JP2021027615A - モータ制御システム - Google Patents
モータ制御システム Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- 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]
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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
- H02P21/22—Current control, e.g. using a current control loop
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/26—Power factor control [PFC]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- 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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/12—Stationary parts of the magnetic circuit
- H02K1/14—Stator cores with salient poles
- H02K1/146—Stator cores with salient poles consisting of a generally annular yoke with salient poles
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/27—Rotor cores with permanent magnets
- H02K1/2706—Inner rotors
- H02K1/272—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis
- H02K1/274—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets
- H02K1/2753—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets the rotor consisting of magnets or groups of magnets arranged with alternating polarity
-
- 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
- H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed
- H02P21/0089—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed using field weakening
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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
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/10—Electrical machine types
- B60L2220/14—Synchronous machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/429—Current
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K2213/00—Specific aspects, not otherwise provided for and not covered by codes H02K2201/00 - H02K2211/00
- H02K2213/09—Machines characterised by the presence of elements which are subject to variation, e.g. adjustable bearings, reconfigurable windings, variable pitch ventilators
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Hybrid Electric Vehicles (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
Description
図1に、開示する技術を適用した4輪の自動車1(移動体の一例)を示す。この自動車1は、ハイブリッド車である。自動車1の駆動源に、エンジン2および駆動モータ3が搭載されている。これらが協働して、4つの車輪4F,4F,4R,4Rのうち、左右対称状に位置する2輪(駆動輪4R)を駆動する。それにより、自動車1は移動(走行)する。
エンジン2は、例えばガソリンを燃量にして燃焼を行う内燃機関である。エンジン2はまた、吸気、圧縮、膨張、排気の各サイクルを繰り返すことで回転動力を発生させる、いわゆる4サイクルエンジンである。エンジン2には、ディーゼルエンジン等、様々な種類や形態があるが、開示する技術では、特にエンジンの種類や形態は限定しない。
自動車1には、運転者の操作に応じて、その走行をコントロールするために、上述した、ECU20、MCU21、TCU22、BCU23、およびGCU24の各ユニットが設置されている。これらユニットの各々は、CPUやメモリ、インターフェースなどのハードウエアと、データベースや制御プログラムなどのソフトウエアとで構成されている。
MCU21は、駆動モータ3が単独で出力する状態で、あるいは、必要に応じてエンジン2の出力をアシストする状態で、駆動モータ3の回転動力によって自動車1が走行するように制御する。
図5に、駆動モータ3の出力範囲を例示する。回転数別のトルク(負荷)の上限値を示す負荷上限ラインによって、出力範囲が画定されている。
図6に、モータ制御システムの簡略化したシステム図を示す。図7に、MCU21が行う駆動モータ3の制御の一例を示す。これらを参照しながら、駆動モータ3の具体的な制御の流れについて説明する。なお、駆動モータ3は、トルク電流指令Iq*と励磁電流指令Id*とを用いたベクトル制御によって制御されている。
2 エンジン
3 駆動モータ
5 第1クラッチ
6 インバータ
7 第2クラッチ
8 変速機
10 バッテリ
21 モータコントロールユニット(制御装置)
21a モータ出力制御部
21b 磁化制御部
32 シャフト
33 ロータ
34 ステータ
35 マグネット(磁力可変マグネット)
36 コイル
50 エンジン回転センサ
51 モータ回転センサ
52 電流センサ
53 磁力センサ
54 アクセルセンサ(出力センサ)
Claims (6)
- 駆動モータで移動する移動体に搭載されるモータ制御システムであって、
前記移動体の駆動に要求される出力を検出する出力センサと、
前記駆動モータに電力を供給するバッテリと、
前記出力センサの検出値に基づいて設定される前記駆動モータの回転動力の要求量を、所定の出力範囲で出力するように前記駆動モータを制御する制御装置と、
を備え、
前記駆動モータは、
前記回転動力を出力し、かつ磁力可変マグネットが設置されたロータと、
前記ロータとギャップを隔てて対向し、前記バッテリによって通電される複数のコイルが設置されたステータと、
を有し、
前記制御装置は、
前記コイルに流れる駆動電流を制御して、前記回転動力の要求量を出力させるモータ出力制御部と、
前記コイルに流れる磁化電流を制御して、前記磁力可変マグネットの磁力を変更する磁化制御部と、
を有し、
前記磁力可変マグネットの磁力が、前記駆動電流によって前記コイルに発生する電磁力と略一致するように、前記磁化制御部が前記磁力可変マグネットの磁力を変更するように構成されていて、前記出力範囲の負荷上限領域で発生する前記電磁力と略一致する磁力に、前記磁力可変マグネットの基準となるベース磁力が設定されている、モータ制御システム。 - 請求項1に記載のモータ制御システムにおいて、
前記回転動力の要求量が、前記移動体の移動に寄与しない所定値以下となった場合に、前記磁力可変マグネットの磁力が前記ベース磁力にリセットされる、モータ制御システム。 - 請求項1または請求項2に記載のモータ制御システムにおいて、
前記出力範囲が複数の磁化領域に区画されていて、前記磁化領域の各々に応じて、前記磁化制御部が前記磁力可変マグネットの磁力を変更する、モータ制御システム。 - 請求項1〜3のいずれか1つに記載のモータ制御システムにおいて、
前記移動体は、自動車である、モータ制御システム。 - 請求項4に記載のモータ制御システムにおいて、
前記出力センサは、アクセルの開度を検出するアクセルセンサである、モータ制御システム。 - 請求項5に記載のモータ制御システムにおいて、
前記自動車が更にエンジンを備え、
前記アクセルセンサの検出値に基づいて、前記駆動モータおよび前記エンジンが協働して前記自動車を駆動するように構成されていて、
前記バッテリの定格電圧が50V以下である、モータ制御システム。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019141549A JP7367373B2 (ja) | 2019-07-31 | 2019-07-31 | モータ制御システム |
EP20186654.8A EP3771591A1 (en) | 2019-07-31 | 2020-07-20 | Motor control system, movable object, and automobile |
CN202010698281.8A CN112332740B (zh) | 2019-07-31 | 2020-07-20 | 马达控制*** |
US16/936,455 US11271504B2 (en) | 2019-07-31 | 2020-07-23 | Motor control system |
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JP2019141549A JP7367373B2 (ja) | 2019-07-31 | 2019-07-31 | モータ制御システム |
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JP7367373B2 JP7367373B2 (ja) | 2023-10-24 |
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EP (1) | EP3771591A1 (ja) |
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Cited By (1)
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EP4257414A1 (en) | 2022-04-05 | 2023-10-11 | Mazda Motor Corporation | Control device for electric vehicle |
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JP7404916B2 (ja) * | 2020-02-14 | 2023-12-26 | マツダ株式会社 | 移動体の制御装置 |
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EP0638457B1 (en) * | 1993-08-10 | 1999-03-03 | Toyota Jidosha Kabushiki Kaisha | Apparatus for driving and controlling synchronous motor using permanent magnets as its field system |
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JP4834712B2 (ja) * | 2008-10-15 | 2011-12-14 | 株式会社東芝 | モータ制御装置,モータ制御システム,洗濯機及び永久磁石モータの着磁方法 |
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CN112332740A (zh) | 2021-02-05 |
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US11271504B2 (en) | 2022-03-08 |
EP3771591A1 (en) | 2021-02-03 |
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