WO2024185274A1 - 制御装置、巻線切替システム、制御方法、及び制御プログラム - Google Patents

制御装置、巻線切替システム、制御方法、及び制御プログラム Download PDF

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Publication number
WO2024185274A1
WO2024185274A1 PCT/JP2023/047020 JP2023047020W WO2024185274A1 WO 2024185274 A1 WO2024185274 A1 WO 2024185274A1 JP 2023047020 W JP2023047020 W JP 2023047020W WO 2024185274 A1 WO2024185274 A1 WO 2024185274A1
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Prior art keywords
switching
value
connection state
parameter
control
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PCT/JP2023/047020
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English (en)
French (fr)
Japanese (ja)
Inventor
将岐 津田
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Sumitomo Wiring Systems Ltd
AutoNetworks Technologies Ltd
Sumitomo Electric Industries Ltd
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Sumitomo Wiring Systems Ltd
AutoNetworks Technologies Ltd
Sumitomo Electric Industries Ltd
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Application filed by Sumitomo Wiring Systems Ltd, AutoNetworks Technologies Ltd, Sumitomo Electric Industries Ltd filed Critical Sumitomo Wiring Systems Ltd
Priority to CN202380094989.4A priority Critical patent/CN120770118A/zh
Priority to JP2025505085A priority patent/JPWO2024185274A1/ja
Publication of WO2024185274A1 publication Critical patent/WO2024185274A1/ja
Anticipated expiration legal-status Critical
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
    • H02P25/18—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring with arrangements for switching the windings, e.g. with mechanical switches or relays

Definitions

  • This disclosure relates to a control device, a winding switching system, a control method, and a control program.
  • This application claims priority to Japanese Application No. 2023-032864, filed on March 3, 2023, and incorporates by reference all of the contents of said Japanese application.
  • Patent Document 1 discloses a device that identifies a period during which the AC motor current is below a predetermined value and switches the windings during the identified period in order to prevent surge voltages.
  • a control device is a control device for controlling an AC motor capable of switching the connection state of a plurality of windings from a first connection state to a second connection state, and includes a switching command unit that commands a winding switching device that switches the connection state of the plurality of windings to execute zero-cross switching to switch the connection state of the plurality of windings from the first connection state to the second connection state at a zero-cross point of a current flowing through the windings, a parameter value determination unit that determines a value of a first control parameter for controlling the AC motor and a value of a second control parameter for controlling the AC motor, and a control unit that determines a value of the first control parameter determined by the parameter value determination unit.
  • the parameter value determination unit switches the first control parameter from a first pre-switching parameter value, which is the value in the first connection state, to a first post-switching parameter value, which is the value in the second connection state, at a first timing, and switches the second control parameter from a second pre-switching parameter value, which is the value in the first connection state, to a second post-switching parameter value, which is the value in the second connection state, at a second timing different from the first timing.
  • FIG. 1 is a diagram illustrating an example of the configuration of a winding switching system according to the first embodiment.
  • FIG. 2 is a circuit diagram showing an example of the configuration of the winding switching device according to the first embodiment.
  • FIG. 3 is a circuit diagram showing an example of the configuration of the control circuit.
  • FIG. 4 is a timing chart showing an example of transition of the states of the signals in the winding switching device according to the first embodiment.
  • FIG. 5 is a block diagram illustrating an example of a hardware configuration of the control device according to the first embodiment.
  • FIG. 6 is a functional block diagram illustrating an example of functions of the control device according to the first embodiment.
  • FIG. 7 is a control block diagram showing a motor control system of the control device according to the first embodiment.
  • FIG. 1 is a diagram illustrating an example of the configuration of a winding switching system according to the first embodiment.
  • FIG. 2 is a circuit diagram showing an example of the configuration of the winding switching device according to the first embodiment.
  • FIG. 3
  • FIG. 8 is a graph showing an example of switching of the parameter values of the control parameters.
  • FIG. 9A is the first half of a flowchart showing an example of a motor control process performed by the control device according to the first embodiment.
  • FIG. 9B is the second half of the flowchart showing an example of the motor control process by the control device according to the first embodiment.
  • FIG. 10 is a circuit diagram showing an example of the configuration of a winding switching device according to the second embodiment.
  • FIG. 11 is a graph showing another example of switching of the parameter values of the control parameters.
  • FIG. 12 is a circuit diagram showing an example of the configuration of a winding switching device according to the third embodiment.
  • FIG. 13 is a functional block diagram showing an example of functions of the control device according to the fourth embodiment.
  • FIG. 14 is a flowchart showing an example of a motor control process performed by the control device according to the fourth embodiment.
  • the control device is a control device for controlling an AC motor capable of switching the connection state of multiple windings from a first connection state to a second connection state, and includes a switching command unit that commands a winding switching device that switches the connection state of the multiple windings to execute zero-cross switching to switch the connection state of the multiple windings from the first connection state to the second connection state at a zero-cross point of a current flowing through the windings, a parameter value determination unit that determines a value of a first control parameter for controlling the AC motor and a value of a second control parameter for controlling the AC motor, and a control unit that determines the value of the first control parameter determined by the parameter value determination unit.
  • the parameter value determination unit switches the first control parameter from a first pre-switching parameter value, which is a value in the first connection state, to a first post-switching parameter value, which is a value in the second connection state, at a first timing when the zero-crossing switching is performed, and switches the second control parameter from a second pre-switching parameter value, which is a value in the first connection state, to a second post-switching parameter value, which is a value in the second connection state, at a second timing different from the first timing.
  • the parameter value determination unit may repeatedly determine the value of the first control parameter and the value of the second control parameter for each control cycle, and the first timing may be a timing in a first control cycle, and the second timing may be a timing in a second control cycle different from the first control cycle. In this way, when zero-cross switching is performed, the voltage applied to the multiple windings changes stepwise over multiple control cycles, suppressing the generation of surge voltages and suppressing the transmission of current control of the motor.
  • the first timing may be a first zero cross point that is a zero cross point of the AC current supplied to the AC motor
  • the second timing may be a second zero cross point that is a zero cross point of the AC current different from the first zero cross point.
  • control device may further include a determination unit that determines the switching timing at which the winding switching device executes the zero-crossing switching, and the first timing may be the switching timing determined by the determination unit. This allows the parameter value of the first control parameter to be switched at the timing at which the zero-crossing switching is executed, thereby further suppressing the occurrence of surge voltage and suppressing the transmission of current control of the motor.
  • the parameter value determination unit may gradually change the first control parameter from the first pre-switching parameter value to the first post-switching parameter value. This makes it possible to prevent the parameter value of the first control parameter from changing suddenly. Therefore, it is possible to suppress the occurrence of a surge voltage and suppress the transmission of current control of the motor.
  • the parameter value determination unit may gradually change the second control parameter from the second pre-switching parameter value to the second post-switching parameter value. This makes it possible to prevent the parameter value of the second control parameter from changing suddenly. Therefore, it is possible to suppress the occurrence of a surge voltage and suppress the transmission of current control of the motor.
  • the AC motor may be a multi-phase AC motor
  • the parameter value determination unit may determine each of the second pre-switching parameter value and the second post-switching parameter value when the zero-crossing switching is performed, and the voltage value determination unit may switch from a pre-switching voltage value determined based on the second pre-switching parameter value to a post-switching voltage value determined based on the second post-switching parameter value at different timings for each phase. This prevents the control voltage value from changing uniformly in all phases. This makes it possible to suppress the occurrence of surge voltages and suppress the transmission of current control of the motor.
  • one of the first control parameter and the second control parameter may be a feedback gain
  • the parameter value determination unit may switch the feedback gain from a pre-switching feedback gain, which is a value in the first connection state, to a post-switching feedback gain, which is a value in the second connection state, via a switching feedback gain corresponding to the zero-crossing switching, when the zero-crossing switching is performed.
