JP2007274779A - Electromotive drive control device, and electromotive drive control method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To sufficiently suppress the occurrence of torque ripples. <P>SOLUTION: This electromotive drive control device includes a motor-driven machine target torque calculation processing means that calculates motor-driven machine target torque representing a target value of the torque of a motor-driven machine, a harmonics torque command value calculation processing means that calculates a harmonics torque command value of prescribed amplitude and phase corresponding to the magnetic pole position θ of the motor-driven machine, a harmonics torque command value temperature correction processing means that corrects the harmonics torque command value based on the temperature at a prescribed position of the motor-driven machine, and a torque command value correction processing means that corrects the target torque of the motor-driven machine based on the corrected harmonics torque command value. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an electric drive control device and an electric drive control method.

  2. Description of the Related Art Conventionally, in an electric vehicle such as an electric vehicle or a hybrid vehicle, a drive motor or a generator disposed as an electric machine includes a magnetic pole pair that is rotatably disposed and includes N-pole and S-pole permanent magnets. A rotor, a stator provided with U-phase, V-phase, and W-phase stator coils, and the like are disposed radially outward from the rotor.

  An electric drive device is disposed to drive the drive motor or the generator and generate a drive motor torque that is the torque of the drive motor or a generator torque that is the torque of the generator. Further, a drive motor control device for driving the drive motor, a generator control device for driving the generator is disposed as an electric machine control device, and a U phase generated in the electric machine control device, The V-phase and W-phase pulse width modulation signals are sent to the inverter, and phase currents generated in the inverter, that is, U-phase, V-phase and W-phase currents are supplied to the respective stator coils, thereby driving the drive. Motor torque is generated or generator torque is generated.

  In the drive motor control device, feedback control is performed by vector control calculation on a dq axis model in which the d axis is taken in the direction of the magnetic pole pair in the rotor and the q axis is taken in a direction perpendicular to the d axis. For this purpose, the drive motor control device detects the current supplied to each stator coil, the magnetic pole position of the rotor, the DC voltage at the inlet of the inverter, etc., and the detected current, that is, the detected current is based on the magnetic pole position. The d-axis current and the q-axis current are converted into the d-axis current and the q-axis current, and the d-axis current command value and the q-axis current command value representing the target values of the d-axis current and the q-axis current are calculated with reference to the current command value map, The d-axis voltage command value and the q-axis voltage command value are calculated based on the deviation between the d-axis current and the d-axis current command value, the deviation between the q-axis current and the q-axis current command value, and the parameters of the drive motor. ing.

  In the current command value map, the d-axis current command value and the q-axis current command are associated with the drive motor target torque that represents the target value of the drive motor torque, the DC voltage, and the angular velocity that represents the rotational speed of the drive motor. The value is recorded. The parameters include a back electromotive force constant MIf, a winding resistance Ra of each stator coil, inductances Ld, Lq, and the like.

  Similarly, also in the generator control device, feedback control by vector control calculation is performed on the dq axis model.

By the way, in a drive motor, for example, a permanent magnet is disposed on the rotor, a plurality of teeth are formed on the stator core, and a coil is wound around the teeth, so the rotor rotates. Accordingly, the magnetic flux distribution changes, the magnet torque changes, the reluctance torque changes, and torque ripple occurs. Therefore, in the drive motor control device, a harmonic current command value that causes torque in the antiphase to be generated in the drive motor is calculated, and the drive motor or generator is driven to suppress the occurrence of torque ripple. (For example, refer to Patent Document 1).
JP 2004-64909 A

  However, in the conventional drive motor control apparatus, since the magnetic flux generated when driving the drive motor depends on the temperature, the amount of torque ripple also changes as the temperature changes. Therefore, when it is necessary to drive under a temperature condition from an extremely low temperature to a high temperature like a drive motor mounted on an electric vehicle, it is not possible to sufficiently suppress the occurrence of torque ripple.

  The present invention solves the problems of the conventional drive motor control device and sufficiently suppresses the occurrence of torque ripple when the electric machine needs to be driven under a temperature condition from extremely low temperature to high temperature. An object of the present invention is to provide an electric drive control device and an electric drive control method capable of performing the above.

  Therefore, in the electric drive control device of the present invention, the electric machine target torque calculation processing means for calculating the electric machine target torque representing the target value of the electric machine torque, and a predetermined magnetic pole position corresponding to the magnetic pole position of the electric machine. Harmonic torque command value calculation processing means for calculating a harmonic torque command value of the amplitude and phase of the motor, and a harmonic torque command value temperature for correcting the harmonic torque command value based on the temperature of a predetermined location of the electric machine Correction processing means and torque command value correction processing means for correcting the electric machine target torque based on the corrected harmonic torque command value.

  In another electric drive control device of the present invention, the harmonic torque command value calculation processing means further includes a harmonic torque having a phase opposite to a torque ripple generated when the electric machine is driven with the electric machine target torque. Calculate the command value.

  In still another electric drive control device of the present invention, the electric machine target torque calculation processing means calculates a harmonic torque command value based on the electric machine target torque and the magnetic pole position.

