JP4622863B2 - モータの制御装置 - Google Patents
モータの制御装置 Download PDFInfo
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- JP4622863B2 JP4622863B2 JP2006002572A JP2006002572A JP4622863B2 JP 4622863 B2 JP4622863 B2 JP 4622863B2 JP 2006002572 A JP2006002572 A JP 2006002572A JP 2006002572 A JP2006002572 A JP 2006002572A JP 4622863 B2 JP4622863 B2 JP 4622863B2
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- 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
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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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- B60K6/36—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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- H—ELECTRICITY
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- 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
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/17—Circuit arrangements for detecting position and for generating speed information
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
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- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
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- H—ELECTRICITY
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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
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- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
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- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Automation & Control Theory (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Ac Motors In General (AREA)
Description
図2は、この発明によるモータの制御装置の機能ブロック図である。
図3を参照して、PCU20は、昇圧コンバータ12と、コンデンサC1,C2と、インバータ14,31と、電圧センサ10,13と、電流センサ24,28と、回転位置センサR1,R2とを含む。
電圧センサ10は、バッテリBから出力される直流電圧Vbを検出し、その検出した直流電圧Vbをモータ制御部30へ出力する。
図4を参照して、モータ制御部30は、モータ制御用相電圧演算部301と、インバータ用PWM信号変換部302と、インバータ入力電圧指令演算部303と、コンバータ用デューティ比演算部304と、コンバータ用PWM信号変換部305とを含む。
インバータ入力電圧指令演算部303は、トルク指令値TR1,TR2および制御用回転数MRN1,MRN2に基づいてインバータ入力電圧Vmの最適値(目標値)、すなわち、電圧指令Vdc_comを演算し、その演算した電圧指令Vdc_comをコンバータ用デューティ比演算部304へ出力する。
P=Pm+Pg+Lg+Lm+Pc (1)
ただし、Lg,Lmは、各モータジェネレータにおけるパワー損失分を示す。
Win<Pm+Pg+Lg+Lm+Pc<Wout (2)
ただし、WinはバッテリBの入力制限、WoutはバッテリBの出力制限を示す。
Pm=K・Tr2×MRN2 (3)
Pg=K・Tr2×MRN2 (4)
ただし、Kは、駆動力を電力に変換するための変換係数である。
最初に、予測回転数としては、モータ駆動制御が行なわれる制御周期の終期となるタイミングでの実回転数を推定の対象とする。図5の例では、時刻tn+1から時刻tn+2までの制御周期の終期である時刻tn+2における実回転数N(tn+2)が推定の対象となる。これは、回転数の急増時にバッテリBを確実に保護するためには、制御周期において最も回転数が高くなると予想される終期において、式(2)の関係が成り立つことが必要であると判断されることによる。
