WO2017109884A1 - 回転電機の制御装置 - Google Patents
回転電機の制御装置 Download PDFInfo
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- WO2017109884A1 WO2017109884A1 PCT/JP2015/085974 JP2015085974W WO2017109884A1 WO 2017109884 A1 WO2017109884 A1 WO 2017109884A1 JP 2015085974 W JP2015085974 W JP 2015085974W WO 2017109884 A1 WO2017109884 A1 WO 2017109884A1
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- command value
- vibration
- torque
- torque command
- value
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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
-
- 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
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
- B60L3/0038—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to sensors
-
- 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
-
- 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
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
-
- 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
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/429—Current
-
- 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
- B60L2270/00—Problem solutions or means not otherwise provided for
- B60L2270/10—Emission reduction
- B60L2270/14—Emission reduction of noise
- B60L2270/145—Structure borne vibrations
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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
Definitions
- the present invention relates to a control device for a rotating electrical machine that superimposes a torque vibration component on the output torque of the rotating electrical machine.
- a hybrid vehicle is a vehicle that uses a rotating electric machine as a power source in addition to a conventional internal combustion engine. That is, both the internal combustion engine and the rotating electric machine are used as the driving force sources for the wheels.
- An electric vehicle is a vehicle that uses a rotating electric machine as a driving force source.
- torque vibration components such as torque ripple may be superimposed on the rotating electrical machine, and the vibration components may be transmitted to the wheels.
- the rotating electric machine is configured to output a vibration torque for canceling the torque vibration component.
- the torque that can be output to the rotating electrical machine has a limit due to magnetic saturation and the like, and the maximum output torque of the rotating electrical machine is determined. Therefore, when trying to output the vibration torque to the rotating electric machine in a state where the output torque of the rotating electric machine has increased to near the maximum output torque, the peak portion of the vibration torque component is limited to the upper limit by the maximum output torque, In some cases, the rotating electrical machine cannot be output. On the other hand, the valley portion of the vibration torque component is not limited by the maximum output torque, so that it can be directly output to the rotating electrical machine. Therefore, the average value of the output torque of the rotating electrical machine is reduced only by the peak portion of the vibration torque component that is limited by the upper limit. Therefore, when the output torque of the rotating electrical machine is increased to near the maximum output torque to accelerate the vehicle, there is a problem that the output torque decreases.
- a control device for a rotating electrical machine that can prevent the vibration torque component output to the rotating electrical machine from being limited by the maximum output torque of the rotating electrical machine is desired.
- a control device for a rotating electrical machine includes a basic torque command calculating unit that calculates a basic torque command value that is a basic command value of torque to be output to the rotating electrical machine, and a vibration torque that is a torque command value that vibrates at a vibration frequency.
- a vibration command calculation unit for calculating a command value, an addition torque command value obtained by adding the vibration torque command value to the basic torque command value, and an upper limit command set in advance corresponding to the maximum output torque of the rotating electrical machine
- a final torque command calculation unit that calculates a value obtained by limiting the upper limit of the additional torque command value by a value as a final torque command value that is finally commanded to the rotating electrical machine, and the vibration command calculation unit includes the basic torque
- the amplitude of the vibration torque command value superimposed on the final torque command value is reduced, so that the upper limit command value set corresponding to the maximum output torque of the rotating electrical machine is used. There is no upper limit. Therefore, it is possible to prevent the average value of the final torque command value and the average value of the output torque of the rotating electrical machine from becoming lower than the basic torque command value.
- 1 is a schematic block diagram of a control device for a rotating electrical machine according to Embodiment 1 of the present invention.
- 1 is a schematic configuration diagram of a vehicle on which a rotating electrical machine and a control device according to Embodiment 1 of the present invention are mounted.
- It is a hardware block diagram of the rotary electric machine which concerns on Embodiment 1 of this invention.
- It is a block diagram of the inverter control part which concerns on Embodiment 1 of this invention.
- It is a block diagram of the fundamental vibration torque calculation part which concerns on Embodiment 1 of this invention.
- It is a figure explaining the amplitude table which concerns on Embodiment 1 of this invention.
- It is a time chart which concerns on the comparative example of this invention.
- It is a time chart which concerns on the comparative example of this invention.
- It is a time chart which concerns on Embodiment 1 of this invention.
- It is a time chart which concerns on other embodiment of this invention.
- FIG. 1 is a schematic block diagram of a control device 1 according to the present embodiment.
- the rotating electrical machine 2 includes a stator fixed to a non-rotating member and a rotor that is arranged on the inner side in the radial direction of the stator and is rotatably supported by the non-rotating member.
- the rotating electrical machine 2 is a permanent magnet type synchronous rotating electrical machine, in which three-phase windings Cu, Cv, Cw are wound around a stator, and a permanent magnet is provided on a rotor.
- the rotating electrical machine 2 is electrically connected to a DC power source 4 via an inverter 10 that performs DC / AC conversion.
- the rotating electrical machine 2 has at least a function of an electric motor that generates power upon receiving power supply from the DC power supply 4.
- the rotating electrical machine 2 may have a generator function in addition to the function of the electric motor.
- the inverter 10 is a DC / AC converter that performs power conversion between the DC power supply 4 and the rotating electrical machine 2.
- the inverter 10 includes two switching elements connected in series between a positive electrode wire connected to the positive electrode of the DC power source 4 and a negative electrode wire connected to the negative electrode of the DC power source 4.
- Three sets of bridge circuits are provided corresponding to the windings of (V phase, W phase).
- a connection point for connecting the switching element on the positive electrode side and the switching element on the negative electrode side in series is connected to the winding of the corresponding phase.
