JP2008037351A - モータ制御装置 - Google Patents
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- B60L15/2054—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 by controlling transmissions or clutches
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Abstract
【解決手段】モータ11を用いた走行駆動から内燃機関12のみによる走行駆動へ移行させるときに、モータ11の位相を現在の位相から任意の要求位相へ変更した場合に低減される維持エネルギーを算出する低減エネルギー算出手段と、現在の位相から任意の要求位相に変更する際に生じる可変エネルギーを算出する可変エネルギー算出手段とを備え、低減エネルギーと可変エネルギーとを比較し、低減エネルギーの方が大きいと判定された場合に、位相位置の変更を許可する可変機構位相算出部62を備えることを特徴とする。
【選択図】図1
Description
このように構成することで、モータを用いた走行駆動から内燃機関だけの走行駆動に切換える際に、低減エネルギー算出手段によって現在の位相から任意の位相へ変更した場合に低減される低減エネルギーを算出するとともに、可変エネルギー算出手段によって現在の位相から任意の要求位相に変更するために生じる可変エネルギーを算出し、位相変更許可手段によって低減エネルギーと可変エネルギーとを比較し、可変エネルギーよりも低減エネルギーの方が大きい場合つまり位相位置を変更した方が消費エネルギーを低減できる場合にのみ位相位置の変更を許可することができる。
このように構成することで、例えば現在の位相で維持するのに必要な維持エネルギーから要求位相で維持するのに必要な維持エネルギーを減算することで、位相の変更による維持エネルギーの低減分である低減エネルギーを算出することができる。
本実施形態によるモータ制御装置は、例えば走行駆動源としてモータを備えるハイブリッド車である車両に搭載され、例えば図1に示す車両10は、モータ11および内燃機関12を駆動源として備えるパラレルハイブリッド車両であり、モータ11と、内燃機関12と、トランスミッションT/Mとは直列に直結され、少なくともモータ11または内燃機関12の駆動力はトランスミッションT/Mを介して車両10の駆動輪Wに伝達されるようになっている。
PDU14は、例えばトランジスタのスイッチング素子を複数用いてブリッジ接続してなるブリッジ回路を具備するパルス幅変調(PWM)によるPWMインバータを備え、モータ11と電気エネルギーの授受を行う高圧系のバッテリ15が接続されている。
PDU14は、例えばモータ11の駆動時等において制御部13から入力されるスイッチング指令であるゲート信号(つまり、PWM信号)に基づき、PWMインバータにおいて各相毎に対をなす各トランジスタのオン(導通)/オフ(遮断)状態を切り替えることによって、バッテリ15から供給される直流電力を3相交流電力に変換し、3相のモータ11のステータ巻線への通電を順次転流させることで、各相のステータ巻線に交流のU相電流IuおよびV相電流IvおよびW相電流Iwを通電する。
また、周方向で隣り合う外周側磁石装着部34,34間において第2ロータ鉄心32の外周面32A上には回転軸Oに平行に伸びる凹溝32aが形成されている。
そして、各磁石装着孔33a,34aは回転軸Oに平行な方向に対する断面が、略周方向が長手方向かつ略径方向が短手方向の略長方形状に形成され、各磁石装着孔33a,34aには回転軸Oに平行に伸びる略長方形板状の各永久磁石21a,22aが装着されている。
なお、このモータ11は、作動液の給排制御によって、強め界磁の状態と弱め界磁の状態を任意に変更し得るものであるが、こうして磁界の強さが変更されると、それに伴って誘起電圧定数Keが変化し、その結果、モータ11の特性が変更される。即ち、強め界磁によって誘起電圧定数Keが大きくなると、モータ11として運転可能な許容回転速度は低下するものの、出力可能な最大トルクは増大し、逆に、弱め界磁によって誘起電圧定数Keが小さくなると、モータ11の出力可能な最大トルクは減少するものの、運転可能な許容回転速度は上昇する。