  In still another electric drive control device of the present invention, the harmonic torque command value calculation processing means is further based on a correction coefficient set corresponding to a temperature difference between the temperature at the predetermined location and a standard temperature. To calculate the harmonic torque command value.

  In still another electric drive control device of the present invention, the harmonic torque command value calculation processing means further includes a harmonic torque command according to the temperature difference when the temperature at the predetermined location is higher than a standard temperature. The amplitude of the value is reduced, and when the temperature at the predetermined location is lower than the standard temperature, the amplitude of the harmonic torque command value is increased according to the temperature difference.

  Still another electric drive control device of the present invention further includes torque command value correction processing means for correcting the electric machine target torque based on the temperature at the predetermined location.

  In still another electric drive control device of the present invention, the temperature at the predetermined portion is a magnet temperature of the electric machine.

  In still another electric drive control device of the present invention, the magnet temperature is estimated based on an oil temperature for cooling the electric machine.

  In the electric drive control method of the present invention, an electric machine target torque representing a target value of the electric machine torque is calculated, and a harmonic torque command value having a predetermined amplitude and phase is set in correspondence with the magnetic pole position of the electric machine. Calculate, correct the harmonic torque command value based on the temperature of a predetermined location of the electric machine, and correct the electric machine target torque based on the corrected harmonic torque command value.

  According to the present invention, in the electric drive control device, the electric machine target torque calculation processing means for calculating the electric machine target torque that represents the target value of the torque of the electric machine, and the predetermined position corresponding to the magnetic pole position of the electric machine. Harmonic torque command value calculation processing means for calculating a harmonic torque command value of the amplitude and phase of the motor, and a harmonic torque command value temperature for correcting the harmonic torque command value based on the temperature of a predetermined location of the electric machine Correction processing means and torque command value correction processing means for correcting the electric machine target torque based on the corrected harmonic torque command value.

  In this case, the harmonic torque command value is corrected based on the temperature at a predetermined location of the electric machine, and the electric machine target torque is corrected based on the corrected harmonic torque command value. Thus, the electric machine target torque can be generated. Therefore, the electric machine target torque can be stabilized even if the temperature of the predetermined portion changes.

  As a result, even when the electric machine is mounted on an electric vehicle and driven under a temperature condition from a very low temperature to a high temperature, occurrence of torque ripple can be sufficiently suppressed.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In this case, an electric drive device mounted on an electric vehicle as an electric vehicle, a hybrid vehicle, and the like, and an electric drive control device for operating the electric drive device will be described. The drive motor 31 as an electric machine controller will be described with respect to the drive motor 31 as an electric machine.

FIG. 1 is a block diagram of a drive motor control device in an embodiment of the present invention, FIG. 2 is a conceptual diagram of an electric drive device in an embodiment of the present invention, and FIG. 3 is a maximum drive motor target torque in the embodiment of the present invention. FIG. 4 is a diagram showing a map, FIG. 4 is a diagram showing a first current command value map in the embodiment of the present invention, and FIG. 5 is a diagram showing a second current command value map in the embodiment of the present invention. 3, the horizontal axis represents the angular velocity ω, the vertical axis represents the maximum drive motor target torque TMmax ^* , and in FIG. 4, the horizontal axis represents the target value of the drive motor torque TM that is the torque of the drive motor 31. the target torque TM ^*, the vertical axis of the d-axis current command value id ^*, 5, the d-axis current command value id ^* on the horizontal axis, are taken to the q-axis current command value iq ^* on the vertical axis.

  In the figure, reference numeral 31 denotes a drive motor. The drive motor 31 is attached to, for example, a drive shaft of an electric vehicle and is rotatably arranged, and is arranged radially outward from the rotor. Provided with a stator. The rotor includes a rotor core and permanent magnets disposed at a plurality of positions in the circumferential direction of the rotor core at an equal pitch, and a magnetic pole pair is configured by the S pole and the N pole of the permanent magnet. The stator includes a stator core formed with a plurality of teeth protruding radially inward at a plurality of locations in a circumferential direction, and a U-phase, a V-phase, and a W-phase wound around the plurality of teeth. Stator coils 11 to 13 are provided as phase coils.

  A magnetic pole position sensor 21 is arranged on the output shaft of the rotor as a magnetic pole position detector for detecting the magnetic pole position of the rotor. The magnetic pole position sensor 21 generates a magnetic pole position signal SGθ as a sensor output, It is sent to a drive motor control device 45 as a machine control device. Note that a resolver can be provided as a magnetic pole position detection unit in place of the magnetic pole position sensor 21, and a magnetic pole position signal can be generated by the resolver.

  In order to drive the electric motor by driving the drive motor 31, a direct current from the battery 14 is converted into phase currents by the inverter 40 as a current generator, that is, U-phase, V-phase and W-phase currents. It is converted into Iu, Iv, and Iw, and the currents Iu, Iv, and Iw of the respective phases are supplied to the stator coils 11 to 13, respectively.

  For this purpose, the inverter 40 includes transistors Tr1 to Tr6 as six switching elements, sends the drive signals generated in the drive circuit 51 to the transistors Tr1 to Tr6, and selectively selects the transistors Tr1 to Tr6. By turning on and off, the currents Iu, Iv, and Iw of each phase can be generated. As the inverter 40, a power module such as an IGBT formed by incorporating 2 to 6 switching elements into one package, or an IPM formed by incorporating a drive circuit or the like in the IGBT is used. can do.

