Source: https://patents.google.com/patent/CN101803177B/en
Timestamp: 2020-02-24 19:21:58
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CN101803177B - Controller for electric motor - Google Patents
Controller for electric motor Download PDF
CN101803177B
CN101803177B CN2007801007519A CN200780100751A CN101803177B CN 101803177 B CN101803177 B CN 101803177B CN 2007801007519 A CN2007801007519 A CN 2007801007519A CN 200780100751 A CN200780100751 A CN 200780100751A CN 101803177 B CN101803177 B CN 101803177B
CN2007801007519A
CN101803177A (en
北中英俊
三菱电机株式会社
2007-09-25 Application filed by 三菱电机株式会社 filed Critical 三菱电机株式会社
2007-09-25 Priority to PCT/JP2007/068575 priority Critical patent/WO2009040884A1/en
2010-08-11 Publication of CN101803177A publication Critical patent/CN101803177A/en
2013-07-10 Publication of CN101803177B publication Critical patent/CN101803177B/en
H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
H02P21/0021—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using different modes of control depending on a parameter, e.g. the speed
H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed
H02P21/06—Rotor flux based control involving the use of rotor position or rotor speed sensors
A controller for a permanent-magnetic synchronous motor makes switching from the asynchronous pulse mode to the synchronous pulse mode when the modulation factor is not less than a first setting value or the inverter output frequency is not less than a second setting value, and makes switching from the synchronous pulse mode to the asynchronous pulse mode when the modulation factor is less than the first setting value and the inverter output frequency is less than the second setting value. In order to prevent the current vibration or torque pulsation in the motor, a second setting value is set up such that the number of pulses included in ahalf cycle of the fundamental wave of the inverter output voltage is not less than the specified value.
The control device of motor
The present invention relates to be fit to the control device of motor that the control electric car drives alternating current motor, the particularly permanent magnet synchronous motor of usefulness.
In recent years, in AC motor application fields such as industrial equipment, field of household appliances, automotive field, replace the mode in the past that drives the control induction motor with inverter, the example that drives the mode of control permanent magnet synchronous motor with inverter constantly increases.
Permanent magnet synchronous motor is compared with induction motor, owing to set up magnetic flux by permanent magnet, therefore do not need exciting current, owing in rotor, there is not electric current to flow, therefore can not produce the secondary copper loss, except the torque that the magnetic flux by permanent magnet produces, also the reluctance torque that produces by the magnetic resistance difference of utilizing rotor can efficiently obtain torque etc., and known thus is a kind of high efficiency motor, in recent years, also inquire into the power conversion device of using it for electric car driving usefulness.
Patent documentation 1: Japanese patent laid-open 7-227085 communique
The problem to be solved in the present invention
One of the problem of control device that constitute to drive the motor of control permanent magnet synchronous motor is, the processing of change in voltage between the Terminal of motor that produces for the Optimal Control permanent magnet synchronous motor.As the Optimal Control of permanent magnet synchronous motor, can exemplify with a certain electric current and produce the breakdown torque/Current Control of maximum torque or the efficient of motor is maintained maximum maximal efficiency control etc.These optimum controling methods, be to adjust current amplitude and the phase place that motor is applied, the control method that makes it become calculating formula or be stored in the optimum value in the form in advance, because it is disclosed that its content has, therefore omit detailed explanation herein in various documents.Yet, when stating Optimal Control on the implementation, because according to the rotary speed of motor and the size of output torque, torque component electric current (q shaft current), flux component electric current (d shaft current) all are adjusted into optimum value, therefore the interlinkage flux of the best of motor changes according to the rotary speed of motor and the size of output torque, and voltage between Terminal of motor (equaling inverter output voltage) can significantly change.
Differently with it be, in the control device of the motor of in the past driving control induction motor, generally behind starting motor, the secondary magnetic flux that makes motor is certain permanent torque running, until arriving basic speed, when basic speed is above, by inverter output voltage is fixed on maximum, and the increase that makes secondary magnetic flux and inverter output frequency roughly is inversely and reduces, and carries out permanent power running.Therefore, when basic speed was above, inverter was can obtain the so-called single pulse mode running of maximum output voltage.Power operation purposes or the general industry purposes of these electric automobiles beyond electric car etc. also are the same.That is, the secondary magnetic flux only is inverse proportion with the inverter output frequency in permanent power operation range to be changed, and can not change according to the size of output torque.Though can adjust the secondary magnetic flux according to the output torque, as described below, because the transient characteristic of output torque can worsen, therefore generally not use.
Induction motor is on its principle, by can producing the secondary magnetic flux at the rotor-side induced current from the electric current (primary current) of the stator side of external control and slip frequency controlled for the value of expectation.This point with in rotor, imbed the original just permanent magnet synchronous motor of foundation of permanent magnet, magnetic flux and had more different.Under the situation of induction motor, because the relation of primary current and secondary magnetic flux is the relation with first-order lag of the secondary time constant that is made of secondary resistance and secondary inductance, even therefore the size according to the output torque will make the secondary flux change that primary current is changed, but be stabilized in to the secondary magnetic flux and also need the corresponding time of secondary time constant till the value of expectation (under the situation of the induction motor of electric car, be generally roughly about 500ms), export torque meeting instability therebetween.Therefore, the torque meeting produces overshoot, or torque becomes and be easy to vibration, and the indicial response of torque can produce deterioration.Therefore, in induction motor, generally do not use according to the output torque and adjust the secondary magnetic flux.
Namely, in the control device of the motor of in the past driving control induction motor, because the relation of the value of the rotary speed of motor and the secondary magnetic flux of motor determines uniquely, so the relation of the size of the rotary speed of motor and inverter output voltage also determines uniquely.In addition, when basic speed is above, make inverter export maximum voltage because the secondary magnetic flux is reduced, therefore regardless of the size of exporting torque, inverter output voltage is fixed as maximum (for example with reference to patent documentation 1).
Yet, under the situation of the control device that drives the motor of controlling permanent magnet synchronous motor, because the relation of the rotary speed of motor and the size of inverter output voltage is to change according to the output torque, therefore need consider this point when constituting the control device of motor.