- the switching element an IGBT (Insulated Gate Bipolar Transistor) having a freewheel diode connected in reverse parallel, a MOSFET (Metal Oxide Semiconductor Field Effect Transistor), or the like is used.
- the inverter 10 includes a current sensor 11 for detecting a current flowing through each winding.
- the current sensor 11 is provided on an electric wire of each phase that connects a series circuit of switching elements and a winding.
- the rotating electrical machine 2 is used as a driving force source of the vehicle, and the rotating shaft of the rotor of the rotating electrical machine 2 has two left and right sides via a speed reducer 6 and a differential gear 7. Connected to the wheel 8.
- the control device 1 is a control device that controls the rotating electrical machine 2 by controlling the inverter 10.
- the control device 1 includes functional units such as a basic torque command calculation unit 30, a vibration command calculation unit 31, a final torque command calculation unit 32, and an inverter control unit 33.
- Each of the functional units 30 to 33 provided in the control device 1 is realized by a processing circuit provided in the control device 1.
- the control device 1 includes a processing circuit 90 such as a CPU (Central Processing Unit) or a DSP (Digital Signal Processor), a processing circuit 90 and data.
- a processing circuit 90 such as a CPU (Central Processing Unit) or a DSP (Digital Signal Processor)
- a storage device 91 that exchanges data, an input circuit 92 that inputs an external signal to the arithmetic processing device 90, an output circuit 93 that outputs a signal from the arithmetic processing device 90 to the outside, and the like.
- the storage device 91 there are a RAM (Random Access Memory) configured to be able to read and write data from the arithmetic processing unit 90, a ROM (Read Only Memory) configured to be able to read data from the arithmetic processing unit 90, and the like.
- the input circuit 92 is connected to various sensors and switches, and includes an A / D converter or the like that inputs output signals of these sensors and switches to the arithmetic processing unit 90.
- the output circuit 93 is connected to an electrical load such as a switching element, and includes a drive circuit that outputs a control signal from the arithmetic processing unit 90 to these electrical loads.
- the current sensor 11, the rotation speed sensor 12, the temperature sensor 13, and the like are connected to the input circuit 92.
- the output circuit 93 is connected to an inverter 10 (a switching element or a gate drive circuit for the switching element).
- the arithmetic processing unit 90 executes software (programs) stored in a storage device 91 such as a ROM for the functions such as the functional units 30 to 33 provided in the control device 1. , And by cooperating with other hardware of the control device 1 such as the output circuit 93. Note that setting data such as determination values and tables used by the functional units 30 to 33 are stored in a storage device 91 such as a ROM as part of software (program).
- a storage device 91 such as a ROM as part of software (program).
- the inverter control unit 33 sets the switching element of the inverter 10 so that the rotating electrical machine 2 outputs the torque of the final torque command value Tcf transmitted from the final torque command calculation unit 32 described later. ON / OFF control.
- the inverter control unit 33 is configured to perform current feedback control using a vector control method.
- the inverter control unit 33 includes a dq-axis current command calculation unit 40, a current feedback control unit 41, a voltage coordinate conversion unit 42, a PWM signal generation unit 43, a current coordinate conversion unit 44, and a rotation speed detection unit 45.
- Rotational speed detection unit 45 detects the rotational speed of the rotating electrical machine 2.
- the rotational speed detector 45 detects the electrical angle ⁇ (magnetic pole position ⁇ ) and electrical angular speed of the rotor based on the output signal of the rotational speed sensor 12 provided on the rotational shaft of the rotor.
- the final torque command value Tcf calculated by the final torque command calculation unit 32 is input to the dq axis current command calculation unit 40.
- the dq-axis current command calculation unit 40 is a d-axis current that represents the current that flows through the three-phase windings Cu, Cv, and Cw in the dq-axis rotation coordinate system in order to cause the rotating electrical machine 2 to output the torque of the final torque command value Tcf.
- the command value Idc and the q-axis current command value Iqc are calculated.
- dq axis current command values Idc and Iqc are calculated so as to maximize the generated torque with respect to the same current.
- the flux weakening control the dq-axis current command values Idc and Iqc are moved on the constant induced voltage ellipse according to the final torque command value Tcf.
- the d-axis current command value Idc is set to 0, and the q-axis current command value Iqc is changed according to the final torque command value Tcf and the like.
- dq-axis current command values Idc and Iqc are calculated such that the linkage flux is minimized when the same torque is generated.
- the dq axis current command calculation unit 40 uses a torque current conversion map in which the relationship between the final torque command value Tcf and the dq axis current command values Idc and Iqc is set in advance, and sets the final torque command value Tcf. Corresponding dq-axis current command values Idc and Iqc are calculated.
- the dq axis rotation coordinates are the d axis determined in the direction of the N pole (magnetic pole position) of the permanent magnet provided on the rotor, and the q axis determined in a direction advanced by 90 ° ( ⁇ / 2) in electrical angle from the d axis.
- ⁇ magnetic pole position
- the current coordinate conversion unit 44 detects the three-phase currents Iu, Iv, Iw flowing from the inverter 10 to the windings Cu, Cv, Cw of each phase of the rotating electrical machine 2 based on the output signal of the current sensor 11.
- the current coordinate conversion unit 44 performs three-phase two-phase conversion and rotational coordinate conversion on the three-phase currents Iu, Iv, and Iw flowing through the windings of each phase based on the magnetic pole position ⁇ , and represents them in the dq-axis rotational coordinate system. Converted to the d-axis current Id and the q-axis current Iq.
