WO2007020766A1 - エンジンのトルクリップル抑制装置 - Google Patents
エンジンのトルクリップル抑制装置 Download PDFInfo
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- WO2007020766A1 WO2007020766A1 PCT/JP2006/314361 JP2006314361W WO2007020766A1 WO 2007020766 A1 WO2007020766 A1 WO 2007020766A1 JP 2006314361 W JP2006314361 W JP 2006314361W WO 2007020766 A1 WO2007020766 A1 WO 2007020766A1
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- WIPO (PCT)
- Prior art keywords
- motor
- pulse interval
- torque ripple
- current
- pulse
- Prior art date
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- 230000001172 regenerating effect Effects 0.000 claims abstract description 34
- 230000001629 suppression Effects 0.000 claims description 12
- 230000007423 decrease Effects 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 8
- 230000009193 crawling Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 8
- 230000008929 regeneration Effects 0.000 description 8
- 238000011069 regeneration method Methods 0.000 description 8
- 239000000446 fuel Substances 0.000 description 5
- 238000002347 injection Methods 0.000 description 4
- 239000007924 injection Substances 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000010248 power generation Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 239000003990 capacitor Substances 0.000 description 1
- 239000003518 caustics Substances 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000005281 excited state Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000004043 responsiveness Effects 0.000 description 1
Classifications
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
-
- 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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/08—Reluctance motors
- H02P25/098—Arrangements for reducing torque ripple
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- 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
- B60K6/42—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 the architecture of the hybrid electric vehicle
- B60K6/48—Parallel type
- B60K6/485—Motor-assist type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/20—Reducing vibrations in the driveline
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
- F02D29/06—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving electric generators
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/14—Introducing closed-loop corrections
- F02D41/1497—With detection of the mechanical response of the engine
- F02D41/1498—With detection of the mechanical response of the engine measuring engine roughness
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D45/00—Electrical control not provided for in groups F02D41/00 - F02D43/00
-
- 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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/08—Reluctance motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/17—Construction vehicles, e.g. graders, excavators
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2250/00—Engine control related to specific problems or objectives
- F02D2250/18—Control of the engine output torque
- F02D2250/24—Control of the engine output torque by using an external load, e.g. a generator
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/021—Introducing corrections for particular conditions exterior to the engine
-
- 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
Definitions
- the present invention relates to a torque ripple suppressing device that suppresses torque ripple of an engine to which a motor generator composed of an SR (Switched Reluctance) motor is connected.
- SR Switchched Reluctance
- torque ripple torque fluctuations of the engine output shaft including the engine drive torque
- its cycle is determined by the number of fuel injection cylinders of the engine. For example, in the case of a 6-cylinder engine, there are three combustion strokes per revolution of the engine output shaft, so a large torque fluctuation occurs three times per revolution.
- Patent Document 1 Japanese Patent Laid-Open No. 7-208228
- a main object of the present invention is to provide a torque ripple suppressing device that effectively suppresses torque ripple of an engine to which a motor generator having SR motor power is connected.
- the torque ripple suppressing device of the present invention includes an SR motor coupled to the engine, a rotational position detecting means for detecting a rotational position of the SR motor, and an output interval of pulses output from the rotational position detecting means.
- the pulse interval calculation means for calculating the pulse interval, the pulse interval average value calculation means for calculating the average of the calculated values of the pulse interval calculation means, and the calculated value of the pulse interval calculation means are calculated by the pulse interval average value calculation means.
- a pulse output state determination unit that determines whether or not the value is greater than a value; and a current control unit that controls the current or regenerative current of the SR motor based on the determination result of the pulse output state determination unit! It is characterized by providing.
- the torque ripple is always detected, and the current amount of the SR motor is positively controlled according to the fluctuation amount. Therefore, the torque ripple is effective under various conditions. Can be suppressed.
- the flywheel of the engine can be reduced by this, the responsiveness when changing the rotation speed of the engine is improved, and as a result, the fuel consumption can be reduced.
- the SR motor is used as the motor generator, the structure can be made more compact than before while ensuring the same level of output.
- the current control means increases the current of the SR motor, and when the calculated value of the pulse interval calculating means is determined to be smaller than the calculated value of the pulse interval average value calculating means! / ⁇ , It is desirable that the current control means reduce the cascading current of the SR motor.
- the torque ripple can be positively controlled particularly when the engine load is large.