In addition, as with above-mentioned different problem, can exemplify the relation of the number of poles of the switching frequency of the switch element that is useful on the inverter that motor driven uses and motor.Be high pressure about 1500V to 3000V as the voltage of the DC power supply of the input of the inverter of Electric generally, use the withstand voltage high withstand voltage switch element that has about 3300V to 6500V.Yet, switching loss, the conduction loss of the switch element that height is withstand voltage are all bigger, if considering the cooling device of switch elements such as cooler or cooling fan exceeds, then permissible switching frequency is to the maximum about 1000Hz, with for example household appliances or industry with the switching frequency of inverter, used for electric vehicle relatively, be its about 1/10 to 1/20 than low value.
On the other hand, the number of poles of the permanent magnet synchronous motor that drives about inverter, from the miniaturization of motor, light-weighted viewpoint, 6 utmost points or 8 ultimate ratios are more suitable, consider that induction motor in the past nearly all is 4 utmost points, and number of poles increases to 1.5 to 2 times.
If the number of poles of motor increases, then the inverter output frequency under the same speed of electric car and number of poles increase are ratio ground increases.When the induction motor from the past 4 utmost points changes to the permanent magnet synchronous motor of 8 utmost points for example, be applied to the maximum (the inverter output frequency under the design maximum speed of electric car) of the inverter output frequency of general electric car, be multiplied to about 300Hz about the 150Hz when using induction motor in the past.Yet as mentioned above, because the allowable maximum of switching frequency is about 1000Hz, can not increase again, therefore in the time of for example near the inverter output frequency is positioned at peaked 300Hz, if the situation of the size (inverter output voltage is adjusted into maximum voltage value in addition) of inverter output voltage is adjusted in supposition, because the switching frequency maximum also only is about 1000Hz, therefore the umber of pulse that comprises in the half period of inverter output voltage is divided by the inverter output frequency with carrier frequency (equaling switching frequency), be about 3, considerably less.If drive motor under such state, then because the situation that carrier frequency can't be eliminated by the inverter output frequency can take place, therefore umber of pulse or the pulse position that comprises respectively in the positive half period of inverter output voltage and negative half period can become uneven, the positive and negative symmetry of voltage that is applied to motor is destroyed, in motor, can produce current oscillation or torque pulsation, become the reason of noise or vibration.
In addition, in the control device of the motor of in the past driving control induction motor, as mentioned above, because when basic speed is above, be irrespectively to move all the time inverter output voltage is fixed on peaked single pulse mode with the size of output torque, therefore needn't adjust the size of inverter output voltage, because the umber of pulse that comprises in the half period of inverter output voltage is 1 all the time, can not change in time and be certain, therefore umber of pulse and the pulse position in positive half period of inverter output voltage and the half period of bearing is identical, can guarantee to be applied to the positive and negative symmetry of the voltage of motor, so needn't worry in motor, to produce current oscillation or torque pulsation.
That is, drive the control device of the motor of the Electric of controlling permanent magnet synchronous motor, need the special positive and negative symmetry that fully be careful the voltage that is applied to motor in the higher zone of inverter output frequency to control.
Sum up above explanation, drive the control device of motor of the Electric of control permanent magnet synchronous motor, the positive and negative symmetry that need fully be careful the variation of the size of voltage between the output torque of motor and Terminal of motor that rotary speed causes and be applied to the voltage of motor is controlled.
The present invention In view of the foregoing finishes, its purpose is to provide a kind of control device of motor, particularly drive the control device of the motor of control permanent magnet synchronous motor, can fully be careful the variation of size of the output torque of motor and the inverter output voltage that rotary speed causes and the positive and negative symmetry that is applied to the voltage of motor controls, avoid in motor, producing current oscillation and torque pulsation, thereby avoid causing because of these noise and the vibration of generation, can stabilized driving control motor.
For the method for dealing with problems
In order to solve described problem, achieve the goal, the control device of motor involved in the present invention, be for the inverter that is connected and can exports to alternating current motor the alternating current of optional frequency and free voltage with DC power supply, control described alternating current motor to the switch element output pulse width modulation signal that constitutes described inverter, the control device of described motor is characterised in that, has the pulse mode control part, described pulse mode control part can optionally switch and comprises the lock-out pulse pattern, asynchronous pulse mode, and a plurality of pulse modes of single pulse mode, be used as the output mode of described pulse-width signal, described pulse mode control part is based on a plurality of amounts relevant with the output state of described inverter, carry out the switching of described lock-out pulse pattern and described asynchronous pulse mode, the umber of pulse that described a plurality of amounts can comprise in the cycle with reference to the inverter output voltage first-harmonic.
According to the present invention, in the switching of the lock-out pulse pattern of the control device of motor and asynchronous pulse mode, owing to carry out the switching of pulse mode based on a plurality of amounts relevant with the output state of inverter, described a plurality of amount comprises the amount of the umber of pulse that can comprise in the cycle with reference to the inverter output voltage first-harmonic, therefore when the size of for example inverter output voltage as the permanent magnet synchronous motor changes owing to the output torque of motor and rotary speed, even the situation that can not obtain guaranteeing for the positive and negative symmetry of the voltage that is applied to motor of in control method in the past, selecting asynchronous pulse mode to cause, also can guarantee the positive and negative symmetry of voltage by selecting the lock-out pulse pattern.Therefore, the effect that has is: avoid in motor, producing current oscillation and torque pulsation, thereby avoid causing because of these noise and the vibration of generation, and can stabilized driving control motor.
Fig. 1 is the figure of structure example of the control device of the related motor of expression execution mode 1.
Fig. 2 is the figure of structure example of the voltage instruction/pwm signal generating unit of expression execution mode 1.
Fig. 3 is the figure of the action of explanation when being suitable for the pulse mode switching mode of mode in the past in the control device of the motor that drives the control permanent magnet synchronous motor.
Fig. 4 is the figure of the pulse mode change action of explanation execution mode 1.
Fig. 5 is the figure of the pulse mode change action of explanation execution mode 2.
Fig. 6 is the figure of the pulse mode change action of explanation execution mode 3.
Fig. 7 illustrates the figure of the pulse mode change action of mode in the past.
