WO2023008010A1 - 電動機駆動装置および電動機駆動方法 - Google Patents
電動機駆動装置および電動機駆動方法 Download PDFInfo
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- WO2023008010A1 WO2023008010A1 PCT/JP2022/025067 JP2022025067W WO2023008010A1 WO 2023008010 A1 WO2023008010 A1 WO 2023008010A1 JP 2022025067 W JP2022025067 W JP 2022025067W WO 2023008010 A1 WO2023008010 A1 WO 2023008010A1
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- electric motor
- torque command
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- 238000000034 method Methods 0.000 title claims description 19
- 238000001514 detection method Methods 0.000 claims abstract description 39
- 230000007423 decrease Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 15
- 230000001133 acceleration Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L9/00—Electric propulsion with power supply external to the vehicle
- B60L9/16—Electric propulsion with power supply external to the vehicle using ac induction motors
- B60L9/18—Electric propulsion with power supply external to the vehicle using ac induction motors fed from dc supply lines
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P29/028—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the motor continuing operation despite the fault condition, e.g. eliminating, compensating for or remedying the fault
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Definitions
- the present invention relates to a drive device and drive method for driving an electric motor, and is particularly suitable as a drive device and drive method for driving an electric motor mounted on a railway vehicle.
- a railroad vehicle rotates a wheel, which is a drive wheel, by torque of a rotating electric machine, and accelerates the vehicle by a tangential force generated in the wheel as a reaction force that the wheel tread receives from the rail.
- This tangential force fluctuates according to the tangential force coefficient ⁇ , which represents the state of adhesion between the wheels and rails.
- ⁇ represents the state of adhesion between the wheels and rails.
- Patent Documents 1, 2 and 3 describe methods related to readhesion control, but the methods described in Patent Documents 1 and 2 are mainly for readhesion configurations such as improvement of adhesion utilization and setting of squeeze torque. It is the purpose and does not mention the speed of torque reduction after wheel slip detection.
- An object of the present invention is to provide an electric motor driving device and an electric motor driving method that can appropriately change the torque reduction speed after detection of skidding with a simple configuration.
- one typical electric motor drive device of the present invention includes an inverter that drives the electric motor, a current detection circuit that detects the electric current of the electric motor, and a torque command value and current detection circuit for the electric motor. and a control device for controlling the inverter based on the current detection value from the controller, the control device lowering the torque command for the electric motor based on the slip/skid detection signal that detects the occurrence of slipping or skidding of the electric motor and the torque command value. It is characterized by narrowing down the torque of the electric motor by changing the speed.
- the torque command reduction speed is changed by referring to the torque command value
- re-adhesion control can be performed with a simple configuration without being affected by noise and using a first-order lag filter or the like. becomes.
- by appropriately reducing the torque it is possible to suppress the rotation speed fluctuation during the slip skid.
- FIG. 1 is a block diagram showing the overall configuration of an electric motor drive device according to an embodiment
- FIG. FIG. 5 is a diagram showing an outline of operation waveforms during general slip detection and re-adhesion control when slip occurs.
- FIG. 4 is a diagram showing the relationship between motor torque and rotor frequency when slipping occurs.
- 4 is a block diagram showing the configuration of a torque reduction calculation unit;
- FIG. 7 is a diagram schematically showing operation waveforms during slip detection and re-adhesion control when the motor torque is a fixed value and increases when the torque reduction calculation unit is applied;
- FIG. 4 is a block diagram showing the configuration of a torque reduction calculation unit that considers a sliding state;
- FIG. 10 is a diagram showing an outline of operation waveforms during skid detection and re-adhesion control when the motor torque increases in the negative direction when the torque reduction calculation section considering the skid state is applied; 1 is a diagram showing a schematic configuration when the electric motor drive device according to the present embodiment is applied to a railway vehicle electric motor; FIG.
- FIG. 1 An embodiment of the present invention will be described with reference to FIGS. 1 to 8.
- FIG. The present embodiment is an example in which an electric motor mounted on a railway vehicle is driven by the drive device according to the present invention.
- FIG. 1 is a block diagram showing the overall configuration of the electric motor drive device according to this embodiment.
- the driving device according to this embodiment comprises a control device 2, an inverter 3 and a current detection circuit 4, and drives the electric motor 1.
- FIG. 1 is a block diagram showing the overall configuration of the electric motor drive device according to this embodiment.
- the driving device according to this embodiment comprises a control device 2, an inverter 3 and a current detection circuit 4, and drives the electric motor 1.
- FIG. 1 is a block diagram showing the overall configuration of the electric motor drive device according to this embodiment.