なお、界磁制御部53は、例えばモータ11の回転数NMの増大に伴う逆起電圧の増大を抑制するためにロータ23の界磁量を等価的に弱めるようにして電流位相を制御する弱め界磁制御の弱め界磁電流に対する目標値をd軸補正電流としてd軸電流偏差算出部52aへ出力する。
また、電力制御部54は、例えばバッテリ15の残容量等に応じた適宜の電力制御に応じてq軸電流指令Iqcを補正するためのq軸補正電流をq軸電流偏差算出部52aへ出力する。
誘起電圧定数算出部61は、位相センサ74から出力される位相θの検出信号に基づき、内周側回転子21と外周側回転子22との相対的な位相θに応じた誘起電圧定数Keを算出する。
誘起電圧定数差分算出部64は、誘起電圧定数指令出力部63から出力される誘起電圧定数指令値Kecと誘起電圧定数算出部61から出力される誘起電圧定数Keとの偏差である誘起電圧定数差分ΔKeを出力する。
位相制御部65は、例えば誘起電圧定数差分算出部64から出力される誘起電圧定数差分ΔKeに応じて、この誘起電圧定数差分ΔKeをゼロとするようにして位相θを制御するための制御指令を出力する。
また、可変機構位相算出部62は、現在位相θと位相変更後の位相θhと可変エネルギーとのマップを備えている。位相θhは運転者の要求であるアクセルペダル開度などに基づいて算出できるので、これら位相θと位相θhとによって、現在位相θから位相変更後の位相θhへ変更する際に位相制御装置25によって消費される可変エネルギーを検索する。
ステップS02においては、回転数演算部60から出力される内燃機関(Eng)12の回転数である回転数NMを読み込む。
ステップS03においては、現在の内燃機関12の現在トルクを車輪速センサ75から出力される車輪速NWを基に算出して読み込む。
ステップS04においては、位相センサ74から出力される現在の位相位置である位相θを読み込む。
ステップS05においては、ステップS02で読み込んだ内燃機関12の現在トルクと現在の回転数NWに基づいて可能位相位置を算出する処理を実行する。すなわち図7に示すように、トルク指令値Tqと回転数NWとのマップに基づいてモータ11で可変できる位相範囲を参照する。
ステップS07においては、後述する低減エネルギー算出処理を実行して低減エネルギー(α)を算出する。
ステップS08においては、後述する可変エネルギー算出処理を実行して可変エネルギー(β)を算出する。
ステップS12においては、可能位相位置への可変指令処理を行う。ここで、このステップS12は、可能位相範囲にない現在の位相θを可能位相範囲内に入るように制御指令を出力する処理である。
ステップS13においては、位相の可変許可フラグを「0」に設定して処理を終了する。
先ず、ステップS20においては、現在の位相位置である位相θを読み込む。
ステップS21においては、図8に示す位相位置(X軸)と回転数(Y軸)と維持エネルギー(Z軸)との3次元マップを検索して現在の位相位置である位相θにおける維持エネルギーを求める。
ステップS23においては、ステップS21と同様に図8に示す位相位置(X軸)と回転数(Y軸)と維持エネルギー(Z軸)との3次元マップを検索して位相θhでの維持エネルギーを求める。
先ず、ステップS30においては、現在の位相位置である位相θを読み込む。
ステップS31においては、アクセルペダル開度などの運転者要求を基に要求位相位置である位相θhとトルク指令値Tqとを算出し、さらに、回転数NMを読み込む。
ステップS32においては、位相θ(現在位相)が位相θh(要求位相)よりも大きいか否かを判定する。ステップS32における判定結果が「YES」(現在位相>要求位相)である場合はステップS33に進み、判定結果が「NO」(現在位相≦要求位相)である場合はステップS34に進む。ここで、ステップS32では、位相θと位相θhとの大きさを比較することで、位相変更の向きが例えば進角側から遅角側への位相変更か、あるいは遅角側から進角側への位相変更かを判定している。
ステップS34においては、ステップS33と同様に、ステップS30で読み込んだ位相θとステップS31で算出した要求位相位置とを基に、図10に示す現在位相位置(X軸)と、要求位相位置(Y軸)と、可変エネルギー(Z軸)とのマップを検索して位相変更に係る可変エネルギーを求めてこの処理を終了する。
11 モータ
12 内燃機関
22 外周側回転子(ロータ)
21 内周側回転子(ロータ)
21a,22a 永久磁石(磁石片)
25 位相制御装置(位相変更手段)
62 可変機構位相算出部(位相変更許可手段)