N(tn+2)=(Nn−1)+{(Nn−1)−(Nn−2)}×2.5 (5)
ところが、通常回転数Nn−2,Nn−1は、制御周期ごとに回転位置センサR2からの出力信号θ2に基づいて算出されるため、信号θ2に重畳されたノイズなどの影響を受けて細かな変動成分を含む場合がある。そのため、連続する制御周期の各々において算出された通常回転数Nn−2,Nn−1から直接的に予測回転数を推定する式(5)の方法では、通常回転数の細かな変動の影響を受けて安定した予測回転数の推定が困難となるという問題が起こり得る。
NAn={(Nn−k)+(Nn−k+1)・・・+Nn−2+Nn−1}/k (6)
なお、移動平均としては、式(6)の手法以外に、k個の通常回転数の各々に所定の係数を掛け合わせて重み付けしたものの平均値を求める加重移動平均を適用しても良い。この場合、所定の係数は、最近の通常回転数に対するものほど大きくなるように設定される。
N(tn+2)=(Nn−1)+{(NAn)−(NAn−1)}×2.5 (7)
図7は、通常回転数、通常回転数を移動平均して得られる移動平均回転数、および移動平均回転数に基づいて算出された予測回転数の時間的変化を示す図である。
ただし、N(tn+1)は前回の制御周期における予測回転数、aは2以上の自然数である。
Claims (6)
- 駆動力指令値に従ってモータを駆動制御するモータの制御装置であって、
前記モータの回転数を検出する回転数検出部と、
前記回転数の検出値の移動平均を算出する移動平均演算部と、
算出された前記移動平均を用いて所定の制御タイミングにおける予測回転数を推定する回転数推定部と、
推定された前記予測回転数を制御用回転数とし、前記制御用回転数に基づいて前記所定の制御タイミングにおける前記駆動力指令値を設定する駆動力指令設定部と、
電源から電力の供給を受けて前記モータの出力を前記駆動力指令値に追従させるように前記モータを駆動制御するモータ駆動制御部と、
前記移動平均に基づいて前記回転数が上昇状態であるか、または下降状態で有るかを判定する回転数変動状態判定部とを備え、
前記回転数推定部は、前記回転数が前記上昇状態であると判定されたことに応じて、前記所定の制御タイミングにおける前記予測回転数を推定し、前記回転数が前記下降状態であると判定されたことに応じて、前記予測回転数の推定を禁止する、モータの制御装置。 - 前記駆動力指令設定部は、前記モータの力行動作時において、前記制御用回転数と前記駆動力指令値とに対応する前記モータでの消費電力が前記電源の出力電力制限値を超えないように、前記駆動力指令値を設定し、かつ、前記モータの回生動作時において、前記制御用回転数と前記駆動力指令値とに対応する前記モータでの発電電力が前記電源の入力電力制限値を超えないように、前記駆動力指令値を設定する、請求項1に記載のモータの制御装置。
- 前記回転数推定部は、前記回転数が前記下降状態にあると判定されたことに応じて、前記回転数の検出値を直接的に前記予測回転数に設定して出力する、請求項1または請求項2に記載のモータの制御装置。
- 前記回転数変動状態判定部は、前記移動平均が連続するn(nは2以上の自然数)個の制御周期において増加したことに応じて前記回転数が前記上昇状態にあると判定し、かつ、前記移動平均が連続するm(mは2以上の自然数)個の前記制御周期において減少したことに応じて前記回転数が前記下降状態にあると判定する、請求項3に記載のモータの制御装置。
- 前記回転数推定部は、前記移動平均が減少し始めてから前記回転数が前記下降状態にあると判定されるまでの期間において、前記予測回転数を、前記移動平均に基づいて推定される前記予測回転数よりも高く、かつ、前記回転数の検出値よりも低い回転数に設定する、請求項4に記載のモータの制御装置。
- 前記回転数変動状態判定部は、前記制御周期間の前記移動平均の増加量が大きいほど、前記nを相対的に小さい値に設定し、前記制御周期間の前記移動平均の減少量が大きいほど、前記mを相対的に小さい値に設定する、請求項4に記載のモータの制御装置。
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EP06834387.0A EP1981166B1 (en) | 2006-01-10 | 2006-12-05 | Control apparatus for motor |
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JP4512145B2 (ja) * | 2008-03-21 | 2010-07-28 | ファナック株式会社 | モータ制御装置 |
JP4450102B1 (ja) | 2008-10-17 | 2010-04-14 | トヨタ自動車株式会社 | モータ駆動制御装置 |
US8248115B2 (en) * | 2009-12-02 | 2012-08-21 | Hamilton Sundstrand Corporation | Voltage controlled current driver powered by negative voltage rail |
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WO2014125718A1 (ja) * | 2013-02-15 | 2014-08-21 | 村田機械株式会社 | 搬送台車、搬送台車の駆動制御方法、及び搬送台車の駆動制御プログラム |
JP6015511B2 (ja) * | 2013-03-22 | 2016-10-26 | マツダ株式会社 | 車両の走行制御装置 |
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