CN115811262A - Motor control device and motor control method - Google Patents

Motor control device and motor control method Download PDF

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Publication number
CN115811262A
CN115811262A CN202111074287.9A CN202111074287A CN115811262A CN 115811262 A CN115811262 A CN 115811262A CN 202111074287 A CN202111074287 A CN 202111074287A CN 115811262 A CN115811262 A CN 115811262A
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Prior art keywords
priority mode
efficiency
motor
current command
command value
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Inventor
小池上贵
三本松功
中田雄飞
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Nidec Elesys Corp
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Nidec Elesys Corp
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Priority to CN202111074287.9A priority Critical patent/CN115811262A/en
Priority to DE102022122902.5A priority patent/DE102022122902A1/en
Publication of CN115811262A publication Critical patent/CN115811262A/en
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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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/20—Estimation of torque
    • 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
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/02—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles characterised by the form of the current used in the control circuit
    • B60L15/025—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles characterised by the form of the current used in the control circuit using field orientation; Vector control; Direct Torque Control [DTC]
    • 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
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • 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
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2045—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for optimising the use of energy
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P21/0021—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using different modes of control depending on a parameter, e.g. the speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/02—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for optimising the efficiency at low load
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/141—Flux estimation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The invention provides a motor control device and a motor control method. The motor control device includes: a power supply voltage detection unit for detecting a power supply voltage value; a control mode setting unit that sets the control mode to an efficiency priority mode when a target voltage value calculated based on the target current value and the detected rotation speed is within a controllable range using the detected power supply voltage value, and sets the control mode to a torque priority mode when the target voltage value calculated based on the target current value and the detected rotation speed is outside the controllable range using the detected power supply voltage value; and a current command value estimating unit that estimates a current command value of the motor using different estimation expressions, based on whether the efficiency priority mode or the torque priority mode is set by the control mode setting unit. Thus, the torque priority mode can be appropriately selected according to the operating conditions of the electric motor.

Description

Motor control device and motor control method
Technical Field
The present invention relates to a motor control technology, and more particularly to a motor control device and a motor control method for controlling a motor mounted on a vehicle or the like.
Background
An electric motor as a driving source in an electric vehicle or the like is generally driven to obtain the maximum efficiency. However, depending on the state of use of the motor, it is sometimes desirable that a higher torque output be given priority over efficiency. For example, there are cases where the maximum efficiency current cannot flow due to the limitation of the voltage limiting ellipse, and cases where heat generation is desired for the purpose of improving the performance of each component in cold regions and the like.
Patent document 1 discloses a motor control device that acquires a d-axis current command value and a q-axis current command value of a motor in an efficiency priority mode in which efficiency of the motor is prioritized and a torque priority mode in which high torque output is prioritized, respectively.
Documents of the prior art
Patent document
Patent document 1: japanese patent laid-open No. 2012-055032.
Disclosure of Invention
However, patent document 1 does not describe in detail in which case the torque priority mode is selected.
Further, conventionally, as a method for performing torque control by interpolating 2 sets of current values having the same torque but different efficiencies by using an equal torque curve, there are a method for performing linear interpolation between measured points and a method for performing inverse operation based on motor parameters calculated in advance by magnetic analysis. In the linear interpolation method, since a torque curve is interpolated by a straight line, there is a problem that the torque temporarily increases in the middle. The inverse operation method has a problem that torque fluctuates due to a parameter error with an actual motor.
The present invention has been made to solve the above-described problems, and an object thereof is to provide a motor control device and a motor control method capable of appropriately selecting a torque priority mode according to an operating condition of a motor.
It is another object of the present invention to provide a motor control device and a motor control method that can estimate a current command value of a motor with high accuracy in a torque priority mode.
The present invention relates to a motor control device having two control modes, an efficiency priority mode in which efficiency of a motor is prioritized over desired torque output, and a torque priority mode in which desired torque output is prioritized over efficiency of the motor, the efficiency priority mode being higher than the efficiency of the torque priority mode at a same current command value of the motor, the motor control device including: a power supply voltage detection unit that detects a power supply voltage value; a control mode setting unit that sets a control mode to an efficiency priority mode when a target voltage value calculated based on a target current value and a detected rotation speed is within a controllable range using the detected power supply voltage value, and sets a control mode to a torque priority mode when the target voltage value calculated based on the target current value and the detected rotation speed is outside the controllable range using the detected power supply voltage value; and a current command value estimating unit that estimates a current command value of the electric motor by using different estimation expressions based on whether the efficiency priority mode or the torque priority mode is set by the control mode setting unit.