  • the winding switching system includes an AC motor capable of switching the connection state of multiple windings from a first connection state to a second connection state, a power converter that converts power output from a power source into AC power and supplies the AC power to the AC motor, a winding switching device that performs zero-cross switching to switch the connection state of the multiple windings from the first connection state to the second connection state at a zero-cross point of a current flowing through the windings, and a control device, the control device including a switching command unit that commands the winding switching device to perform the zero-cross switching, and a parameter control unit that determines a value of a first control parameter for controlling the AC motor and a value of a second control parameter for controlling the AC motor.
  • the parameter value determination unit switches the first control parameter from a first pre-switching parameter value, which is a value in the first connection state, to a first post-switching parameter value, which is a value in the second connection state, at a first timing when the zero-crossing switching is performed, and switches the second control parameter from a second pre-switching parameter value, which is a value in the first connection state, to a second post-switching parameter value, which is a value in the second connection state, at a second timing different from the first timing.
  • the control method is a control method for controlling an AC motor capable of switching the connection state of multiple windings from a first connection state to a second connection state, and includes the steps of instructing a winding switching device that switches the connection state of the multiple windings to execute zero-cross switching to switch the connection state of the multiple windings from the first connection state to the second connection state at a zero-cross point of a current flowing through the windings, determining a value of a first control parameter for controlling the AC motor and a value of a second control parameter for controlling the AC motor, and calculating the determined values of the first control parameter and the second control parameter.
  • the first control parameter is switched from a first pre-switching parameter value, which is a value in the first connection state, to a first post-switching parameter value, which is a value in the second connection state, at a first timing
  • the second control parameter is switched from a second pre-switching parameter value, which is a value in the first connection state, to a second post-switching parameter value, which is a value in the second connection state, at a second timing different from the first timing.
  • the control program according to this embodiment is a control program for controlling an AC motor capable of switching the connection state of multiple windings from a first connection state to a second connection state, and includes the steps of: instructing a computer to instruct a winding switching device that switches the connection state of the multiple windings to execute zero-cross switching to switch the connection state of the multiple windings from the first connection state to the second connection state at a zero-cross point of a current flowing through the windings; determining a value of a first control parameter for controlling the AC motor and a value of a second control parameter for controlling the AC motor; and calculating the determined value of the first control parameter and the value of the second control parameter. and determining a voltage to be applied to the windings based on the parameter value.
  • the first control parameter is switched from a first pre-switching parameter value, which is a value in the first connection state, to a first post-switching parameter value, which is a value in the second connection state, at a first timing
  • the second control parameter is switched from a second pre-switching parameter value, which is a value in the first connection state, to a second post-switching parameter value, which is a value in the second connection state, at a second timing different from the first timing.
  • the present disclosure can be realized not only as a control device having the above-mentioned characteristic configuration, a winding switching system including the control device, a control method having steps corresponding to characteristic processes in the control device, and a control program for causing a computer to execute the characteristic processes, but also as a semiconductor integrated circuit that realizes part or all of the control device.
  • FIG. 1 is a diagram illustrating an example of the configuration of a winding switching system according to the first embodiment.
  • the winding switching system 10 is mounted on a vehicle (hereinafter referred to as an "electric vehicle") that is propelled by a motor, such as an electric vehicle or a plug-in hybrid vehicle.
  • the winding switching system 10 includes a motor 20, a power converter 30, a battery 40, a control device 50, and a winding switching device 100.
  • the motor 20 is a driving motor that generates propulsive force for the electric vehicle.
  • the motor 20 is driven by three-phase AC power.
  • One example of the motor 20 is a permanent magnet synchronous motor.
  • a position sensor 26 is provided on the output shaft of the motor 20.
  • the position sensor 26 detects the rotation angle of the output shaft of the motor 20.
  • the position sensor 26 is, for example, a rotary encoder or a rotary potentiometer.
  • the position sensor 26 is connected to the control device 50 by a signal line. The detection signal of the position sensor 26 is output to the control signal 50.
  • the battery 40 is a battery that supplies power to drive the motor 20.
  • the battery 40 is a secondary battery, for example a lithium ion battery.
  • the power converter 30 is an inverter that converts DC power supplied from the battery 40 into three-phase AC power.
  • the power converter 30 may also have the function of converting the three-phase AC power output when the motor 20 functions as a generator into DC power and charging the battery 40.
  • the power converter 30 includes legs for the U, V, and W phases.
  • the U-phase leg includes switches 31u and 32u
  • the V-phase leg includes switches 31v and 32v
  • the W-phase leg includes switches 31w and 32w.
  • the switches 31u, 32u, 31v, 32v, 31w, and 32w perform switching to convert DC power into three-phase AC power.
  • the switches 31u, 32u, 31v, 32v, 31w, and 32w are, for example, IGBTs (Insulated Gate Bipolar Transistors) or power MOSFETs (Metal Oxide Semiconductor Field-Effect Transistors).
  • Power line 35u corresponding to U phase extends from the U phase leg
  • power line 35v corresponding to V phase extends from the V phase leg
  • power line 35w corresponding to W phase extends from the W phase leg.
  • current sensor 33u is provided on power line 35u
  • current sensor 33v is provided on power line 35v
  • current sensor 33w is provided on power line 35w.
  • Current sensor 33u detects the current value of current Iu of U phase.
  • Current sensor 33v detects the current value of current Iv of V phase.
  • Current sensor 33w detects the current value of current Iw of W phase.
  • Current sensors 33u, 33v, 33w can detect the current values of currents Iu, Iv, Iw flowing in power lines 35u, 35v, 35w, including DC and AC components.
  • the current sensors 33u, 33v, and 33w are, for example, DCCTs (direct current transformers) or shunt resistors.
  • Current sensors 33u, 33v, and 33w are connected to the control device 50 by signal lines. The detection values of current sensors 33u, 33v, and 33w are output to the control device 50.
  • the winding switching device 100 is disposed between the motor 20 and the power converter 30. However, the position of the winding switching device 100 is not limited to between the motor 20 and the power converter 30.
  • the power converter 30 and the winding switching device 100 are connected by power lines 35u, 35v, and 35w, and the winding switching device 100 and the motor 20 are connected by a plurality of power lines 25.
  • the winding switching device 100 switches the connection state of the multiple windings of the motor 20. The configuration of the winding switching device 100 will be described later.
  • the three-phase AC currents Iu, Iv, and Iw output from the power converter 30 are supplied to the motor 20 via the winding switching device 100.
  • the control device 50 controls the power converter 30 and the winding switching device 100. Specifically, signal lines extend from the control device 50 to each of the switches 31u, 32u, 31v, 32v, 31w, and 32w, and the control device 50 controls the on/off timing of the switches 31u, 32u, 31v, 32v, 31w, and 32w. A signal line extends from the control device 50 to the winding switching device 100, and the control device 50 outputs a switching command signal to command the winding switching device 100 to switch the connection state of the windings.
  • FIG. 2 is a circuit diagram showing an example of the configuration of the winding switching device according to the first embodiment.
  • the motor 20 includes a plurality of windings 21u, 22u, 21v, 22v, 21w, and 22w.
  • the windings 21u and 22u correspond to the U phase
  • the windings 21v and 22v correspond to the V phase
  • the windings 21w and 22w correspond to the W phase.
  • the number of windings for each phase is not limited to two, and may be three or more.
  • the windings 22u, 22v, and 22w are connected at a neutral point 23.
  • the winding switching device 100 switches the connection state of the windings 21u, 22u, 21v, 22v, 21w, and 22w for each phase between a series connection state and a parallel connection state.