- the current feedback control unit 41 uses a d-axis voltage representing a command signal of a voltage applied to the rotating electrical machine 2 in a dq-axis rotational coordinate system so that the dq-axis currents Id and Iq approach the dq-axis current command values Idc and Iqc.
- Current feedback control is performed in which the command value Vd and the q-axis voltage command value Vq are changed by PI control or the like.
- the voltage coordinate conversion unit 42 performs fixed coordinate conversion and two-phase three-phase conversion on the dq-axis voltage command values Vd and Vq based on the magnetic pole position ⁇ , and the AC voltage to the three-phase windings
- the command values are converted into three-phase AC voltage command values Vu, Vv, and Vw.
- the PWM signal generation unit 43 compares each of the three-phase AC voltage command values Vu, Vv, and Vw with a carrier wave (triangular wave) that has a vibration width of the DC power supply voltage and vibrates at the carrier frequency, and generates an AC voltage command When the value exceeds the carrier wave, the rectangular pulse wave is turned on. When the AC voltage command value falls below the carrier wave, the rectangular pulse wave is turned off.
- the PWM signal generation unit 43 outputs a rectangular pulse wave of each phase of the three phases to the inverter 10 as the inverter control signals Su, Sv, Sw of each phase of the three phases, and turns on / off each switching element of the inverter 10.
- the basic torque command calculation unit 30 calculates a basic torque command value Tcb that is a basic command value of torque to be output to the rotating electrical machine 2.
- the basic torque command calculation unit 30 calculates the vehicle required torque required for driving the wheels W according to the accelerator opening, the vehicle speed, the charge amount of the DC power supply 4, and the like.
- a basic torque command value Tcb is set based on the vehicle request torque.
- the vibration command calculation unit 31 calculates a vibration torque command value Tcv that is a torque command value that vibrates at a vibration frequency.
- the vibration command calculation unit 31 includes a basic vibration torque calculation unit 34 and an amplitude reduction processing unit 38.
- the basic vibration torque calculation unit 34 calculates a basic vibration torque command value Tcvb that is a basic value of the vibration torque command value.
- the amplitude reduction processing unit 38 performs an amplitude reduction process described later on the basic vibration torque command value Tcvb to calculate a final vibration torque command value Tcv.
- the basic vibration torque calculation unit 34 is configured to set the vibration frequency to a frequency corresponding to the rotation frequency (electrical angular frequency) of the rotating electrical machine 2.
- the basic vibration torque command value Tcvb is a torque command value for canceling torque vibration components such as torque ripple and cogging torque generated in the output torque of the rotating electrical machine 2, and is set to a torque having an opposite phase to the torque vibration component.
- the torque ripple is generated by the interaction between the magnetic flux caused by the current and the magnetic flux caused by the magnet, and has a frequency 6n times (n is a natural number of 1 or more) the basic frequency (electrical angular frequency) of the current.
- the cogging torque is caused by a difference in the static magnetic attractive force between the stator and the rotor depending on the rotor position, and has a frequency of the least common multiple of the number of slots of the stator and the number of magnetic poles of the rotor ⁇ electrical angular frequency.
- the basic vibration torque calculation unit 34 includes an amplitude setting unit 35, a vibration waveform calculation unit 36, and a multiplier 37.
- the amplitude setting unit 35 sets the basic amplitude Ab based on the basic torque command value Tcb.
- the amplitude setting unit 35 uses an amplitude table in which the relationship between the basic torque command value Tcb and the basic amplitude Ab is set in advance as shown in FIG. 6, and the basic torque calculated by the basic torque command calculation unit 30 is used. A basic amplitude Ab corresponding to the command value Tcb is calculated.
- the vibration waveform calculation unit 36 calculates a vibration waveform based on the electrical angle ⁇ detected by the rotation speed detection unit 45, the preset order m, and the preset phase ⁇ . In this example, the vibration waveform calculation unit 36 calculates sin (m ⁇ ⁇ + ⁇ ) as the vibration waveform.
- the vibration waveform calculation unit 36 may change the phase ⁇ according to operating conditions such as the basic torque command value Tcb and the electrical angular velocity. Then, the multiplier 37 multiplies the basic amplitude Ab set by the amplitude setting unit 35 and the vibration waveform sin (m ⁇ ⁇ + ⁇ ) calculated by the vibration waveform calculation unit 36 to obtain the basic vibration torque command value Tcvb. calculate.
- the amplitude table is set such that the basic amplitude Ab increases as the absolute value of the basic torque command value Tcb increases. Therefore, the torque vibration whose amplitude increases as the basic torque command value Tcb increases can be canceled by the vibration torque command value.
- the upper limit of the vibration torque command value having an increased amplitude is limited by the upper limit command value Tcmx.
- the vibration command calculation unit 31 calculates a plurality of basic vibration torque command values Tcvb having different orders m, and a plurality of basic vibration torques.
- the total value of the command value Tcvb may be calculated as the final basic vibration torque command value Tcvb.
- the amplitude reduction processing unit 38 performs an amplitude reduction process described later on the basic vibration torque command value Tcvb to calculate a final vibration torque command value Tcv.
- the final torque command calculation unit 32 adds the vibration torque command value Tcv calculated by the vibration command calculation unit 31 to the basic torque command value Tcb calculated by the basic torque command calculation unit 30.
- the torque command value Tcsm is calculated, and finally the value obtained by upper limit limiting the additional torque command value Tcsm with the preset upper limit command value Tcmx corresponding to the maximum output torque of the rotating electrical machine 2 is finally commanded to the rotating electrical machine 2 Calculated as the torque command value Tcf.
