or may be to reduce the compensation value of dead time compensation.
- the compensation value in dead time compensation increases the modulation rate as it moves from the first boundary K21 side to the second boundary K22 side. is preferably set to gradually decrease according to For example, as shown in FIG. 20, the compensation value is set such that it gradually decreases as the modulation rate increases from the first modulation rate MI1 toward the second modulation rate MI2.
- the modulation rate at the first boundary K21 is defined as a first modulation rate MI1
- the modulation rate at the second boundary K22 is defined as a second modulation rate MI2.
- the compensation value for dead time compensation is set as shown in FIG. 20, it is possible to suppress rapid changes in the modulation rate when switching the control method from the asynchronous pulse width modulation control to the synchronous 5-pulse control.
- Dead-time compensation may not be limited if distortion of AC current due to dead-time compensation is not a problem.
- the difference in the number of switching pulses per unit rotation speed can be reduced. That is, by expanding the control region in which the synchronous 5-pulse control is selected compared to the conventional one, the difference in the number of switching pulses per unit rotational speed can be reduced before and after switching the control method. As a result, the distortion of the alternating current is suppressed, for example, as described above by comparing FIG. 5 and FIG.
- FIG. 9 shows an example in which switching pulses of three phases are simultaneously switched at the mode switching time ta.
- the waveform diagram of FIG. 23 shows an example in which three-phase switching pulses are switched at different timings.
- FIGS. 9 and 23 show an example of switching the control method from synchronous 5-pulse control (5Pulses) to asynchronous pulse width modulation control (DPWM) at the first boundary according to the operating region of FIG. 6 during regeneration. showing. Since the same behavior occurs during power running and during regeneration, the regeneration period will be described here as an example.
- 5Pulses synchronous 5-pulse control
- DPWM pulse width modulation control
- the asynchronous pulse width modulation control is a modulation method that is not synchronized with the rotation of the rotating electrical machine 8
- the synchronous 5-pulse control is a modulation method that is synchronized with the rotation of the rotating electrical machine 8. Therefore, the asynchronous pulse width modulation control and the synchronous 5-pulse control are not synchronized with each other. Therefore, the pulse pattern when switching the control method between the two controls is different each time. Depending on the phase at which switching occurs, the three-phase voltages and three-phase currents may become unbalanced.
- the asynchronous pulse width modulation control and the synchronous 5-pulse control turn on or off the switching element 3 for each AC phase of a plurality of phases in a region where the control method is switched between the asynchronous pulse width modulation control and the synchronous 5-pulse control.
- It is a modulation scheme that includes a fixed period that locks into a state.
- discontinuous pulse width modulation is performed, which is a modulation scheme that includes a fixed duration.
- Synchronous 5-pulse control is also a modulation scheme that includes a fixed period, as described above with reference to FIGS. 13-15.
- the rotary electric machine control device 10 may switch the control method during a fixed period in the control method after switching. Since the fixed period is set to a different phase for each phase, it is preferable to switch the control method for each of the multiple AC phases at the boundary between the 5-pulse region and the PWM region.
- the electrical angle is ⁇ /N or 2 ⁇ It is preferable to switch the control method in each phase by changing the value by /N.
- ⁇ /3 60 [deg]
- 2 ⁇ /32 120 [deg]
- FIG. 9 shows an example of switching three-phase switching pulses simultaneously at the mode switching time ta.
- FIG. 23 shows an example in which the three-phase switching pulses are changed by " ⁇ /3".
- the V-phase switching pulse is not stable at the mode switching time ta, and the U-phase switching pulse also has a long Hi period. That is, the three-phase switching pulses are out of balance. As a result, the amplitude of the W-phase current becomes larger than that of the other two-phase currents, and the balance of the three-phase currents is disturbed.
- FIG. 9 shows an example of switching three-phase switching pulses simultaneously at the mode switching time ta.
- FIG. 23 shows an example in which the three-phase switching pulses are changed by " ⁇ /3".
- the V-phase switching pulse is not stable at the mode switching time ta, and the U-phase switching pulse also has a long Hi period. That is, the three-phase switching pulses are out of balance.
- the amplitude of the W-phase current becomes larger than
- the switching pulse of each phase is switched by " ⁇ /3", but the switching pulse of each phase may be switched by "2 ⁇ /3".