- the calculated value of the pulse interval calculating means is greater than the calculated value of the pulse interval average value calculating means. If it is determined that the value is larger, the current control unit decreases the regenerative current of the SR motor, and if the calculated value of the pulse interval calculating unit is determined to be smaller than the calculated value of the pulse interval average value calculating unit. Preferably, the current control means increases the regenerative current of the SR motor.
- the torque at the time of regeneration of the SR motor that is relatively frequent as the motor generator is in the mode. Ripple can be actively controlled.
- the torque ripple suppression device of the present invention comprising a pulse interval deviation storage means for storing the difference between the calculated value of the pulse interval calculation means and the calculated value of the pulse interval average value calculation means for each pulse,
- the deviation stored in the pulse interval deviation storage means is updated at least every one rotation of the SR motor.
- FIG. 1 is a plan view showing an electric swing excavator provided with a torque ripple suppressing device according to an embodiment of the present invention.
- FIG. 2 is a schematic diagram showing a structure around an SR motor that constitutes the torque ripple suppressing device according to the embodiment.
- FIG. 3 is a block diagram showing a control structure of the controller according to the embodiment.
- FIG. 4 is a view showing a pulse output of the rotational position detecting means according to the embodiment.
- FIG. 5 is a diagram showing a torque state when the SR motor according to the embodiment is in a crawling mode.
- FIG. 6 is a diagram showing a torque state when the SR motor according to the embodiment is in a regeneration mode.
- FIG. 7 is a diagram showing a torque state when the SR motor according to the embodiment has no load.
- FIG. 8 is a flowchart showing a control flow when the torque ripple suppressing device according to the embodiment is in a coasting mode.
- FIG. 9 is a flowchart showing a control flow in a regeneration mode of the torque ripple suppressing device according to the embodiment.
- FIG. 10 is a flowchart showing a control flow at the time of no load of the torque ripple suppressing device according to the embodiment.
- FIG. 1 is a plan view showing an electric swing excavator 1 having a torque ripple suppressing device 50 according to the present embodiment
- FIG. 2 is a structure around the SR motor 20 constituting the torque ripple suppressing device 50 according to the present embodiment. It is a schematic diagram which shows.
- an electric swing excavator 1 includes a swing body 4 installed on a track frame constituting a lower traveling body 2 via a swing circle 3, and the swing body 4 meshes with the swing cycle 3.
- the electric motor 5 is turned and driven.
- the revolving body 4 is provided with a boom 6, an arm 7, and a packet 8 that are respectively operated by a hydraulic cylinder (not shown). Pressure oil to each hydraulic cylinder is supplied by a hydraulic pump 10 (see FIG. 2) mounted on the swing body 4. Therefore, the electric swivel excavator 1 is a hybrid construction machine including the hydraulically driven work machine 9 and the electrically driven rotating body 4.
- an engine 11 is mounted on the swing body 4, and an SR motor 20 and a hydraulic pump 10 are coaxially connected to the engine 11 via a flywheel 12.
- the SR motor 20 is a motor generator that has the function of a generator that supplies power to the electric motor 5 and also has the function of an electric motor that assists the engine 11, and is controlled by the controller 40 shown in FIG.
- the torque ripple suppressing device 50 according to the present invention includes the SR motor 20 and the controller 40.
- a power storage device such as a capacitor as a power supply source is also connected to the SR motor 20.
- the SR motor 20 includes a central rotatable rotor 21 and an annular stator 22 arranged so as to surround the rotor 21.
- the rotor 21 is incorporated in the flywheel 12 on the output shaft of the engine 11 and is directly connected to the engine 11.
- a plurality of coils 23 (refer to only one schematically in FIG. 3) are wound around the stator 22, and a plurality of poles corresponding to these coils 23 are formed.
- a so-called three-phase current having a different phase flows through the coil 23 and the stator 22 is excited, whereby the rotor 21 rotates.
- the number of poles of the rotor 21 is 16
- the number of poles of the stator 22 is 24
- the torque control resolution is 48 divisions per revolution, and a different torque can be set every 7.5 degrees. It is.
- the SR motor 20 does not generate electricity even when the rotor 21 is rotated together with the engine 11 in the non-excited state, and the voltage is not generated in the high voltage line even when the drive circuit is in the non-energized state. Because of this, there is no need to worry about damage to the drive circuit.
