JP7446853B2 - Electric motor temperature estimation method - Google Patents
Electric motor temperature estimation method Download PDFInfo
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- JP7446853B2 JP7446853B2 JP2020033555A JP2020033555A JP7446853B2 JP 7446853 B2 JP7446853 B2 JP 7446853B2 JP 2020033555 A JP2020033555 A JP 2020033555A JP 2020033555 A JP2020033555 A JP 2020033555A JP 7446853 B2 JP7446853 B2 JP 7446853B2
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- 238000000034 method Methods 0.000 title claims description 9
- 238000006243 chemical reaction Methods 0.000 claims description 7
- 238000001816 cooling Methods 0.000 claims description 6
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 5
- 230000020169 heat generation Effects 0.000 description 5
- 238000001514 detection method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
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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
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of 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
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
-
- 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
- H02P29/62—Controlling or determining the temperature of the motor or of the drive for raising the temperature of the motor
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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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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Electric Motors In General (AREA)
Description
本発明の実施の形態は、電動機の温度推定方法に関する。 Embodiments of the present invention relate to a method for estimating temperature of an electric motor.
鉄道車両には、車両を駆動する電動機と、それを制御するための電力変換装置が設置されている。この電動機は電力変換装置から交流電力が供給され駆動されるが、電動機は巻線抵抗などによって損失が発生し、それによって温度が上昇する。
この温度が上昇し続けると、電動機を構成するコイルや鉄芯の劣化や、焼損の可能性がある。したがって、電動機の温度を監視することが必要である。
A railway vehicle is equipped with an electric motor that drives the vehicle and a power conversion device that controls the electric motor. This electric motor is driven by AC power supplied from a power conversion device, but losses occur in the electric motor due to winding resistance, etc., and the temperature rises as a result.
If this temperature continues to rise, there is a possibility that the coils and iron cores that make up the motor will deteriorate or burn out. Therefore, it is necessary to monitor the temperature of the electric motor.
電動機の温度を監視する方法としては、電動機に取り付けた温度センサから直接温度を検出する方法があるが、温度センサを取り付けるために電動機に改造を施したり、制御装置まで信号線を引き込む必要があり、必要以上のコストがかかる。また、別の方法として電動機の電流値及び回転数から電動機の温度上昇を推定することは可能であった。 One way to monitor the temperature of an electric motor is to directly detect the temperature from a temperature sensor attached to the motor, but this requires modifying the electric motor and running signal lines to the control device in order to attach the temperature sensor. , it costs more than necessary. Furthermore, as another method, it was possible to estimate the temperature rise of the motor from the current value and rotational speed of the motor.
しかしながら、電動機の電流値及び回転数から求めた温度上昇値のみでは、電動機の温度を正確に推定することができなかった。 However, it has not been possible to accurately estimate the temperature of the motor using only the temperature rise value determined from the current value and rotation speed of the motor.
本発明が解決しようとする課題は、電動機の温度を推定によって求めるに際し、外気温センサを用いて精度良く電動機の温度を推定することのできる電動機の温度推定方法を提供することである。 The problem to be solved by the present invention is to provide a method for estimating the temperature of a motor that can accurately estimate the temperature of the motor using an outside temperature sensor when estimating the temperature of the motor.
本発明の実施形態にかかる電動機の温度推定方法は、架線からの電力を変換する電力変換装置と、電力変換装置から供給される電力により駆動される電動機と、電動機に流れる電動機電流を検出する電流センサと、電動機の回転数を検出する回転数センサと、外気温を検出する外気温センサとを有し、電流センサで検出された電動機電流および回転数センサで検出された回転数に基づいて、電動機の損失による電動機温度上昇値を算出し、該電動機温度上昇値と外気温センサで検出された外気温を加算して、電動機の温度を算出する。 A method for estimating the temperature of a motor according to an embodiment of the present invention includes a power conversion device that converts power from an overhead wire, a motor driven by the power supplied from the power conversion device, and a current that detects a motor current flowing through the motor. It has a sensor, a rotation speed sensor that detects the rotation speed of the electric motor, and an outside temperature sensor that detects the outside temperature, and based on the motor current detected by the current sensor and the rotation speed detected by the rotation speed sensor. , a motor temperature increase value due to motor loss is calculated, and the motor temperature increase value is added to the outside temperature detected by the outside temperature sensor to calculate the temperature of the electric motor.