- the U-phase switching pulse that reaches the fixed period earliest is switched at time tu, and then at time tv that is "2 ⁇ /3" after time tu, the V-phase switching pulse is switched. can be switched. Further, at time tw2 after "2 ⁇ /3", the W-phase switching pulse is switched.
- the fixed period in which the switching element 3 is fixed in the ON state is " ⁇ /3" in the order of U phase upper stage, W phase lower stage, V phase upper stage, U phase lower stage, W phase upper stage, and V phase lower stage. Since switching of the control method is not synchronized with the switching pattern, the phase in which the fixed period first appears after switching the control method is different each time.
- the rotating electrical machine control device 10 switches the switching pulse of the phase that reaches the fixed period earliest to the switching pulse of the control method after switching, and thereafter switches every “ ⁇ /3” or “2 ⁇ /3”. For each phase, the switching pulses of other phases are sequentially switched to the switching pulses after switching.
- the multi-phase alternating current is a three-phase alternating current is illustrated, but when the multi-phase is N (N is a natural number of 2 or more), the electrical angle ⁇ /N or 2 ⁇ /N It is preferable to switch the control method in each phase by making it different for each phase.
- the switching pulse may be switched based on the current or voltage.
- the switching of the control method may be performed at the time when the voltage waveform of each of the multiple phases of alternating current crosses the amplitude center.
- the point at which the voltage waveform of each of the multiple phases of AC crosses the amplitude center is not the point at which the AC voltage coincides with the amplitude center, but the period during which the AC voltage is within approximately 10% of the rated maximum amplitude. OK.
- the switching time of the switching pulse (pulse switching time: tu, tv, tw, tw2, etc.) set within the fixed period is the same as the mode switching time ta if the conditions are satisfied. It may be time.
- the rotating electric machine control device 10 is composed of an electronic circuit with a microcomputer at its core.
- the pattern of the switching pulse is stored in advance in a storage device such as a memory, and is often read out and output from the memory using a DMA (Direct Memory Access) controller or the like built into the microcomputer.
- a DMA controller Direct Memory Access
- the microcomputer has only one DMA controller, it is difficult to output switching control signals for each phase at different timings, as described above.
- each DMA controller can be assigned to output a switching pulse for each phase. In such a case, it is possible to easily switch between switching patterns at different timings. Even if a microcomputer has a plurality of DMA controllers, they are often unused. By effectively using such DMA controllers, the control method can be switched more smoothly.
- the rotating electric machine control device 10 switches the control method during a fixed period in the control method after switching, or at the time when the voltage waveform of each of the multiple-phase alternating currents intersects the amplitude center.
- N is a natural number equal to or greater than 2
- the electrical angle is changed by ⁇ /N or 2 ⁇ /N, and the switching pulse in each phase is switched, so that the current at the time of switching the control method is Distortion can be further suppressed.
- (A) the second boundary for switching the control method from the asynchronous pulse width modulation control to the synchronous 5-pulse control and the first boundary for switching the control method from the synchronous 5-pulse control to the asynchronous pulse width modulation control must be different.
- asynchronous pulse width modulation control and synchronous 5-pulse control It has been explained that when the control method is switched between , the control method can be switched smoothly while suppressing the distortion of the voltage and current.
- (A) and (B) may be performed independently, or both (A) and (B) may be performed together.
- a plurality of switching elements ( 3) to drive and control the rotating electrical machine (8) includes at least asynchronous pulse width modulation control and synchronous 5-pulse control as control methods for the inverter (30).
- the asynchronous pulse width modulation control is a control method in which the switching element (3) is controlled by a plurality of switching pulses output based on a carrier that is not synchronized with the rotation of the rotating electrical machine (8)
- the synchronous 5-pulse The control is a control method in which the switching element (3) is controlled by the switching pulses that are output five times in one cycle of the electrical angle in synchronization with the rotation of the rotating electric machine (8).
- the control method of the inverter (30) is selected based on the operation area set by the relationship between the torque and the rotation speed in 8), and the synchronous 5-pulse control is the operation area in which the 5-pulse control is selected.
- the area is set on the side where the rotational speed of the rotating electric machine (8) is high and the torque is large with respect to the PWM area, which is the operation area in which the asynchronous pulse width modulation control is selected.