Preferably, the control mode setting unit changes the control mode from the torque priority mode to the efficiency priority mode when the target voltage value is within a controllable range using the detected power supply voltage value in a state where the control mode is set to the torque priority mode.
The present invention also relates to a motor control device having two control modes of an efficiency priority mode and a torque priority mode, the efficiency priority mode being a control mode in which efficiency of a motor is prioritized over desired torque output, the torque priority mode being a control mode in which desired torque output is prioritized over efficiency of the motor, the efficiency of the efficiency priority mode being higher than the efficiency of the torque priority mode at a same current command value of the motor, the motor control device comprising: a thermal characteristic parameter detection unit that detects a thermal characteristic parameter of a power device in the motor control device; a control mode setting unit that sets a control mode to an efficiency priority mode when the detected thermal characteristic parameter of the power device is equal to or greater than a preset target value, and sets a control mode to a torque priority mode when the detected thermal characteristic parameter of the power device is lower than the target value; and a current command value estimating unit that estimates a current command value of the electric motor by using different estimation expressions based on whether the efficiency priority mode or the torque priority mode is set by the control mode setting unit.
Preferably, the power device is an inverter for driving the motor.
Preferably, the thermal characteristic parameter is a heat quantity of the power device.
Preferably, the thermal characteristic parameter is a temperature of the power device.
Preferably, the target value is indicated by a host device.
Preferably, the control mode setting unit changes the control mode from the torque priority mode to the efficiency priority mode when the detected thermal characteristic parameter of the power device becomes equal to or greater than the target value in a state where the control mode is set to the torque priority mode.
The present invention also relates to a motor control device having two control modes of an efficiency priority mode in which efficiency of a motor is prioritized over desired torque output and a torque priority mode in which desired torque output is prioritized over efficiency of the motor, the efficiency of the efficiency priority mode being higher than the efficiency of the torque priority mode at the same current command value of the motor, the motor control device including a current command value estimating section that estimates a q-axis current command value and a d-axis current command value of the motor using different estimation expressions in the efficiency priority mode and the torque priority mode, respectively, in the torque priority mode, the current command value estimating unit calculates a dq-axis inductance difference between a d-axis inductance and a q-axis inductance from known 2 sets of current values having the same torque but different efficiencies, selects a magnetic flux from a memory in which magnetic flux information of the motor is stored in advance, calculates one of the d-axis current command value and the q-axis current command value by linear interpolation from the known 2 sets of current values, and calculates the other of the d-axis current command value and the q-axis current command value from the calculated one of the d-axis current command value and the q-axis current command value, the dq-axis inductance difference, and the magnetic flux.
Preferably, the memory storing magnetic flux information is used for both the efficiency priority mode and the torque priority mode.
The present invention also relates to a motor control method having two control modes of an efficiency priority mode and a torque priority mode, the efficiency priority mode being a control mode in which efficiency of a motor is prioritized over desired torque output, the torque priority mode being a control mode in which desired torque output is prioritized over efficiency of the motor, the efficiency of the efficiency priority mode being higher than the efficiency of the torque priority mode at a same current command value of the motor, the motor control method comprising the steps of: a power supply voltage detection step of detecting a power supply voltage value; a control mode setting step of setting a control mode to an efficiency priority mode when a target voltage value calculated based on a target current value and a detected rotation speed is within a controllable range using the detected power supply voltage value, and setting the control mode to a torque priority mode when the target voltage value calculated based on the target current value and the detected rotation speed is outside the controllable range using the detected power supply voltage value; and a current command value estimating step of estimating a current command value of the motor by using different estimation expressions based on whether the efficiency priority mode or the torque priority mode is set in the control mode setting step.