  A voltage sensor 15 serving as a voltage detection unit is disposed on the inlet side when supplying current from the battery 14 to the inverter 40. The voltage sensor 15 detects the DC voltage Vdc on the inlet side of the inverter 40, and drives the motor. Send to control device 45. In addition, a battery voltage can also be used as the DC voltage Vdc, and in this case, a battery voltage sensor is disposed in the battery 14 as a voltage detection unit.

  The drive motor 31, the inverter 40, the drive circuit 51, drive wheels (not shown), and the like constitute an electric drive device. Reference numeral 16 denotes a temperature sensor as a temperature detection unit for detecting the temperature of lubricating oil for cooling the drive motor 31, that is, the oil temperature to, and 17 denotes a capacitor.

  By the way, since the stator coils 11 to 13 are star-connected, when the current values of two phases of each phase are determined, the current values of the remaining one phase are also determined. Therefore, in order to control the currents Iu, Iv, Iw of each phase, for example, current detection for detecting the U-phase and V-phase currents Iu, Iv on the lead wires of the U-phase and V-phase stator coils 11, 12. Current sensors 33 and 34 are arranged, and currents detected by the current sensors 33 and 34 are sent to the drive motor control device 45 as detected currents iu and iv.

  In addition to a CPU (not shown) that functions as a computer, the drive motor control device 45 is provided with a recording device (not shown) such as a RAM and a ROM for recording data and various programs. First and second current command value maps are set in the recording device. Note that an MPU can be used instead of the CPU.

  The ROM stores various programs, data, and the like. The programs, data, and the like are recorded on another recording medium such as a hard disk (not shown) provided as an external storage device. You can also. In this case, for example, a flash memory is provided in the drive motor control device 45, and the program, data, etc. are read from the recording medium and recorded in the flash memory. Therefore, the program, data, etc. can be updated by exchanging an external recording medium.

  Next, the operation of the drive motor control device 45 will be described.

First, a position detection processing unit (not shown) of the drive motor control device 45 performs a position detection process, reads the magnetic pole position signal SGθ sent from the magnetic pole position sensor 21, and based on the magnetic pole position signal SGθ, reads the magnetic pole position θ. Is detected. The rotational speed calculation processing means of the position detection processing means performs rotational speed calculation processing, and calculates the angular speed ω of the drive motor 31 based on the magnetic pole position signal SGθ. The rotational speed calculation processing means has a drive motor rotational speed NM that is the rotational speed of the drive motor 31 based on the angular speed ω, where p is the number of magnetic poles.
NM = 60 · (2 / p) · ω / 2π
Is also calculated. The electric motor rotation speed is constituted by the drive motor rotation speed NM.

A detection current acquisition processing unit (not shown) of the drive motor control device 45 performs a detection current acquisition process, reads and acquires the detection currents iu and iv, and detects a detection current iw based on the detection currents iu and iv.
iw = -iu-iv
Is obtained by calculating.

Next, a drive motor control processing unit (not shown) of the drive motor control device 45 performs a drive motor control process to obtain a drive motor target torque TM ^* , detected currents iu, iv, iw, a magnetic pole position θ, a DC voltage Vdc, and the like. Based on this, the drive motor 31 is driven. The electric motor torque is constituted by the drive motor torque TM, and the electric machine target torque is constituted by the drive motor target torque TM ^* . Further, in the present embodiment, in the drive motor control device 45, a vector on a dq axis model in which the d axis is taken in the direction of the magnetic pole pair in the rotor and the q axis is taken in the direction perpendicular to the d axis. Feedback control by control calculation is performed.

For this purpose, vehicle speed detection processing means (not shown) of the drive motor control device 45 performs vehicle speed detection processing, and detects and detects a vehicle speed V corresponding to the drive motor rotation speed NM based on the drive motor rotation speed NM. The vehicle speed V is sent to a vehicle control device (not shown) that controls the entire electric vehicle. Then, the vehicle command value calculation processing means of the vehicle control device performs a vehicle command value calculation process, reads the vehicle speed V and the accelerator opening α, and based on the vehicle speed V and the accelerator opening α, the vehicle required torque TO ^* is calculated, and the drive motor target torque calculation processing means as the electric machine target torque calculation processing means of the vehicle control device performs the drive motor target torque calculation processing as the electric machine target torque calculation processing, and the vehicle required torque A drive motor target torque TMa ^* is calculated corresponding to TO ^* and sent to the drive motor controller 45.

Next, the drive motor control processing means drives the drive motor 31 based on the drive motor target torque TMa ^* , the detected currents iu, iv, iw, the magnetic pole position θ, the DC voltage Vdc, and the like.

  Therefore, the drive motor control processing means includes a torque command value correction unit 20 as a torque command value correction processing means, a current command value calculation unit 46 as a current command value calculation / adjustment processing means, and a weakening as a field weakening field control processing means. Field control processing unit 47, voltage command value calculation processing unit 48 as voltage command value calculation processing means, three-phase two-phase conversion unit 49 as first phase conversion processing means, and PWM generator 50 as output signal generation processing means Feedback control by vector control calculation is performed on a dq axis model in which the d axis is taken in the direction of the magnetic pole pair in the rotor and the q axis is taken in the direction perpendicular to the d axis.