  • the winding switching device 100 includes current sensors 101u, 101v, and 101w, zero-cross detection circuits 102u, 102v, and 102w, control circuits 103u, 103v, and 103w, and switching circuits 104u, 104v, and 104w.
  • the zero-cross detection circuits 102u, 102v, and 102w detect the zero-cross point of the measurement value of the current sensors 101u, 101v, and 101w.
  • the zero-cross detection circuits 102u, 102v, and 102w compare the output voltage from the current sensors 101u, 101v, and 101w with zero voltage, and detect the point in time when the output voltage from the current sensors 101u, 101v, and 101w matches the zero voltage as the zero-cross point.
  • the zero voltage is an example of a reference voltage.
  • the reference voltage is a voltage corresponding to the output voltage of the current sensors 101u, 101v, and 101w when the current flowing through the windings 21u, 22u, 21v, 22v, 21w, and 22w becomes zero current, and is not limited to zero voltage.
  • the zero-cross detection circuits 102u, 102v, and 102w are an example of a detection unit. It should be noted that the output voltage from the current sensors 101u, 101v, and 101w does not have to be exactly equal to zero voltage, and the same effect can be obtained by detecting the point in time when the output voltage from the current sensors 101u, 101v, and 101w becomes close to zero voltage as the zero crossing point.
  • the switching circuits 104u, 104v, and 104w switch the connection state of the windings 21u, 22u, 21v, 22v, 21w, and 22w between a series connection state and a parallel connection state when the zero-cross detection circuits 102u, 102v, and 102w detect a zero-cross point.
  • the switching circuits 104u, 104v, and 104w are an example of a switching unit.
  • the series connection state is an example of a first connection state
  • the parallel connection state is an example of a second connection state.
  • Power line 35u is connected to one end of winding 21u.
  • Power line 212u extends from the other end of winding 21u.
  • Power line 221u extends from one end of winding 22u, and power line 222u extends from the other end.
  • the switching circuit 104u includes semiconductor relays 111u, 112u, and 113u.
  • the semiconductor relays 111u, 112u, and 113u are, for example, IGBTs or power MOSFETs.
  • the power line 35u is drawn into the winding switching device 100. Inside the winding switching device 100, the power line 35u branches at a midpoint and is connected to a first terminal of a semiconductor relay 111u. The second terminal of the semiconductor relay 111u is connected to a first terminal of a semiconductor relay 112u. A power line 221u extending from the winding 22u is connected to the connection point between the second terminal of the semiconductor relay 111u and the first terminal of the semiconductor relay 112u.
  • the second terminal of the semiconductor relay 112u is connected to the first terminal of the semiconductor relay 113u.
  • a power line 212u extending from the winding 21u is connected to the connection point between the second terminal of the semiconductor relay 112u and the first terminal of the semiconductor relay 113u.
  • a power line 222u extending from the winding 22u is connected to the second terminal of the semiconductor relay 113u.
  • the windings 21u and 22u are connected in series.
  • the semiconductor relays 111u and 113u are in the ON state and the semiconductor relay 112u is in the OFF state, the windings 21u and 22u are connected in parallel.
  • a signal line extending from the control circuit 103u is connected to each of the gate terminals of the semiconductor relays 111u, 112u, and 113u.
  • the power lines 212u, 221u, and 222u extend from the motor 20 and are drawn into the winding switching device 100.
  • a current sensor 101u is attached to the power line 221u.
  • the current sensor 101u may be attached to the power lines 35u, 212u, or 222u instead of the power line 221u.
  • the current sensor 101u detects the U-phase current flowing through the power line 221u.
  • the current sensor 101u is, for example, an ACCT that detects only the AC component of the current.
  • the signal line extending from the current sensor 101u is connected to the zero-cross detection circuit 102u.
  • a signal line transmitting the output signal of the zero-cross detection circuit 102u (hereinafter referred to as the "zero-cross detection signal") extends from the zero-cross detection circuit 102u to the control circuit 103u.
  • a signal line extending from the control device 50 is connected to the control circuit 103u.
  • the zero-cross detection circuit 102u detects the zero-cross point of the measurement value by the current sensor 101u of the winding current flowing through the power line 221u.
  • the zero-cross detection circuit 102u is a comparator.
  • the inverting input of the comparator is set to a zero reference voltage, and the output signal of the current sensor 101u is applied to the non-inverting input.
  • the output of the comparator changes from low to high at the point when the AC signal output from the current sensor 101u crosses the zero reference voltage (zero-cross point).
  • FIG. 3 is a circuit diagram showing an example of the configuration of the control circuit 103u.
  • the control circuit 103u includes AND circuits 131 and 133, a NOT circuit 132, and a latch circuit 120.
  • a signal line extending from the zero-cross detection circuit 102u is connected to a first input terminal of the AND circuit 131 and a first input terminal of the AND circuit 133.
  • a signal line extending from the control device 50 is connected to a second input terminal of the AND circuit 131.
  • the signal line from the control device 50 is connected to an input terminal of the NOT circuit 132.
  • a signal line extending from the output terminal of the NOT circuit 132 is connected to a second input terminal of the AND circuit 133.
  • the latch circuit 120 is an RS flip-flop.
  • the output terminal of the AND circuit 131 is connected to the input S (set) of the RS flip-flop 120.
  • the output terminal of the AND circuit 133 is connected to the input R (reset) of the RS flip-flop 120.
  • the RS flip-flop 120 includes two NOT circuits 121 and 123 and two NAND circuits 122 and 124. However, the RS flip-flop 120 may also be composed of two NOR circuits.
  • the output Q of the RS flip-flop 120 is connected to the gates of the semiconductor relays 111u and 113u.
  • the output Q bar of the RS flip-flop 120 is connected to the gate of the semiconductor relay 112u.
  • the zero-cross switching is an operation for switching the connection states of the windings 21u, 22u, 21v, 22v, 21w, and 22w between a series connection state and a parallel connection state at the zero-cross points of the winding currents Iu, Iv, and Iw. Note that the following description will be given representatively of the switching operation of the connection states of the windings 21u and 22u for the U phase. The same applies to the V and W phases, and therefore the description will be omitted.
  • FIG. 4 is a timing chart showing an example of the transition of the states of the signals of the winding switching device 100 according to the first embodiment.
  • the current sensor 101u measures the winding current Iu flowing through the power line 221u.
  • the zero-cross detection circuit 102u detects the zero-cross points of the measured value of the winding current Iu. That is, the zero-cross detection signal output from the zero-cross detection circuit 102u is low when the winding current Iu is not zero, and becomes high when the winding current Iu becomes zero. In FIG. 4, the zero-cross detection signal is low under normal conditions, and is high at times T1, T2, T3, and T4.
  • control device 50 sets the value of the switching command signal to Low, and when windings 21u, 22u, 21v, 22v, 21w, and 22w are connected in parallel, control device 50 sets the value of the switching command signal to High.
  • the switching command signal is Low in the initial state and changes to High at a point between times T1 and T2.
  • the switching command signal changes again to Low at a point between times T3 and T4.
  • the zero-cross detection signal and the switching command signal are input to the AND circuit 131.
  • the AND circuit 131 outputs Low when the zero-cross detection signal and the switching command signal are a combination of (Low, Low), (Low, High), and (High, Low).
  • the AND circuit 131 outputs High when the zero-cross detection signal and the switching command signal are a combination of (High, High). That is, Low is normally input to S of the RS flip-flop 120, and High is input when a zero-cross point of the winding current Iu is detected and a parallel connection command for the windings 21u, 22u, 21v, 22v, 21w, and 22w is given.
  • the input signal to S is High at times T2 and T3.
  • the zero-cross detection signal and the inverted signal of the switching command signal are input to the AND circuit 133.
  • the AND circuit 133 outputs Low when the zero-cross detection signal and the switching command signal are combinations of (Low, Low), (High, Low), and (High, High).