The present invention also relates to a motor control method having two control modes of an efficiency priority mode and a torque priority mode, the efficiency priority mode being a control mode in which efficiency of a motor is prioritized over desired torque output, the torque priority mode being a control mode in which desired torque output is prioritized over efficiency of the motor, the efficiency of the efficiency priority mode being higher than the efficiency of the torque priority mode at a same current command value of the motor, the motor control method comprising the steps of: a thermal characteristic parameter detection step of detecting a thermal characteristic parameter of a power device in the motor control apparatus; a control mode setting step of setting a control mode to an efficiency priority mode when the detected thermal characteristic parameter is equal to or more than a preset target value, and setting the control mode to a torque priority mode when the detected thermal characteristic parameter is lower than the target value; and a current command value estimating step of estimating a current command value of the motor by using different estimation expressions based on whether the efficiency priority mode or the torque priority mode is set in the control mode setting step.
The present invention also relates to a motor control method having two control modes of an efficiency priority mode and a torque priority mode, the efficiency priority mode being a control mode in which efficiency of a motor is prioritized over desired torque output, the torque priority mode being a control mode in which desired torque output is prioritized over efficiency of the motor, the efficiency priority mode having higher efficiency than the torque priority mode at the same current command value of the motor, q-axis current command value and d-axis current command value of the motor being estimated using different estimation expressions in the efficiency priority mode and the torque priority mode, respectively, the method including the steps of: calculating a dq-axis inductance difference between the d-axis inductance and the q-axis inductance from 2 known sets of current values having the same torque but different efficiencies; selecting a magnetic flux from a memory in which magnetic flux information of the motor is stored in advance; calculating one of the d-axis current command value and the q-axis current command value by linear interpolation based on the known 2 sets of current values; and calculating the other of the d-axis current command value and the q-axis current command value based on the calculated one of the d-axis current command value and the q-axis current command value, the dq-axis inductance difference, and the magnetic flux.
According to the motor apparatus and the motor control method of the present invention, the control mode is set to the efficiency priority mode when the target voltage value is within the controllable range using the detected power supply voltage value, and the control mode is set to the torque priority mode when the target voltage value is outside the controllable range using the detected power supply voltage value.
Further, according to the motor apparatus and the motor control method of the present invention, the torque priority mode can be appropriately selected according to the operating condition of the motor by setting the control mode to the efficiency priority mode when the detected thermal characteristic parameter of the power device is equal to or greater than the target value, and setting the control mode to the torque priority mode when the detected thermal characteristic parameter of the power device is lower than the target value.
According to the motor device and the motor control method of the present invention, the current command value of the motor can be estimated with high accuracy in the torque priority mode.
The above and other features, elements, steps, features and advantages of the present invention will be more clearly understood from the following detailed description of the preferred embodiments of the present invention taken in conjunction with the accompanying drawings.
Drawings
Fig. 1 is a diagram showing a schematic configuration of a motor control system according to embodiment 1 of the present invention.
Fig. 2 is a diagram for explaining a case where the torque priority mode is changed to the efficiency priority mode in embodiment 1.
Fig. 3 is a diagram showing a schematic configuration of a motor control system according to embodiment 2 of the present invention.
Fig. 4 is a flowchart showing an example of the operation of the current command value estimation unit in the motor control device according to embodiment 3 of the present invention.
Fig. 5 is a diagram showing an example of the relationship between dq-axis inductance difference and magnetic flux and d-axis current in embodiment 3 of the present invention.
Detailed Description
Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to the accompanying drawings.
< embodiment 1>
Fig. 1 is a diagram showing a schematic configuration of a motor control system 400 according to embodiment 1 of the present invention. As shown in fig. 1, the motor control system 400 includes a motor drive device 100, a power supply 200, a motor 300, and an angle sensor 310.
The power supply 200 supplies electric power for driving the motor, for example, a battery, to an inverter 160 of the motor drive device 100 described later.
The motor control device 100 is configured to have two control modes, an efficiency priority mode and a torque priority mode. The efficiency priority mode is a control mode in which the efficiency of the electric motor is prioritized over the desired torque output, and the torque priority mode is a control mode in which the desired torque output is prioritized over the efficiency of the electric motor. The efficiency of the efficiency priority mode is higher than that of the torque priority mode at the same current command value of the motor.
Motor drive device 100 includes power supply voltage detection unit 110, control mode setting unit 120, current command value estimation unit 130, controller 140, 2-phase/3-phase conversion unit 150, and inverter 160.