Label declaration
2 inverters
3,4,5 current detectors
8 voltage detectors
10 current-order generating units
11d axle basic current instruction generating unit
20d shaft current control part
The non-interference calculating part of 21q axle
The non-interference calculating part of 22d axle
23q shaft current control part
30 modulation ratio calculating parts
40 control phase angle calculating parts
50 voltage instructions/pwm signal generating unit
53 multiplicative operators
54 adjust gain table
55 voltage instruction calculating parts
57 asynchronous carrier signal generating units
58 synchronous 3 pulse carrier signal generating units
59 switches
60 pulse mode hand-off process portions
61～63 comparators
64～66 negative circuits
70 inverter angular frequency calculating parts
90 three-phases-dq axial coordinate transformation component
95 reference phase angle calculating parts
The control device of 100 motor
Below, describe the execution mode of the control device of motor involved in the present invention in detail based on accompanying drawing.In addition, the invention is not restricted to present embodiment.
Execution mode 1.
Fig. 1 is the figure of structure example of the control device of the related motor of expression present embodiment.As shown in Figure 1, main circuit comprises: become DC power supply capacitor 1, be converted to the alternating voltage of frequency and free voltage arbitrarily and export the inverter 2 of three-phase alternating current and permanent magnet synchronous motor (the following motor that only is called) 6 and constituting from the direct voltage of capacitor 1.
The voltage detector 8 of the voltage of configuration detection capacitor 1, the current i u, the iv that detect the output line of inverter 2, the current detector 3,4,5 of iw on main circuit, at the resolver (resolver) 7 of motor 6 configuration detection rotor mechanical angle θ m, each detection signal inputs to the control device 100 of motor.
In addition, can use encoder to replace resolver 7, can use from the voltage, the electric current that detect yet and wait to calculate the position-sensor-free mode of obtaining position signalling, the position signalling that replacement obtains from resolver 7 does not need resolver 7 this moment.That is, obtaining of position signalling is not limited to use resolver 7.In addition, about current detector 3,4,5, because minimum as long as 2 current detector is set mutually, then the electric current of all the other 1 phases just can be obtained by calculating, so also can constitute like this; Can also reproduce and obtain the output current of inverter 2 and constitute from the DC side electric current of inverter 2.
To signal U, V, W, X, Y, the Z of inverter 2 inputs by control device 100 generations of motor, inverter 2 built-in switch elements are carried out PWM (Pulse Width Modulation: pulse-width modulation) control.
Inverter 2 preferred voltage type PWM inverters because its structure is known, therefore omit detailed explanation.
Form the control device of illustrated outside never to the structure of the control device 100 input torques instruction T* of motor, control device 100 control inverters 2 of motor make that the generation torque T of motor 6 is consistent with torque instruction T*.
Next, the structure of the control device 100 of motor is described.The control device 100 of motor comprises: the reference phase angle calculating part 95 of calculating reference phase angle θ e according to rotor mechanical angle θ m; According to the three-phase-dq axial coordinate transformation component 90 that generates d shaft current id, q shaft current iq from current detector 3,4,5 three-phase current iu, the iv that detect, iw and reference phase angle θ e; Calculate the inverter angular frequency calculating part 70 of inverter output angle frequencies omega according to reference phase angle θ e; Current-order generating unit 10 according to the torque instruction T* that imports from the outside and inverter output angle frequencies omega generation d shaft current instruction id*, q shaft current instruction iq*; The difference of d shaft current instruction id* and d shaft current is carried out the d shaft current control part 20 of proportional plus integral control, generation d shaft current error pde; The difference of q shaft current instruction iq* and q shaft current is carried out the q shaft current control part 23 of proportional plus integral control, generation q shaft current error pqe; The non-interference calculating part 21 of q axle according to d shaft current instruction id* and inverter output angle frequencies omega calculating q axle feed-forward voltage vqFF; The non-interference calculating part 22 of d axle according to q shaft current instruction iq* and inverter output angle frequencies omega calculating d axle feed-forward voltage vdFF; Be that the instruction of d shaft voltage vd*, q shaft current error pqe are the modulation ratio calculating part 30 of the voltage EFC calculating modulation ratio PMF of the instruction of q shaft voltage vq*, reference phase angle θ e, capacitor 1 with q axle feed-forward voltage vqFF sum according to d shaft current error pde and d axle feed-forward voltage vdFF sum; Be that the instruction of d shaft voltage vd*, q shaft current error pqe are the control phase angle calculating part 40 of the instruction of q shaft voltage vq*, reference phase angle θ e calculating control phase angle θ with q axle feed-forward voltage vqFF sum according to d shaft current error pde and d axle feed-forward voltage vdFF sum; And the voltage instruction/pwm signal generating unit 50 that generates signal U, the V mail to inverter 2, W, X, Y, Z according to modulation ratio PMF, control phase angle θ.
Next, detailed construction and the action thereof of each controller chassis of above explanation are described.At first, in reference phase angle calculating part 95, based on following formula (1), calculating electrical degree according to rotor mechanical angle θ m is reference phase angle θ e.
θe＝θm·PP…(1)
In the formula, PP is the number of pole-pairs of motor 6.
In three-phase-dq axial coordinate transformation component 90, based on following formula (2), according to three-phase current iu, iv, iw and reference phase angle θ e, generate d shaft current id, q shaft current iq.
iq id = 2 3 cos &theta; c cos ( &theta; c - 2 3 &pi; ) cos ( &theta; c + 2 3 &pi; ) sin &theta; c sin ( &theta; c - 2 3 &pi; ) sin ( &theta; c + 2 3 &pi; ) &CenterDot; iu iv iw . . . ( 2 )
In inverter angular frequency calculating part 70, by based on following formula (3) reference phase angle θ e being carried out differential, calculate inverter output angle frequencies omega.
ω＝dθe/dt…(3)
In addition, by with inverter output angle frequencies omega divided by 2 π, calculate inverter output frequency FINV.
Next, structure and the action of current-order generating unit 10 are described.In current-order generating unit 10, according to torque instruction T* and the inverter output angle frequencies omega from the outside input, generate d shaft current instruction id*, q shaft current instruction iq*.As the generation method, can exemplify with a certain electric current and produce the breakdown torque/Current Control of maximum torque or the efficient of motor is maintained the optimum controling method etc. of maximum maximal efficiency control etc.These optimum controling methods are following modes: namely, with the size of the rotary speed of motor and output torque etc. as parameter, adjust, make actual current with calculating formula or be stored in torque component current-order (q shaft current instruction iq*), the flux component current-order of the best in the form in advance that (d shaft current instruction id*) is consistent.In addition, because its content is known, in various documents, have disclosedly, therefore omit detailed explanation.