以下、本発明の実施の形態について、図面を参照して説明する。
図１は、実施の形態にかかる電気車の制御装置の構成を示す図である。
電気車の制御装置は、 架線から集電装置１を介して供給された電力を可変電圧可変周波数の交流電力に変換する電力変換装置２と、電力変換装置２で変換された交流電力により駆動される電動機３とを有する。
Embodiments of the present invention will be described below with reference to the drawings.
FIG. 1 is a diagram showing the configuration of a control device for an electric vehicle according to an embodiment.
The control device of the electric vehicle is driven by a power converter 2 that converts power supplied from an overhead wire through a current collector 1 into alternating current power of variable voltage and variable frequency, and the alternating current power converted by the power converter 2. It has an electric motor 3.
電力変換装置２は、制御装置２１を有しており、図示しない速度指令信号と回転センサ４で検出された回転数から求めた現在の速度信号とに基づいて電流指令を生成する速度制御部と、速度制御部からの電流指令と電流センサ５で検出された電流値から求めた現在の電流信号とを用いて電流指令値を生成する電流制御部と、電流指令値に対応するモータ電流が流れるようにＰＷＭ信号を生成して電力変換装置２を制御するＰＷＭ信号生成部を有する。
電力変換装置２を構成する半導体スイッチング素子はＰＷＭ信号に基づいてオン・オフ動作を行うことで、電力変換装置２から可変電圧可変周波数の交流電力を供給され、電動機３が駆動される。
The power conversion device 2 has a control device 21, and includes a speed control section that generates a current command based on a speed command signal (not shown) and a current speed signal obtained from the rotation speed detected by the rotation sensor 4. , a current control unit that generates a current command value using the current command from the speed control unit and the current current signal obtained from the current value detected by the current sensor 5, and a motor current that corresponds to the current command value flows. It has a PWM signal generation section that generates a PWM signal and controls the power converter 2 as shown in FIG.
The semiconductor switching element constituting the power converter 2 performs on/off operations based on the PWM signal, and is supplied with variable voltage and variable frequency AC power from the power converter 2, thereby driving the electric motor 3.
次に、本実施の形態における電動機の温度推定方法について説明する。
本実施の形態では、電動機の駆動制御に用いられている前記回転センサ４の出力と、前記電流センサ５の出力に加えて、外気温センサ６の出力を用いることで、電動機の温度推定を行う。なお、外気温センサ６は、新規に設置して良く、また既に電気車に搭載されている場合は、その外気温センサを流用しても良い。
温度推定演算部２２は、回転センサ４で検出された回転数検出値と電流センサ５で検出された電流検出値に基づき電動機の温度上昇を推定する温度上昇推定演算部２３と、温度上昇推定演算部２３で求められた温度上昇値と外気温センサ６で検出された外気温検出値とを加算して温度推定値を算出する加算器２４を有する。
なお、温度推定演算部２２は、所定時間毎に演算を行うものとする。
Next, a method for estimating the temperature of the electric motor in this embodiment will be explained.
In this embodiment, the temperature of the electric motor is estimated by using the output of the outside temperature sensor 6 in addition to the output of the rotation sensor 4 and the output of the current sensor 5, which are used for drive control of the electric motor. . Note that the outside temperature sensor 6 may be newly installed, or if it is already installed in the electric vehicle, that outside temperature sensor may be used.
The temperature estimation calculation unit 22 includes a temperature rise estimation calculation unit 23 that estimates the temperature rise of the motor based on the rotation speed detection value detected by the rotation sensor 4 and the current detection value detected by the current sensor 5, It has an adder 24 that adds the temperature rise value determined by the section 23 and the outside temperature detection value detected by the outside temperature sensor 6 to calculate an estimated temperature value.
It is assumed that the temperature estimation calculation unit 22 performs calculation at predetermined time intervals.
まず、温度上昇推定演算部２３は、電動機で発生する電気的な損失の算出を行う。
損失の算出は、電動機の電流・抵抗（銅損）に基づき算出される項と、電動機の回転数（鉄損）に基づき算出される項を有する。
例えば、電動機の損失は、下記式１で示される。
Ｐ＝３Ｒ・Ｉｍ2＋Ｋ・（ｐ・ＦＲ） ・・・ 式１
Ｒ：電動機の等価抵抗
Ｉｍ：電動機のモータ電流
Ｋ：電動機の鉄損の温度寄与率
ｐ：補正係数
ＦＲ：電動機の回転数
First, the temperature rise estimation calculation unit 23 calculates the electrical loss generated in the motor.