- the stator poles of the stator 22 are provided with a total of three rotational position detecting means 24 (see Fig. 3) that also provide Hall sensor equal force for performing advance angle control, one for each phase. Since this rotational position detecting means 24 is used to suppress torque ripple, it is not necessary to provide a dedicated sensor for torque ripple suppression.
- a hall sensor is used as the rotational position detecting means 24, and the position of the rotor 21 is detected by a combination with a magnet (not shown) provided on the convex pole of the rotor 21.
- a method using a combination of a photo interrupter and a slit can be applied as the rotational position detecting means 24, a method using a combination of a photo interrupter and a slit can be applied.
- the controller 40 is a device that controls the driving of the SR motor 20, and based on a torque command from a power generation control unit (not shown) and a noise output from the rotational position detection means 24, the advance angle of the SR motor 20 Control, switch between control mode and regenerative mode, and control current amount or regenerative current amount. With these controls, the controller 40 controls the driving torque or regenerative torque of the SR motor 20.
- the controller 40 can perform torque control for each pole regardless of whether the SR motor 20 is in the crawling mode or the regenerative mode.
- the controller 40 force SR motor 20 so as to cancel the torque ripple.
- the torque ripple can be suppressed by controlling the phase and amount of the current or regenerative current.
- the torque control resolution of the SR motor 20 is set to be fine enough to accommodate the generation period of torque ripple determined mainly by the number of engine 11 fuel injection cylinders. If such a setting is not made, the torque ripple cannot be sufficiently suppressed, and there is a possibility that the torque ripple will be promoted.
- the SR motor 20 in the present embodiment can set different torques every 7.5 degrees.
- the number of fuel injection cylinders of the engine 11 is 6 cylinders, It is possible to cope with any of cylinders, 8 cylinders, and 12 cylinders. Further, in the case of such a low force and torque control resolution, it is possible to suppress the torque ripple caused by the hydraulic pump 10 as well as that caused by the engine 11.
- FIG. 3 is a block diagram showing a control structure of the controller 40 according to the present embodiment
- FIG. 4 is a diagram showing a pulse output of the rotational position detecting means 24.
- the controller 40 includes a pulse interval calculation means 41, a pulse interval average value calculation means 42, a pulse interval deviation storage means 43, and a pulse output state determination means 44, each of which is configured by arbitrary hardware or software. , Control mode switching means 45, target current setting means 46, current detection means 47, and current control means 48.
- the pulse interval calculation means 41 calculates the output interval of the pulse signal from the rotational position detection means 24.
- the rotational position detecting means 24 detects the rotational position of the rotor 21 for each phase of the stator 22 and outputs it as a pulse signal. Therefore, for each phase of the stator 22, 16 pulses are output per rotor rotation. As shown in Fig. 4, these output pulses usually fluctuate at regular intervals due to torque ripple (see the solid line in Fig. 4).
- the torque ripple of the output shaft of the engine 11 is larger than the average value, the interval between the output pulses of the rotational position detecting means 24 becomes narrower. Conversely, when the torque ripple is smaller than the average value, the interval between the output pulses becomes wider. .
- torque ripple can be detected by detecting the fluctuation of the output interval.
- the broken line in FIG. 4 is the pulse output of the rotational position detecting means 24 at a constant rotational speed. When there is no torque ripple, the constant interval is maintained in this way.
- the pulse interval average value calculating means 42 calculates the average value per rotation of the rotor of the pulse output interval using the output interval of each pulse calculated by the pulse interval calculating means 41.
- the SR motor 20 of the present embodiment has a force that can divide the rotation of the rotor by 48 as described above. Since the actual control is performed for each phase, the data for the pulse output interval for 16 pulses is used and averaged for each phase. Calculate the value.
- the pulse interval deviation storage means 43 stores the difference between each pulse interval calculated by the pulse interval calculation means 41 and the average value of the pulse output intervals calculated by the pulse interval average value calculation means 42. . Since the torque ripple period is mainly determined by the number of fuel injection cylinders in the engine, if the management data is updated for each rotation of the rotor, the relationship between the torque ripple period and the rotational position of the rotor 21 will always be kept constant. Can do. Therefore, the pulse interval deviation storage means 43 stores the deviation for each pulse for one rotation of the rotor, specifically, 16 data for each phase, 48 data in total.