Next, utilize d shaft current control part 20, q shaft current control part 23, respectively based on following formula (4), (5), generate the q shaft current error pqe that d shaft current instruction id* and the difference of d shaft current are carried out d shaft current error pde that proportional integral amplifies, the difference of q shaft current instruction iq* and q shaft current is carried out the proportional integral amplification.
pde＝(K3+K4/s)·(id*-id)…(4)
pqe＝(K1+K2/s)·(iq*-iq)…(5)
In the formula, K1, K3 are proportional gains, and K2, K4 are storage gains, and s is differential operator.
In addition, especially when turning round with single pulse mode etc. under the situation, pqe, pde also can be made as zero etc. as required, and are not used in control.
In addition, the non-interference calculating part 22 of d axle, the non-interference calculating part 21 of q axle respectively based on following formula (6), (7), calculate d axle feed-forward voltage vdFF, q axle feed-forward voltage vqFF.
vdFF＝(R1+s·Ld)·id*-ω·Lq·iq*…(6)
vqFF＝(R1+s·Lq)·iq*+ω·(Ld·id*+φa)…(7)
In the formula, R1 is a winding resistance (Ω) of motor 6, and Ld is d axle inductance (H), and Lq is q axle inductance (H), and φ a is permanent magnet magnetic flux (Wb).
In addition, in modulation ratio calculating part 30, be that the instruction of d shaft voltage vd*, q shaft current error pqe are the voltage EFC of the instruction of q shaft voltage vq*, reference phase angle θ e, capacitor 1 with q axle feed-forward voltage vqFF sum according to d shaft current error pde and d axle feed-forward voltage vdFF sum, based on following formula (8) calculating modulation ratio PMF.
PMF＝VM*/VMmax…(8)
In the formula,
VMmax＝(√(6)/π)·EFC…(9)
VM*＝sqrt(vd* 2+vq* 2)…(10)
In addition, modulation ratio PMF is that the big or small VM* of expression inverter output voltage instruction vector is with respect to the ratio of the exportable maximum voltage VMmax of inverter (by formula (9) definition), when PMF=1.0, the big or small VM* of expression inverter output voltage instruction vector equates with the exportable maximum voltage VMmax of inverter.In addition, from formula (2) to formula (10) formula as can be known, according to the d shaft current instruction id* that is generated by current-order generating unit 10, q shaft current instruction iq*, modulation ratio PMF changes.
In control phase angle calculating part 40, be that the instruction of d shaft voltage vd*, q shaft current error pqe are q shaft voltage instruction vq* and reference phase angle θ e with q axle feed-forward voltage vqFF sum according to d shaft current error pde and d axle feed-forward voltage vdFF sum, based on following formula (11) calculating control phase angle θ.
θ＝θe+π+THV…(11)
THV＝tan -1(vd*/vq*)…(12)
Next, the structure of account for voltage instruction/pwm signal generating unit 50.Fig. 2 is the figure of structure example of the voltage instruction/pwm signal generating unit 50 of expression present embodiment.As shown in Figure 2, voltage instruction/pwm signal generating unit 50 comprises: multiplicative operator 53, adjust gain table 54, voltage instruction calculating part 55, asynchronous carrier signal generating unit 57, synchronous 3 pulse carrier generating units 58, switch 59, comparator 61～63 and negative circuit 64～66 and constitute.
In voltage instruction calculating part 55, according to modulation ratio PMF and control phase angle θ, to (15), generating the three-phase voltage instruction is U phase voltage directive Vu*, V phase voltage directive Vv*, W phase voltage directive Vw* based on following formula (13).
Vu*＝PMFM·sin?θ…(13)
Vv*＝PMFM·sin(θ-(2·π/3))…(14)
Vw*＝PMFM·sin(θ-(4·π/3))…(15)
In the formula, PMFM as described later shown in, be the voltage instruction amplitude that modulation ratio PMF be multiply by the output of adjusting gain table 54.
In addition, as described later, at least have synchronous carrier signal and asynchronous carrier signal with the carrier signal CAR of above-mentioned each voltage instruction comparison, formation can be selected the structure of carrier signal CAR according to the pulse mode that by the pulse mode control part is 60 selections of pulse mode hand-off process portion.In addition, synchronous carrier signal determines that the frequency of carrier signal CAR function as inverter output frequency FINV make that the umber of pulse and the position thereof that constitute inverter output voltage are identical in the half period with minus side in the positive side half period of inverter output voltage.In addition, asynchronous carrier signal is for being not the signal of synchronous carrier signal, is the carrier signal of the frequency that irrespectively determines with inverter output frequency FINV, and herein, the limit switch frequency that for example is the switch element of Electric is the carrier signal of 1000Hz frequency.In addition, in the present embodiment, as synchronous carrier signal, be that example is illustrated in the half period of inverter output voltage, to comprise 3 so synchronous 3 pulse carrier signals of potential pulse, but be not limited thereto, for example also can use synchronous 5 pulse carrier signals etc. in addition, can also prepare a plurality of synchronous carrier signals in advance and switch as required and constitute.
As mentioned above, the FACTOR P MFM in the formula (13) to (15) is the voltage instruction amplitude that multiply by the output of adjusting gain table 54 with 53 couples of modulation ratio PMF of multiplicative operator.Adjust gain table 54 and be used for asynchronous pulse mode and synchronous 3 pulse modes, proofread and correct inverter output voltage VM with respect to the different relation of modulation ratio PMF, briefly as follows.
Under asynchronous pulse mode, inverter does not have distortion, and exportable maximum voltage (effective value) is 0.612EFC; But under synchronous 3 pulse modes, then be 0.7797EFC.That is, under asynchronous pulse mode, compare with synchronous 3 pulse modes, inverter output voltage is 1/1.274 with respect to modulation ratio PMF.In order to offset the poor of the two, under asynchronous pulse mode, modulation ratio PMF is become 1.274 times, as voltage instruction amplitude PMFM, input to above-mentioned voltage instruction calculating part 55.On the other hand, under synchronous 3 pulse modes, modulation ratio PMF is become 1.0 times, as voltage instruction amplitude PMFM, input to above-mentioned voltage instruction calculating part 55.
