Power converter control device and power converter

Abstract

The power converter control device controls a power converter that performs power conversion between a DC power source and a motor, and is provided with: a magnetic flux command value generation unit that obtains a magnetic flux command value on the basis of a torque command value; a current command value generation unit that obtains a current command value for controlling the motor on the basis of the torque command value and the magnetic flux command value; and a current command value adjustment unit that adjusts the current command value on the basis of the torque command value, a rotation detection value indicating the rotational speed of the motor, and a DC voltage value indicating the output voltage of the DC power supply.

Description

Technical Field

[0001] The present invention relates to a power converter control device and a power converter. Background Art

[0002] There is known a motor control device that performs vector control on an AC motor based on the d-axis and the q-axis. The motor control device that performs such vector control generates a d-axis current command value id* and a q-axis current command value iq*, and controls the drive of the AC motor based on these d-axis current command value id* and q-axis current command value iq*. For example, Patent Document 1 discloses a motor control method for an electric vehicle that performs vector control as described above. The motor control method for an electric vehicle disclosed in Patent Document 1 generates a flux command value based on a torque command value, and further obtains the current command value based on a map that represents the relationship between the torque command value, the flux command value, and the current command value (the d-axis current command value id* and the q-axis current command value iq*).

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent No. 6192263 Summary of the invention

[0006] Problems to be solved by the invention

[0007] However, in the motor actually mounted on the vehicle, there is a situation where the MTPA (Maximum Torque Per Ampere: maximum torque current ratio) line changes or the center point of the flux limiting circle changes according to the change in the motor speed and the output voltage of the DC power supply. That is, in the motor actually mounted on the vehicle, the response characteristics to the torque command value change due to both the speed and the output voltage of the DC power supply. Therefore, in the case where the current command value is calculated based on the torque command value and the flux command value according to a single diagram as in Patent Document 1, sometimes the difference between the torque command value and the output torque becomes large. Therefore, the motor control method for electric vehicles disclosed in Patent Document 1 sometimes has difficulty in ensuring the accuracy of the output torque relative to the torque command value.

[0008] The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to improve the accuracy of output torque with respect to a torque command value when controlling a motor.

[0009] Means for solving problems

[0010] The present invention adopts the following configuration as means for solving the above-mentioned problems.

[0011] One embodiment of the present invention adopts the following structure: a power converter control device controls a power converter that converts power between a DC power supply and a motor, and the power converter control device has: a flux command value generating unit that calculates a flux command value based on a torque command value; a current command value generating unit that calculates a current command value for controlling the motor based on the torque command value and the flux command value; and a current command value adjusting unit that adjusts the current command value based on the torque command value, a rotation detection value indicating the rotation speed of the motor, and a DC voltage value indicating the output voltage of the DC power supply.

[0012] Effects of the Invention

[0013] One embodiment of the present invention adjusts the current command value generated by the current command value generating unit by a current command value adjusting unit. The current command value adjusting unit adjusts the current command value based on a rotation detection value indicating the rotation speed of the motor and a DC voltage value indicating the output voltage of the DC power supply in addition to the torque command value. Therefore, one embodiment of the present invention can adjust the current command value based on both the rotation detection value and the DC voltage value. Therefore, the present invention can reduce the difference between the torque command value and the output torque even when the rotation speed and the DC voltage value of the motor change, and can improve the accuracy of the output torque relative to the torque command value. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a circuit diagram schematically showing a general configuration of a motor control device according to a first embodiment of the present invention.

[0015] Figure 2 It is a block diagram showing the functional structure of the power converter control device according to the first embodiment of the present invention.

[0016] Figure 3 This is a block diagram showing a functional configuration of a torque control unit in the first embodiment of the present invention.

[0017] Figure 4 It is a block diagram showing the functional structure of the magnetic flux command value generating unit according to the first embodiment of the present invention.

[0018] Figure 5 This is a conceptual diagram of a current command value map in the first embodiment of the present invention.

[0019] Figure 6 This is a block diagram showing the functional configuration of the current command value adjustment unit in the first embodiment of the present invention.

[0020] Figure 7 This is a conceptual diagram of an adjustment value map in the first embodiment of the present invention.

[0021] Figure 8 It is a schematic diagram for explaining the operation and effect of the power converter control device according to the first embodiment of the present invention.

[0022] Fig. 9 It is a schematic diagram for explaining the operation and effect of the power converter control device according to the first embodiment of the present invention.

[0023] Fig.10 It is a schematic diagram for explaining the operation and effect of the power converter control device according to the first embodiment of the present invention.

[0024] Fig.11 It is a block diagram showing the functional structure of a power converter control device according to a second embodiment of the present invention. DETAILED DESCRIPTION

[0025] Hereinafter, one embodiment of a power converter control device and a power conversion device according to the present invention will be described with reference to the drawings.

[0026] Figure 1 1 is a circuit diagram schematically showing a schematic configuration of a motor control device 1 (power conversion device) according to the present embodiment. As shown in the figure, the motor control device 1 includes a power converter 2 and a power converter control device 3 .

[0027] The power converter 2 is disposed between the motor M and the battery P (DC power source) to perform power conversion between the motor M and the battery P. Figure 1 As shown in FIG. 1 , the power converter 2 includes a step-up / step-down converter 2a, a drive inverter 2b, and a power generation inverter 2c. The step-up / step-down converter 2a steps up the DC voltage output from the battery P at a predetermined step-up ratio. In addition, the step-up / step-down converter 2a steps down the DC voltage output from the drive inverter 2b or the power generation inverter 2c at a predetermined step-down ratio. Figure 1 As shown, such a step-up / step-down converter 2a includes, for example, a plurality of capacitors, a transformer, and a plurality of power semiconductor elements for voltage transformation. As the power semiconductor element, IGBT (Insulated Gate Bipolar Transistor) and SiC-MOSFET (Metal Oxide Semiconductor Field Effect Transistor) can be used.