- the driving device according to this embodiment comprises a control device 2, an inverter 3 and a current detection circuit 4, and drives the electric motor 1.
- the control device 2 is composed of a vector control section 21, a PWM pulse generation section 22, a speed estimator 23, a torque command calculation section 24, and a slip/skid detection determination section 25, and controls the drive of the inverter 3.
- the vector control unit 21 calculates the voltage command value based on the torque command from the torque command calculation unit 24 and the current detection value from the current detection circuit 4 that detects the current flowing through the electric motor 1.
- the PWM pulse generator 22 generates a PWM pulse signal based on this voltage command value and supplies it to the inverter 3 as a drive signal.
- the inverter 3 generates an output voltage corresponding to this voltage command voltage value and applies it to the electric motor 1 .
- the vector control unit 21 can be realized by using general vector control, and the control method is not specified.
- the slip/skid detection/judgment unit 25 receives rotation speed information of the electric motor 1 from the speed estimator 23 , detects a slipping or slipping state, and outputs an slip/skid detection signal to the torque command calculation unit 24 .
- the speed estimator 23 and the slip/skid detection determination unit 25 can be realized by a general speed estimation method and detection method, and the estimation method and detection method are not specified.
- the torque command calculation unit 24 performs re-adhesion control including torque reduction when detecting an idling or skidding state based on the idling/skidding detection signal.
- FIG. 2 is a diagram showing an outline of operation waveforms during general wheel slip detection and re-adhesion control when wheel slip occurs.
- the slip/skid detection determination unit 25 outputs a slip/skid detection signal to the torque command calculation unit 24, for example, when the deviation between the frequency conversion value of the vehicle speed and the rotor frequency exceeds a certain threshold. Therefore, the slip/skid detection determination unit 25 may acquire the vehicle speed from the outside, as indicated by the dotted line in FIG.
- the torque command calculation unit 24 shown in FIG. 1 receives the slip/skid detection signal and performs re-adhesion control including torque reduction (the period from the start of torque reduction to the end of torque reduction shown in FIG. 2). With the operation mode as described above, the expansion of the idling state is suppressed, and the rotation speed fluctuation and the vibration to the vehicle are reduced.
- FIG. 3 is a diagram showing the relationship between the motor torque and the rotor frequency when idling occurs.
- FIG. 3 shows respective characteristics of the rotor frequency ⁇ r , the motor torque ⁇ m and the moment of inertia J of the electric motor 1 .
- Pm is the number of pole pairs of the electric motor 1
- the moment of inertia J is treated as an equivalent moment of inertia obtained by combining the mass of the vehicle and adhesion due to the tangential force coefficient ⁇ for the sake of simplicity of explanation.
- the rotor frequency ⁇ r of the electric motor 1 is represented by the following equation (Equation 1).
- the characteristic shown in the upper part of FIG. 3 is for a fixed value of the motor torque ⁇ m .
- this corresponds to constant speed running without raising the notch.
- the rotor frequency includes a first-order component as shown in the following equation (Equation 2). As shown on the upper side, it increases with a constant slope. In other words, the rotor frequency increases with constant acceleration.
- the characteristic shown on the lower side of FIG. 3 is the case where the motor torque ⁇ m increases with a constant slope. For example, this corresponds to acceleration by raising the notch, initial startup, and restart.
- the rotor frequency is It includes the primary component of the fixed torque value ⁇ m-const at the time and the secondary component of the torque gradient d ⁇ m /dt, and increases secondarily as shown in the lower part of FIG.
- FIG. 4 is a block diagram showing the configuration of the torque reduction calculator 26.
- Torque reduction calculation unit 26 is included in torque command calculation unit 24 shown in FIG.
- Torque command change rate calculator 261 determines the magnitude and slope of the torque command value when wheel slip or skid is detected by the slip/skid detection signal, calculates and outputs the torque command change rate.
- a torque command reduction speed calculator 262 calculates and outputs a torque command reduction speed based on this torque command change rate.
- the magnitude and slope of the torque command value can be easily obtained by referring to the values at the time of creating the torque command.
- the torque command reduction speed calculator 262 sets the torque command reduction speed by using at least one of the magnitude or slope of the torque command value as a reference value and using a table or function that outputs the torque command reduction speed. is also possible.
- FIG. 5 shows operation waveforms during slip detection and re-adhesion control when the motor torque is a fixed value (upper part of FIG. 5) and increases (lower part of FIG. 5) when the torque reduction calculation unit 26 is applied. It is a figure which shows an outline. If the torque is not throttled, the rotor frequency will fluctuate as indicated by the dotted line in FIG. By applying the torque reduction calculation unit 26, fluctuations in the rotor frequency can be suppressed both when the motor torque is a fixed value and when it increases.
