JP4479922B2 - 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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- JP4479922B2 JP4479922B2 JP2006336627A JP2006336627A JP4479922B2 JP 4479922 B2 JP4479922 B2 JP 4479922B2 JP 2006336627 A JP2006336627 A JP 2006336627A JP 2006336627 A JP2006336627 A JP 2006336627A JP 4479922 B2 JP4479922 B2 JP 4479922B2
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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
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- 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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- 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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- 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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- 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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- 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
- B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
- 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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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- 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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- 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
- B60L2210/20—AC to AC converters
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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
- B60L2210/40—DC to AC converters
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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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- B60L2270/00—Problem solutions or means not otherwise provided for
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- B60W2510/00—Input parameters relating to a particular sub-units
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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。
これにより、第2の交流モータ14のトルクを一定(トルク指令値T2*)に保持したままで第2の交流モータ14の入力電力(無効電力)を入力電力操作量Pm だけ変化させる入力電力制御用の指令電流ベクトルip2* (d軸指令電流idp2*,q軸指令電流iqp2*)を求める。
つまり、3つの電流ベクトルi2 ,it2,ip2によって形成される三角形Aは、3つの電圧ベクトル(V2*−V0 ),(Vt2* −V0 ),Vp2* によって形成される三角形Bの各辺の方向をαだけ進角させると共に各辺の長さをR倍した三角形である。
T=φ×iq2+(Ld −Lq )×id2×iq2
Tt =φ×iqt2*+(Ld −Lq )×idt2*×iqt2*
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
T=φ×iq2+(Ld −Lq )×id2×iq2
Tt =φ×iqt2 +(Ld −Lq )×idt2 ×iqt2
Claims (11)
- 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、
前記電流制御手段は、前記MGユニットの入力電力制御の過渡状態において前記交流モータのトルクが変動しないように、前記交流モータに流れる電流に基づいて該交流モータの推定トルク(以下「第1の推定トルク」という)を演算すると共に前記交流モータのトルク制御に関わるトルク制御用の電流に基づいて該交流モータの推定トルク(以下「第2の推定トルク」という)を演算して、前記第1の推定トルクと前記第2の推定トルクとの偏差が0となるように制御するトルク変動ゼロ制御手段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入力電力制御用の指令電圧を演算し、前記トルク制御用の指令電圧と前記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。
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