The power supply voltage detection unit 110 is connected to the power supply 200 and detects a power supply voltage value.
The control mode setting unit 120 sets the control mode to the efficiency priority mode when the target voltage value calculated based on the target current value and the detected rotation speed is within the controllable range using the detected power supply voltage value, and sets the control mode to the torque priority mode when the target voltage value calculated based on the target current value and the detected rotation speed is outside the controllable range using the detected power supply voltage value.
Here, a range that can be controlled using the detected power supply voltage value may be referred to as a voltage limiting region. The voltage limiting region is, for example, a voltage limiting ellipse. The voltage limit ellipse is a range determined by values that can be output according to motor characteristics such as a power supply voltage, a rotation speed, and a phase resistance of the motor 300 on the dq current coordinate plane, that is, a range indicating a voltage limit of a composite vector that can be set according to the power supply voltage and the like.
Current command value estimation unit 130 estimates a current command value of the motor using different estimation expressions based on whether control mode setting unit 120 sets the efficiency priority mode or the torque priority mode. In the present embodiment, the current command value estimating unit 130 is configured to estimate a d-axis current command value Id and a q-axis current command value Iq of the motor.
The controller 140 calculates a d-axis voltage command value Vd and a q-axis voltage command value Vq based on the d-axis current command value Id and the q-axis current command value Iq output from the current command value estimation section 130. Specifically, the controller 140 performs PI (proportional integral) control operation or the like so that the difference between the d-axis current command value and the actual d-axis current value and the difference between the q-axis current command value and the actual q-axis current value converge to zero. The d-axis voltage command value Vd and the q-axis voltage command value Vq obtained by the calculation are output to the 2-phase/3-phase conversion unit 150.
The 2-phase/3-phase conversion unit 150 converts the voltage command values Vd and Vq for the 2-phase into three-phase voltage command values Vu, vv, and Vw for the u-phase, v-phase, and w-phase in an inverse dq manner based on the angle signal θ (electrical angle) fed back from the angle sensor 310. The three-phase voltage command values Vu, vv, vw converted in the inverse dq manner are output to the inverter 160.
Inverter 160 drives the switching elements in accordance with three-phase PWM signals based on duty ratios of three-phase voltage command values Vu, vv, vw from 2-phase/3-phase conversion unit 150, thereby applying voltages corresponding to three-phase voltage command values Vu, vv, vw to motor 300. The inverter 160 may be configured to have 6 switching elements bridged, for example. As the switching element, for example, an IGBT (Insulated Gate Bipolar Transistor) or the like can be used. The configuration of the three-phase inverter circuit and the like is known in the art, and therefore, a detailed description thereof is omitted.
Motor 300 is formed of, for example, a three-phase brushless motor, and is rotationally driven by driving inverter 160.
The angle sensor 310 detects an angle signal θ according to a change in the angle of the rotating shaft of the motor 300. The detected angle signal θ is output to the 2-phase/3-phase conversion unit 150. As the angle sensor 310, a known angle detector such as a resolver or an MR sensor can be used.
In the present embodiment, in a state where the control mode is set to the torque priority mode, when the target voltage value is within the controllable range using the detected power supply voltage value, the control mode setting unit 120 may change the control mode from the torque priority mode to the efficiency priority mode.
Fig. 2 is a diagram for explaining a case where the torque priority mode is changed to the efficiency priority mode in embodiment 1. As shown in fig. 2, when the target voltage value becomes within the voltage limit region due to the expansion of the voltage limit region, the control mode setting portion 120 may change the control mode from the torque priority mode to the efficiency priority mode.
According to the motor control device of embodiment 1, the torque priority mode can be appropriately selected according to the operating conditions of the motor by setting the control mode to the efficiency priority mode when the target voltage value is within the controllable range using the detected power supply voltage value, and setting the control mode to the torque priority mode when the target voltage value is outside the controllable range using the detected power supply voltage value.
< embodiment 2>
Fig. 3 is a diagram showing a schematic configuration of a motor control system 400A according to embodiment 2 of the present invention. While the control mode is set based on whether or not the power supply voltage value is within the voltage limit region in embodiment 1, the control mode is set based on whether or not the thermal characteristic parameter of the power device in the motor control apparatus is equal to or greater than the target value in embodiment 2. In embodiment 2, the same components as those in embodiment 1 are denoted by the same reference numerals, and description thereof is omitted.