- a predetermined upper limit may be set for the torque command lowering speed.
- FIG. 6 is a block diagram showing the configuration of the torque reduction calculation unit 26' that considers the sliding state.
- Torque reduction calculator 26 ′ is also included in torque command calculator 24 shown in FIG. Since the torque command change rate computing unit 261A shown in FIG. 6 uses the same logical configuration for both slipping and sliding, the torque command change rate shown in FIG. It differs from the configuration of the calculator 261 . By converting the torque command value into an absolute value, it becomes possible to use the torque command reduction speed calculator 262 without changing it.
- FIG. 7 is a diagram showing an outline of operation waveforms during skid detection and re-adhesion control when the motor torque increases in the negative direction when the torque reduction calculation unit 26' is applied.
- the slope of the torque command (torque command change rate) at the time of skid detection is calculated, and the torque command reduction speed is calculated.
- a device 262 outputs the torque command reduction speed d ⁇ m3 /dt.
- FIG. 8 is a diagram showing a schematic configuration when the electric motor drive device according to the present embodiment is applied to a railway vehicle electric motor.
- a railway vehicle 100 equipped with a motor drive device (control device 2, inverter 3, and current detection circuit 4) according to the present embodiment is supplied with DC power from an overhead wire 101, and motors (for example, induction motors 1a to 1d) It runs on rails 102 by driven wheels.
- motors for example, induction motors 1a to 1d
- the electric motor drive device By applying the electric motor drive device according to the present embodiment, it is possible to suppress rotation speed fluctuations when the electric motor for railway vehicles slips or slides, and to perform smooth re-adhesion control.
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Abstract
Description
この接線力は、車輪とレール間の粘着状態を表す接線力係数μによって変動し、車輪のトルクが接線力よりも過大となった場合、車両を加速させる力は小さいまま、車輪を回転させる力のみが大きくなる。その結果、車輪の空転または滑走(以下、「空転滑走」と略すことがある)が生じる。特に、雨天時や降雪時には、粘着係数が大きく低下するため、空転滑走が発生し易くなる。
上記した以外の課題、構成および効果は、以下の実施をするための形態における説明により明らかにされる。
ここで、速度推定器23および空転滑走検知判定部25は、一般的な速度推定方式および検知方式で実現可能であり、推定方式や検知方式を特定するものではない。
電動機がトルクを出力し、ロータ周波数が増加している場合に、粘着係数が低下すると、ロータ周波数が増大していく空転状態が発生する。
以上のような動作態様により、空転状態の拡大を抑制し、回転数変動並びに車両への振動を低減する。
電動機トルクτmが固定値で、慣性モーメントJが小さな値を維持している状態で空転が発生した場合、ロータ周波数は、次式(数2)に示すように一次成分を含み、図3の上側に示すように、一定の傾きで増加していく。言い換えると、ロータ周波数は、加速度一定で増加していくことになる。
電動機トルクτmが一定の傾きで増加し、慣性モーメントJが小さな値を維持している状態で空転が発生した場合、ロータ周波数は、次式(数3)に示すように、空転が開始した時点の固定トルク値τm-constの一次成分とトルクの傾きdτm/dtの二次成分を含むことになり、図3の下側に示すように、二次的に増加していく。