- the pulse output state determination unit 44 uses the pulse interval average value calculation unit 42 to determine the sign of the deviation stored in the pulse interval deviation storage unit 43, that is, each pulse interval calculated by the pulse interval calculation unit 41. Whether the calculated pulse output interval is greater than the average value, specifically, the sign of the deviation stored in the pulse interval deviation storage means 43 is determined.
- the control mode switching means 45 switches the control mode of the SR motor 20 to the crawling mode or the regenerative mode. Switching of the control mode during work is mainly performed when the engine 11 drives only the hydraulic pump 10 without generating the normal power SR motor 20 or based on the torque command from the power generation control unit (not shown).
- the SR motor 20 is not loaded, such as during idling, it is performed based on the determination result of the pulse output state determination means 44. In this case, if the sign of the deviation is positive as a result of the determination by the pulse output state determining means 44, the control mode switching means 45 switches the SR motor 20 to the caulking mode, and if the sign of the deviation is negative. Switch to regeneration mode.
- the target current setting means 46 is not shown in the figure.
- the torque command from the power generation control unit, the deviation stored in the pulse interval deviation storage means 43, and the determination of the pulse output state determination means 44 are not shown.
- the target value of the cascading current or regenerative current flowing through the coil 23 is set. Therefore, the magnitude of torque ripple is reflected here in the setting of the target current, and as a result, the amount of current or regenerative current flowing through coil 23 increases or decreases depending on the magnitude of torque ripple.
- the motor generator functions as a generator.
- the regenerative torque of the SR motor 20, that is, the regenerative current flowing through the coil 23 is maximized in the vicinity of the maximum torque of the engine 11, and the minimum of the engine 11 is Settings are made to refrain from regenerative current near the torque.
- the current detection unit 47 is configured by a current sensor or the like, detects a current value actually flowing through the coil 23, and feeds it back to the current control unit 48.
- the current control means 48 controls the amount of current flowing through the stator pole.
- the current control means 48 includes a circuit that adjusts the amount of current or regenerative current flowing through the coil 23 by switching under PWM (Puls Width Modulation) control.
- the current control unit 48 increases or decreases the amount of caustic current according to the deviation. Thereby, the magnitude of the driving torque of the SR motor 20 added to the driving torque of the engine 11 is changed.
- the current control means 48 increases or decreases the amount of regenerative current according to the deviation. As a result, the magnitude of the regenerative torque of the SR motor 20 that is the magnitude of the torque absorption of the engine 11 is changed.
- the current control means 48 increases the amount of current in accordance with the deviation and adds torque. If the sign of the deviation is negative, the torque is too large, and the current control means 48 increases the amount of regenerative current according to the deviation to regenerate extra torque.
- the pulse interval calculation means 41 calculates the output interval of the pulse signal from the rotational position detection means 24 (step 11: in the drawings and in the following description! /, The step is simply abbreviated as "S").
- the average interval calculation means 42 calculates an average value of 16 pulse output intervals corresponding to one rotation of the rotor per phase by using the output interval of each pulse calculated by the pulse interval calculation means 41. (S 12).
- the pulse interval deviation storage means 43 is configured to perform one rotation of the rotor with respect to the deviation between each pulse interval calculated by the pulse interval calculation means 41 and the average value of the pulse output intervals calculated by the pulse interval average value calculation means 42. Minute data is stored (S13).
- the pulse output state determination unit 44 determines the sign of the deviation stored in the pulse interval deviation storage unit 43 (S14).
- the target current setting means 46 increases the target value of the current flowing through the coil 23 based on the deviation (S15).
- the current control means 48 increases the current flowing through the coil 23 in accordance with the deviation (S16).
- the target current setting means 46 decreases the target value of the current flowing through the coil 23 based on the deviation (S17).
- the current control means 48 reduces the power running current flowing through the coil 23 according to the deviation (S18).
- the control flow when the SR motor 20 is functioning in the regeneration mode is exactly the same as the flow in the caulking mode except that the processing of the current control means 48 for the judgment result of the noise output state judgment means 44 is different. It is. That is, S21 to S24 are the same as the control flow S11 to S14 when the SR motor 20 is in the caulking mode, and the description thereof is omitted here.