Next, U phase voltage directive Vu*, V phase voltage directive Vv*, W phase voltage directive Vw* from 55 outputs of voltage instruction calculating part, carry out size relatively by comparator 61 to 63 with carrier signal CAR respectively, generate as signal U, V, the W of its comparative result and signal X, Y, the Z that these signals are further obtained by negative circuit 64 to 66.The signal of the synchronous 3 pulse carrier signal B that carrier signal CAR is the asynchronous carrier signal A that utilizes pulse mode hand-off process portion 60 to select to be generated by asynchronous carrier signal generating unit 57 by switch 59 carrier signal of the frequency about general maximum 1000Hz (herein for), generated by synchronous 3 pulse carrier signal generating units 58 and the null value C that selects for single pulse mode.In addition, asynchronous carrier signal A, synchronous 3 pulse carrier signal B get-1 to 1 value centered by zero.
The action of pulse mode hand-off process portion 60 is described herein.At first, as existing example, the mode of the control device that is applicable to the motor that drives the control induction motor is described.Fig. 7 illustrates the figure of the pulse mode change action of mode in the past.As shown in Figure 7, adopt the structure of switching asynchronous pulse mode, lock-out pulse pattern (for example synchronous 3 pulse modes) and single pulse mode according to modulation ratio PMF.Specifically adopt following structure: namely, in the lower zone of modulation ratio PMF (modulation ratio PMF is below first set point), switch 59 is switched to asynchronous carrier wave A side; More than modulation ratio PMF is first set point and the 3rd set point when following, switch to synchronous 3 pulse carrier B sides; When modulation ratio PMF arrives the 3rd set point, switch to null value C side.In addition, below, as an example, describe as first set point, 1.0 situations as the 3rd set point of setting to set 0.785 (=1/1.274).
Herein, synchronous 3 pulse modes can export under asynchronous pulse mode, can't export, modulation ratio PMF is the voltage more than 0.785.
In addition, even use asynchronous pulse mode, synchronous 5 pulse modes, synchronous 9 pulse modes etc. to constitute as the method for ovennodulation, also can export the voltage that is equivalent to synchronous 3 pulse modes.But the relation of the output voltage of modulation ratio PMF and inverter 2 is non-linear, need proofread and correct it, makes structure complicated.
Yet, when the control device to the motor that drives the control permanent magnet synchronous motor is suitable for above-mentioned mode in the past, can produce following problem.
Fig. 3 is the figure of the action when illustrating the pulse mode switching mode in the suitable mode in the past of the control device that drives the motor of controlling permanent magnet synchronous motor.In Fig. 3, expression with torque instruction T* be parameter, the pulse mode selected for the relation of inverter output frequency FINV and modulation ratio PMF.As shown in Figure 3, according to the size of torque instruction T*, the relation of modulation ratio PMF and inverter output frequency FINV has bigger variation.Among Fig. 3, for example be conceived to electric car and near maximum speed, carry out the situation (the place A of Fig. 3) that the power operation is accelerated with breakdown torque.At this moment, be the input maximum as torque instruction T*, inverter is with the single pulse mode running of output maximum output voltage.Consider for the acceleration of ending electric car speed to be kept certain grade herein,, make torque instruction T* to the situation of the operation of minimum value minimizing.At this moment, the modulation ratio PMF that calculates based on instructing id* and q shaft current instruction iq* in the d shaft current of current-order generating unit 10 calculating as shown in Figure 3, is that the 3rd set point 1.0 declines to a great extent from maximum.
Then, if modulation ratio PMF drops to first set point namely below 0.785, then in mode in the past, select asynchronous pulse mode, but because for example for inverter output frequency 300Hz, asynchronous carrier frequency is 1000Hz to the maximum, therefore the umber of pulse that comprises in the half period of inverter output voltage is about 3, and is considerably less.If drive motor under such state, then because the situation that carrier frequency can't be eliminated by the inverter output frequency can take place, therefore the problem that exists is: inverter output voltage (after, just refer to line voltage unless otherwise specified) the positive half period and negative half period in the umber of pulse or the pulse position that comprise respectively can become uneven, the positive and negative symmetry of voltage that is applied to motor is destroyed, in motor, current oscillation or torque pulsation be can produce, noise or vibration produced.
For solving such problem, the pulse mode hand-off process portion 60 of present embodiment adopts following structure: namely, except the amount relevant with the inverter output voltage amplitude is modulation ratio PMF, also with reference to the amount relevant with the inverter output frequency be inverter output frequency FINV himself, to the variation of output torque T*, carry out the switching of pulse mode based on modulation ratio PMF and inverter output frequency FINV.In addition, reach the selection of the amount relevant with the inverter output frequency about the amount relevant with the inverter output voltage amplitude, be not limited to the selection example of present embodiment, as long as be respectively the function of inverter output voltage amplitude and inverter output frequency, can select arbitrarily.
Fig. 4 is the figure of the pulse mode change action of explanation present embodiment.Among Fig. 4, expression with torque instruction T* be parameter, the pulse mode selected for the relation of inverter output frequency FINV and modulation ratio PMF.In addition, in Fig. 4, first set point, the 3rd set point except about modulation ratio PMF also show second set point about inverter output frequency FINV.
As described above shown in the example, consider following situation: namely, from the state with the single pulse mode running of output breakdown torque, for the acceleration of ending electric car speed kept certain etc., the operation that torque instruction T* is reduced to minimum value.At this moment, adopt following structure as shown in Figure 4: namely, at place A, except modulation ratio PMF, with reference to inverter output frequency FINV, even modulation ratio PMF is below first set point, be more than second set point but need only inverter output frequency FINV also, just do not select asynchronous pulse mode, and keep the lock-out pulse pattern.That is, the switching from the lock-out pulse pattern to asynchronous pulse mode is to be below first set point and at inverter output frequency FINV to be that second set point is carried out when following at modulation ratio PMF.Otherwise, when modulation ratio PMF increases from zero, even be first set point when following at modulation ratio PMF, but as long as inverter output frequency FINV is more than second set point, just switch to the lock-out pulse pattern from asynchronous pulse mode.That is, the switching from asynchronous pulse mode to the lock-out pulse pattern is more than modulation ratio PMF is first set point or inverter output frequency FINV is that second set point is carried out when above.
In addition, when determining second set point, preferably the umber of pulse that comprises in the half period with inverter output voltage is guaranteed for more than the predetermined value.In addition, confirmed that by emulation etc. above-mentioned predetermined value is preferably more than 8.Remark additionally, if the umber of pulse that comprises in the half period of inverter output voltage is about 8, even then when the generation carrier frequency can't be eliminated by the inverter output frequency, also can alleviate positive half period and the negative umber of pulse that half period comprised respectively or the uneven degree of pulse position of inverter output voltage, the positive and negative symmetry that can guarantee to be applied to the voltage of motor is practical no problem degree.Mathematical is that umber of pulse is The more the better.