トルク引き下げ演算部26は、図1に示すトルク指令演算部24に含まれ、トルク指令変化率演算器261およびトルク指令引き下げ速度演算器262から構成される。トルク指令変化率演算器261は、空転滑走検知信号により空転または滑走を検知した場合のトルク指令値の大きさおよび傾きを判定し、トルク指令変化率を演算し出力する。トルク指令引き下げ速度演算器262が、このトルク指令変化率に基づいてトルク指令引き下げ速度を演算し出力する。
また、トルク指令引き下げ速度演算器262では、トルク指令値の大きさまたは傾きの少なくとも一方を参照値として、トルク指令引き下げ速度を出力とするテーブルや関数を用いることで、トルク指令引き下げ速度を設定することも可能である。
トルク引き下げ演算部26を適用することにより、電動機トルクが固定値の場合および増加する場合共に、ロータ周波数の変動を抑制することができる。
図6に示すトルク指令変化率演算器261Aは、空転または滑走のどちらでも同じ論理構成を利用するために、入力されるトルク指令値を絶対値化する点が、図4に示すトルク指令変化率演算器261の構成と異なる。トルク指令値を絶対値化することで、トルク指令引き下げ速度演算器262を変更することなく利用することが可能となる。
これにより、ロータ周波数の変動(トルク絞り込みを行わない場合、図7の点線で示す変動)を抑制することができる。
本実施例に係る電動機駆動装置(制御装置2、インバータ3および電流検出回路4)を搭載した鉄道車両100は、架線101から直流電力の供給を受け、電動機(例えば、誘導電動機1a~1d)により駆動される車輪によりレール102上を走行する。
2 … 制御装置
3 … インバータ
4 … 電流検出回路
21 … ベクトル制御部
22 … PWMパルス生成部
23 … 速度推定器
24 … トルク指令演算部
25 … 空転滑走検知判定部
26、26’ … トルク引き下げ演算部
100 … 鉄道車両
101 … 架線
102 … レール
261、261A … トルク指令変化率演算器
262 … トルク指令引き下げ速度演算器
Claims (11)
- 電動機を駆動するインバータと、
前記電動機の電流を検出する電流検出回路と、
前記電動機に対するトルク指令値および前記電流検出回路からの電流検出値に基づいて前記インバータを制御する制御装置と
を備え、
前記制御装置は、前記電動機の空転または滑走の発生を検知した空転滑走検知信号と前記トルク指令値とに基づいて、前記電動機に対するトルク指令引き下げ速度を変化させて前記電動機のトルクを絞り込む
ことを特徴とする電動機駆動装置。 - 請求項1に記載の電動機駆動装置であって、
前記制御装置は、前記トルク指令引き下げ速度を、前記トルク指令値の大きさまたは当該トルク指令値の変化率の少なくとも一方に基づいて設定する
ことを特徴とする電動機駆動装置。 - 請求項2に記載の電動機駆動装置であって、
前記トルク指令引き下げ速度は、所定の上限値以下に設定される
ことを特徴とする電動機駆動装置。 - 請求項2または3に記載の電動機駆動装置であって、
前記制御装置は、前記トルク指令引き下げ速度の設定に、前記トルク指令値の大きさまたは当該トルク指令値の変化率の少なくとも一方と前記トルク指令引き下げ速度との関係を記憶させたテーブルまたは当該関係を表す関数を用いる
ことを特徴とする電動機駆動装置。 - 請求項2から4のいずれか1項に記載の電動機駆動装置であって、
前記トルク指令値の変化率として、前記トルク指令値の絶対値の変化率を用いる
ことを特徴とする電動機駆動装置。 - 請求項1から5のいずれか1項に記載の電動機駆動装置を搭載した鉄道車両。
- 電動機を駆動するインバータを、当該電動機に対するトルク指令値および当該電動機の電流検出値に基づいて制御し、
前記電動機に空転または滑走が発生した場合に、
当該空転または滑走の発生検知信号と前記トルク指令値とに基づいて、前記電動機に対するトルク指令引き下げ速度を変化させて前記電動機のトルクを絞り込む
ことを特徴とする電動機駆動方法。 - 請求項7に記載の電動機駆動方法であって、
前記トルク指令引き下げ速度を、前記トルク指令値の大きさまたは当該トルク指令値の変化率の少なくとも一方に基づいて設定する
ことを特徴とする電動機駆動方法。 - 請求項8に記載の電動機駆動方法であって、
前記トルク指令引き下げ速度を、所定の上限値以下に設定する
ことを特徴とする電動機駆動方法。 - 請求項8または9に記載の電動機駆動方法であって、
前記トルク指令引き下げ速度を、前記トルク指令値の大きさまたは当該トルク指令値の変化率の少なくとも一方と前記トルク指令引き下げ速度との関係を記憶させたテーブルまたは当該関係を表す関数を用いて設定する
ことを特徴とする電動機駆動方法。 - 請求項8から10のいずれか1項に記載の電動機駆動方法であって、
前記トルク指令値の変化率として、前記トルク指令値の絶対値の変化率を用いる
ことを特徴とする電動機駆動方法。
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JP2008167632A (ja) * | 2007-01-05 | 2008-07-17 | Toyota Motor Corp | 車両およびその制御方法並びに駆動装置 |
JP2019201459A (ja) * | 2018-05-15 | 2019-11-21 | 公益財団法人鉄道総合技術研究所 | 電動機制御方法及び電動機制御装置 |
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JP2008167632A (ja) * | 2007-01-05 | 2008-07-17 | Toyota Motor Corp | 車両およびその制御方法並びに駆動装置 |
JP2019201459A (ja) * | 2018-05-15 | 2019-11-21 | 公益財団法人鉄道総合技術研究所 | 電動機制御方法及び電動機制御装置 |
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