Motor control system 400A includes motor drive device 100A, power supply 200, motor 300, and angle sensor 310. Motor drive device 100A includes thermal characteristic parameter detection unit 170 and power supply voltage detection unit 110.
The request for the thermal characteristic parameter is transmitted from a host device such as an external battery management system or a vehicle system. When the motor drive device 100A receives the request for the thermal characteristic parameter, the thermal characteristic parameter detection unit 170 detects the thermal characteristic parameter of the power device in the motor control device 100A.
In the present embodiment, the inverter 160 is taken as an example of a power device. The thermal characteristic parameter includes, for example, the heat and temperature of the inverter 160.
Generally, a heater is provided around a power source such as a battery, and an instruction is given to the heater from an external host device such as a battery management system or a vehicle system to raise the temperature and maintain the performance of the battery. As in the above case, the host device may indicate the target amount of heat to be generated by the inverter 160 or the target temperature of the inverter 160. That is, the target value is set in advance by the host device.
In motor drive apparatus 100A, control mode setting unit 120 sets the control mode to the efficiency priority mode when the thermal characteristic parameter of the power device (for example, the heat or temperature of inverter 160) detected by thermal characteristic parameter detection unit 170 is equal to or greater than a target value (target heat or target temperature), and sets the control mode to the torque priority mode when the detected thermal characteristic parameter of the power device is less than the target value.
In the present embodiment, when the detected thermal characteristic parameter of the power device becomes equal to or greater than the target value while the control mode is set to the torque priority mode, the control mode setting unit 120 changes the control mode from the torque priority mode to the efficiency priority mode.
According to the motor control device of embodiment 2, the torque priority mode can be appropriately selected according to the operating conditions of the motor by setting the control mode to the efficiency priority mode when the detected thermal characteristic parameter of the power device is equal to or greater than the target value, and setting the control mode to the torque priority mode when the detected thermal characteristic parameter of the power device is lower than the target value.
< embodiment 3>
Fig. 4 is a flowchart showing an example of the operation of the current command value estimation unit in the motor control device according to embodiment 3 of the present invention.
In embodiment 3, in the torque priority mode, the current command value estimating unit in the motor control device estimates the d-axis current command value and the q-axis current command value of the motor by the steps shown in fig. 4.
In step S1, the dq-axis inductance difference between the d-axis inductance and the q-axis inductance is calculated from 2 known sets of current values having the same torque but different efficiencies. A plurality of current values are stored in the memory for the same torque. For example, four current values at 1kW, 2kW, and 3kW with the maximum efficiency are calculated based on two sets of 2kW and 3kW for the requirement of 2.5 kW.
In step S2, magnetic flux is selected from a memory in which magnetic flux information of the motor is stored in advance.
In step S3, one of the d-axis current command value and the q-axis current command value is calculated by linear interpolation based on the known 2 sets of current values.
In step S4, the other of the d-axis current command value and the q-axis current command value is calculated from the calculated one of the d-axis current command value and the q-axis current command value, the dq-axis inductance difference, and the magnetic flux.
Specifically, the known 2 sets of current values of the same torque but different efficiencies obtained in advance by measurement of the motor testing machine are set as (I) d1 ，I q1 )、(I d2 ，I q2 ). The dq-axis inductance difference between the d-axis inductance Ld and the q-axis inductance Lq in the motor parameter is calculated in reverse by the following equation (1)
Figure BDA0003261642350000101
Figure BDA00032616423500001014
Figure BDA0003261642350000102
Wherein the content of the first and second substances,
Figure BDA0003261642350000103
the difference in the dq-axis inductances, which respectively correspond to 2 sets of current values, is defined as
Figure BDA0003261642350000104
P is the number of pole pairs of the motor,
Figure BDA0003261642350000105
the value is obtained based on a linkage magnetic flux Ψ map corresponding to Iq calculated in advance by a motor tester or a magnetic analysis. The torque T is a torque generated by the motor, and when the torque is measured by a motor tester, the friction portion is corrected. This may be defined by a scaling factor related to speed or by a table.