In addition, the switching from the lock-out pulse pattern to single pulse mode is to be constantly more than the 3rd set point to implement at modulation ratio PMF.In addition, the switching from single pulse mode to the lock-out pulse pattern is to be constantly below the 3rd set point to implement at modulation ratio PMF.
The action of summing up when shifting between the lock-out pulse pattern of above present embodiment and asynchronous pulse mode is as follows.
Switching from from asynchronous pulse mode to the lock-out pulse pattern is to be that modulation ratio PMF is that relevant amount is that inverter output frequency FINV implements under the condition more than second set point more than first set point or with the inverter output frequency in the amount relevant with the inverter output voltage amplitude.In addition, switching from from the lock-out pulse pattern to asynchronous pulse mode is to be that modulation ratio PMF is that relevant amount is that inverter output frequency FINV implements under the condition below second set point below first set point and with the inverter output frequency in the amount relevant with the inverter output voltage amplitude.In addition, second set point is to determine for the viewpoint more than the predetermined value from the umber of pulse that comprises the inverter output voltage first-harmonic half period is guaranteed.That is be to guarantee to decide for the required umber of pulse of degree no problem in the practicality according to the frequency of asynchronous carrier signal applicatory and for the positive and negative symmetry of the voltage that will be applied to motor.
According to present embodiment, for example be 8 o'clock setting second set point with the umber of pulse of guaranteeing inverter output voltage and being comprised in the half period, pulse mode is kept the lock-out pulse pattern, up to the inverter output frequency be asynchronous carrier signal below 1/8 of frequency 1000Hz, be below the 125Hz.Therefore, owing to can make the umber of pulse and the position thereof that constitute inverter output voltage identical in the half period with minus side in the positive side half period of inverter output voltage, it is hereby ensured the positive and negative symmetry of the voltage that is applied to motor, can obtain the control device that in motor, can not produce current oscillation or torque pulsation, can not send the motor of noise or vibration.
Execution mode 2
As the additive method that can realize with execution mode 1 same effect, also can adopt following structure: namely the amount of the ratio of calculated example such as inverter output frequency FINV and the frequency of asynchronous carrier signal, the i.e. umber of pulse that comprises in the half period based on the inverter output voltage first-harmonic is the umber of pulse index, during greater than the 4th set point, can select asynchronous pulse mode in this umber of pulse index.The umber of pulse index for example can be above-mentioned umber of pulse himself.
Fig. 5 is the figure of the pulse mode change action of explanation present embodiment.At Fig. 5, expression with torque instruction T* be parameter, the pulse mode selected for the relation of inverter output frequency FINV and modulation ratio PMF.
Adopt following structure: namely, when modulation ratio PMF reduces from 1.0, even modulation ratio PMF is when to be first set point following, as long as the umber of pulse index less than the 4th set point, does not just switch to asynchronous pulse mode, and keeps the lock-out pulse pattern.That is, the switching from the lock-out pulse pattern to asynchronous pulse mode is below modulation ratio PMF is first set point and the umber of pulse index is that the 4th set point is carried out when above.
Otherwise, when modulation ratio PMF increases from zero, even modulation ratio PMF when to be first set point following, needs only the umber of pulse index less than the 4th set point, just switch to the lock-out pulse pattern from asynchronous pulse mode.That is, the switching from asynchronous pulse mode to the lock-out pulse pattern is more than modulation ratio PMF is first set point or the umber of pulse index is that the 4th set point is carried out when following.
In addition, the 4th set point is as explanation in the execution mode 1, is to guarantee to decide for the required umber of pulse of degree no problem in the practicality according to the frequency of asynchronous carrier signal applicatory and for the positive and negative symmetry of the voltage that will be applied to motor.Be preferably more than 8 as the 4th set point.
According to present embodiment, for example be 8 when above setting the 4th set point with the umber of pulse of guaranteeing inverter output voltage and being comprised in the half period, pulse mode is kept the lock-out pulse pattern, up to the inverter output frequency be asynchronous carrier signal below 1/8 of frequency 1000Hz, be below the 125Hz.Therefore, owing to can make the umber of pulse and the position thereof that constitute inverter output voltage identical in the half period with minus side in the positive side half period of inverter output voltage, it is hereby ensured the positive and negative symmetry of the voltage that is applied to motor, can obtain the control device that in motor, can not produce current oscillation or torque pulsation, can not send the motor of noise or vibration.In addition, other structures, action and the effect of present embodiment are identical with execution mode 1.
Execution mode 3
Fig. 6 is the figure of the pulse mode change action of explanation present embodiment.As shown in Figure 6, because modulation ratio PMF is the amount that changes according to the output torque, therefore can adopts and make first set point according to torque instruction T* and variable method.As shown in Figure 6, when torque instruction T* is big, increase first set point, hour reduce first set point at torque instruction T*.Then, the switching from asynchronous pulse mode to the lock-out pulse pattern is that to be modulation ratio PMF in the amount relevant with the inverter output voltage amplitude carry out when above for first set point of setting according to torque instruction T*.In addition, the switching from the lock-out pulse pattern to asynchronous pulse mode is that to be modulation ratio PMF in the amount relevant with the inverter output voltage amplitude carry out when following for first set point of setting according to torque instruction T*.
According to this method, needn't set second set point, in addition, need not be directly be inverter output frequency FINV with reference to may produce the amount that the rapid time changes according to the rotation status of the motor of the rotor mechanical angle θ m that comprises motor, but the torque instruction T* that generates with reference to feed-forward mode and constituting, therefore, the for example rotary speed variation synchronous with it of motor such as when the general issuable wheel spin of electric car slides, when inverter output frequency FINV changes with its up-down vibration ground in second set point, can avoid pulse mode between asynchronous pulse mode and lock-out pulse pattern, to tremble.
In addition, certainly, when determining as variable first set point, according to the content shown in the execution mode 1, guarantee that preferably the umber of pulse that inverter output voltage comprised in the half period is predetermined value above (for example more than 8).