- the operating point determined by the relationship between the torque and the rotational speed of the rotating electric machine (8) changes from the state in which the rotational speed is set to the high side and the torque is large, and the asynchronous pulse width modulation control is being executed.
- the boundary (K22) is crossed, the control system is shifted from the asynchronous pulse width modulation control to the synchronous 5-pulse control, and from the state in which the synchronous 5-pulse control is being executed, the operating point changes and the synchronous 5-pulse control is executed.
- the 1st boundary (K21) is crossed, the control method is shifted from the synchronous 5-pulse control to the asynchronous pulse width modulation control, and the second boundary (K22) is set so that the operating point is the second boundary (K22).
- the first boundary (K21) is set to be smaller than the number of the switching pulses of the The number of switching pulses per unit rotational speed under the synchronous five-pulse control immediately before the operating point crosses the first boundary (K21) is the same as the number of switching pulses immediately after the operating point crosses the first boundary (K21). It is set to be smaller than the number of switching pulses per unit rotation speed by asynchronous pulse width modulation control.
- the second boundary (K22) for switching the control method from the asynchronous pulse width modulation control to the synchronous 5-pulse control and the first boundary (K21) for switching the control method from the synchronous 5-pulse control to the asynchronous pulse width modulation control By making them different from each other, it is possible to provide hysteresis when the control method is switched between them. Furthermore, this hysteresis makes it possible to reduce the difference in the number of switching pulses per unit rotation speed before and after switching the control method. As a result, distortion of alternating current is suppressed.
- the second boundary (K22) is such that the operating point crosses the second boundary (K22) when the operating point moves from the first boundary (K21) side to the second boundary (K22) side.
- the number of switching pulses per unit rotation speed by asynchronous pulse width modulation control immediately before is smaller than the number of switching pulses per unit rotation speed by synchronous 5-pulse control immediately after the operating point crosses the first boundary (K21). is set to be In other words, when the control method is switched, a state with a small number of pulses changes to a state with a large number of pulses, so that stable switching is realized.
- the first boundary (K21) is the synchronization point just before the operating point crosses the first boundary (K21) when the operating point moves from the second boundary (K22) side to the first boundary (K21) side.
- the number of switching pulses per unit rotation speed by 5-pulse control is smaller than the number of switching pulses per unit rotation speed by asynchronous pulse width modulation control immediately after the operating point crosses the first boundary (K21). is set.
- the control method in controlling the inverter (30) that converts power between DC and multi-phase AC, the control method is switched between asynchronous pulse width modulation control and synchronous 5-pulse control. In this case, it is possible to smoothly switch the control method while suppressing the distortion of the voltage and current.
- a plurality of inverters (30) that are connected to the DC power supply (4) and connected to the rotary electric machine (8) convert power between DC and multi-phase AC.
- the synchronous 5-pulse control is a control method in which the switching element (3) is controlled by the switching pulses that are output five times in one cycle of the electrical angle in synchronization with the rotation of the rotating electric machine (8).
- the control method of the inverter (30) is selected based on the operating region set by the relationship between the torque and the rotational speed of the rotating electric machine (8), and the synchronous 5-pulse control is selected.
- the 5-pulse region which is the operation region, is set on the side where the rotation speed of the rotating electric machine (8) is high and the torque is large with respect to the PWM region, which is the operation region where the asynchronous pulse width modulation control is selected.
- the control method is switched for each phase of the multi-phase AC, and the asynchronous pulse width modulation control and the synchronous 5-pulse control at the region boundary are performed for the multi-phase AC.
- Asynchronous pulse width modulation control is a modulation method that is not synchronized with the rotation of the rotating electric machine (8)
- synchronous 5-pulse control is a modulation method that is synchronized with the rotation of the rotating electric machine (8). Therefore, the switching pulse by the asynchronous pulse width modulation control and the switching pulse by the synchronous 5-pulse control are not synchronized with each other. Therefore, when switching the control method between the two controls, depending on the phase at which the switching occurs, the switching pulse may be interrupted or the pulse width may be greatly extended or reduced. Such a phenomenon may occur only in some phases, and in that case, the balance of the switching pulses of multiple phases may be lost, and as a result, the balance of AC voltages and AC currents of multiple phases may become unbalanced.
- the switching pulse when switching the switching pulse in a fixed period ( ⁇ f), the current and voltage in the phase are relatively stable.