- the target current setting means 46 decreases the target value of the regenerative current flowing through the coil 23 based on the deviation (S25). As a result, the current control means 48 reduces the regenerative current flowing through the coil 23 according to the deviation (S26). On the other hand, when the sign is negative, the target current setting means 46 increases the target value of the regenerative current flowing through the coil 23 based on the deviation (S27). As a result, the current control means 48 increases the regenerative current flowing through the coil 23 in accordance with the deviation (S28).
- the SR motor 20 does not generate power and does not assist the drive of the engine 11, that is, the engine 11 drives only the hydraulic pump 10, the SR motor 20 is regenerated at an engine torque greater than the average torque. By switching to the mode, the torque is absorbed and the rotation is reduced. When the engine torque is smaller than the average torque, the SR motor 20 is operated in the crawling mode to add torque and increase the rotation.
- control flow when the SR motor 20 is unloaded is the same as the flow when the SR motor 20 is in the coasting mode or the regeneration mode.
- the control mode switching unit 45 performs SR based on the determination result of the pulse output state determination unit 44.
- the difference is that the control mode of motor 20 is switched to regenerative mode or power line mode. That is, S31 to S34 are the same as the control flow S11 to S14 or S21 to S24 when the SR motor 20 is functioning in the regenerative mode or the crawling mode, and description thereof is omitted here.
- the control mode switching unit 45 switches the control mode of the SR motor 20 to the crawling mode (S341). Then, the target current setting means 46 increases the target value of the current flowing through the coil 23 (S35), whereby the current control means 48 increases the current flowing through the coil 23 (S36). . On the other hand, when the sign is negative, the control mode switching means 45 switches the control mode of the SR motor 20 to the regeneration mode (S342). Then, the target current setting means 46 increases the target value of the regenerative current passed through the coil 23 (S37), and the current control means 48 thereby increases the regenerative current passed through the coil 23 (S38).
- the present invention is not limited to the above-described embodiment, and can achieve the object of the present invention.
- the present invention also includes other modifications and the like as shown below.
- the force torque control in which the SR motor 20 is controlled by current control may be used.
- some means of the controller 40 needs to be suitable for torque control, for example, the target current setting means 46 is used as the target torque setting means.
- the pulse interval average value calculating means 42 is a force that calculates the average value per rotation of the pulse output interval per rotation.
- the average of two rotations is not limited to this. It may be a value.
- the present invention is applicable to any construction machine that includes a motor generator coupled to an engine and uses an SR motor as the motor generator.
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Transportation (AREA)
- Power Engineering (AREA)
- Automation & Control Theory (AREA)
- Hybrid Electric Vehicles (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
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KR1020087003108A KR100933478B1 (ko) | 2005-08-12 | 2006-07-20 | 엔진의 토크 리플 억제 장치 |
DE112006002150T DE112006002150T5 (de) | 2005-08-12 | 2006-07-20 | Drehmomentwelligkeitsunterdrücker eines Motors |
GB0804405A GB2444441B (en) | 2005-08-12 | 2006-07-20 | Torque ripple suppressor of engine |
US12/063,572 US20090140678A1 (en) | 2005-08-12 | 2006-07-20 | Torque ripple suppressor of engine |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005234833A JP2007049882A (ja) | 2005-08-12 | 2005-08-12 | エンジンのトルクリップル抑制装置 |