When the drive motor target torque TMa ^* is sent from the drive motor target torque calculation processing means, the torque command value correction unit 20 performs a torque command value correction process to perform the magnetic pole position θ, the oil temperature to, and the drive motor target torque. TMa ^* reads, based on the magnetic pole position θ and oil temperature-to, torque ripple correcting the driving motor target torque TMa ^* as it is possible to suppress the occurrence, after the correction target drive motor torque TM ^* d It is sent to the shaft current command value calculation unit 53.

The current command value calculation unit 46 performs a current command value calculation / adjustment process, a d-axis current command value calculation unit 53 and a subtractor 55 as first current command value calculation processing means, and a second current. A q-axis current command value calculation unit 54 as a command value calculation processing means is provided, and the d-axis current command value calculation unit 53 and the subtractor 55 perform a first current command value calculation process to obtain a target of the d-axis current id. The d-axis current command value id ^* as the first current command value representing the value is calculated, and the q-axis current command value calculation unit 54 performs the second current command value calculation process, and the target value of the q-axis current iq Q-axis current command value iq ^* as a second current command value representing The d-axis current command value calculation unit 53 constitutes a maximum torque control processing unit, the q-axis current command value calculation unit 54 constitutes an equal torque control processing unit, and the subtractor 55 constitutes a current command value adjustment processing unit.

  The field weakening control processing unit 47 includes a subtractor 58 as a voltage saturation index calculation processing unit and an integrator 59 as a voltage saturation determination processing unit and as an adjustment value calculation processing unit, and performs field weakening control processing. When the DC voltage Vdc (or battery voltage) decreases or the angular velocity ω (or drive motor rotational speed NM) increases, field weakening control is automatically performed.

The voltage command value calculation processing unit 48 includes a current control unit 61 as current control processing means and a voltage control unit 62 as voltage control processing means in order to perform voltage command value calculation processing. The unit 61 performs a current control process, calculates a d-axis voltage command value vd ^* and a q-axis voltage command value vq ^* as first and second axis voltage command values, and the voltage control unit 62 performs the voltage control process. The voltage command values vu ^* , vv ^* , vw ^* as the first to third phase voltage command values are calculated. The d-axis voltage command value vd ^* , the q-axis voltage command value vq ^* and the voltage command values vu ^* , vv ^* , vw ^* constitute a voltage command value.

  Next, the operation of the drive motor control processing means will be described.

First, an operating condition calculation processing unit (not shown) of the drive motor control device 45 performs an operating condition calculation process and divides the DC voltage Vdc by the angular velocity ω to limit the d-axis current command value id ^*. A current limiting parameter (voltage / speed ratio) Vdc / ω representing a condition is calculated.

Then, the current command value calculation unit 46 reads the drive motor target torque TM ^* and the current limit parameter Vdc / ω, and calculates the d-axis current command value id ^* and the q-axis current command value iq ^* .

For this purpose, the d-axis current command value calculation unit 53 performs a first current command value calculation process, reads the drive motor target torque TM ^* restricted by the torque command value restriction unit 22, and sets it in the recording device. are with reference to the first current command value map shown in FIG. 4, the reading drive motor target torque TM ^* corresponding to the d-axis current command value id ^*, a subtractor 55 the d-axis current command value id ^* Send to.

In this case, in the first current command value map, the d-axis current command value id ^* is set so that the absolute value of the current amplitude command value is minimized in order to achieve the drive motor target torque TM ^* .

In the first current command value map, the drive motor target torque TM ^* takes a positive value, whereas the d-axis current command value id ^* takes a negative value. When the drive motor target torque TM ^* is zero (0), the d-axis current command value id ^* is set to zero, and the d-axis current command value id ^* becomes negative as the drive motor target torque TM ^* increases. It is set to increase in the direction of.

  By the way, in the drive motor 31, a counter electromotive force is generated as the rotor rotates, but the drive motor 31 is determined by the DC voltage Vdc (or battery voltage) and the angular velocity ω (or drive motor rotation speed NM). When the terminal voltage exceeds the threshold value, voltage saturation occurs and output by the drive motor 31 becomes impossible.

Therefore, a modulation factor calculation processing unit (not shown) of the voltage control unit 62 performs a modulation factor calculation process to obtain the d-axis voltage command value vd ^* , the q-axis voltage command value vq ^* , the DC voltage Vdc, and the magnetic pole position θ. Reading, voltage amplitude | v |

Is the theoretical maximum voltage Vmax.
Vmax = 0.78 × Vdc
By dividing by the modulation factor m

Is sent to the subtractor 58. The modulation factor m is a value representing the degree of voltage saturation and constitutes a voltage saturation determination index.

The subtractor 58 performs a voltage saturation index calculation process, reads the modulation factor m, reads a command value of the modulation factor m calculated in advance, that is, a modulation factor command value k, and indicates an index indicating the degree of voltage saturation. Voltage saturation index Δm
Δm = m−k
And the voltage saturation index Δm is sent to the integrator 59.