- the rotary electric machine control device (10) switches the switching pulse at the timing as in this configuration, the distortion of the current and voltage caused by the switching of the switching pulse is suppressed, and the balance of the alternating current and the alternating voltage of the multiple phases is disturbed. is also suppressed. That is, according to this configuration, when switching the control method between the asynchronous pulse width modulation control and the synchronous 5-pulse control in the control of the inverter (30) that converts power between direct current and multi-phase alternating current, , the control method can be switched smoothly with little distortion of the voltage and current.
- the first boundary (K21) and the second boundary (K22) are shifted from the first boundary (K21) as the DC link voltage (Vdc), which is the voltage on the DC side of the inverter (30), increases. and the second boundary (K22) is preferably set to be long.
- the second boundary (K22) is set so that the modulation ratios are approximately the same when the DC link voltage (Vdc) is different
- the second boundary (K22) is set to the DC link voltage (Vdc) is set to the high rotational speed side.
- the first boundary (K21) is set to a similar rotation speed regardless of the DC link voltage (Vdc)
- the higher the DC link voltage (Vdc) the more the modulation at the first boundary (K21). rate is lower. Therefore, the interval between the first boundary (K21) and the second boundary (K22) increases as the DC link voltage (Vdc) increases.
- each arm (3A) for one AC phase is composed of a series circuit of an upper switching element (3H) and a lower switching element (3L). Both the switching pulse of the upper switching element (3H) and the switching pulse of the lower switching element (3L) are prevented from being simultaneously in an effective state for transitioning the switching element (3) to the ON state.
- a dead time is provided in which both switching pulses are in an ineffective state, and a decrease due to the dead time in the actual modulation rate with respect to the command value of the modulation rate indicating the power conversion rate between DC and AC is compensated.
- Dead time compensation is executable, the dead time compensation is performed when the operating point is in the PWM domain, the dead time compensation is not performed when the operating point is in the 5-pulse domain, and the second boundary (K22) It is preferable that an area in which the dead time compensation is not performed even if the operating point is in the PWM area is set on the first boundary (K21) side of the .
- dead time compensation if dead time compensation is not performed in all regions, errors may increase in operating regions where the modulation rate is low, and control accuracy may decrease.
- the region in which dead time compensation is limited is set. is suppressed, and the distortion that occurs in the alternating current is also suppressed.
