JP5169797B2 - 永久磁石式回転電機の制御装置 - Google Patents
永久磁石式回転電機の制御装置 Download PDFInfo
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- JP5169797B2 JP5169797B2 JP2008323756A JP2008323756A JP5169797B2 JP 5169797 B2 JP5169797 B2 JP 5169797B2 JP 2008323756 A JP2008323756 A JP 2008323756A JP 2008323756 A JP2008323756 A JP 2008323756A JP 5169797 B2 JP5169797 B2 JP 5169797B2
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- 238000000034 method Methods 0.000 claims description 51
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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
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
-
- 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
- B60L2240/421—Speed
-
- 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
-
- 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
- B60L2240/44—Drive Train control parameters related to combustion engines
- B60L2240/441—Speed
-
- 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
- B60L2240/44—Drive Train control parameters related to combustion engines
- B60L2240/443—Torque
-
- 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
- B60L2240/54—Drive Train control parameters related to batteries
- B60L2240/547—Voltage
-
- 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
- B60L2240/54—Drive Train control parameters related to batteries
- B60L2240/549—Current
-
- 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
- Y02T10/62—Hybrid vehicles
-
- 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
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- Control Of Motors That Do Not Use Commutators (AREA)
- Hybrid Electric Vehicles (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Ac Motors In General (AREA)
Description
但し、Φ:磁束、Ld,Lq:d,q軸インダクタンス、
Id,Iq:d,q軸電流
係数A=(磁極補正角θofs1−磁極補正角θofs2)÷(回転数Nm1−回転数Nm2)
係数B=磁極補正角θofs1−A×回転数Nm1
100 モータ制御装置
3 エンジン
4 回転子
5 永久磁石
6 固定子
7 電機子
8 磁極位置検出器
9 電流指令生成器
10 電流指令切換器
11u,11v 電流検出器
12 電流座標変換器
13,14 減算処理器
15 電圧指令生成器
16 電圧座標変換器
17 PWMインバータ回路
101 位相補正器
103 メモリ
50 車両制御部
Claims (3)
- 回転子及び固定子にそれぞれ永久磁石及び電機子を設けた永久磁石式回転電機の前記回転子の磁極位置を検出する磁極位置検出部と、
前記回転子が略一定回転数で回転している状態で前記磁極位置検出部が検出した磁極位置の実際の磁極位置に対する誤差を算出する誤差算出部と、
前記回転子が異なる略一定回転数で回転している各状態の度に前記誤差算出部が算出した複数の誤差、及び前記誤差算出部が各誤差を算出したときの前記回転子の回転数に基づいて、前記回転子の回転数と磁極位置の誤差との関係を示す回転数−誤差特性を導出する特性導出部と、
前記回転数−誤差特性に基づいて、該磁極位置検出部が検出した磁極位置を補正するための前記回転子の回転数に応じた磁極位置補正量を求める補正量決定部と、
前記磁極位置検出部により検出された磁極位置を前記補正量決定部により求められた磁極位置補正量で補正してなる磁極位置に応じて前記電機子に印加する電機子電圧の位相を操作しつつ、該電機子に流れる電機子電流を制御する電流制御部とを備えた前記永久磁石式回転電機の制御装置において、
前記誤差算出部は、2つ以上の異なる略一定回転数で前記回転子が回転している各状態で、前記回転子の界磁方向をd軸、該d軸に直交する方向をq軸とするdq座標系で前記回転電機を取扱うdqベクトル制御におけるd軸電流指令値およびq軸電流指令値の両者を零に保持しつつ、前記磁極位置補正量を所定の仮設定値に定めて該dqベクトル制御の処理を実行し、該dqベクトル制御の実行時に求めたd軸電圧指令値とq軸電圧指令値とから、該d軸電圧指令値およびq軸電圧指令値を変数とする所定の演算式に基づき誤差を算出することを特徴とする永久磁石式回転電機の制御装置。 - 請求項1に記載の永久磁石式回転電機の制御装置であって、
前記誤差算出部が、2つの異なる略一定回転数で前記回転子が回転している各状態で磁極位置の誤差を算出した場合、前記特性導出部は、直線近似によって前記回転数−誤差特性を導出することを特徴とする永久磁石式回転電機の制御装置。 - 請求項1に記載の永久磁石式回転電機の制御装置であって、
前記誤差算出部が、3つ以上の異なる略一定回転数で前記回転子が回転している各状態で磁極位置の誤差を算出した場合、前記特性導出部は、曲線近似によって前記回転数−誤差特性を導出することを特徴とする永久磁石式回転電機の制御装置。
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JP2008323756A JP5169797B2 (ja) | 2008-12-19 | 2008-12-19 | 永久磁石式回転電機の制御装置 |
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JP2010148270A JP2010148270A (ja) | 2010-07-01 |
JP5169797B2 true JP5169797B2 (ja) | 2013-03-27 |
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Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
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KR101339239B1 (ko) * | 2011-11-29 | 2013-12-09 | 기아자동차 주식회사 | 모터를 구비한 차량의 제어방법 |
JP6123181B2 (ja) * | 2012-07-24 | 2017-05-10 | トヨタ自動車株式会社 | モータ制御装置 |
JP6123182B2 (ja) * | 2012-07-24 | 2017-05-10 | トヨタ自動車株式会社 | モータ制御装置 |
WO2017041300A1 (zh) * | 2015-09-11 | 2017-03-16 | 广东美芝制冷设备有限公司 | 电机控制***及电机侧功率因数的控制方法和装置 |
KR102636050B1 (ko) * | 2019-01-03 | 2024-02-14 | 현대자동차주식회사 | 공기 압축기 모터의 홀 센서 신호지연의 보정 방법 |
CN113574792B (zh) * | 2019-03-22 | 2024-02-09 | 三菱电机株式会社 | 永磁同步机的控制装置 |
CN114157211B (zh) * | 2021-12-16 | 2023-09-01 | 武汉理工通宇新源动力有限公司 | 一种车用驱动电机旋变零位实时校正方法及*** |
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JP3397013B2 (ja) * | 1995-08-10 | 2003-04-14 | 富士電機株式会社 | 同期モータの制御装置 |
JP3062655B2 (ja) * | 1997-06-02 | 2000-07-12 | 株式会社ワコー技研 | ねじ締め装置 |
JP3688673B2 (ja) * | 2002-10-01 | 2005-08-31 | 本田技研工業株式会社 | 永久磁石式回転電機の制御装置 |
JP4606033B2 (ja) * | 2004-01-30 | 2011-01-05 | 三菱電機株式会社 | 同期モータの回転子位置検出調整方法 |
JP2007228700A (ja) * | 2006-02-22 | 2007-09-06 | Toyota Motor Corp | モータ制御装置 |
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