According to present embodiment, can guarantee to be applied to the positive and negative symmetry of the voltage of motor, can obtain the control device that in motor, can not produce current oscillation or torque pulsation, can not send the motor of noise or vibration.In addition, when inverter output frequency FINV changes near the front and back of second set point, can avoid pulse mode between asynchronous pulse mode and lock-out pulse pattern, to tremble.In addition, other structures, action and the effect of present embodiment are identical with execution mode 1.
More than, in execution mode 1 to 3, the switching of pulse mode is based on that 2 amounts relevant with the output state of inverter carry out.That is, in execution mode 1 based on modulation ratio PMF and inverter output frequency FINV, in execution mode 2 based on modulation ratio PMF and umber of pulse index, in execution mode 3 based on modulation ratio PMF and torque instruction T*.Differently with it be, in control method in the past shown in Figure 7, only carry out the switching of pulse mode based on modulation ratio PMF, the problem that exists is: significantly during the motor of variation, can produce current oscillation or torque pulsation in that such control method in the past is applicable to modulation ratio PMF according to the size of torque instruction T*.In execution mode 1 to 3, by except modulation ratio, also utilizing the amount relevant with the output state of inverter, can tackle modulation ratio PMF and change according to the size of torque instruction T*.In addition, by utilizing 2 amounts relevant with the output state of inverter, the umber of pulse that can comprise in the cycle with reference to the inverter output voltage first-harmonic, by suitably set the set point of the switching of lock-out pulse pattern and asynchronous pulse mode based on above-mentioned umber of pulse, can fully be careful the positive and negative symmetry of the voltage that is applied to motor and control.
Execution mode 4
Next, action when cutting off inverter 2 in order in electric car travels power run action or regeneration action to be ended is described.
Consideration under the state of inverter 2 with single pulse mode action, the cut-out instruction (not shown) of cutting off the power run action of electric car or regeneration action is input to the situation of the control device 100 of motor from the control device (not shown) of outside.Meanwhile, Wai Bu control device makes torque instruction T* slowly be reduced to zero.Torque instruction T* reduced to zero with about 1 second from maximum.At this moment, in the control device 100 of motor, carry out control step shown below.
Because the minimizing of torque instruction T*, less than moment of 1.0, pulse mode hand-off process portion 60 switches pulse mode from single pulse mode to the lock-out pulse pattern at modulation ratio PMF.Afterwards, even modulation ratio PMF is below first set point, do not switch to asynchronous pulse mode yet, keeping lock-out pulse pattern decline low modulation to compare PMF, after torque instruction T* fully reduces, cut off signal U, V, W, X, Y, Z that all give inverter 2.
As other situations, the cut-out instruction of consider under the state of inverter 2 with the action of lock-out pulse pattern, cutting off the power run action of electric car or regeneration action (not shown) is input to the situation of the control device 100 of motor from the control device of outside.Meanwhile, Wai Bu control device makes torque instruction T* slowly be reduced to zero.Torque instruction T* reduced to zero with about 1 second from maximum.At this moment, in the control device 100 of motor, carry out control step shown below.
Even because the minimizing of torque instruction T*, modulation ratio PMF is below first set point, but pulse mode hand-off process portion 60 does not switch to asynchronous pulse mode yet, keeping lock-out pulse pattern decline low modulation to compare PMF, after torque instruction T* fully reduces, cut off signal U, V, W, X, Y, Z that all give inverter 2.
As described above, according to present embodiment, under the state of inverter 2 with single pulse mode or lock-out pulse mode operation, when for the power run action of electric car or regeneration action are ended inverter 2 being stopped, it is constant that pulse mode hand-off process portion 60 keeps the lock-out pulse pattern with pulse mode, do not select asynchronous pulse mode, by such structure, even when cutting off inverter 2 from the higher zone of inverter output frequency, also can make the umber of pulse and the position thereof that constitute inverter output voltage identical in the half period with minus side in the positive side half period of inverter output voltage, it is hereby ensured the positive and negative symmetry of the voltage that is applied to motor, can obtain in motor, can not producing current oscillation or torque pulsation, can be reliably and stably stop the control device of the motor of inverter 2.In addition, by not selecting the structure of asynchronous pulse mode, do not switch the control instabilityization that therefore can avoid the delay etc. of switching timing to cause owing in torque instruction T* reduces to short time (about 1 second) of zero, do not carry out the multiple pulses pattern.
Execution mode 5
Next, illustrate in the amount relevant with the inverter output frequency to be that inverter output frequency FINV is more than second set point and during the electric car inertia traveling, for the power run action that begins electric car or regeneration action and the action during starter inverter 2.
Consideration under the state that inverter 2 stops, the starting order (not shown) of the power run action of beginning electric car or regeneration action is input to the situation of the control device 100 of motor from the control device (not shown) of outside.Meanwhile, Wai Bu control device makes torque instruction T* slowly rise to predetermined value.Torque instruction T* with about 1 second from the predetermined value that is raised to above freezing.At this moment, in the control device 100 of motor, carry out control step shown below.
Utilize starting order, the switch motion of signal U, the V of beginning inverter 2, W, X, Y, Z, even modulation ratio PMF is also harmless below first set point, the initial setting of pulse mode hand-off process portion 60 starting impulse patterns is set as the lock-out pulse pattern.Afterwards, increase to stage more than 1.0 at modulation ratio PMF, pulse mode is switched to single pulse mode.Perhaps be reduced to below first set point and inverter output frequency FINV is stage below second set point at modulation ratio PMF, pulse mode is switched to asynchronous pulse mode.
As described above, according to present embodiment, be that inverter output frequency FINV is more than second set point from the amount relevant with the inverter output frequency, under the state of electric car inertia traveling during starter inverter 2, the initial setting of pulse mode hand-off process portion 60 starting impulse patterns, setting is as the lock-out pulse pattern, do not select asynchronous pulse mode, by such structure, from the higher regional starter inverter 2 of inverter output frequency the time, owing to can make that after firm starting the umber of pulse and the position thereof that constitute inverter output voltage are identical the half period with minus side in the positive side half period of inverter output voltage, it is hereby ensured the positive and negative symmetry of the voltage that is applied to motor, can obtain in motor, can not producing current oscillation or torque pulsation, can be reliably and the control device of the motor of starter inverter 2 stably.
In addition, in above-mentioned execution mode 1 to 5, having in service at power with electric car is the part that example describes, but when slowing down applying regenerative braking, also can constitute with same consideration method.