  Subsequently, the integrator 59 performs voltage saturation determination processing and field weakening current calculation processing, integrates the voltage saturation index Δm at each control timing, calculates an integrated value ΣΔm, and the integrated value ΣΔm is positive. In order to determine whether or not voltage saturation has occurred depending on whether or not the value is taken, and when integrated value ΣΔm takes a positive value and voltage saturation has occurred, the integrated value ΣΔm is multiplied by a proportional constant to perform field-weakening control. The field weakening current Δid as the adjustment value is calculated and set, and is sent to the subtractor 55 and the q-axis current command value calculation unit 54. When the integrated value ΣΔm takes a value equal to or less than zero and no voltage saturation occurs, the integrator 59 sets the field weakening current Δid to zero.

The subtractor 55 performs a current command value adjustment process, receives the field weakening current Δid, and subtracts the field weakening current Δid from the d-axis current command value id ^* to obtain the d-axis current command value id ^* . The d-axis current command value id ^* is sent to the current control unit 61 after adjustment.

In this case, when the field weakening current Δid takes a value of zero, the d-axis current command value id ^* is not substantially adjusted, and field weakening control is not performed. On the other hand, when the field weakening current Δid takes a positive value, the d-axis current command value id ^* is adjusted to increase the value in the negative direction, and field weakening control is performed.

When the d-axis current command value id ^* is calculated in this way, the q-axis current command value calculation unit 54 reads the drive motor target torque TM ^* , refers to the first current command value map, Read d-axis current command value id ^* . Subsequently, the q-axis current command value calculation unit 54 reads the drive motor target torque TM ^* , field weakening current Δid, and the like, and refers to the second current command value map shown in FIG. 5 set in the recording device. and calculates the q-axis current command value iq ^* corresponding to the target drive motor torque TM ^* and the d-axis current command value id ^*, and sends the q-axis current command value iq ^* to the current controller 61.

In the second current command value map, the d-axis current command value id ^* increases in the negative direction and the q-axis current command value iq ^* increases in the positive direction as the drive motor target torque TM ^* increases. The smaller the motor target torque TM ^* is, the smaller the d-axis current command value id ^* is set in the negative direction, and the q-axis current command value iq ^* is set in the positive direction. Further, when the drive motor target torque TM ^* is constant, when the d-axis current command value id ^* increases in the negative direction, the q-axis current command value iq ^* decreases in the positive direction.

Accordingly, when the field weakening current Δid is zero and the field weakening control is not performed, the field weakening current Δid is zero. For example, as shown in FIG. When the value of the d-axis current command value id ^* sent to the subtractor 55 and the q-axis current command value calculation unit 54 is ida ^* , the d-axis current command value id ^* remains the value ida ^*. 61, the q-axis current command value calculator 54 sets the q-axis current command value iq ^* to iqa ^* . On the other hand, when the field weakening current Δid takes a positive value and field weakening control is performed, for example, when the d-axis current command value id ^* sent to the subtractor 55 is ida ^* , subtraction is performed. In the controller 55, the d-axis current command value id ^* is set to a value idb ^* that is larger by the field weakening current Δid in the negative direction, and is sent to the q-axis current command value calculation unit 54. q-axis current command value iq ^* is set to be smaller in value iqa ^* more positive direction, the value Iqb ^* in.

Thus, when voltage saturation occurs, the d-axis current command value id ^* is increased in the negative direction by the field weakening current Δid, and the drive motor 31 can be driven in the field weakening control region. The operation area of the drive motor 31 can be expanded.

The three-phase / two-phase converter 49 performs three-phase / two-phase conversion as the first phase conversion process, reads the magnetic pole position θ, and sets the detected currents iu, iv, and iw to the d-axis current id and the q-axis, respectively. The current is converted into a current iq, the d-axis current id and the q-axis current iq are calculated as actual currents, and sent to the current control unit 61. The current control unit 61 receives the d-axis current command value id ^* and the q-axis current command value iq ^* after the field weakening control processing is performed from the subtractor 55 and the q-axis current command value calculation unit 54, and When the d-axis current id and the q-axis current iq are received from the phase-to-phase converter 49, feedback control is performed.

Therefore, the current control unit 61 calculates a current deviation δid between the d-axis current command value id ^* and the d-axis current id, and a current deviation δiq between the q-axis current command value iq ^* and the q-axis current iq, Proportional control and integral control are performed based on the current deviations δid and δiq.

That is, the current control unit 61 calculates a voltage drop Vzdp representing the voltage command value of the proportional component and a voltage drop Vzdi representing the voltage command value of the integral component based on the current deviation δid, and adds the voltage drops Vzdp and Vzdi. The voltage drop Vzd
Vzd = Vzdp + Vzdi
Is calculated.

The current controller 61 reads the angular velocity ω and the q-axis current iq, and the induced voltage ed induced by the q-axis current iq based on the angular velocity ω, the q-axis current iq, and the q-axis inductance Lq.
ed = ω ・ Lq ・ iq
And the induced voltage ed is subtracted from the voltage drop Vzd to obtain a d-axis voltage command value vd ^* as an output voltage ^.
vd ^* = Vzd-ed
= Vzd-ω · Lq · iq
Is calculated.