The loss calculation includes a term calculated based on the current/resistance (copper loss) of the motor and a term calculated based on the rotation speed (iron loss) of the motor.
For example, the loss of an electric motor is expressed by the following equation 1.
P=3R・Im 2 +K・(p・FR) ... Formula 1
R: Equivalent resistance of the motor Im: Motor current of the motor K: Temperature contribution rate of iron loss of the motor p: Correction coefficient FR: Rotation speed of the motor
なお、補正係数ｐは、電動機が力行状態・減速状態で異なる値をとり、また、電動機の回転数ＦＲと所定値との大小関係により異なる値をとっても良い。例えば、電動機が力行状態では、回転数が大きくなるほど、電動機の損失が大きくなる傾向にあるため、補正係数ｐを大きくすることで、推定精度を向上させることができる。 Note that the correction coefficient p may take different values depending on whether the electric motor is in a power running state or a deceleration state, and may also take different values depending on the magnitude relationship between the rotation speed FR of the electric motor and a predetermined value. For example, when the electric motor is in a power running state, the loss of the electric motor tends to increase as the rotational speed increases, so the estimation accuracy can be improved by increasing the correction coefficient p.
つぎに、温度上昇推定演算部２３は、上記式１で求められた電動機の損失と、所定時間前（ｔ－１）に求められた温度上昇推定値θｍ－１および電動機の熱時定数や定格特性に基づいて、所定時間（ｔ）における電動機の温度変化量Δθを算出する。このとき、電動機の冷却効率が大きい場合は温度変化量を小さくする補正を行っても良い。例えば、走行速度が遅く冷却効率が小さい場合は補正を行わず、走行速度が速く冷却効率が大きい場合は補正を行うようにしても良い。 Next, the temperature rise estimation calculation unit 23 calculates the loss of the motor obtained by the above equation 1, the estimated temperature rise value θm-1 obtained a predetermined time ago (t-1), and the thermal time constant and rating of the motor. Based on the characteristics, the amount of temperature change Δθ of the motor in a predetermined time (t) is calculated. At this time, if the cooling efficiency of the motor is high, a correction may be made to reduce the amount of temperature change. For example, if the traveling speed is slow and the cooling efficiency is low, no correction may be made, but if the traveling speed is fast and the cooling efficiency is large, the correction may be made.
さらに、温度上昇推定演算部２３は、所定時間前の温度上昇推定値θm（ｔ－１）と、温度変化量Δθとに基づいて、所定時間ｔにおける電動機の温度上昇推定値θｍ（t）を算出する。
そして、加算器２４では、温度上昇推定演算部２３で求められた電動機の温度上昇推定値θｍ（t）と外気温センサ６で検出された外気温検出値とを加算して、電動機の温度推定値を算出する。
Furthermore, the temperature rise estimation calculation unit 23 calculates the estimated temperature rise θm(t) of the electric motor at the predetermined time t based on the estimated temperature rise θm(t−1) before the predetermined time and the temperature change amount Δθ. calculate.
Then, the adder 24 adds the estimated temperature rise value θm(t) of the motor obtained by the temperature rise estimation calculation unit 23 and the detected outside temperature value detected by the outside temperature sensor 6 to estimate the temperature of the motor. Calculate the value.
上述したように、本実施形態においては、外気温センサで検出された外気温度と、電動機の損失による発熱による温度上昇する温度とに基づき、電動機の温度を算出することができ、簡易な方法で温度推定が可能となる。
また、電動機の損失による発熱については、電動機に流れる電流値を変数とする発熱と、電動機の回転数を変数とする発熱とに分けて算出を行うことで、演算を簡易にすることができる。
さらに、冷却効果が得られる場合は、冷却による温度低下を補正することで、温度推定の精度を向上させることができる。
As described above, in this embodiment, the temperature of the electric motor can be calculated based on the outside temperature detected by the outside temperature sensor and the temperature rising due to heat generation due to loss in the electric motor, and can be calculated using a simple method. Temperature estimation becomes possible.
Furthermore, regarding heat generation due to loss in the motor, calculation can be simplified by dividing the heat generation into heat generation using the current value flowing through the motor as a variable and heat generation using the rotation speed of the motor as a variable.