- the maximum output torque of the rotating electrical machine 2 is the maximum value of the average value of the output torque that can be output to the rotating electrical machine 2 by the control device 1, and torque vibration components such as torque ripple and cogging torque are averaged. Output torque. That is, the maximum output torque is the maximum average output torque.
- upper limit command value Tcmx is set to match the maximum output torque of rotating electrical machine 2.
- the maximum output torque of the rotating electrical machine 2 varies according to the electrical angular velocity of the rotor, the power supply voltage of the DC power supply 4, the charge amount, and the like.
- the final torque command calculation unit 32 is configured to set an upper limit command value Tcmx based on the electrical angular velocity of the rotor, the power supply voltage of the DC power supply 4, and the charge amount.
- the final torque command calculation unit 32 determines that the final torque command value Tcsm obtained by adding the vibration torque command value Tcv to the basic torque command value Tcb is larger than the upper limit command value Tcmx.
- the upper limit command value Tcmx is set to the command value Tcf.
- the final torque command calculating unit 32 sets the added torque command value Tcsm as the final torque command value Tcf.
- Tcsm Tcb + Tcv
- the time chart of FIG. 8 shows the behavior of the output torque Tm of the rotating electrical machine 2 according to the comparative example.
- the basic torque command value Tcb is set to the final torque command value Tcf as it is without adding the vibration torque command value Tcv to the basic torque command value Tcb.
- This is the behavior of the output torque Tm of the rotating electrical machine 2.
- the output torque Tm of the rotating electrical machine 2 has a waveform in which a torque vibration component such as torque ripple is superimposed on the basic torque command value Tcb.
- the average value Tmave of the output torque Tm of the rotating electrical machine 2 is lower than the upper limit command value Tcmx (maximum output torque), but the peak portion of the torque vibration component of the output torque Tm is higher than the upper limit command value Tcmx. .
- the vibration command calculation unit 31 (amplitude reduction processing unit 38) is configured such that the maximum vibration value obtained by adding the amplitude of the vibration torque command value Tcv to the basic torque command value Tcb is greater than the upper limit command value Tcmx.
- an amplitude reduction process for reducing the amplitude of the vibration torque command value Tcv is performed so that the vibration maximum value is equal to or less than the upper limit command value Tcmx.
- the added torque command value Tcsm obtained by adding the vibration torque command value Tcv after the amplitude reduction process to the basic torque command value Tcb is equal to or less than the upper limit command value Tcmx.
- the upper limit is not limited by the upper limit command value Tcmx. Therefore, it is possible to prevent the average value Tcave of the final torque command value Tcf and the average value Tmave of the output torque Tm of the rotating electrical machine 2 from becoming lower than the basic torque command value Tcb. Further, the amplitude of the vibration torque command value Tcv can be set and the torque vibration component can be canceled within a range not limited by the upper limit command value Tcmx.
- the amplitude reduction processing unit 38 performs a basic operation when the determination vibration maximum value (Tcb + Ab) obtained by adding the basic amplitude Ab of the basic vibration torque command value Tcvb to the basic torque command value Tcb is larger than the upper limit command value Tcmx.
- the amplitude of the vibration torque command value Tcv is reduced so that the maximum vibration value obtained by adding the amplitude of the vibration torque command value Tcv to the torque command value Tcb matches the upper limit command value Tcmx. According to this configuration, it is possible to minimize the decrease in the amplitude of the vibration torque command value Tcv and to minimize the decrease in the torque vibration reduction effect.
- the amplitude of the vibration torque command value Tcv is A
- the amplitude reduction processing unit 38 determines that the determination vibration maximum value (Tcb + Ab) obtained by adding the basic amplitude Ab of the basic vibration torque command value Tcvb to the basic torque command value Tcb is the upper limit command.
- Tcmx When larger than the value Tcmx, the difference value (Tcmx ⁇ Tcb) is divided by the basic amplitude Ab to calculate the amplitude reduction coefficient Ka, and the basic vibration torque command value Tcvb is multiplied by the amplitude reduction coefficient Ka to obtain the final vibration torque. A command value Tcv is calculated.
- the amplitude reduction processing unit 38 sets the basic vibration torque command value Tcvb as it is as the final vibration torque command value Tcv. 1)
- Tcv Tcvb
- the amplitude reduction processing unit 38 when the determination vibration maximum value (Tcb + Ab) is larger than the upper limit command value Tcmx, instead of the basic amplitude Ab in Expression (1), the difference value (Tcmx
- Tcmx The final vibration torque command value Tcv may be directly calculated using -Tcb).
- the amplitude reduction processing unit 38 sets the amplitude of the total value to the basic amplitude Ab. Set and perform the calculation of equation (3).
- the amplitude of the vibration torque command value Tcv calculated according to the basic torque command value Tcb also changes suddenly.
- the current detection value detected by the current sensor 11 changes suddenly under the influence of noise
- the basic torque command value Tcb changes suddenly under the influence.
- the amplitude of the vibration torque command value Tcv changes suddenly, the output torque of the rotating electrical machine 2 also changes suddenly, so that torque fluctuations are transmitted to the wheels 8 and give the driver a feeling of strangeness.
- the vibration command calculation unit 31 is configured to perform a low-pass filter process on the set value of the amplitude of the vibration torque command value Tcv. According to this configuration, it is possible to suppress a sudden change in the amplitude of the vibration torque command value Tcv and suppress the transmission of torque fluctuations to the wheels 8.
- the vibration command calculation unit 31 performs a low-pass filter process on the set values of the basic amplitude Ab and the amplitude reduction coefficient Ka.
- the vibration command calculation unit 31 performs low-pass filter processing on the difference value (Tcmx ⁇ Tcb) and the basic amplitude Ab.