In addition, be that an example is illustrated with the control device of motor of control permanent magnet synchronous motor, but also go for driving the control device of motor of the motor of other kinds of control.In addition, the situation of three-phase alternating current has been described, but has also gone for situation in addition.
Structure shown in the above execution mode is an example of content of the present invention, also can with other known technical combinations, in the scope that does not break away from main points of the present invention, can certainly omit a part etc. or change and constitute.
And, in this manual, consider to be used for electric car driving usefulness motor control device and summary of the invention is described, but the use field is not limited thereto, and can certainly be applied to various association areas such as electric automobile, elevator.
Industrial practicality
As mentioned above, the control device of motor involved in the present invention is useful for the control device of motor of control permanent magnet synchronous motor.
1. the control device of a motor, be for the inverter that is connected and can exports to alternating current motor the alternating current of optional frequency and free voltage with DC power supply, control described alternating current motor to the switch element output pulse width modulation signal that constitutes described inverter
The control device of described motor is characterised in that,
Have the pulse mode control part, described pulse mode control part can optionally switch a plurality of pulse modes that comprise lock-out pulse pattern, asynchronous pulse mode and single pulse mode, is used as the output mode of described pulse-width signal,
Described pulse mode control part based on the amount relevant with the inverter output voltage amplitude, with the inverter output frequency relevant amount, carry out the switching of described lock-out pulse pattern and described asynchronous pulse mode,
Switching from from described asynchronous pulse mode to described lock-out pulse pattern is to be that relevant amount is that second set point is carried out when above more than first set point or with described inverter output frequency in the amount relevant with described inverter output voltage amplitude;
Switching from from described lock-out pulse pattern to described asynchronous pulse mode is to be that relevant amount is that described second set point is carried out when following below described first set point and with described inverter output frequency in the amount relevant with described inverter output voltage amplitude.
2. the control device of motor as claimed in claim 1 is characterized in that,
Described pulse mode control part is when namely the 3rd set point is above greater than the value of described first set point, to switch to described single pulse mode from described lock-out pulse pattern in the amount relevant with described inverter output voltage amplitude; And be the 3rd set point when following in the amount relevant with described inverter output voltage amplitude, switch to described lock-out pulse pattern from described single pulse mode.
3. the control device of motor as claimed in claim 1 or 2 is characterized in that,
Set described second set point, make that the umber of pulse that comprises in half period of described inverter output voltage first-harmonic is more than 8 pulses.
4. the control device of motor as claimed in claim 1 is characterized in that,
It is the control device that is loaded in the motor on the electric car, be more than described second set point, in the described electric car inertia traveling time in the amount relevant with described inverter output frequency, when making the described inverter startup that stops, carrying out the control step of described lock-out pulse pattern as the initial setting of described pulse mode.
5. the control device of a motor, be for the inverter that is connected and can exports to alternating current motor the alternating current of optional frequency and free voltage with DC power supply, control described alternating current motor to the switch element output pulse width modulation signal that constitutes described inverter
Described pulse mode control part carries out the switching of described lock-out pulse pattern and described asynchronous pulse mode based on the amount of the umber of pulse that comprises in the amount relevant with the inverter output voltage amplitude, half period based on the inverter output voltage first-harmonic,
Switching from from described asynchronous pulse mode to described lock-out pulse pattern is to be more than first set point or based on the amount of described umber of pulse to be that second set point is carried out when following in the amount relevant with described inverter output voltage amplitude;
Switching from from described lock-out pulse pattern to described asynchronous pulse mode is to be below described first set point and based on the amount of described umber of pulse to be that described second set point is carried out when above in the amount relevant with described inverter output voltage amplitude.
6. the control device of motor as claimed in claim 5 is characterized in that,
Amount based on described umber of pulse is the umber of pulse self that comprises in the half period of described inverter output voltage first-harmonic, and described second set point is more than 8.
7. the control device of a motor, be for the inverter that is connected and can exports to alternating current motor the alternating current of optional frequency and free voltage with DC power supply, control described alternating current motor to the switch element output pulse width modulation signal that constitutes described inverter
Described pulse mode control part carries out the switching of described lock-out pulse pattern and described asynchronous pulse mode based on torque or the torque instruction of the output of the amount relevant with the inverter output voltage amplitude, described alternating current motor.
8. the control device of motor as claimed in claim 7 is characterized in that,
The switching from described asynchronous pulse mode to described lock-out pulse pattern that described pulse mode control part carries out is to carry out when above according to the torque of the output of described alternating current motor or first set point that torque instruction is set in the amount relevant with described inverter output voltage amplitude;
The switching from described lock-out pulse pattern to described asynchronous pulse mode that described pulse mode control part carries out is to carry out when following according to the torque of the output of described alternating current motor or first set point that torque instruction is set in the amount relevant with described inverter output voltage amplitude.
9. the control device of motor as claimed in claim 8 is characterized in that,
When the torque of the output of described alternating current motor is big, set described first set point bigger; In the torque of the output of described alternating current motor hour, set described first set point less.
10. the control device of motor as claimed in claim 9 is characterized in that,
Set described first set point, make that the umber of pulse that comprises in half period of described inverter output voltage first-harmonic is more than the predetermined value.
11. the control device of motor as claimed in claim 10 is characterized in that,
Described predetermined value is 8.
12. the control device of a motor, be for the inverter that is connected and can exports to alternating current motor the alternating current of optional frequency and free voltage with DC power supply, control described alternating current motor to the switch element output pulse width modulation signal that constitutes described inverter
At described inverter during with the action of described single pulse mode, when described inverter is stopped, carrying out the control step with the order that the grid of described single pulse mode, described lock-out pulse pattern, described inverter cuts off.
13. the control device of motor as claimed in claim 12 is characterized in that,
At described inverter during with the action of described lock-out pulse pattern, when described inverter is stopped, carrying out the control step with the order that the grid of described lock-out pulse pattern, described inverter cuts off.
CN2007801007519A 2007-09-25 2007-09-25 Controller for electric motor CN101803177B (en)
PCT/JP2007/068575 WO2009040884A1 (en) 2007-09-25 2007-09-25 Controller for electric motor
CN101803177A CN101803177A (en) 2010-08-11
CN101803177B true CN101803177B (en) 2013-07-10
ID=40325671
CN2007801007519A CN101803177B (en) 2007-09-25 2007-09-25 Controller for electric motor
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