Further, the current control unit 61 calculates a voltage drop Vzqp representing the voltage command value of the proportional component and a voltage drop Vzqi representing the voltage command value of the integral term based on the current deviation δiq, and adds the voltage drops Vzqp and Vzqi. Voltage drop Vzq
Vzq = Vzqp + Vzqi
Is calculated.

The current controller 61 reads the angular velocity ω and the d-axis current id, and is induced by the d-axis current id based on the angular velocity ω, the counter electromotive voltage constant MIf, the d-axis current id, and the inductance Ld on the d-axis. Induced voltage eq
eq = ω (Mif + Ld · id)
And the induced voltage eq is added to the voltage drop Vzq, and the q-axis voltage command value vq ^* as the output voltage is calculated ^.
vq ^* = Vzq + eq
= Vzq + ω (Mif + Ld · id)
Is calculated.

Subsequently, a two-phase three-phase conversion unit (not shown) as a second phase conversion processing unit (not shown) of the voltage control unit 62 performs a second phase conversion process, and the d-axis voltage command value vd ^* and the q-axis voltage command. The value vq ^* and the magnetic pole position θ are read, the d-axis voltage command value vd ^* and the q-axis voltage command value vq ^* are converted into voltage command values vu ^* , vv ^* , vw ^* , and the voltage command values vu ^* , vv ^*. , Vw ^* is sent to the PWM generator 50.

The PWM generator 50 performs output signal generation processing, and based on the voltage command values vu ^* , vv ^* , vw ^* and the DC voltage Vdc of each phase, the d-axis current command value id ^* and the q-axis current. Pulse width modulation signals Mu, Mv, Mw of each phase having a pulse width corresponding to the command value iq ^* are generated as output signals and sent to the drive circuit 51.

  The drive circuit 51 receives the pulse width modulation signals Mu, Mv, Mw of each phase, generates six drive signals, and sends the drive signals to the inverter 40. The inverter 40 switches the transistors Tr1 to Tr6 to generate currents Iu, Iv, Iw of the respective phases based on the pulse width modulation signals Mu, Mv, Mw, and the currents Iu, Iv, Iw of the respective phases. Is supplied to the stator coils 11 to 13 of the drive motor 31.

In this manner, torque control is performed based on the drive motor target torque TM ^* , and the drive motor 31 is driven to run the electric vehicle.

  Next, the drive motor 31 will be described.

  FIG. 6 is a cross-sectional view showing the main part of the drive motor in the embodiment of the present invention.

  In the figure, reference numeral 31 denotes a drive motor. The drive motor 31 includes a rotor 65 and a stator 66. The rotor 65 includes a core 67, and a permanent magnet 68 is disposed in the vicinity of the outer peripheral surface of the core 67. The The core 67 has an eight-pole structure, and permanent magnets 68 are embedded in eight places in the circumferential direction of the core 67 by alternately placing N poles and S poles. The stator 66 includes a core 67, and 48 teeth 69 are formed at an equal pitch in the circumferential direction and projecting toward the rotor 65 in the vicinity of the inner periphery of the core 67. Forty-eight slots 70 are formed between each tooth 69. Then, for each of the two teeth 69, windings of U phase, V phase, and W phase (not shown) are wound.

  By the way, when the drive motor 31 is driven and the rotor 65 is rotated in the direction of the arrow, the permanent magnet 68 is also rotated in the same direction. For example, when the S pole is rotated by an angle of 45 [°] with the rotation of the rotor 65 (the left S pole in FIG. 6 moves to the position of the right S pole), On the stator 66 side, six phases (in the present embodiment, the number of slots 70 divided by the number of pole pairs, that is, the number obtained by dividing by eight) pass through, and the magnetic flux distribution by the permanent magnets 68 is increased. It changes 6 times, and the magnet torque changes 6 times. Further, while the S pole is rotated by an angle of 45 [°], the reluctance torque changes twice in the present embodiment by the number of iron core salient poles in the rotor 65.

  Therefore, in the present embodiment, torque in the opposite phase is generated in the drive motor 31, and torque ripple (sixth harmonic in the present embodiment) is generated as the magnet torque and reluctance torque change. I try to suppress this.

FIG. 7 is a block diagram of the torque command value correction unit in the embodiment of the present invention, FIG. 8 is a time chart showing the operation of the harmonic torque command value calculation unit in the embodiment of the present invention, and FIG. 9 is an implementation of the present invention. FIG. 10 is a diagram showing a rotational speed coefficient map in the embodiment of the present invention. In FIG. 9, the horizontal axis represents the drive motor target torque TM ^* , the vertical axis represents the torque coefficient ηT, the horizontal axis represents the drive motor rotational speed NM, and the vertical axis represents the rotational speed coefficient ηN. .

  In FIG. 7, reference numeral 20 denotes a torque command value correction unit. The torque command value correction unit 20 includes a harmonic torque command value calculation unit 81 serving as a harmonic torque command value calculation processing unit, and a temperature estimation serving as a temperature estimation processing unit. Unit 82, a harmonic torque command value temperature correction unit 83 as first temperature correction processing means, and a torque command value correction unit 84 as second temperature correction processing means.