  • the AND circuit 133 outputs High when the zero-cross detection signal and the switching command signal are combinations of (High, Low). That is, Low is normally input to R of the RS flip-flop 120, and High is input when a zero-cross point of the winding current Iu is detected and a series connection command for the windings 21u, 22u, 21v, 22v, 21w, and 22w is given.
  • the input signal of R is High at times T1 and T4.
  • RS flip-flop 120 holds the previous output values of Q and Q-bar when inputs S and R are Low and Low. When inputs S and R are Low and High, RS flip-flop 120 outputs Q and Q-bar as Low and High, and when inputs S and R are High and Low, Q and Q-bar as High and Low. In RS flip-flop 120, the combination of High and High inputs S and R is prohibited.
  • connection state of the windings 21u, 22u, 21v, 22v, 21w, and 22w can be switched between a series connection state and a parallel connection state at the timing of the zero-crossing points of the winding currents Iu, Iv, and Iw. Therefore, the occurrence of surge voltages is suppressed. Furthermore, there is no need for complex processing to identify the period during which the winding currents Iu, Iv, and Iw are below a predetermined value, and the winding switching device 100 can be configured without using a processor such as a CPU, FPGA, or ASIC.
  • Hardware configuration of the control device] 5 is a block diagram showing an example of a hardware configuration of the control device according to the first embodiment.
  • the control device 50 includes a processor 501, a non-volatile memory 502, a volatile memory 503, and an interface (I/F) 504.
  • the volatile memory 503 is, for example, a semiconductor memory such as SRAM (Static Random Access Memory) or DRAM (Dynamic Random Access Memory).
  • the non-volatile memory 502 is, for example, a flash memory, a hard disk, or a ROM (Read Only Memory).
  • the non-volatile memory 502 stores a motor control program 510, which is a computer program, and data used to execute the motor control program 510. Each function of the control device 50 is achieved by the motor control program 510 being executed by the processor 501.
  • the motor control program 510 can be stored in a recording medium such as a flash memory, a ROM, or a CD-ROM.
  • the processor 501 controls the power converter 30 and the winding switching device 100 using the motor control program 510.
  • the processor 501 is, for example, a CPU (Central Processing Unit). However, the processor 501 is not limited to a CPU.
  • the processor 501 may be a GPU (Graphics Processing Unit).
  • the processor 501 is, for example, a multi-core processor.
  • the processor 501 may be a single-core processor.
  • the processor 501 may be, for example, an ASIC (Application Specific Integrated Circuit), or a programmable logic device such as a gate array or an FPGA (Field Programmable Gate Array). In this case, the ASIC or the programmable logic device is configured to be capable of executing the same processing as the motor control program 510.
  • ASIC Application Specific Integrated Circuit
  • FPGA Field Programmable Gate Array
  • the I/F 504 is connected to the winding switching device 100 and the power converter 30.
  • the I/F 504 is, for example, an input/output interface or a communication interface.
  • the I/F 504 is connected to the current sensors 33u, 33v, and 33w provided in the power converter 30, and can acquire the current value of the U-phase current Iu, the current value of the V-phase current Iv, and the current value of the W-phase current Iw.
  • the I/F 504 is connected to each of the switches 31u, 32u, 31v, 32v, 31w, and 32w of the power converter 30, and can control the on/off of the switches 31u, 32u, 31v, 32v, 31w, and 32w.
  • the I/F 504 is connected to the control circuits 103u, 103v, and 103w of the winding switching device 100, and can output a switching command signal to the control circuits 103u, 103v, and 103w.
  • FIG. 6 is a functional block diagram illustrating an example of functions of the control device according to the first embodiment.
  • FIG. 7 is a control block diagram showing the motor control system of the control device according to the first embodiment. Below, the determination of the parameter values of the control parameters will be explained using FIG. 7.
  • the control device 50 sets a target torque 531 for the motor 20.
  • the target torque 531 is calculated, for example, from the target speed of the vehicle.
  • the target torque 531 is input to the torque current converter 532.
  • the torque current converter 532 converts the target torque 531 into a target current.
  • the conversion from the target torque 531 to the target current is performed based on the output characteristics of the motor 20 pre-stored in the control device 50. For example, the output characteristics when the windings 21u, 22u, 21v, 22v, 21w, and 22w are connected in series are different from the output characteristics when the windings 21u, 22u, 21v, 22v, 21w, and 22w are connected in parallel.
  • the non-volatile memory 502 of the control device 50 stores two types of output characteristics: the output characteristics when the windings 21u, 22u, 21v, 22v, 21w, and 22w are connected in series, and the output characteristics when the windings 21u, 22u, 21v, 22v, 21w, and 22w are connected in parallel.
  • the torque current converter 532 determines the target current according to the output characteristics according to the connection state of the windings 21u, 22u, 21v, 22v, 21w, and 22w at that time.
  • the target current obtained by the torque current converter 532 is a current value in the dq coordinate system (hereinafter also referred to as the "dq current value”; the voltage value in the dq coordinate system is also referred to as the “dq voltage value”).
  • the detection values of the current sensors 33u, 33v, 33w and the detection value of the position sensor 26 are input to the current converter 533.
  • the current converter 533 converts the current values of each phase of the three-phase AC current into dq current values.
  • the detection values of the current sensors 33u, 33v, 33w, that is, the dq current values corresponding to the winding currents Iu, Iv, Iw, are output from the current converter 533.
  • the difference between the target current output from the torque current conversion unit 532 and the winding current output from the current conversion unit 533 is calculated.
  • the calculated difference is input to the F/B control unit 535.
  • the F/B control unit 535 calculates the feedback gain based on the difference between the input target current and the winding current. For example, the correspondence between the difference and the feedback gain is determined in advance. For example, two types of correspondence are determined: a correspondence when the windings 21u, 22u, 21v, 22v, 21w, and 22w are connected in series, and a correspondence when the windings 21u, 22u, 21v, 22v, 21w, and 22w are connected in parallel.
  • the F/B control unit 535 determines the feedback gain from the difference according to the correspondence according to the connection state of the windings 21u, 22u, 21v, 22v, 21w, and 22w at that time.
  • the feedback gain is part of the drive voltage of the motor 20.
  • the F/B control unit 535 determines the feedback gain according to a predetermined control method.
  • the F/B control unit 535 can determine the feedback gain according to any one of P control (proportional control), PI control (proportional integral control), PD control (proportional differential control), and PID control (proportional integral differential control).
  • P control proportional control
  • PI control proportional integral control
  • PD control proportional differential control
  • PID control proportional integral differential control
  • the winding current output from the current conversion unit 533 and the detection value of the position sensor 26 are input to the electromotive force calculation unit 536.
  • the electromotive force calculation unit 536 calculates a correction component based on the induced voltage generated in the motor 20, such as a correction component for non-interference control of the AC current of the motor 20 and mutual inductance between the d- and q-axes.
  • the correction component is a voltage value for correcting the control voltage value so as to eliminate the influence of the induced voltage.
  • the induced voltage differs when the windings 21u, 22u, 21v, 22v, 21w, and 22w are connected in series and when they are connected in parallel. Therefore, the electromotive force calculation unit 536 calculates a correction component based on the induced voltage corresponding to the connection state of the windings 21u, 22u, 21v, 22v, 21w, and 22w at that time.
  • Equation (1) The state equation (differential equation) of the permanent magnet synchronous motor in the dq coordinate system is expressed by equation (1).
  • ⁇ the motor's rotational angular velocity
  • ⁇ a the magnet magnetic flux
  • Ra the winding resistance
  • Ld and Lq are the winding inductances
  • p is the differential symbol.
  • the influence of the interference term between the d-axis and q-axis due to the induced electromotive force is eliminated.
