JP6980716B2 - 永久磁石同期機の駆動装置、永久磁石同期機のトルク補償方法、および電気車 - Google Patents
永久磁石同期機の駆動装置、永久磁石同期機のトルク補償方法、および電気車 Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
- H02M7/539—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters with automatic control of output wave form or frequency
- H02M7/5395—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters with automatic control of output wave form or frequency by pulse-width modulation
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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
- B60L15/007—Physical arrangements or structures of drive train converters specially adapted for the propulsion motors of electric vehicles
-
- 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]
-
- 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
- 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
- B60L50/51—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells characterised by AC-motors
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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
- H02P21/0085—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
-
- 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
-
- 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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/60—Controlling or determining the temperature of the motor or of the drive
- H02P29/66—Controlling or determining the temperature of the rotor
- H02P29/662—Controlling or determining the temperature of the rotor the rotor having permanent magnets
-
- 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
- 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
-
- 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
- B60L2200/00—Type of vehicles
- B60L2200/26—Rail vehicles
-
- 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
-
- 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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- 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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- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Control Of Ac Motors In General (AREA)
- Inverter Devices (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Electric Motors In General (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Description
123a,123b:入力端子、124:回転位置検出部、125:温度検出部、131:平滑用コンデンサ、132:主回路部、133:ゲート・ドライバ、134:直流抵抗器、201:磁束量制限値演算部、202:d軸電流指令演算部、203:q軸電流指令演算部、301,301b,301g,302c:トルク補正係数演算部、401b:磁石温度依存トルク補正係数演算部、402b:リラクタンストルク比率補正係数演算部、501b:リラクタンストルク比率磁石温度補正部、502b:リラクタンストルク推定演算部、601d:磁束量制限値演算部、601e:磁束量制限値演算部、701f:d軸電流指令三次元テーブル参照部、702f:q軸電流指令三次元テーブル参照部、901g:磁石温度補償係数演算部、902g:d軸電流特性補償係数演算部、1001g:d軸電流特性磁石温度補正係数演算部、1002g:d軸電流特性係数演算部、1201h,1201i,1201j,1201k:鉄損演算部、1202h:機械損演算部、1203h:負荷損演算部、1204h:損失トルク換算部、1205h:出力調整部、
1211h,1211i:ヒステリシス損演算部、1211j:ヒステリシス損周波数正規化値演算部、1211k:ヒステリシス損周波数正規化値演算部、1212h,1212i:渦電流損演算部、1212j,1212k:渦電流損周波数正規化値演算部、1221h:軸受損演算部、1222h:風損演算部、1231h:漂遊負荷損演算部、1232h:外部負荷損演算部、1252h:ギア効率演算部、1301m,1301n,1301o:トルク補正係数演算部、1401n:磁石磁束依存トルク補正係数演算部、1402n:リラクタンストルク比率補正係数演算部、1901o:磁石磁束補償係数演算部、1902o:d軸電流特性補償係数演算部
Claims (15)
- 永久磁石同期機を駆動する電力変換器と、前記電力変換器を制御する制御器とを有する永久磁石同期機の駆動装置であって、
前記制御器は、
入力されたトルク指令値を補正するトルク補正部と、
前記トルク補正部によって補正されたトルク指令値から、前記永久磁石同期機を駆動制御するためのd軸電流指令値およびq軸電流指令値を生成する電流指令演算部と
を備え、
前記トルク補正部は、前記永久磁石同期機の磁石磁束と関連付けられる値と、前記電流指令演算部によって生成された前記d軸電流指令値とに基づいて前記トルク指令値を補正する
ことを特徴とする永久磁石同期機の駆動装置。 - 前記磁石磁束と関連付けられる値は、前記永久磁石同期機の磁石温度であることを特徴とする請求項1に記載の永久磁石同期機の駆動装置。
- 前記磁石磁束と関連付けられる値は、前記永久磁石同期機の誘起電圧であることを特徴とする請求項1に記載の永久磁石同期機の駆動装置。
- 前記電流指令演算部は、