By performing inverse calculation of the above equation (1), the dq-axis inductance difference shown in the following equation (2) is obtained
Figure BDA0003261642350000106
Figure BDA0003261642350000107
Figure BDA0003261642350000108
Next, a d-axis current command value I shown in the following formula (3) is obtained by performing linear interpolation in the same manner as in the conventional art d * . Similarly, the dq-axis inductance difference shown in the following formula (4) can be obtained by performing linear interpolation
Figure BDA0003261642350000109
And a magnetic flux represented by the following formula (5)
Figure BDA00032616423500001010
Figure BDA00032616423500001011
Figure BDA00032616423500001012
Figure BDA00032616423500001013
A graph of an example of dq-axis inductance difference and magnetic flux versus d-axis current is shown in fig. 5. In fig. 5, the solid line indicates an actual value, and the broken line indicates a value obtained by the interpolation method according to the present embodiment. As can be seen from fig. 5, the value obtained by the interpolation method according to the present embodiment is closer to the actual value.
Finally, the q-axis current command value I is calculated by the following equation (6) q * 。
Figure BDA0003261642350000111
In addition, depending on the characteristics of the motor, lx = Ld-Lq ≦ 0 is necessarily true, but if it appears in the calculation
Figure BDA0003261642350000112
In case of (1), then replace with
Figure BDA0003261642350000113
I.e. replaced by
Figure BDA0003261642350000114
So that the overall formula is not contradictory. For the
Figure BDA0003261642350000115
The same is true.
According to the motor control device of embodiment 3, the current command value of the motor can be estimated with high accuracy in the torque priority mode.
The present invention has been described in detail, but the above embodiments are merely examples of all embodiments, and the present invention is not limited thereto. In the present invention, any constituent elements of the embodiments may be modified within the scope of the present invention, and the embodiments may be combined and used. For example, embodiment 1 and embodiment 2 may be used in combination with the method of estimating the current command value in the torque priority mode in embodiment 3.

Claims (13)

1. A motor control device is characterized in that,
the motor control device has two control modes, an efficiency priority mode in which the efficiency of the motor is prioritized over a desired torque output, and a torque priority mode in which the efficiency of the efficiency priority mode is higher than the efficiency of the torque priority mode at the same current command value of the motor,
the motor control device includes:
a power supply voltage detection unit that detects a power supply voltage value;
a control mode setting unit that sets a control mode to an efficiency priority mode when a target voltage value calculated based on a target current value and a detected rotation speed is within a controllable range using the detected power supply voltage value, and sets a control mode to a torque priority mode when the target voltage value calculated based on the target current value and the detected rotation speed is outside the controllable range using the detected power supply voltage value; and
and a current command value estimating unit that estimates a current command value of the motor by using different estimation expressions based on whether the efficiency priority mode or the torque priority mode is set by the control mode setting unit.
2. The motor control device according to claim 1,
the control mode setting unit changes the control mode from the torque priority mode to the efficiency priority mode when the target voltage value is within a controllable range using the detected power supply voltage value in a state where the control mode is set to the torque priority mode.
3. A motor control device is characterized in that,
the motor control device has two control modes, an efficiency priority mode in which the efficiency of the motor is prioritized over a desired torque output, and a torque priority mode in which the efficiency of the efficiency priority mode is higher than the efficiency of the torque priority mode at the same current command value of the motor,
the motor control device includes:
a thermal characteristic parameter detection unit that detects a thermal characteristic parameter of a power device in the motor control device;
a control mode setting unit that sets a control mode to an efficiency priority mode when the detected thermal characteristic parameter of the power device is equal to or greater than a preset target value, and sets a control mode to a torque priority mode when the detected thermal characteristic parameter of the power device is lower than the target value; and
and a current command value estimating unit that estimates a current command value of the electric motor by using different estimation expressions based on whether the efficiency priority mode or the torque priority mode is set by the control mode setting unit.
4. The motor control device of claim 3,
the power device is an inverter for driving the motor.
5. The motor control device according to claim 3 or 4,
the thermal characteristic parameter is a heat quantity of the power device.
6. The motor control device according to claim 3 or 4,
the thermal characteristic parameter is a temperature of the power device.
7. The motor control device of claim 3,
the target value is indicated by a host device.