The harmonic torque command value calculating unit 81 performs the harmonic torque command value calculation processing, reads the magnetic pole position theta and the drive motor target torque TMa ^*, harmonics based on the magnetic pole position theta, driving motor target torque TMa ^* etc. Torque command value δTM ^* is calculated. For this purpose, an amplitude calculation processing means (not shown) of the harmonic torque command value calculation unit 81 performs an amplitude calculation process, reads the drive motor target torque TMa ^*, and displays the torque coefficient map of FIG. 9 set in the recording apparatus. Referring to FIG. 10, a torque coefficient ηT corresponding to the drive motor target torque TMa ^* is read out, and the rotation speed coefficient map shown in FIG. The speed coefficient ηN is read, and the amplitude va of the harmonic torque command value δTM ^*
va = k1 · TMa ^* · ηT · ηN
Is calculated. Note that k1 is a coefficient.

Subsequently, phase calculation processing means (not shown) of the harmonic torque command value calculation unit 81 performs phase calculation processing, and reads the phase α1 of the harmonic torque command value δTM ^* that is set in advance and recorded in the recording device. Calculated by

A command value calculation processing means (not shown) of the harmonic torque command value calculation unit 81 performs a command value calculation process, and the amplitude va, the magnetic pole position θ, the phase α1, the number of magnetic pole pairs, and in this embodiment, 6 Is read and harmonic torque command value δTM ^*
δTM ^* = va · sin (6 × θ−α1)
Is calculated. In this way, as shown in FIG. 8, it is possible to generate a harmonic torque command value δTM ^* having a predetermined shape and having an opposite phase with respect to the torque ripple, corresponding to the magnetic pole position θ.

In the torque coefficient map, as shown in FIG. 9, the torque coefficient ηT is set to 1 in the range where the drive motor target torque TM ^* is 0 or more and less than the set value T1, and the drive motor target torque is set. When TM ^* is 1 or more, more torque coefficient ηT driving motor target torque TM ^* is increased is smaller, the target drive motor torque TM ^* reaches a limit value T2, the torque coefficient ηT is zero.

  In the rotational speed coefficient map, as shown in FIG. 10, the rotational speed coefficient ηN is set to 1 in the range where the drive motor rotational speed NM is 0 or more and less than the set value N1, and the drive motor rotation When the speed NM becomes 1 or more, the rotational speed coefficient ηN decreases as the drive motor rotational speed NM increases. When the drive motor rotational speed NM reaches the upper limit value N2, the rotational speed coefficient ηN is set to 0.

  On the other hand, the temperature estimation unit 82 performs temperature estimation processing, reads the oil temperature to, and applies a low-pass filter (not shown) as a delay member to the oil temperature to, so that the temperature at a predetermined location of the drive motor 31 In the embodiment, the magnet temperature tm representing the temperature of the permanent magnet 68 is estimated.

Then, the harmonic torque command value temperature correction unit 83 performs a first temperature correction process, and corrects the harmonic torque command value δTM ^* based on the magnet temperature tm. Therefore, the harmonic torque command value temperature correction unit 83 reads the harmonic torque command value? Tm ^* and the magnet temperature tm, based on the correction coefficient .rho.1, harmonic torque command value .DELTA.TM ^{*
ΔTM * = ρ1 · δTM * ·} tm
Is calculated. The correction coefficient ρ1 is set in order to eliminate the influence of the temperature difference Δt between the magnet temperature tm and the standard temperature tre, which is usually the temperature at which the permanent magnet 68 is placed, on the harmonic torque command value ΔTM ^*. . In the present embodiment, the harmonic torque command value ΔTM ^* is set to a constant value without corresponding to the temperature difference Δt, but can be set corresponding to the temperature difference Δt. In that case, when the magnet temperature tm is higher than the standard temperature tre, the harmonic torque command value calculation processing means decreases the amplitude va of the harmonic torque command value δTM ^* according to the temperature difference Δt, and the magnet temperature tm is the standard. When the temperature is lower than tre, the amplitude va of the harmonic torque command value δTM ^* is increased according to the temperature difference Δt.

Further, the torque command value correcting unit 84 corrects the torque command value and corrects the drive motor target torque TMa ^* according to the harmonic torque command value ΔTM ^* and the magnet temperature tm. For that purpose, the torque command value correction unit 84 reads the drive motor target torque TMa ^* , the harmonic torque command value ΔTM ^* , and the magnet temperature tm, and based on the correction coefficient ρ2, the drive motor target torque TM ^*.
TM ^* = ρ2 · tm · (TMa ^* + ΔTM ^* )
Is calculated. The correction coefficient ρ2 is set to eliminate the influence of the temperature difference Δt between the magnet temperature tm and the standard temperature tre on the drive motor target torque TM ^* . In the present embodiment, a constant value is used instead of the temperature difference Δt, but it can be set corresponding to the temperature difference Δt.

Thus, in the present embodiment, the reverse phase of the harmonic torque command value? Tm ^* is raised against torque ripple, since the harmonic torque command value? Tm ^* is corrected according to the magnet temperature tm, the magnetic flux The drive motor target torque TM ^* can be generated in consideration of the change. Therefore, even if the magnet temperature tm changes, the drive motor target torque TM ^* can be stabilized.