  • the d-axis and q-axis voltages are corrected as shown in the following equation (2).
  • vod is the d-axis component of the induced electromotive force
  • voq is the q-axis component of the induced electromotive force.
  • the feedback gain output from the F/B control unit 535 and the correction component output from the electromotive force calculation unit 536 are input to the summing point 537.
  • the summing point 537 adds the feedback gain output from the F/B control unit 535 and the correction component output from the electromotive force calculation unit 536 to calculate the control voltage value.
  • the control voltage value is input to the voltage conversion unit 538.
  • the voltage conversion unit 538 converts the dq voltage value into a three-phase AC voltage.
  • the control voltage value of the three-phase AC voltage output from the voltage conversion unit 538 is input to the PWM unit 539.
  • the PWM unit 539 determines a duty ratio according to the input control voltage value, and generates PWM signals for driving each of the switches 31u, 32u, 31v, 32v, 31w, and 32w of the power converter 30 according to the determined duty ratio.
  • the PWM unit 539 outputs the generated PWM signals to each of the switches 31u, 32u, 31v, 32v, 31w, and 32w.
  • control parameters include the target current, feedback gain, and a correction component based on the induced voltage (hereinafter also simply referred to as the "correction component").
  • the target current is the "first control parameter”
  • the feedback gain or the correction component is the “second control parameter”.
  • the feedback gain or the target current is the "second control parameter”.
  • the correction component is the "first control parameter”
  • the feedback gain or the target current is the "second control parameter”.
  • the feedback gain is referred to as the "first control parameter”
  • the target current and the correction component are referred to as the "second control parameter”.
  • the parameter value determination unit 522 can determine the target current in the series connection state of the windings 21u, 22u, 21v, 22v, 21w, and 22w, the target current in the parallel connection state, the feedback gain in the series connection state, the feedback gain in the parallel connection state, the correction component based on the induced voltage in the series connection state, and the correction component based on the induced voltage in the parallel connection state.
  • the parameter value determination unit 522 determines the target current in the series connection state, the feedback gain in the series connection state, and the correction component based on the induced voltage in the series connection state.
  • the parameter value determination unit 522 determines the target current in the parallel connection state, the feedback gain in the parallel connection state, and the correction component based on the induced voltage in the parallel connection state.
  • the voltage value determination unit 523 determines the control voltage value. Specifically, the voltage value determination unit 523 can add the feedback gain determined by the parameter value determination unit 522 and a correction component based on the induced voltage to calculate the control voltage value. The voltage value determination unit 523 determines the control voltage value in the series connection state of the windings 21u, 22u, 21v, 22v, 21w, and 22w, and the control voltage value in the parallel connection state of the windings 21u, 22u, 21v, 22v, 21w, and 22w.
  • the voltage value determination unit 523 adds the feedback gain in the series connection state of the windings 21u, 22u, 21v, 22v, 21w, and 22w, and the correction component based on the induced voltage in the series connection state to calculate the control voltage value in the series connection state.
  • the voltage value determination unit 523 adds the feedback gain in the parallel connection state of the windings 21u, 22u, 21v, 22v, 21w, and 22w and a correction component based on the induced voltage in the parallel connection state to calculate the control voltage value in the parallel connection state.
  • the parameter value determination unit 522 switches the feedback gain from a parameter value in the connection state of the windings 21u, 22u, 21v, 22v, 21w, and 22w before switching (hereinafter also referred to as the "gain before switching") to a parameter value in the connection state after switching (hereinafter also referred to as the "gain after switching").
  • the parameter value determination unit switches the target current from a parameter value in the connection state of the windings 21u, 22u, 21v, 22v, 21w, and 22w before switching (hereinafter also referred to as the "target current before switching”) to a parameter value in the connection state after switching (hereinafter also referred to as the “target current after switching").
  • the parameter value determination unit switches the parameter value in the connection state of the windings 21u, 22u, 21v, 22v, 21w, and 22w before the switch (hereinafter also referred to as the "correction component before the switch”) to the parameter value in the connection state after the switch (hereinafter also referred to as the "correction component after the switch") at a timing different from the timing at which the parameter value of the feedback gain was switched.
  • a control cycle is a control sequence in the above-mentioned control system, from when a PWM duty ratio is determined and a PWM signal is output, to when the next duty ratio is determined and the next PWM signal is output.
  • Figure 8 is a graph showing an example of switching of parameter values of control parameters.
  • the vertical axis indicates winding current Iu
  • the horizontal axis indicates time. Note that here, switching of parameter values of control parameters will be explained using winding current Iu of the U phase, but the same applies to the V phase and W phase.
  • connection state of windings 21u, 22u, 21v, 22v, 21w, and 22w is switched from a series connection state to a parallel connection state.
  • the feedback gain is switched from the gain before switching (i.e., the feedback gain in the series connection state of windings 21u, 22u, 21v, 22v, 21w, and 22w) to the gain after switching (i.e., the feedback gain in the parallel connection state of windings 21u, 22u, 21v, 22v, 21w, and 22w).
  • This switching of parameter values changes the control voltage value, thereby increasing the amplitude of winding current Iu.
  • the waveform of winding current Iu when the feedback gain is not switched at time T11 is shown by a dashed line.
  • the target current is switched from the pre-switching target current (i.e., the target current in the series connection state of windings 21u, 22u, 21v, 22v, 21w, 22w) to the post-switching target current (i.e., the target current in the parallel connection state of windings 21u, 22u, 21v, 22v, 21w, 22w), and the correction component is switched from the pre-switching correction component (i.e., the correction component in the series connection state of windings 21u, 22u, 21v, 22v, 21w, 22w) to the post-switching correction component (i.e., the correction component in the parallel connection state of windings 21u, 22u, 21v, 22v, 21w, 22w).
  • the switching of these parameter values changes the control voltage value, thereby increasing the amplitude of the winding current Iu.
  • the dashed line shows the waveform of the winding current Iu when the target current and correction component are
  • the parameter value determination unit 522 switches the feedback gain from the pre-switching gain to the post-switching gain in the first control cycle.
  • the parameter value determination unit 522 switches the target current from the pre-switching target current to the post-switching target current in a second control cycle different from the first control cycle.
  • the parameter value determination unit 522 switches the correction component from the pre-switching correction component to the post-switching correction component in the second control cycle.
  • the parameter value determination unit 522 may switch the correction component from the pre-switching correction component to the post-switching correction component in a third control cycle different from both the first control cycle and the second control cycle.
  • time T11 is included in the first control cycle
  • time T12 is included in the second control cycle.
  • the first control cycle and the second control cycle do not have to be adjacent control cycles. In other words, there may be one or more control cycles between the first control cycle and the second control cycle.
  • the feedback gain is determined using one of P control, PI control, PD control, and PID control.
  • the I operation integrated operation
  • the feedback gain after switching can be changed slowly, suppressing the occurrence of surge voltage and suppressing oscillation of current control.
  • the parameter value determination unit 522 can switch the feedback gain from the pre-switching gain to the post-switching gain, and switch the target current and correction component after the change in the feedback gain has converged. This can prevent the control parameters (feedback gain, target current, and correction component) from changing suddenly.
  • the parameter value determination unit 522 may switch the target current and correction component before the change in the feedback gain has converged after switching the feedback gain from the pre-switching gain to the post-switching gain.
  • the parameter value determination unit 522 may switch the target current and correction component after a predetermined time has elapsed after switching the feedback gain from the pre-switching gain to the post-switching gain.
  • control device 50 executes a motor control process by the processor 501 executing a motor control program 510.
  • FIGS. 9A and 9B are flowcharts showing an example of motor control processing by the control device according to the first embodiment.
  • the processor 501 decides to execute zero-cross switching.