ステップS08 可変エネルギー算出手段
ステップS07 低減エネルギー算出手段
Claims (2)
- 各々に磁石片を有し互いの相対的な位相を変更可能な複数のロータを具備するモータと、複数のロータの相対的な位相を作動流体の流体圧により変更する位相変更手段とを備え、少なくとも前記モータと内燃機関とのいずれかによって走行駆動可能なハイブリッド車両に設けられたモータ制御装置であって、
前記モータを用いた走行駆動から前記内燃機関のみによる走行駆動へ移行させたときに、前記モータの位相を現在の位相から任意の要求位相へ変更した場合に低減される低減エネルギーを算出する低減エネルギー算出手段と、
前記現在の位相から任意の要求位相に変更する際に生じる可変エネルギーを算出する可変エネルギー算出手段とを備え、
前記低減エネルギーと前記可変エネルギーとを比較し、前記低減エネルギーの方が大きいと判定された場合に、前記位相位置の変更を許可する位相変更許可手段を備えることを特徴とするモータ制御装置。 - 前記低減エネルギー算出手段が、前記モータの位相を現在の位相で維持するのに必要な維持エネルギーと、前記モータの位相を要求位相で維持するのに必要な維持エネルギーとの差分から低減エネルギーを算出することを特徴とする請求項1に記載のモータ制御装置。
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DE102007033791.6A DE102007033791B4 (de) | 2006-08-09 | 2007-07-19 | Motorsteuervorrichtung und Motorsteuerverfahren |
US11/882,913 US7818111B2 (en) | 2006-08-09 | 2007-08-07 | Motor control apparatus and motor control method |
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JP2009268175A (ja) * | 2008-04-22 | 2009-11-12 | Honda Motor Co Ltd | 電動車両の制御装置 |
JP2014212597A (ja) * | 2013-04-17 | 2014-11-13 | 株式会社ジェイテクト | 回転電機 |
KR20150041643A (ko) * | 2012-08-06 | 2015-04-16 | 르노 에스.아.에스. | 전기 기계, 특히 자동차를 위한 전기 기계의 전자기 토크를 제어하기 위한 시스템 |
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JP4556076B2 (ja) * | 2008-04-22 | 2010-10-06 | 本田技研工業株式会社 | 電動機の制御装置 |
GR20110100549A (el) * | 2011-09-23 | 2013-04-18 | Κωνσταντινος Ιωαννη Λασκαρης | Ηλεκτρικη μηχανη μονιμων μαγνητων με ρυθμιζομενο πεδιο διεγερσης |
JP6036322B2 (ja) * | 2013-01-18 | 2016-11-30 | 株式会社島津製作所 | モータ駆動装置および真空ポンプ |
JP6563260B2 (ja) * | 2015-06-15 | 2019-08-21 | コベルコ建機株式会社 | マグネット作業機械 |
JP7247285B2 (ja) * | 2021-08-26 | 2023-03-28 | 本田技研工業株式会社 | 車両制御装置 |
DE102021126082A1 (de) | 2021-10-07 | 2023-04-13 | Volkswagen Aktiengesellschaft | Verfahren zum Wechseln eines Betriebszustandes in einem Fahrzeug |
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DE102007033791B4 (de) | 2015-12-03 |
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