JP4479919B2 - 電気自動車の制御装置 - Google Patents
電気自動車の制御装置 Download PDFInfo
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- JP4479919B2 JP4479919B2 JP2006309076A JP2006309076A JP4479919B2 JP 4479919 B2 JP4479919 B2 JP 4479919B2 JP 2006309076 A JP2006309076 A JP 2006309076A JP 2006309076 A JP2006309076 A JP 2006309076A JP 4479919 B2 JP4479919 B2 JP 4479919B2
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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
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
- B60L3/0046—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to electric energy storage systems, e.g. batteries or capacitors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/02—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including electrically actuated servomechanism including an electric control system or a servomechanism in which the vehicle velocity affecting element is actuated electrically
- B60K31/04—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including electrically actuated servomechanism including an electric control system or a servomechanism in which the vehicle velocity affecting element is actuated electrically and means for comparing one electrical quantity, e.g. voltage, pulse, waveform, flux, or the like, with another quantity of a like kind, which comparison means is involved in the development of an electrical signal which is fed into the controlling means
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- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
- B60K6/36—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the transmission gearings
- B60K6/365—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the transmission gearings with the gears having orbital motion
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- B60—VEHICLES IN GENERAL
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- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
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- B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
- B60K6/44—Series-parallel type
- B60K6/445—Differential gearing distribution type
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- 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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- 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
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/10—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines
- B60L50/16—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines with provision for separate direct mechanical propulsion
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- 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
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
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- B60L50/61—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries by batteries charged by engine-driven generators, e.g. series hybrid electric vehicles
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/24—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means
- B60W10/26—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means for electrical energy, e.g. batteries or capacitors
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
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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
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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
- H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
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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
- B60L2210/00—Converter types
- B60L2210/10—DC to DC converters
- B60L2210/14—Boost converters
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- 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
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- B60L2210/20—AC to AC converters
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60L2270/00—Problem solutions or means not otherwise provided for