  • the processor 501 determines whether or not it has been decided to execute zero-cross switching (step S101).
  • the processor 501 acquires the detection values output from the current sensors 33u, 33v, and 33w and the detection value output from the position sensor 26 (step S102). The processor 501 calculates the rotation speed of the motor 20 based on the detection value from the position sensor 26.
  • the processor 501 determines the parameter values of the control parameters according to the connection states of the windings 21u, 22u, 21v, 22v, 21w, 22w21u, 22uIu, Iv, Iw at that time based on the current values of the acquired winding currents Iu, Iv, Iw and the rotation speed of the motor 20 (step S103).
  • the control parameters include a target current, a feedback gain, and a control component based on the induced voltage.
  • the processor 501 determines the control voltage value according to the connection state of the windings 21u, 22u, 21v, 22v, 21w, 22w, 21u, 22uIu, Iv, and Iw at that time based on the determined parameter values (step S104).
  • the processor 501 determines the duty ratio based on the determined control voltage value, and outputs a PWM signal with the determined duty ratio (step S105).
  • the switches 31u, 32u, 31v, 32v, 31w, and 32w are driven in accordance with the PWM signal, and the winding currents Iu, Iv, and Iw are supplied to the motor 20.
  • the processor 501 returns to step S101.
  • step S101 If it has been determined that zero-cross switching should be performed (YES in step S101), the processor 501 outputs a switching command signal to the winding switching device 100 (step S106).
  • the processor 501 acquires the detection values output from the current sensors 33u, 33v, and 33w and the detection value output from the position sensor 26 (step S107).
  • the processor 501 calculates the rotation speed of the motor 20 based on the detection values from the position sensor 26.
  • the processor 501 switches the feedback gain from the pre-switching gain to the post-switching gain (step S108).
  • the processor 501 determines the parameter values of each control parameter based on the acquired current values of the winding currents Iu, Iv, and Iw and the rotation speed of the motor 20 (step S109). That is, the processor 501 determines the pre-switching target current and pre-switching correction component, and determines the post-switching gain.
  • the processor 501 determines a control voltage value based on the determined parameter value (step S110).
  • the processor 501 determines a duty ratio based on the control voltage value, and outputs a PWM signal with the determined duty ratio (step S111).
  • Switches 31u, 32u, 31v, 32v, 31w, and 32w are driven in accordance with the PWM signal, and winding currents Iu, Iv, and Iw are supplied to the motor 20.
  • the processor 501 determines whether the feedback gain has converged (step S112). If the feedback gain has not converged (NO in step S112), the processor 501 returns to step S107. By repeating steps S107 to S112, for example, the integral action of the feedback gain converges.
  • the processor 501 acquires the detection values output from the current sensors 33u, 33v, and 33w and the detection value output from the position sensor 26 (step S113).
  • the processor 501 calculates the rotation speed of the motor 20 based on the detection value from the position sensor 26.
  • the processor 501 switches the target current from the pre-switching target current to the post-switching target current, and switches the correction component from the pre-switching correction component to the post-switching correction component (step S114).
  • the processor 501 determines the parameter values of each control parameter based on the acquired current values of the winding currents Iu, Iv, and Iw and the rotation speed of the motor 20 (step S115). That is, the processor 501 determines the post-switching gain, the post-switching target current, and the post-switching correction component.
  • the processor 501 determines a control voltage value based on the determined parameter value (step S116).
  • the processor 501 determines a duty ratio based on the control voltage value, and outputs a PWM signal with the determined duty ratio (step S117).
  • Switches 31u, 32u, 31v, 32v, 31w, and 32w are driven in accordance with the PWM signal, and winding currents Iu, Iv, and Iw are supplied to the motor 20.
  • step S117 the processor 501 returns to step S101.
  • the winding switching device of the second embodiment switches the connection state of the multiple windings of a motor between a full connection state in which all of the multiple windings are connected, and a partial connection state in which some of the multiple windings are connected.
  • FIG. 10 is a circuit diagram showing an example of the configuration of a winding switching device according to the second embodiment.
  • Motor 20A includes a plurality of windings 24u, 25u, 24v, 25v, 24w, and 25w. Windings 24u and 25u correspond to the U phase, windings 24v and 25v correspond to the V phase, and windings 24w and 25w correspond to the W phase. However, the number of windings for each phase is not limited to two, and may be three or more.
  • the winding switching device 100A switches the connection state of the windings 24u, 25u, 24v, 25v, 24w, and 25w for each phase between a fully connected state and a partially connected state.
  • the winding switching device 100A includes current sensors 131u, 131v, and 131w, zero-cross detection circuits 102u, 102v, and 102w, control circuits 103u, 103v, and 103w, and switching circuits 140u, 140v, and 140w.
  • the zero-cross detection circuits 102u, 102v, and 102w detect the zero-cross points of the measured values of the current sensors 131u, 131v, and 131w.
  • the configuration of the zero-cross detection circuits 102u, 102v, and 102w is the same as that of the first embodiment, so a description thereof will be omitted.
  • the switching circuits 140u, 140v, and 140w switch the connection state of the windings 24u, 25u, 24v, 25v, 24w, and 25w between a full connection state and a partial connection state when the zero-cross detection circuits 102u, 102v, and 102w detect a zero-cross point.
  • the switching circuits 140u, 140v, and 140w are an example of a switching unit.
  • the full connection state is an example of a first connection state
  • the partial connection state is an example of a second connection state.
  • Power line 35u is connected to one end of winding 24u.
  • the other end of winding 24u and one end of winding 25u are connected to each other, and power line 241u extends from the midpoint between winding 24u and winding 25u.
  • Power line 241u branches into power lines 242u and 243w.
  • Power line 251u extends from the other end of winding 25u.
  • Power line 251u branches into power lines 252u and 253w.
  • Power line 35v is connected to one end of winding 24v.
  • the other end of winding 24v and one end of winding 25v are connected to each other, and power line 241v extends from the midpoint between winding 24v and winding 25v.
  • Power line 241v branches into power lines 242v and 243u.
  • Power line 251v extends from the other end of winding 25v.
  • Power line 251v branches into power lines 252v and 253u.
  • Power line 35w is connected to one end of winding 24w.
  • the other end of winding 24w and one end of winding 25w are connected to each other, and power line 241w extends from the midpoint between winding 24w and winding 25w.
  • Power line 241w branches into power lines 242w and 243v.
  • Power line 251w extends from the other end of winding 25w.
  • Power line 251w branches into power lines 252w and 253v.
  • the switching circuit 140u includes semiconductor relays 141u and 142u.
  • the switching circuit 140v includes semiconductor relays 141v and 142v.
  • the switching circuit 140w includes semiconductor relays 141w and 142w.
  • the semiconductor relays 141u, 142u, 141v, 142v, 141w, and 142w are, for example, IGBTs or power MOSFETs.
  • the first terminal of the semiconductor relay 141u is connected to the power line 242u, and the second terminal is connected to the power line 243u.
  • the first terminal of the semiconductor relay 142u is connected to the power line 252u, and the second terminal is connected to the power line 253u.
  • the connection relationship between the switching circuits 140v and 140w is the same as that of the switching circuit 140u, so a description is omitted.
  • the power line 35u is drawn into the winding switching device 100.
  • a current sensor 131u is attached to the power line 35u.
  • the current sensor 131u detects the U-phase current flowing through the power line 35u.
  • the current sensor 131u is, for example, an ACCT that detects only the AC component of the current.
  • a signal line extending from the current sensor 131u is connected to the zero-cross detection circuit 102u. The same applies to the V-phase and W-phase.
  • the output Q of the RS flip-flop 120 in the control circuit 103u is connected to the gate of the semiconductor relay 141u.