- Embodiment 2 Next, the control device 1 according to Embodiment 2 will be described. The description of the same components as those in the first embodiment is omitted. Although the basic configuration and processing of the rotating electrical machine 2 and the control device 1 according to the present embodiment are the same as those of the first embodiment, the calculation method of the maximum vibration value in the amplitude reduction processing is different.
- a deviation occurs between the final torque command value Tcf and the actual output torque of the rotating electrical machine 2.
- the final torque command value Tcf is converted into the dq axis current command values Idc and Iqc using the torque current conversion map
- a conversion error occurs due to linear interpolation of interpolation or extrapolation.
- the rotating electrical machine 2 has individual differences due to manufacturing variations. If the coil length is different, the coil resistance is different. Therefore, even if the applied voltage is the same, the current value is different and the output torque is different.
- the output torque of the rotating electrical machine 2 may deviate within the range of about +2 Nm to ⁇ 2 Nm with respect to the final torque command value Tcf.
- the vibration command calculation unit 31 is set in advance to the basic torque command value Tcb, the amplitude of the vibration torque command value Tcv, and the final torque command value Tcf and the output torque of the rotating electrical machine 2.
- a value obtained by adding the deviation width ⁇ Tsh is calculated as a vibration maximum value. That is, the vibration command calculation unit 31 determines that the maximum vibration value is the upper limit command value when the maximum vibration value obtained by adding the amplitude and deviation ⁇ Tsh of the vibration torque command value Tcv to the basic torque command value Tcb is greater than the upper limit command value Tcmx.
- the amplitude of the vibration torque command value Tcv is reduced so as to be equal to or less than Tcmx.
- the amplitude of the vibration torque command value Tcv is reduced so that an interval of a preset deviation width ⁇ Tsh or more is left between the upper limit command value Tcmx and the oscillating final torque command value Tcf.
- the peak portion of the vibration torque command value Tcv is limited by the maximum output torque of the rotating electrical machine 2. This can be suppressed, and a decrease in the average value Tmave of the output torque Tm of the rotating electrical machine 2 can be suppressed.
- the deviation width ⁇ Tsh is set in advance to the maximum deviation width that can be caused by one or both of the setting error of the torque current conversion map and the individual difference of the rotating electrical machine 2.
- the amplitude reduction processing unit 38 determines the basic torque command when the determination vibration maximum value (Tcb + Ab + ⁇ Tsh) obtained by adding the basic amplitude Ab of the basic vibration torque command value Tcvb and the deviation width ⁇ Tsh to the basic torque command value Tcb is larger than the upper limit command value Tcmx.
- the amplitude of the vibration torque command value Tcv is decreased so that the maximum vibration value obtained by adding the amplitude of the vibration torque command value Tcv and the deviation width ⁇ Tsh to the value Tcb matches the upper limit command value Tcmx.
- the amplitude reduction processing unit 38 determines that the basic torque command value Tcb and the deviation from the upper limit command value Tcmx when the determination vibration maximum value (Tcb + Ab + ⁇ Tsh) is larger than the upper limit command value Tcmx.
- An amplitude reduction coefficient Ka is calculated by dividing the deviation width subtraction difference value (Tcmx ⁇ Tcb ⁇ Tsh) obtained by subtracting the width ⁇ Tsh by the basic amplitude Ab, and finally the basic vibration torque command value Tcvb is multiplied by the amplitude reduction coefficient Ka.
- a correct vibration torque command value Tcv is calculated.
- the amplitude reduction processing unit 38 sets the basic vibration torque command value Tcvb as the final vibration torque command value Tcv as it is. 1)
- Tcb + Ab + ⁇ Tsh ⁇ Tcmx Tcv Tcvb
- the amplitude reduction processing unit 38 subtracts the deviation width instead of the basic amplitude Ab in Expression (1) when the determination vibration maximum value (Tcb + Ab + ⁇ Tsh) is larger than the upper limit command value Tcmx.
- the final vibration torque command value Tcv may be directly calculated using the difference value (Tcmx ⁇ Tcb ⁇ Tsh). 1)
- Tcv (Tcmx ⁇ Tcb ⁇ Tsh) ⁇ sin (m ⁇ ⁇ + ⁇ ) 2)
- Tcv Ab ⁇ sin (m ⁇ ⁇ + ⁇ )
- the amplitude reduction processing unit 38 limits the deviation width subtraction difference value (Tcmx ⁇ Tcb ⁇ Tsh) to the lower limit with zero. According to this configuration, when the deviation width subtraction difference value (Tcmx ⁇ Tcb ⁇ Tsh) is equal to or less than zero, the amplitude of the vibration torque command value Tcv is set to zero. Therefore, the amplitude becomes negative and the phase of the vibration torque command value Tcv can be prevented from being reversed.
- Embodiment 3 Next, the control device 1 according to Embodiment 3 will be described. The description of the same components as those in the first embodiment is omitted. Although the basic configuration and processing of the rotating electrical machine 2 and the control device 1 according to the present embodiment are the same as those of the first embodiment, the calculation method of the maximum vibration value in the amplitude reduction processing is different.
- the control device 1 is configured to perform current feedback control such that the current value detected by the current sensor 11 approaches the current command value set based on the final torque command value Tcf. Has been. Therefore, when a detection deviation occurs in the current sensor 11, a deviation occurs between the final torque command value Tcf and the actual output torque of the rotating electrical machine 2.
- the current sensor 11 is calibrated at room temperature, there is a risk that detection deviation will increase when the current sensor 11 becomes hot. For example, in the case of the shunt-type current sensor 11, a current value corresponding to the amount of voltage drop across the resistor is calculated.