前記電力変換器の直流電圧検出値と前記永久磁石同期機の回転速度とから磁束量制限値を演算する磁束量制限値演算部を備え、
前記磁束量制限値演算部によって演算された磁束量制限値と、前記トルク補正部によって補正されたトルク指令値に基づいて前記d軸電流指令値および前記q軸電流指令値を生成する
ことを特徴とする請求項1〜3のいずれか1項に記載の永久磁石同期機の駆動装置。 - 前記電流指令演算部は、
磁束量制限値とトルク指令値とd電流指令値とq軸電流指令値とが対応付けられたテーブルを参照して、前記磁束量制限値演算部によって演算された磁束量制限値と、前記トルク補正部によって補正されたトルク指令値とに対応するd軸電流指令値およびq軸電流指令値を生成することを特徴とする請求項4に記載の永久磁石同期機の駆動装置。 - 前記磁束量制限値演算部は、
前記永久磁石同期機の磁石温度に基づいて前記磁束量制限値を補正することを特徴とする請求項4または5に記載の永久磁石同期機の駆動装置。 - 前記磁束量制限値演算部は、
前記電力変換器の出力電圧制限値または前記制御器の弱め界磁制御の目標電圧値に基づいて前記磁束量制限値を補正することを特徴とする請求項4または5に記載の永久磁石同期機の駆動装置。 - 前記電流指令演算部は、
前記電力変換器の直流電圧検出値と前記永久磁石同期機の回転速度と前記トルク指令値とから、前記d軸電流指令値および前記q軸電流指令値を生成する
ことを特徴とする請求項4〜7のいずれか1項に記載の永久磁石同期機の駆動装置。 - 前記トルク補正部は、
前記磁石磁束と関連付けられる値と、前記電流指令演算部によって生成された前記d軸電流指令値および前記q軸電流指令値とに基づいて前記トルク指令値を補正する
ことを特徴とする請求項4〜8のいずれか1項に記載の永久磁石同期機の駆動装置。 - 前記制御器は、
前記トルク指令値、前記d軸電流指令値、前記q軸電流指令値、前記永久磁石同期機の電流検出値、前記d軸電流指令値および前記q軸電流指令値に基づいて生成された前記永久磁石同期機を駆動するための電圧指令値、前記永久磁石同期機の回転速度、前記電力変換器の直流電圧検出値、および前記永久磁石同期機の機械パラメータの少なくともいずれかを用いて損失トルク値を演算し、演算した損失トルク値に基づいて前記トルク指令値を補償するトルク指令損失補償部
を備えたことを特徴とする請求項1に記載の永久磁石同期機の駆動装置。 - 永久磁石同期機を駆動する電力変換器と、前記電力変換器を制御する制御器とを有する永久磁石同期機のトルク補償方法であって、
前記制御器は、
入力されたトルク指令値を補正するトルク補正部と、
前記トルク補正部によって補正されたトルク指令値から、前記永久磁石同期機を駆動制御するためのd軸電流指令値およびq軸電流指令値を生成する電流指令演算部と
を備え、
前記トルク補正部が、前記永久磁石同期機の磁石磁束と関連付けられる値と、前記電流指令演算部によって生成された前記d軸電流指令値とに基づいて前記トルク指令値を補正する
ことを特徴とする永久磁石同期機のトルク補償方法。 - 前記磁石磁束と関連付けられる値は、前記永久磁石同期機の磁石温度であることを特徴とする請求項11に記載の永久磁石同期機のトルク補償方法。
- 前記磁石磁束と関連付けられる値は、前記永久磁石同期機の誘起電圧であることを特徴とする請求項11に記載の永久磁石同期機のトルク補償方法。
- 前記電流指令演算部が、
前記電力変換器の直流電圧検出値と前記永久磁石同期機の回転速度とから磁束量制限値を演算し、
前記演算された磁束量制限値と、前記トルク補正部によって補正されたトルク指令値に基づいて前記d軸電流指令値および前記q軸電流指令値を生成する
ことを特徴とする請求項11〜13のいずれか1項に記載の永久磁石同期機のトルク補償方法。 - 請求項1〜10のいずれか1項に記載の永久磁石同期機の駆動装置を備えた電気車。
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PCT/JP2019/049067 WO2020202655A1 (ja) | 2019-03-29 | 2019-12-13 | 永久磁石同期機の駆動装置、永久磁石同期機のトルク補償方法、および電気車 |
EP19922242.3A EP3950403A4 (en) | 2019-03-29 | 2019-12-13 | DRIVING DEVICE FOR A PERMANENT MAGNET SYNCHRONOUS MACHINE, TORQUE COMPENSATION METHOD FOR A PERMANENT MAGNET SYNCHRONOUS MACHINE AND ELECTRIC VEHICLE |
CN201980094992.XA CN113646204B (zh) | 2019-03-29 | 2019-12-13 | 永磁体同步电机的驱动装置、永磁体同步电机的转矩补偿方法和电动车 |
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CN113872496B (zh) * | 2021-09-27 | 2023-07-21 | 深蓝汽车科技有限公司 | 一种用汽车电驱动***的电机控制方法、***及车辆 |
CN114465547B (zh) * | 2022-02-23 | 2023-06-06 | 重庆长安新能源汽车科技有限公司 | 一种车用永磁同步电机母线电流的估算方法及估算*** |
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JP3473178B2 (ja) * | 1995-05-31 | 2003-12-02 | 株式会社明電舎 | 回転電機の制御装置 |
JP2000184766A (ja) | 1998-12-14 | 2000-06-30 | Toyota Motor Corp | モータ制御装置 |
JP2006304441A (ja) | 2005-04-19 | 2006-11-02 | Hitachi Ltd | 同期モータ制御装置 |
JP4462207B2 (ja) * | 2006-02-24 | 2010-05-12 | アイシン・エィ・ダブリュ株式会社 | 電動駆動制御装置及び電動駆動制御方法 |
JP4881635B2 (ja) * | 2006-03-15 | 2012-02-22 | 株式会社日立製作所 | 永久磁石モータのベクトル制御装置 |
JP4654217B2 (ja) * | 2007-04-25 | 2011-03-16 | 日立オートモティブシステムズ株式会社 | 永久磁石モータの弱め界磁制御装置及びそれを用いた電動パワーステアリング |
JP4637148B2 (ja) * | 2007-08-27 | 2011-02-23 | 株式会社日立製作所 | 電力変換装置 |
JP2009261182A (ja) * | 2008-04-18 | 2009-11-05 | Toyota Motor Corp | 回転電機の磁石温度推定装置およびそれを備えた電動車両、ならびに回転電機の磁石温度推定方法 |
JP2014068443A (ja) * | 2012-09-25 | 2014-04-17 | Hitachi Automotive Systems Ltd | 回転電機の駆動制御装置および電動車両駆動システム |
JP5923437B2 (ja) * | 2012-11-09 | 2016-05-24 | 株式会社日立産機システム | 同期電動機駆動システム |
KR101535036B1 (ko) * | 2014-08-25 | 2015-07-24 | 현대자동차주식회사 | 구동모터의 전류지령에 대한 토크 보상장치 및 방법 |
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WO2016125567A1 (ja) * | 2015-02-02 | 2016-08-11 | 三菱電機株式会社 | 同期機制御装置および同期機の永久磁石温度推定方法 |
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