  • the output Q bar of the RS flip-flop 120 is connected to the gate of the semiconductor relay 142u. The same is true for the V phase and the W phase.
  • winding switching device 100A according to the second embodiment are similar to those of the winding switching device 100 according to the first embodiment, so the same components are given the same reference numerals and their description is omitted.
  • control device 50 sets the value of the switching command signal to Low when windings 24u, 25u, 24v, 25v, 24w, and 25w of the motor 20 are to be fully connected, and sets the value of the switching command signal to High when windings 24u, 25u, 24v, 25v, 24w, and 25w are to be partially connected.
  • connection state of windings 21u, 22u, 21v, 22v, 21w, and 22w can be switched between a fully connected state and a partially connected state at the timing of the zero-crossing points of winding currents Iu, Iv, and Iw.
  • the configuration and operation of the power converter 30 and control device 50 according to the second embodiment are similar to those of the power converter 30 and control device 50 according to the first embodiment, and therefore will not be described.
  • the parameter value determination unit 522 of the control device 50 switches the feedback gain from the switching gain to the post-switching gain at the first zero cross point of the winding currents Iu, Iv, Iw.
  • the parameter value determination unit 522 switches the target current from the pre-switching target current to the post-switching target current at the second zero cross point of the winding currents Iu, Iv, Iw that is different from the first zero cross point.
  • the parameter value determination unit 522 switches the correction component from the pre-switching correction component to the post-switching correction component at the second zero cross point.
  • the parameter value determination unit 522 acquires the detection values of the current sensors 33u, 33v, and 33w, and detects the zero-crossing points of the winding currents Iu, Iv, and Iw based on the acquired detection values.
  • the parameter value determination unit 522 sets one zero-crossing point as a first zero-crossing point, and switches the feedback gain from the switching gain to the post-switching gain at the first zero-crossing point.
  • the parameter value determination unit 522 sets one zero-crossing point after the first zero-crossing point as a second zero-crossing point, and switches the target current from the pre-switching target current to the post-switching target current at the second zero-crossing point, and switches the correction component from the pre-switching correction component to the post-switching correction component.
  • first zero cross point and the second zero cross point may be zero cross points in the same phase, or may be zero cross points in different phases.
  • FIG. 11 is a graph showing another example of switching the parameter values of the control parameters.
  • the vertical axis indicates the winding current Iu
  • the horizontal axis indicates time. Note that here, the zero crossing points of the U-phase winding current Iu are set as the first zero crossing point and the second zero crossing point.
  • the connection state of the windings 21u, 22u, 21v, 22v, 21w, and 22w is switched from a series connection state to a parallel connection state.
  • the feedback gain is switched from the pre-switching gain (i.e., the feedback gain in the series connection state of the windings 21u, 22u, 21v, 22v, 21w, and 22w) to the post-switching gain (i.e., the feedback gain in the parallel connection state of the windings 21u, 22u, 21v, 22v, 21w, and 22w) at the zero crossing point T21.
  • This switching of the parameter value changes the control voltage value, thereby increasing the amplitude of the winding current Iu.
  • the zero crossing point T21 is the first zero crossing point.
  • the waveform of the winding current Iu in the case where the feedback gain is not switched at the zero crossing point T21 is shown by a dashed line.
  • the target current is switched from the pre-switching target current (i.e., the target current in the series connection state of windings 21u, 22u, 21v, 22v, 21w, 22w) to the post-switching target current (i.e., the target current in the parallel connection state of windings 21u, 22u, 21v, 22v, 21w, 22w)
  • the correction component is switched from the pre-switching correction component (i.e., the correction component in the series connection state of windings 21u, 22u, 21v, 22v, 21w, 22w) to the post-switching correction component (i.e., the correction component in the parallel connection state of windings 21u, 22u, 21v, 22v, 21w, 22w).
  • Zero crossing point T22 is the second zero crossing point.
  • the dashed line shows the waveform of the winding current Iu when the target current and correction component are not switched at the zero crossing point T22.
  • [4. Fourth embodiment] 12 is a circuit diagram showing an example of the configuration of a winding switching device according to the third embodiment.
  • a signal indicating the timing for switching the connection states of the windings 21u, 22u, 21v, 22v, 21w, and 22w (hereinafter also referred to as a “switching timing signal”) is input to a control device 50.
  • the signal output from the output Q of the RS flip-flop 120 is a signal (switching timing signal) indicating the switching timing of the connection state of the windings 21u and 22u.
  • the signal line extending from the control circuit 103u to the gate terminal of the semiconductor relay 111u branches at the midpoint, and the branched end is connected to the control device 50.
  • the U-phase switching timing signal is input to the control device 50 through this signal line.
  • the signal line extending from the control circuit 103v to the gate terminal of the semiconductor relay 111v branches at the midpoint, and the branched end is connected to the control device 50.
  • the V-phase switching timing signal is input to the control device 50 through this signal line.
  • the W-phase switching timing signal is input to the control device 50 through this signal line. Specifically, the switching timing signal is input to the I/F 504 of the control device 50.
  • FIG. 13 is a functional block diagram showing an example of the functions of a control device according to the fourth embodiment.
  • the control device 50 executes the functions of the switching command unit 521, the parameter value determination unit 522, the voltage value determination unit 523, as well as the input unit 524 and the identification unit 525.
  • the input unit 524 receives a switching timing signal that is output when the winding switching device 100 executes zero-cross switching. That is, the input unit 524 receives a switching timing signal that is output from each of the control circuits 103u, 103v, and 103w of the winding switching device 100 to the gate terminals of the semiconductor relays 111u, 111v, and 111w.
  • the determination unit 525 determines the switching timing at which a zero-crossing switch is performed to switch the connection state of the windings 21u, 22u, 21v, 22v, 21w, and 22w from a series connection state to a parallel connection state, or from a parallel connection state to a series connection state, at the zero-crossing points of the winding currents Iu, Iv, and Iw.
  • the determination unit 525 determines the switching timing based on the input of a switching timing signal at the input unit 524. For example, the determination unit 525 can determine the switching timing in the U phase, the switching timing in the V phase, and the switching timing in the W phase.
  • the parameter value determination unit 522 switches the feedback gain from the switching gain to the post-switching gain, using the switching timing identified by the identification unit 525 as the first timing.
  • the parameter value determination unit 522 can switch the target current from the pre-switching target current to the post-switching target current, with a switching timing different from the first timing identified by the identification unit 525 as the second timing.
  • the parameter value determination unit 522 can switch the correction component from the pre-switching correction component to the post-switching correction component at the second timing. Specifically, when the parameter value determination unit 522 determines the switching timing of the U phase identified by the identification unit 525 as the first timing, it determines the switching timing of the V phase or W phase identified by the identification unit 525 as the second timing.
  • FIG. 14 is the first half of a flowchart showing an example of motor control processing by a control device according to the fourth embodiment.
  • the second half of the flowchart is the same as FIG. 9B.
  • Steps S101 to S106 are the same as steps S101 to S106 in the first embodiment.
  • a switching timing signal is output from the winding switching device 100 to the control device 50.
  • the processor 501 determines the switching timing based on the switching timing signal.
  • the processor 501 determines whether or not the switching timing has arrived (step S201). If the switching timing has not arrived (NO in step S201), the processor 501 executes step S201 again.
  • Step S107 to S111 are the same as steps S107 to S111 in the first embodiment.
  • the processor 501 determines whether or not the switching timing has arrived (step S202).
  • the switching timing in step S202 is a switching timing in a different phase from the switching timing in step S201. If the switching timing has not arrived (NO in step S202), the processor 501 executes step S202 again.
  • Step S113 to S117 are the same as steps S113 to S117 in the first embodiment (see FIG. 9B).