- the compensation value in the dead time compensation gradually decreases as the modulation rate increases from the first boundary (K21) side toward the second boundary (K22) side. It is preferable that it is set so that
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- Control Of Ac Motors In General (AREA)
- Inverter Devices (AREA)
Abstract
Description
このため、電圧のバランスが悪くなり、電流の歪みも大きくなって、例えばインバータの過電流しきい値を超えるような場合もある。
以下、上記において説明した回転電機制御装置(10)の概要について簡単に説明する。
Claims (5)
- 直流電源に接続されると共に回転電機に接続されて直流と複数相の交流との間で電力を変換するインバータを構成する複数のスイッチング素子をスイッチング制御して前記回転電機を駆動制御する回転電機制御装置であって、
前記インバータの制御方式として、非同期パルス幅変調制御と同期5パルス制御とを少なくとも備え、
前記非同期パルス幅変調制御は、前記回転電機の回転に同期しないキャリアに基づき出力される複数のスイッチングパルスにより前記スイッチング素子が制御される制御方式であり、
前記同期5パルス制御は、前記回転電機の回転に同期して、電気角の1周期において5つ出力される前記スイッチングパルスにより前記スイッチング素子が制御される制御方式であり、
前記回転電機のトルクと回転速度との関係により設定された動作領域に基づいて、前記インバータの制御方式を選択するものであり、
前記同期5パルス制御が選択される動作領域である5パルス領域は、前記非同期パルス幅変調制御が選択される動作領域であるPWM領域に対して、前記回転電機の回転速度が高くトルクが大きい側に設定され、
前記5パルス領域と前記PWM領域との領域境界は、第1境界と第2境界とを有し、
前記第2境界は、前記第1境界よりも、前記回転電機の回転速度が高くトルクが大きい側に設定され、
前記非同期パルス幅変調制御を実行中の状態から、前記回転電機のトルクと回転速度との関係により定まる動作点が変化して前記第2境界を越した場合に、前記非同期パルス幅変調制御から前記同期5パルス制御に制御方式を移行させ、
前記同期5パルス制御を実行中の状態から、前記動作点が変化して前記第1境界を越した場合に、前記同期5パルス制御から前記非同期パルス幅変調制御に制御方式を移行させ、
前記第2境界は、前記動作点が前記第2境界を越える直前における前記非同期パルス幅変調制御による単位回転速度あたりの前記スイッチングパルスの数が、前記動作点が前記第2境界を越えた直後の前記同期5パルス制御による前記単位回転速度あたりの前記スイッチングパルスの数よりも小さくなるように設定され、
前記第1境界は、前記動作点が前記第1境界を越える直前の前記同期5パルス制御による前記単位回転速度あたりの前記スイッチングパルスの数が、前記動作点が前記第1境界を越えた直後の前記非同期パルス幅変調制御による前記単位回転速度あたりの前記スイッチングパルスの数よりも小さくなるように設定されている、回転電機制御装置。 - 前記第1境界及び前記第2境界は、前記インバータの直流側の電圧である直流リンク電圧が高くなるに従って、前記第1境界と前記第2境界との間隔が長くなるように、設定されている、請求項1に記載の回転電機制御装置。
- 前記インバータは、交流1相分のアームがそれぞれ上段側スイッチング素子と下段側スイッチング素子との直列回路により構成され、
同じ前記アームの前記上段側スイッチング素子の前記スイッチングパルスと、前記下段側スイッチング素子の前記スイッチングパルスとが、前記スイッチング素子をオン状態に遷移させる有効状態に同時にならないように、両スイッチングパルスが共に非有効状態となるデッドタイムが設けられると共に、直流と交流との間での電力の変換率を示す変調率の指令値に対する、実際の変調率の前記デッドタイムによる低下を補償するデッドタイム補償が実行可能であり、
前記動作点が前記PWM領域において前記デッドタイム補償が実行され、前記動作点が前記5パルス領域において前記デッドタイム補償が実行されず、
前記第2境界よりも前記第1境界側に、前記動作点が前記PWM領域であっても前記デッドタイム補償が実行されない領域が設定されている、請求項1又は2に記載の回転電機制御装置。 - 前記デッドタイム補償における補償値が、前記第1境界の側から前記第2境界の側に向かうに従って、前記変調率の増加に従って次第に小さくなるように、設定されている、請求項3に記載の回転電機制御装置。
- 直流電源に接続されると共に回転電機に接続されて直流と複数相の交流との間で電力を変換するインバータを構成する複数のスイッチング素子をスイッチング制御して前記回転電機を駆動制御する回転電機制御装置であって、
前記インバータの制御方式として、非同期パルス幅変調制御と同期5パルス制御とを少なくとも備え、
前記非同期パルス幅変調制御は、前記回転電機の回転に同期しないキャリアに基づき出力される複数のスイッチングパルスにより前記スイッチング素子が制御される制御方式であり、
前記同期5パルス制御は、前記回転電機の回転に同期して、電気角の1周期において5つ出力される前記スイッチングパルスにより前記スイッチング素子が制御される制御方式であり、
前記回転電機のトルクと回転速度との関係により設定された動作領域に基づいて、前記インバータの制御方式を選択するものであり、
前記同期5パルス制御が選択される動作領域である5パルス領域は、前記非同期パルス幅変調制御が選択される動作領域であるPWM領域に対して、前記回転電機の回転速度が高くトルクが大きい側に設定され、
前記5パルス領域と前記PWM領域との領域境界において、複数相の交流の相ごとに前記制御方式の切り替えを行い、
当該領域境界における前記非同期パルス幅変調制御及び前記同期5パルス制御は、複数相の交流の相ごとに前記スイッチング素子をオン状態又はオフ状態に固定する固定期間を含む変調方式であり、
前記制御方式の切り替えを、切り替え後の前記制御方式における前記固定期間、又は、複数相の交流それぞれの電圧波形が振幅中心と交差する時点、において行うと共に、
複数相がN(Nは2以上の自然数)相である場合に、各相における前記制御方式の切り替えを、電気角でπ/N、又は2π/Nずつ異ならせて、前記スイッチングパルスを切り替える、回転電機制御装置。
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