JP2005-234833 | 2005-08-12 |
Publications (1)
Publication Number | Publication Date |
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WO2007020766A1 true WO2007020766A1 (ja) | 2007-02-22 |
Family
ID=37757432
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2006/314361 WO2007020766A1 (ja) | 2005-08-12 | 2006-07-20 | エンジンのトルクリップル抑制装置 |
Country Status (7)
Country | Link |
---|---|
US (1) | US20090140678A1 (ja) |
JP (1) | JP2007049882A (ja) |
KR (1) | KR100933478B1 (ja) |
CN (1) | CN101238277A (ja) |
DE (1) | DE112006002150T5 (ja) |
GB (1) | GB2444441B (ja) |
WO (1) | WO2007020766A1 (ja) |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102158157B (zh) * | 2010-02-12 | 2013-07-31 | 深圳兴奇宏科技有限公司 | 马达相电流自动补偿方法 |
DE102013217968B3 (de) * | 2013-09-09 | 2015-01-22 | Robert Bosch Gmbh | Phasenregelschleife, Generatorsteuereinrichtung und Verfahren zum Ansteuern eineselektrischen Antriebssystems eines Hybridfahrzeugs |
US9647595B2 (en) | 2014-04-30 | 2017-05-09 | Caterpillar Inc. | Current profile strategy for minimizing torque ripple and current |
CN104333276B (zh) * | 2014-08-27 | 2017-02-15 | 中国矿业大学 | 一种三相开关磁阻电机转矩脉动两电平抑制方法 |
CN104333275B (zh) * | 2014-10-30 | 2016-10-19 | 中国矿业大学 | 一种开关磁阻电机宽调速范围交叉控制方法 |
US10566881B2 (en) | 2017-01-27 | 2020-02-18 | Franklin Electric Co., Inc. | Motor drive system including removable bypass circuit and/or cooling features |
KR102481633B1 (ko) * | 2017-11-17 | 2022-12-26 | 르노코리아자동차 주식회사 | 차량용 연료 펌프 장치 및 이의 전압 제어 방법 |
CN108825371B (zh) * | 2018-06-14 | 2021-05-25 | 东华大学 | 一种降低燃油发动机瞬态输出功率波动的方法 |
Citations (6)
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JPH03210032A (ja) * | 1990-01-12 | 1991-09-13 | Mitsubishi Electric Corp | 内燃機関の回転数制御装置 |
JPH04299084A (ja) * | 1991-03-28 | 1992-10-22 | Hitachi Ltd | 内燃機関のトルク制御装置 |
JPH07208228A (ja) * | 1994-01-27 | 1995-08-08 | Isuzu Motors Ltd | エンジントルク変動吸収装置 |
JPH11350997A (ja) * | 1998-06-12 | 1999-12-21 | Nissan Motor Co Ltd | ハイブリッド原動機のトルク変動制御装置 |
JP2000282910A (ja) * | 1999-03-26 | 2000-10-10 | Mazda Motor Corp | ハイブリッド車両 |
JP2002165305A (ja) * | 2001-08-17 | 2002-06-07 | Toyota Motor Corp | 動力出力装置および内燃機関制御装置 |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6717281B1 (en) * | 2000-10-26 | 2004-04-06 | Dennis Brandon | Electric generator and motor drive system |
-
2005
- 2005-08-12 JP JP2005234833A patent/JP2007049882A/ja not_active Withdrawn
-
2006
- 2006-07-20 DE DE112006002150T patent/DE112006002150T5/de not_active Withdrawn
- 2006-07-20 KR KR1020087003108A patent/KR100933478B1/ko not_active IP Right Cessation
- 2006-07-20 US US12/063,572 patent/US20090140678A1/en not_active Abandoned
- 2006-07-20 WO PCT/JP2006/314361 patent/WO2007020766A1/ja active Application Filing
- 2006-07-20 GB GB0804405A patent/GB2444441B/en not_active Expired - Fee Related
- 2006-07-20 CN CNA2006800290281A patent/CN101238277A/zh active Pending
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH03210032A (ja) * | 1990-01-12 | 1991-09-13 | Mitsubishi Electric Corp | 内燃機関の回転数制御装置 |
JPH04299084A (ja) * | 1991-03-28 | 1992-10-22 | Hitachi Ltd | 内燃機関のトルク制御装置 |
JPH07208228A (ja) * | 1994-01-27 | 1995-08-08 | Isuzu Motors Ltd | エンジントルク変動吸収装置 |
JPH11350997A (ja) * | 1998-06-12 | 1999-12-21 | Nissan Motor Co Ltd | ハイブリッド原動機のトルク変動制御装置 |
JP2000282910A (ja) * | 1999-03-26 | 2000-10-10 | Mazda Motor Corp | ハイブリッド車両 |
JP2002165305A (ja) * | 2001-08-17 | 2002-06-07 | Toyota Motor Corp | 動力出力装置および内燃機関制御装置 |
Also Published As
Publication number | Publication date |
---|---|
KR20080028484A (ko) | 2008-03-31 |
US20090140678A1 (en) | 2009-06-04 |
JP2007049882A (ja) | 2007-02-22 |
GB0804405D0 (en) | 2008-04-23 |
GB2444441B (en) | 2010-06-02 |
GB2444441A (en) | 2008-06-04 |
DE112006002150T5 (de) | 2008-06-26 |
KR100933478B1 (ko) | 2009-12-23 |
CN101238277A (zh) | 2008-08-06 |
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