Furthermore, when a cooling effect can be obtained, the accuracy of temperature estimation can be improved by correcting the temperature drop due to cooling.
本発明の実施形態は、例として提示したものであり、発明の範囲を限定することは意図していない。これら新規な実施形態は、その他の様々な形態で実施されることが可能であり、発明の要旨を逸脱しない範囲で、種々の省略、置き換え、変更を行うことができる。これら実施形態やその変形は、発明の範囲や要旨に含まれるとともに、特許請求の範囲に記載された発明とその均等の範囲に含まれる。 The embodiments of the invention are presented by way of example and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, and changes can be made without departing from the gist of the invention. These embodiments and their modifications are included within the scope and gist of the invention, as well as within the scope of the invention described in the claims and its equivalents.
２・・・電力変換装置
３・・・電動機
４・・・回転センサ
５・・・電流センサ
６・・・外気温センサ
２１・・・制御装置
２２・・・温度推定演算部
２３・・・温度上昇推定演算部
２４・・・加算部
2... Power conversion device 3... Electric motor 4... Rotation sensor 5... Current sensor 6... Outside temperature sensor 21... Control device 22... Temperature estimation calculation section 23... Temperature Rise estimation calculation section 24...addition section
Claims (2)
電力変換装置から供給される電力により駆動される電動機と、
電動機に流れる電動機電流を検出する電流センサと、
電動機の回転数を検出する回転数センサと、
外気温を検出する外気温センサとを有し、
電流センサで検出された電動機電流および回転数センサで検出された回転数に基づいて、電動機の損失による電動機温度上昇値を算出し、該電動機温度上昇値と外気温センサで検出された外気温を加算して、電動機の温度を算出する電動機の温度推定方法。 a power conversion device that converts power from overhead lines;
an electric motor driven by electric power supplied from a power converter;
a current sensor that detects the motor current flowing through the motor;
A rotation speed sensor that detects the rotation speed of the electric motor,
It has an outside temperature sensor that detects outside temperature,
Based on the motor current detected by the current sensor and the rotation speed detected by the rotation speed sensor, the motor temperature rise value due to motor loss is calculated, and the motor temperature rise value and the outside temperature detected by the outside temperature sensor are calculated. A motor temperature estimation method that calculates the motor temperature by adding .
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| JP2020033555A JP7446853B2 (en) | 2020-02-28 | 2020-02-28 | Electric motor temperature estimation method |
| CN202180016232.4A CN115152142A (en) | 2020-02-28 | 2021-02-26 | Method for estimating temperature of motor |
| PCT/JP2021/007306 WO2021172507A1 (en) | 2020-02-28 | 2021-02-26 | Temperature estimation method for electric motor |
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| JP2020033555A JP7446853B2 (en) | 2020-02-28 | 2020-02-28 | Electric motor temperature estimation method |
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|---|---|---|---|---|
| JP2002034281A (en) | 2000-07-13 | 2002-01-31 | Matsushita Electric Ind Co Ltd | Motor-controlling device and air conditioner |
| JP2005124366A (en) | 2003-10-20 | 2005-05-12 | Toshiba Corp | Controller for electric vehicle |
| JP2015100207A (en) | 2013-11-19 | 2015-05-28 | アイダエンジニアリング株式会社 | Servo press device |
| JP2018007545A (en) | 2016-06-24 | 2018-01-11 | 株式会社豊田中央研究所 | Estimator and estimator system |
-
2020
- 2020-02-28 JP JP2020033555A patent/JP7446853B2/en active Active
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2021
- 2021-02-26 WO PCT/JP2021/007306 patent/WO2021172507A1/en active Application Filing
- 2021-02-26 CN CN202180016232.4A patent/CN115152142A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002034281A (en) | 2000-07-13 | 2002-01-31 | Matsushita Electric Ind Co Ltd | Motor-controlling device and air conditioner |
| JP2005124366A (en) | 2003-10-20 | 2005-05-12 | Toshiba Corp | Controller for electric vehicle |
| JP2015100207A (en) | 2013-11-19 | 2015-05-28 | アイダエンジニアリング株式会社 | Servo press device |
| JP2018007545A (en) | 2016-06-24 | 2018-01-11 | 株式会社豊田中央研究所 | Estimator and estimator system |
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| WO2021172507A1 (en) | 2021-09-02 |
| JP2021136836A (en) | 2021-09-13 |
| CN115152142A (en) | 2022-10-04 |
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