8. The motor control device of claim 3,
the control mode setting unit changes the control mode from the torque priority mode to the efficiency priority mode when the detected thermal characteristic parameter of the power device becomes equal to or greater than the target value while the control mode is set to the torque priority mode.
9. A motor control device is characterized in that,
the motor control device has two control modes, an efficiency priority mode in which the efficiency of the motor is prioritized over a desired torque output, and a torque priority mode in which the efficiency of the efficiency priority mode is higher than the efficiency of the torque priority mode at the same current command value of the motor,
the motor control device includes a current command value estimating unit that estimates a q-axis current command value and a d-axis current command value of the motor using different estimation expressions in the efficiency priority mode and the torque priority mode, respectively,
in the torque priority mode, the current command value estimating unit may estimate the current command value,
the dq-axis inductance difference of the d-axis inductance and the q-axis inductance is calculated from the known 2 sets of current values of the same torque but different efficiencies,
selecting a magnetic flux from a memory in which magnetic flux information of the motor is stored in advance,
calculating one of the d-axis current command value and the q-axis current command value by linear interpolation based on the known 2 sets of current values,
the other of the d-axis current command value and the q-axis current command value is calculated from the calculated one of the d-axis current command value and the q-axis current command value, the dq-axis inductance difference, and the magnetic flux.
10. The motor control device according to claim 9,
the memory storing magnetic flux information is used for both the efficiency priority mode and the torque priority mode.
11. A motor control method is characterized in that,
the motor control method has two control modes of an efficiency priority mode in which the efficiency of the motor is prioritized over a desired torque output and a torque priority mode in which the desired torque output is prioritized over the efficiency of the motor, the efficiency of the efficiency priority mode being higher than the efficiency of the torque priority mode at the same current command value of the motor,
the motor control method includes the steps of:
a power supply voltage detection step of detecting a power supply voltage value;
a control mode setting step of setting a control mode to an efficiency priority mode when a target voltage value calculated based on a target current value and a detected rotation speed is within a controllable range using the detected power supply voltage value, and setting the control mode to a torque priority mode when the target voltage value calculated based on the target current value and the detected rotation speed is outside the controllable range using the detected power supply voltage value; and
and a current command value estimating step of estimating a current command value of the electric motor by using different estimation expressions based on whether the efficiency priority mode or the torque priority mode is set in the control mode setting step.
12. A motor control method is characterized in that,
the motor control method has two control modes of an efficiency priority mode in which efficiency of a motor is prioritized over desired torque output and a torque priority mode in which desired torque output is prioritized over efficiency of the motor, the efficiency of the efficiency priority mode being higher than the efficiency of the torque priority mode at the same current command value of the motor,
the motor control method includes the steps of:
a thermal characteristic parameter detection step of detecting a thermal characteristic parameter of a power device in the motor control apparatus;
a control mode setting step of setting a control mode to an efficiency priority mode when the detected thermal characteristic parameter is equal to or more than a preset target value, and setting the control mode to a torque priority mode when the detected thermal characteristic parameter is lower than the target value; and
and a current command value estimating step of estimating a current command value of the electric motor by using different estimation expressions based on whether the efficiency priority mode or the torque priority mode is set in the control mode setting step.
13. A motor control method is characterized in that,
the motor control method has two control modes of an efficiency priority mode in which efficiency of a motor is prioritized over desired torque output and a torque priority mode in which desired torque output is prioritized over efficiency of the motor, the efficiency of the efficiency priority mode being higher than the efficiency of the torque priority mode at the same current command value of the motor,
estimating a q-axis current command value and a d-axis current command value of the electric motor using different estimation expressions in the efficiency priority mode and the torque priority mode, respectively,
in the torque priority mode, the method comprises the following steps:
calculating a dq-axis inductance difference between the d-axis inductance and the q-axis inductance from 2 known sets of current values having the same torque but different efficiencies;
selecting a magnetic flux from a memory in which magnetic flux information of the motor is stored in advance;
calculating one of the d-axis current command value and the q-axis current command value by linear interpolation based on the known 2 sets of current values; and
and calculating the other of the d-axis current command value and the q-axis current command value based on the calculated one of the d-axis current command value and the q-axis current command value, the dq-axis inductance difference, and the magnetic flux.
CN202111074287.9A 2021-09-14 2021-09-14 Motor control device and motor control method Pending CN115811262A (en)

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