  As a result, even if the drive motor 31 is mounted on an electric vehicle and driven under temperature conditions from a very low temperature to a high temperature, occurrence of torque ripple can be sufficiently suppressed.

Further, the correction coefficient η1 represents the influence of the temperature difference between the magnet temperature tm and the standard temperature tre on the harmonic torque command value δTM ^*, and the correction coefficient ρ2 is a deviation of the magnet temperature tm from the standard temperature tre ( Since this represents the influence of the amount on the drive motor target torque TMa ^* , the harmonic torque command value δTM ^* and the drive motor target torque TM ^* can be calculated by simple calculation. The load applied to the CPU can be reduced.

Since the harmonic torque command value δTM ^* is calculated based on the magnetic pole position θ, when the magnet temperature tm changes, the magnetic flux distribution changes and the torque ripple changes, the harmonic torque command value δTM ^* is changed to the torque ripple. It can be calculated according to

  Further, the temperature sensor 16 for detecting the temperature of the oil for cooling the drive motor 31 can be used, and there is no need to provide a temperature sensor for directly detecting the temperature of the permanent magnet 68. Therefore, the cost of the drive motor control device 45 can be reduced.

Since both the harmonic torque command value δTM ^* and the drive motor target torque TM ^* can be corrected by the magnet temperature tm, the drive motor target torque TM ^* can be increased in accuracy.

  In the present embodiment, the case where the drive motor 31 is driven is described. However, when the present invention drives a generator as an electric machine, the drive motor as a first electric machine, and the second This can be applied to driving a generator as an electric machine.

  In addition, this invention is not limited to the said embodiment, It can change variously based on the meaning of this invention, and does not exclude them from the scope of the present invention.

It is a block diagram of a drive motor control device in an embodiment of the present invention. It is a conceptual diagram of the electric drive device in embodiment of this invention. It is a figure which shows the maximum drive motor target torque map in embodiment of this invention. It is a figure which shows the 1st electric current command value map in embodiment of this invention. It is a figure which shows the 2nd electric current command value map in embodiment of this invention. It is sectional drawing which shows the principal part of the drive motor in embodiment of this invention. It is a block diagram of the torque command value correction | amendment part in embodiment of this invention. It is a time chart which shows operation | movement of the harmonic torque command value calculation part in embodiment of this invention. It is a figure which shows the torque coefficient map in embodiment of this invention. It is a figure which shows the rotational speed coefficient map in embodiment of this invention.

Explanation of symbols

20 Torque command value correction unit 45 Drive motor control device 81 Harmonic torque command value calculation unit 82 Temperature estimation unit 83 Harmonic torque command value temperature correction unit tm Magnet temperature TM ^* Drive motor target torque to oil temperature tre Standard temperature δTM ^* Harmonic Wave torque command value Δt Temperature difference θ Magnetic pole position α1 Phase ρ1, ρ2 Correction coefficient

Claims (9)

  An electric machine target torque calculation processing means for calculating an electric machine target torque representing a target value of torque of the electric machine, and a harmonic torque command value having a predetermined amplitude and phase corresponding to the magnetic pole position of the electric machine. Harmonic torque command value calculation processing means, harmonic torque command value temperature correction processing means for correcting the harmonic torque command value based on the temperature of a predetermined location of the electric machine, and the corrected harmonic torque command An electric drive control device comprising torque command value correction processing means for correcting the electric machine target torque based on the value.   2. The electric drive control according to claim 1, wherein the harmonic torque command value calculation processing means calculates a harmonic torque command value having an opposite phase to a torque ripple generated when the electric machine is driven with the electric machine target torque. apparatus.   The electric drive control device according to claim 1, wherein the electric machine target torque calculation processing means calculates a harmonic torque command value based on the electric machine target torque and a magnetic pole position.   The harmonic torque command value calculation processing unit calculates the harmonic torque command value based on a correction coefficient set corresponding to a temperature difference between the temperature at the predetermined location and a standard temperature. Electric drive control device.   The harmonic torque command value calculation processing means reduces the amplitude of the harmonic torque command value according to the temperature difference when the temperature at the predetermined location is higher than the standard temperature, and the temperature at the predetermined location is the standard temperature. The electric drive control device according to claim 1, wherein when the temperature is lower than the temperature, the amplitude of the harmonic torque command value is increased according to the temperature difference.   The electric drive control device according to claim 1, further comprising torque command value correction processing means for correcting the electric machine target torque based on the temperature at the predetermined location.   The electric drive control device according to claim 1, wherein the temperature of the predetermined portion is a magnet temperature of an electric machine.   The electric drive control device according to claim 7, wherein the magnet temperature is estimated based on an oil temperature for cooling the electric machine.   An electric machine target torque representing a target value of the electric machine torque is calculated, a harmonic torque command value having a predetermined amplitude and phase is calculated in correspondence with a magnetic pole position of the electric machine, and a predetermined portion of the electric machine is calculated. An electric drive control method, wherein the harmonic torque command value is corrected based on the temperature of the motor, and the electric machine target torque is corrected based on the corrected harmonic torque command value.

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