- B60L2270/20—Inrush current reduction, i.e. avoiding high currents when connecting the battery
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- Sustainable Energy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Automation & Control Theory (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Ac Motors In General (AREA)
- Inverter Devices (AREA)
- Hybrid Electric Vehicles (AREA)
- Dc-Dc Converters (AREA)
Description
まず、図1に基づいて電気自動車の駆動システムの概略構成を説明する。内燃機関であるエンジン12と第1の交流モータ13及び第2の交流モータ14が搭載され、エンジン12と第2の交流モータ14が車輪11を駆動する動力源となる。エンジン12のクランク軸15の動力は、遊星ギヤ機構16で二系統に分割される。この遊星ギヤ機構16は、中心で回転するサンギヤ17と、このサンギヤ17の外周を自転しながら公転するプラネタリギヤ18と、このプラネタリギヤ18の外周を回転するリングギヤ19とから構成され、プラネタリギヤ18には図示しないキャリアを介してエンジン12のクランク軸15が連結され、リングギヤ19には第2の交流モータ14の回転軸が連結され、サンギヤ17には、主に発電機として使用する第1の交流モータ13が連結されている。
モータ制御装置37は、システム起動後に平滑コンデンサ24のプリチャージが完了した後に、モータ制御システムのシャットダウンを解除して、モータ制御(トルク制御、システム電圧安定化制御)を実行する。
一方、モータ制御装置37は、第2の交流モータ14をトルク制御する場合には、メイン制御装置31から出力されるトルク指令値T2*と、第2の交流モータ14のU相電流iU2 とW相電流iW2 (電流センサ43,44の出力信号)と、第2の交流モータ14のロータ回転位置θ2 (ロータ回転位置センサ40の出力信号)に基づいて正弦波PWM制御方式で三相電圧指令信号UU2 ,UV2 ,UW2 を生成する。
R=|i2 |/|V2*−V0 |
モータ制御装置37は、システム起動直後で平滑コンデンサ24のプリチャージ完了前に、システム電圧の目標値Vs*と検出値Vsfとの偏差ΔVs が小さくなるように昇圧コンバータ21の出力電圧を制御する変換電圧制御を実行する。
Dc =Dvc
モータ制御装置37は、システム起動後に平滑コンデンサ24のプリチャージが完了した後に、前述した変換電圧制御を停止し、昇圧コンバータ21の出力電力の指令値Pif* と検出値Pi との偏差ΔPi が小さくなるように昇圧コンバータ21の出力電力を制御する変換電力制御に切り換える。
Dc =Dpc
Claims (12)
- 直流電源の電圧を変換して電源ラインにシステム電圧を発生させる変換手段と、前記電源ラインに接続されたインバータ及び該インバータで駆動される交流モータからなる少なくとも1つのモータ駆動ユニット(以下「MGユニット」と表記する)と、車両の運転状態に応じて前記MGユニットを制御するメイン制御装置とを備えた電気自動車の制御装置において、
前記メイン制御装置から出力される前記交流モータのトルク指令値を実現するように制御される前記交流モータのトルク制御用の指令電圧と、前記交流モータのトルク指令値とは独立に前記システム電圧の変動を抑制するように制御される前記MGユニットの入力電力制御用の指令電圧とに基づいて、前記交流モータに印加する電圧の指令値であるモータ指令電圧を演算して前記交流モータのトルクと前記MGユニットの入力電力を制御する電流制御手段と、
前記電流制御手段に入力電力制御用指令値を指令して前記システム電圧の変動を抑制するように前記MGユニットの入力電力を制御するシステム電圧安定化制御を実行するシステム電圧制御手段と、
前記変換手段の入力電力又は出力電力(以下「変換電力」という)を制御する変換電力制御を実行する変換電力制御手段と、
前記変換手段の出力電圧を制御する変換電圧制御を実行する変換電圧制御手段と、
前記変換電力制御と前記変換電圧制御のうちのいずれか一方を実行するように選択すると共に前記変換電圧制御の実行が選択される場合に前記システム電圧安定化制御の実行を禁止する選択手段と
を備えていることを特徴とする電気自動車の制御装置。 - 前記電流制御手段は、前記交流モータに流れる電流の検出値であるモータ検出電流を前記交流モータのトルク制御に関わるトルク制御用の検出電流と前記MGユニットの入力電力制御に関わる入力電力制御用の検出電流とに分離する電流分離手段を備え、
前記交流モータのトルク制御用の指令電流と前記トルク制御用の検出電流とに基づいて前記トルク制御用の指令電圧を演算すると共に、前記MGユニットの入力電力制御用の指令電流と前記入力電力制御用の検出電流とに基づいて前記入力電力制御用の指令電圧を演算することを特徴とする請求項1に記載の電気自動車の制御装置。 - 前記電流分離手段は、前記モータ指令電圧と前記モータ検出電流と前記トルク制御用の指令電圧とに基づいて前記トルク制御用の検出電流を演算することを特徴とする請求項2に記載の電気自動車の制御装置。
- 前記電流分離手段は、前記モータ指令電圧と前記モータ検出電流と前記入力電力制御用の指令電圧とに基づいて前記入力電力制御用の検出電流を演算することを特徴とする請求項2又は3に記載の電気自動車の制御装置。
- 前記システム電圧の目標値を設定する目標電圧設定手段と、
前記システム電圧を検出する電圧検出手段とを備え、
前記システム電圧制御手段は、前記目標電圧設定手段で設定したシステム電圧の目標値と前記電圧検出手段で検出したシステム電圧とに基づいて前記MGユニットの入力電力操作量を演算し、該入力電力操作量に基づいて前記電流制御手段に入力電力制御用指令値を指令して前記システム電圧を制御することを特徴とする請求項1乃至4のいずれかに記載の電気自動車の制御装置。 - 前記電圧検出手段で検出したシステム電圧のうちの所定の周波数以下の成分を通過させる第一の低域通過手段を備え、
前記システム電圧制御手段は、前記第一の低域通過手段を通過した所定の周波数以下のシステム電圧を用いて前記MGユニットの入力電力操作量を演算することを特徴とする請求項5に記載の電気自動車の制御装置。 - 前記変換電力の指令値を演算する変換電力指令値演算手段と、
前記変換電力を検出する変換電力検出手段とを備え、
前記変換電力制御手段は、前記変換電力指令値演算手段で演算した変換電力の指令値と前記変換電力検出手段で検出した変換電力とに基づいて前記変換電力の制御量を演算し、該変換電力の制御量に基づいて前記変換電力を制御することを特徴とする請求項1乃至6のいずれかに記載の電気自動車の制御装置。 - 前記変換電力指令値演算手段は、前記電源ラインに接続された前記MGユニットを含む全ての電気負荷の入力電力に基づいて前記変換電力の指令値を演算することを特徴とする請求項7に記載の電気自動車の制御装置。
- 前記電源ラインに接続された前記MGユニットを含む全ての電気負荷の入力電力のうちの所定の周波数以下の成分を通過させる第二の低域通過手段を備え、
前記変換電力指令値演算手段は、前記第二の低域通過手段を通過した所定の周波数以下の電力に基づいて前記変換電力の指令値を演算することを特徴とする請求項8に記載の電気自動車の制御装置。 - 前記システム電圧の目標値を設定する目標電圧設定手段と前記システム電圧を検出する電圧検出手段のうちの少なくとも一方と、
前記変換手段の出力電流を検出する電流検出手段とを備え、
前記変換電力検出手段は、前記目標電圧設定手段で設定したシステム電圧の目標値又は前記電圧検出手段で検出したシステム電圧と、前記電流検出手段で検出した変換手段の出力電流とに基づいて前記変換電力を演算することを特徴とする請求項7乃至9のいずれかに記載の電気自動車の制御装置。 - 前記電流検出手段で検出した変換手段の出力電流のうちの所定の周波数以下の成分を通過させる第三の低域通過手段を備え、
前記変換電力検出手段は、前記第三の低域通過手段を通過した所定の周波数以下の出力電流を用いて前記変換電力を演算することを特徴とする請求項10に記載の電気自動車の制御装置。 - 前記システム電圧の目標値を設定する目標電圧設定手段と、
前記システム電圧を検出する電圧検出手段と、
前記変換電圧制御手段は、前記目標電圧設定手段で設定したシステム電圧の目標値と前記電圧検出手段で検出したシステム電圧とに基づいて前記変換手段の出力電圧の制御量を演算し、該出力電圧の制御量に基づいて前記変換手段の出力電圧を制御することを特徴とする請求項1乃至11のいずれかに記載の電気自動車の制御装置。
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