- the temperature increase of the current sensor 11 occurs when the temperature in the vicinity of the current sensor 11 inside the inverter 10 increases, or when the current flowing through the resistor increases. For example, when the outside air temperature is high such as midsummer or when traveling at high speed, the temperature increase of the current sensor 11 increases, and the current detection deviation increases.
- the deviation width between the final torque command value Tcf and the actual output torque of the rotating electrical machine 2 also becomes large, and the problem described in the second embodiment occurs. That is, when the upper limit command value Tcmx is shifted so as to exceed the maximum output torque of the rotating electrical machine 2, the rotating electrical machine 2 is caused to output the peak torque of the vibration torque command value Tcv by the upper limit of the maximum output torque. There is a case in which the average value Tmave of the output torque Tm of the rotating electrical machine 2 is lowered.
- the vibration command calculation unit 31 determines that the current is detected when the temperature of the current sensor 11 that detects the current flowing through the rotating electrical machine 2 is equal to or higher than a preset determination temperature (for example, 80 ° C.).
- a current torque deviation width ⁇ Tshi which is a deviation width between the final torque command value Tcf generated by the current detection error of the sensor 11 and the output torque of the rotating electrical machine 2 is calculated, and the amplitude of the vibration torque command value Tcv is calculated as the basic torque command value Tcb.
- a value obtained by adding the current torque deviation width ⁇ Tshi is calculated as a vibration maximum value.
- the vibration command calculation unit 31 adds the vibration torque command value Tcv and the current torque deviation width ⁇ Tshi to the basic torque command value Tcb.
- the vibration command calculation unit 31 has a case where the maximum vibration value obtained by adding the vibration torque command value Tcv to the basic torque command value Tcb is larger than the upper limit command value Tcmx.
- the amplitude of the vibration torque command value Tcv is decreased so that the vibration maximum value is equal to or less than the upper limit command value Tcmx.
- the current torque is between the upper limit command value Tcmx and the oscillating final torque command value Tcf.
- the amplitude of the vibration torque command value Tcv is decreased so that an interval equal to or larger than the deviation width ⁇ Tshi is left. Therefore, even when the upper limit command value Tcmx is shifted so as to exceed the maximum output torque of the rotating electrical machine 2, the peak portion of the vibration torque command value Tcv is suppressed from being limited by the maximum output torque of the rotating electrical machine 2, It can suppress that the average value Tmave of the output torque Tm of the rotary electric machine 2 falls.
- the vibration command calculation unit 31 detects the temperature of the current sensor 11 based on the output signal of the temperature sensor 13 provided in the current sensor 11. Alternatively, the vibration command calculation unit 31 detects the temperature of the current sensor 11 based on the output signal of the temperature sensor 13 provided in the vicinity of the current sensor 11.
- the current torque deviation width ⁇ Tshi may be a preset constant value or may be changed according to the temperature of the current sensor 11. In the latter case, the vibration command calculation unit 31 uses a deviation width setting table in which the relationship between the temperature of the current sensor 11 and the current torque deviation width ⁇ Tshi is set in advance, and the current torque corresponding to the detected temperature of the current sensor 11. The deviation width ⁇ Tshi is calculated.
- the amplitude reduction processing unit 38 when the determination vibration maximum value (Tcb + Ab + ⁇ Tshi) obtained by adding the basic amplitude Ab and the current torque deviation width ⁇ Tshi of the basic vibration torque command value Tcvb to the basic torque command value Tcb is larger than the upper limit command value Tcmx.
- the amplitude of the vibration torque command value Tcv is reduced so that the maximum vibration value obtained by adding the amplitude of the vibration torque command value Tcv and the current torque deviation width ⁇ Tshi to the torque command value Tcb matches the upper limit command value Tcmx. Yes.
- the amplitude reduction processing unit 38 determines that the basic torque command value Tcb and the current are calculated from the upper limit command value Tcmx when the determination vibration maximum value (Tcb + Ab + ⁇ Tshi) is larger than the upper limit command value Tcmx.
- An amplitude reduction coefficient Ka is calculated by dividing a deviation width subtraction difference value (Tcmx ⁇ Tcb ⁇ Tshi) obtained by subtracting the torque deviation width ⁇ Tshi by the basic amplitude Ab, and the amplitude reduction coefficient Ka is multiplied by the basic vibration torque command value Tcvb.
- a final vibration torque command value Tcv is calculated.
- the amplitude reduction processing unit 38 sets the basic vibration torque command value Tcvb as the final vibration torque command value Tcv as it is. 1)
- Tcb + Ab + ⁇ Tshi ⁇ Tcmx Tcv Tcvb
- the amplitude reduction processing unit 38 subtracts the deviation width instead of the basic amplitude Ab in Expression (1) when the determination vibration maximum value (Tcb + Ab + ⁇ Tshi) is larger than the upper limit command value Tcmx.
- the final vibration torque command value Tcv may be directly calculated using the difference value (Tcmx ⁇ Tcb ⁇ Tshi). 1)
- Tcb + Ab + ⁇ Tshi> Tcmx Tcv (Tcmx ⁇ Tcb ⁇ Tshi) ⁇ sin (m ⁇ ⁇ + ⁇ ) 2
- Tcv Ab ⁇ sin (m ⁇ ⁇ + ⁇ )
- the amplitude reduction processing unit 38 limits the deviation width subtraction difference value (Tcmx ⁇ Tcb ⁇ Tshi) to the lower limit with zero.
- the vibration command calculation unit 31 is configured to decrease the amplitude while maintaining the waveform of the basic vibration torque command value Tcvb in the amplitude reduction process.