  • the determination unit 525 of the control device 50 detects zero crossing points of the winding currents Iu, Iv, Iw, and estimates the switching timing based on the detected zero crossing points. For example, the determination unit 525 can determine the waveforms of the winding currents Iu, Iv, Iw from the time-series detection values of the current sensors 33u, 33v, 33w, and detect the zero crossing points in each of the U-phase, V-phase, and W-phase.
  • the determination unit 525 can estimate that the next zero cross point after the switching command signal is input to the winding switching device 100 is the switching timing. For example, the determination unit 525 can estimate the switching timing for each of the U phase, V phase, and W phase.
  • the input unit 524 receives the detection values of the current sensors 33u, 33v, and 33w instead of the switching timing signal from the winding switching device 100.
  • the determination unit 525 detects the zero-crossing points of the winding currents Iu, Iv, and Iw based on the detection values of the current sensors 33u, 33v, and 33w input to the input unit 524.
  • control device 50 according to the fifth embodiment are similar to those of the control device 50 according to the fourth embodiment, and therefore will not be described.
  • Other configurations of the winding switching system according to the fifth embodiment are similar to those of the winding switching system 10 according to the first embodiment, and therefore will not be described.
  • [6. Sixth embodiment] 6 is referred to.
  • the parameter value determination unit 522 of the control device 50 according to the sixth embodiment switches the feedback gain stepwise from the pre-switching gain to the post-switching gain.
  • the switching command unit 521 outputs a switching command signal
  • the parameter value determination unit 522 determines a feedback gain for switching (hereinafter, also referred to as a "switching gain").
  • the switching gain is, for example, a feedback gain whose value is between the pre-switching gain and the post-switching gain.
  • the constant (P gain) of the P term (proportional term) for determining the switching gain is a value between the constant of the P term for determining the pre-switching gain and the constant of the P term for determining the post-switching gain.
  • the constant (I gain) of the I term (integral term) for determining the switching gain is a value between the constant of the I term for determining the pre-switching gain and the constant of the I term for determining the post-switching gain.
  • the constant (D gain) of the D term (differential term) for determining the switching gain is a value between the constant of the D term for determining the pre-switching gain and the constant of the D term for determining the post-switching gain.
  • the parameter value determination unit 522 can determine the switching gain as the feedback gain for a predetermined period of time after the switching command unit 521 outputs the switching command signal.
  • the predetermined period of time is, for example, a period of time equivalent to a specified number of control cycles.
  • the parameter value determination unit 522 of the control device 50 gradually changes the feedback gain from the pre-switching gain to the post-switching gain when the switching command unit 521 outputs a switching command signal.
  • the parameter value determination unit 522 changes the feedback gain from the pre-switching gain to the post-switching gain in a ramp-like manner over time.
  • the gradual change in the feedback gain parameter value is not limited to a ramp-like change.
  • the parameter value may change in a curved manner.
  • “gradually changing the parameter value” includes changing the parameter value in stages.
  • “gradually changing the parameter value” is not limited to smoothly changing the parameter value over time.
  • the parameter value may be changed in multiple stages or discretely.
  • the parameter value determination unit 522 calculates both the pre-switching gain and the post-switching gain. For example, the parameter value determination unit 522 gradually increases or decreases the parameter value of the feedback gain over time from the pre-switching gain to the post-switching gain.
  • the parameter value determination unit 522 of the control device 50 gradually changes the target current from the pre-switching target current to the post-switching target current, and gradually changes the correction component from the pre-switching correction component to the post-switching correction component.
  • the parameter value determination unit 522 changes the target current from the pre-switching target current to the post-switching target current in a ramp-like manner over time.
  • the parameter value determination unit 522 changes the correction component from the pre-switching correction component to the post-switching correction component in a ramp-like manner over time.
  • the parameter value determination unit 522 may gradually change the parameter value of either the target current or the correction component from the parameter value before switching to the parameter value after switching.
  • the gradual change in the parameter value is not limited to a ramp-like change.
  • the parameter value may change in a curved manner.
  • the parameter value determination unit 522 calculates both the pre-switching target current and the post-switching target current. For example, the parameter value determination unit gradually increases the parameter value of the target current over time from the pre-switching target current to the post-switching target current. The same applies to the correction component.
  • the target current transitions gradually from the pre-switching target current to the post-switching target current
  • the correction component transitions gradually from the pre-switching correction component to the post-switching correction component. This makes it possible to suppress the occurrence of surge voltages and oscillations in current control.
  • the voltage value determination unit 523 of the control device 50 switches the correction component used to determine the control voltage value from a pre-switching correction component to a post-switching correction component for each phase. That is, the voltage value determination unit 523 switches the correction component used to determine the control voltage value from a pre-switching correction component to a post-switching correction component at different timings for each of the U, V, and W phases.
  • the parameter value determination unit 522 calculates each of the pre-switching correction component and the post-switching correction component in the dq coordinate system. For example, at the zero cross point of the U phase, the voltage value determination unit 523 switches the correction component used to determine the control voltage value of the U phase from the pre-switching correction component to the post-switching correction component. That is, before the zero cross point of the U phase, the voltage value determination unit 523 calculates the control voltage value of the U phase based on the pre-switching correction component. After the zero cross point of the U phase, the voltage value determination unit 523 calculates the control voltage value of the U phase based on the post-switching correction component.
  • the voltage value determination unit 523 switches the correction component used to determine the control voltage value of the V phase from the pre-switching correction component to the post-switching correction component, and at the zero cross point of the W phase, the correction component used to determine the control voltage value of the W phase from the pre-switching correction component to the post-switching correction component.
  • the target current used to determine the control voltage value may be switched from the pre-switching target current to the post-switching target current for each phase.
  • the feedback gain used to determine the control voltage value may be switched from the pre-switching gain to the post-switching gain for each phase.
  • Winding switching system 20 Motor 21u, 22u, 21v, 22v, 21w, 22w Winding 23 Neutral point 25 Power line 26 Position sensor 30 Power converter 31u, 32u, 31v, 32v, 31w, 32w Switch 33u, 33v, 33w Current sensor 35u, 35v, 35w Power line 40 Battery 50 Control device 501 Processor 502 Non-volatile memory 503 Volatile memory 504 Interface (I/F) 510 Motor control program 521 Switching command unit 522 Parameter value determination unit 523 Voltage value determination unit 524 Input unit 525 Identification unit 531 Target torque 532 Torque current conversion unit 533 Current conversion unit 534 Addition point 535 F/B control unit 536 Electromotive force calculation unit 537 Addition point 538 Voltage conversion unit 539 PWM unit 100 Winding switching device 101u, 101v, 101w Current sensor 102u, 102v, 102w Zero cross detection circuit 103u, 103v, 103w Control circuit 104u, 104v, 104w Switching circuit 111u,

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)
PCT/JP2023/047020 2023-03-03 2023-12-27 制御装置、巻線切替システム、制御方法、及び制御プログラム Ceased WO2024185274A1 (ja)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013110839A (ja) * 2011-11-21 2013-06-06 Toyota Motor Corp 電気自動車用のインバータ
JP2020043740A (ja) * 2018-09-13 2020-03-19 マツダ株式会社 電動発電機の制御装置
WO2021214980A1 (ja) * 2020-04-24 2021-10-28 三菱電機株式会社 電動機駆動装置、冷凍サイクル装置、空気調和機、給湯機、及び冷蔵庫

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013110839A (ja) * 2011-11-21 2013-06-06 Toyota Motor Corp 電気自動車用のインバータ
JP2020043740A (ja) * 2018-09-13 2020-03-19 マツダ株式会社 電動発電機の制御装置
WO2021214980A1 (ja) * 2020-04-24 2021-10-28 三菱電機株式会社 電動機駆動装置、冷凍サイクル装置、空気調和機、給湯機、及び冷蔵庫

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