- the embodiment of the present invention is not limited to this. That is, the vibration command calculation unit 31 has the maximum vibration value equal to or less than the upper limit command value Tcmx when the maximum vibration value obtained by adding the amplitude of the vibration torque command value Tcv to the basic torque command value Tcb is greater than the upper limit command value Tcmx.
- the amplitude of the vibration torque command value Tcv may be decreased, and the waveform may change before and after the amplitude reduction process.
- the vibration command calculation unit 31 determines that the basic amplitude Ab of the basic vibration torque command value Tcvb is added to the basic torque command value Tcb.
- the upper limit of the basic torque command value Tcb is limited by a difference value (Tcmx ⁇ Tcb) obtained by subtracting the basic torque command value Tcb from the upper limit command value Tcmx.
- a value obtained by lowering the basic torque command value Tcb by a value obtained by multiplying (Tcmx ⁇ Tcb) by ⁇ 1 may be set as the final vibration torque command value Tcv.
- Tcv Tcvb
- the vibration command calculation unit 31 limits the upper and lower limits of the basic torque command value Tcb based on the plus and minus values of the deviation width subtraction difference value (Tcmx ⁇ Tcb ⁇ Tsh).
- the basic torque command value Tcb may be limited to upper and lower limits based on a plus value and a minus value of the deviation width subtraction value (Tcmx ⁇ Tcb ⁇ Tshi).
- the amplitude of the vibration torque command value Tcv can be reduced so that the vibration maximum value is equal to or less than the upper limit command value Tcmx, and the average value Tcfave of the final torque command value Tcf and the output torque of the rotating electrical machine 2 can be reduced. It is possible to prevent the average value Tmave of Tm from becoming lower than the basic torque command value Tcb. Furthermore, the amplitude of the vibration torque command value Tcv can be increased and the effect of canceling the torque vibration can be enhanced as compared with the above embodiments.
- the vibration command calculation unit 31 is configured to calculate the vibration torque command value Tcv (basic vibration torque command value Tcvb) having a sine wave (or cosine wave) waveform.
- the vibration command calculation unit 31 may have any waveform as long as it is a vibration torque command value Tcv (basic vibration torque command value Tcvb) that vibrates at a vibration frequency.
- the vibration command calculation unit 31 may set the waveform of the vibration torque command value Tcv (basic vibration torque command value Tcvb) to a waveform close to the vibration component of the output torque of the rotating electrical machine 2 measured by a torque sensor in an experiment.
- the vibration command calculation unit 31 calculates a unit command value having an amplitude of 1 by combining a plurality of sine waves (or cosine waves) having different phases, or a table in which the relationship between the angle and the unit command value is set in advance. Is used to calculate a unit command value corresponding to the electrical angle ⁇ . Then, the vibration command calculation unit 31 may calculate the basic vibration torque command value Tcvb by multiplying the unit command value by the basic amplitude Ab.
- the vibration command calculation unit 31 is configured to reduce the amplitude of the vibration torque command value Tcv so that the vibration maximum value matches the upper limit command value Tcmx.
- the vibration command calculation unit 31 may reduce the amplitude of the vibration torque command value Tcv so that the vibration maximum value is equal to or less than the upper limit command value Tcmx, and the vibration maximum value becomes a predetermined value from the upper limit command value Tcmx. You may comprise so that the amplitude of vibration torque command value Tcv may be decreased so that it may correspond with the subtracted value.
- the vibration command calculation unit 31 calculates a vibration torque command value Tcv for canceling the torque vibration component output by the rotating electrical machine 2 such as torque ripple and cogging torque as an example. explained.
- the vibration command calculation unit 31 only has to calculate a vibration torque command value Tcv that vibrates at a vibration frequency. For example, vibration torque for canceling shaft torsional vibration generated in a power transmission path connecting the rotating electrical machine 2 and the wheel 8.
- the command value Tcv may be calculated, or the vibration torque command value Tcv for canceling both the torque ripple, the cogging torque, and the shaft torsional vibration may be calculated.
- the rotating electrical machine 2 may be a driving force source for a hybrid vehicle including an internal combustion engine, or may be a driving force source for a device other than a vehicle.
- the rotating electrical machine 2 is a permanent magnet type synchronous rotating electrical machine
- the embodiment of the present invention is not limited to this. That is, the rotating electrical machine 2 may be various rotating electrical machines such as an induction rotating electrical machine.
- the present invention can be suitably used for a controller for a rotating electrical machine that superimposes a torque vibration component on the output torque of the rotating electrical machine.
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Abstract
Description
実施の形態1に係る回転電機2の制御装置1(以下、単に制御装置1と称す)について図面を参照して説明する。図1は、本実施の形態に係る制御装置1の概略ブロック図である。
図1に示すように、基本トルク指令算出部30は、回転電機2に出力させるトルクの基本指令値である基本トルク指令値Tcbを算出する。本実施の形態では、基本トルク指令算出部30は、アクセル開度、車速、及び直流電源4の充電量等に応じて、車輪Wの駆動のために要求されている車両要求トルクを算出し、車両要求トルクに基づいて基本トルク指令値Tcbを設定する。
Tcvb=Ab×sin(m×θ+γ) ・・・(1)
1)Tcsm(=Tcb+Tcv)>Tcmxの場合
Tcf=Tcmx
2)Tcsm(=Tcb+Tcv)≦Tcmxの場合 ・・・(2)
Tcf=Tcsm=Tcb+Tcv
1)Tcb+Ab>Tcmxの場合
Ka=(Tcmx-Tcb)/Ab
Tcv=Ka×Tcvb
2)Tcb+Ab≦Tcmxの場合 ・・・(3)
Tcv=Tcvb
1)Tcb+Ab>Tcmxの場合
Tcv=(Tcmx-Tcb)×sin(m×θ+γ)
2)Tcb+Ab≦Tcmxの場合 ・・・(4)
Tcv=Ab×sin(m×θ+γ)
次に、実施の形態2に係る制御装置1について説明する。上記の実施の形態1と同様の構成部分は説明を省略する。本実施の形態に係る回転電機2及び制御装置1の基本的な構成及び処理は実施の形態1と同様であるが、振幅減少処理における振動最大値の算出方法が異なる。
1)Tcb+Ab+ΔTsh>Tcmxの場合
Ka=(Tcmx-Tcb-ΔTsh)/Ab
Tcv=Ka×Tcvb ・・・(5)
2)Tcb+Ab+ΔTsh≦Tcmxの場合
Tcv=Tcvb
1)Tcb+Ab+ΔTsh>Tcmxの場合
Tcv=(Tcmx-Tcb-ΔTsh)×sin(m×θ+γ)
2)Tcb+Ab+ΔTsh≦Tcmxの場合 ・・・(6)
Tcv=Ab×sin(m×θ+γ)
次に、実施の形態3に係る制御装置1について説明する。上記の実施の形態1と同様の構成部分は説明を省略する。本実施の形態に係る回転電機2及び制御装置1の基本的な構成及び処理は実施の形態1と同様であるが、振幅減少処理における振動最大値の算出方法が異なる。
1)Tcb+Ab+ΔTshi>Tcmxの場合
Ka=(Tcmx-Tcb-ΔTshi)/Ab
Tcv=Ka×Tcvb ・・・(7)
2)Tcb+Ab+ΔTshi≦Tcmxの場合
Tcv=Tcvb
1)Tcb+Ab+ΔTshi>Tcmxの場合
Tcv=(Tcmx-Tcb-ΔTshi)×sin(m×θ+γ)
2)Tcb+Ab+ΔTshi≦Tcmxの場合 ・・・(8)
Tcv=Ab×sin(m×θ+γ)
最後に、本発明のその他の実施の形態について説明する。なお、以下に説明する各実施の形態の構成は、それぞれ単独で適用されるものに限られず、矛盾が生じない限り、他の実施の形態の構成と組み合わせて適用することも可能である。
1)Tcb+Ab>Tcmxの場合
-(Tcmx-Tcb)≦Tcvb≦(Tcmx-Tcb)
Tcv=Tcvb
2)Tcb+Ab≦Tcmxの場合 ・・・(9)
Tcv=Tcvb
Claims (5)
- 回転電機に出力させるトルクの基本指令値である基本トルク指令値を算出する基本トルク指令算出部と、
振動周波数で振動するトルク指令値である振動トルク指令値を算出する振動指令算出部と、
前記基本トルク指令値に前記振動トルク指令値を加算した加算トルク指令値を算出し、前記回転電機の最大出力トルクに対応して予め設定された上限指令値により前記加算トルク指令値を上限制限した値を、最終的に前記回転電機に指令する最終トルク指令値として算出する最終トルク指令算出部と、を備え、
前記振動指令算出部は、前記基本トルク指令値に前記振動トルク指令値の振幅を加算した振動最大値が前記上限指令値より大きくなる場合に、前記振動最大値が前記上限指令値以下になるように、前記振動トルク指令値の振幅を減少させる回転電機の制御装置。 - 前記振動指令算出部は、前記基本トルク指令値に、前記振動トルク指令値の振幅、及び前記最終トルク指令値と前記回転電機の出力トルクとの間の予め設定されたずれ幅を加算した値を、前記振動最大値として算出する請求項1に記載の回転電機の制御装置。
- 前記振動指令算出部は、前記回転電機に流れる電流を検出する電流センサの温度が、予め設定された判定温度以上である場合に、前記電流センサの電流検出誤差により生じる前記最終トルク指令値と前記回転電機の出力トルクとの間のずれ幅である電流トルクずれ幅を算出し、前記基本トルク指令値に前記振動トルク指令値の振幅、及び前記電流トルクずれ幅を加算した値を、前記振動最大値として算出する請求項1又は2に記載の回転電機の制御装置。
- 前記振動指令算出部は、前記振動最大値が前記上限指令値に一致するように、前記振動トルク指令値の振幅を減少させる請求項1から3のいずれか一項に記載の回転電機の制御装置。
- 前記振動指令算出部は、前記振動トルク指令値の振幅の設定値に対してローパスフィルタ処理を行う請求項1から4のいずれか一項に記載の回転電機の制御装置。
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JP2010110067A (ja) * | 2008-10-29 | 2010-05-13 | Hitachi Automotive Systems Ltd | モータ制御装置 |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2020058110A (ja) * | 2018-09-28 | 2020-04-09 | 日本電産エレシス株式会社 | 電流検出回路の調整方法 |
JP7267543B2 (ja) | 2018-09-28 | 2023-05-02 | ニデックエレシス株式会社 | 電流検出回路の調整方法 |
WO2024024265A1 (ja) * | 2022-07-29 | 2024-02-01 | 日立Astemo株式会社 | モータ制御装置 |
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US20190006968A1 (en) | 2019-01-03 |
JPWO2017109884A1 (ja) | 2018-03-08 |
CN108432120A (zh) | 2018-08-21 |
DE112015007223T5 (de) | 2018-10-11 |
JP6400231B2 (ja) | 2018-10-03 |
US10389279B2 (en) | 2019-08-20 |
CN108432120B (zh) | 2021-04-02 |
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