[0028] Such a step-up / down converter 2a is a power circuit called a so-called magnetically coupled interleaving type chopper circuit. The step-up / down converter 2a performs a step-up operation of stepping up the DC power input from the battery P via a pair of battery terminals and outputting it to the drive inverter 2b, and a step-down operation of stepping down the DC power input from the drive inverter 2b or the power generation inverter 2c and outputting it to the battery P via a pair of battery terminals. That is, the step-up / down converter 2a is a power conversion circuit that bidirectionally inputs and outputs DC power between the battery P and the drive inverter 2b or the power generation inverter 2c.

[0029] The driving inverter 2b converts the DC power output from the battery P into AC power based on the PWM (Pulse Width Modulation) signal from the power converter control device 3 and supplies it to the motor M. In addition, the driving inverter 2b converts the AC power output from the motor M into DC power based on the PWM signal from the power converter control device 3 and supplies it to the step-up / step-down converter 2a. Figure 1 As shown, such a driving inverter 2b has three switching legs and is equipped with a total of six driving power semiconductor elements.

[0030] Such a driving inverter 2b has three (or more) switch arms corresponding to the number of phases of the motor M. The driving inverter 2b is a power conversion circuit that selectively performs a power running action and a regeneration action. That is, the driving inverter 2b selectively performs a power running action of converting the DC power input from the buck-boost converter 2a into a three-phase AC power and outputting it to the motor M via three motor terminals, and a regeneration action of converting the three-phase AC power input from the motor M via three motor terminals into a DC power and outputting it to the buck-boost converter 2a. That is, the driving inverter 2b is a power circuit that converts DC power and three-phase AC power between the buck-boost converter 2a and the motor M.

[0031] The power generation inverter 2c converts the AC power output from the generator G into DC power and supplies it to the step-up / step-down converter 2a based on the PWM signal from the power converter control device 3. The power generation inverter 2c also has three switching arms like the drive inverter 2b, and has a total of six drive power semiconductor elements.

[0032] Such a power generation inverter 2c has three (plural) switching arms corresponding to the number of phases of the generator G. The power generation inverter 2c is a power conversion circuit that converts the three-phase AC power input from the generator G via the three generator terminals into DC power and outputs it to the step-up / step-down converter 2a. That is, the power generation inverter 2c is a power circuit that converts DC power and three-phase AC power between the step-up / step-down converter 2a and the generator G.

[0033] As shown in the figure, a battery P, a motor M, and a generator G are connected to such a power converter 2. The power converter 2 has a pair of battery terminals (positive battery terminal E1 and negative battery terminal E2) connected to the battery P as terminals for external connection. In addition, the power converter 2 has three motor terminals (U-phase motor terminal Fu, V-phase motor terminal Fv, and W-phase motor terminal Fw) connected to the motor M. In addition, the power converter 2 has three generator terminals (U-phase generator terminal Hu, V-phase generator terminal Hv, and W-phase generator terminal Hw) connected to the generator G.

[0034] The motor control device 1 including such a power converter 2 is an electrical device included in an electric vehicle such as a hybrid vehicle or an electric vehicle, and controls a motor M as a rotating electrical machine, and controls charging of an AC power generated by a generator G into a battery P. That is, the motor control device 1 performs drive control of the motor M based on the output of the battery P (battery power) and charging control of the battery P based on the output power of the generator G (generated power).

[0035] In addition, the motor control device 1 may be configured such that the power converter 2 does not include the power generation inverter 2c, and the power converter 2 is not connected to the generator G. In this case, the motor control device 1 does not perform charging control of the battery P based on the output power (generated power) of the generator G, but performs driving control of the motor M based on the output of the battery P (battery power).

[0036] Here, as shown in the figure, the positive electrode of the battery P is connected to the positive battery terminal E1, and the negative electrode is connected to the negative battery terminal E2. The battery P is a secondary battery such as a lithium ion battery, and discharges DC power to the motor control device 1 and charges DC power via the motor control device 1.

[0037] The motor M is a three-phase electric motor with a phase number of "3", and is a load of the driving inverter 2b. The U-phase input terminal of the motor M is connected to the U-phase motor terminal Fu, the V-phase input terminal is connected to the V-phase motor terminal Fv, and the W-phase input terminal is connected to the W-phase motor terminal Fw. The rotating shaft (drive shaft) of such a motor M is connected to the wheel of the electric vehicle, and the wheel is rotated and driven by causing the rotational power to act on the wheel.

[0038] The generator G is a three-phase generator, and the U-phase output terminal is connected to the U-phase generator terminal Hu, the V-phase output terminal is connected to the V-phase generator terminal Hv, and the W-phase output terminal is connected to the W-phase generator terminal Hw. The generator G is connected to the output shaft of a power source such as an engine mounted on the electric vehicle, and outputs three-phase AC power to the motor control device 1.

[0039] The power converter control device 3 includes a gate driver and an ECU (Electronic Control Unit). The gate driver is a circuit that generates a gate signal based on various duty (duty ratio) command values ​​(duty command value for voltage transformation, duty command value for driving, and duty command value for power generation) input from the ECU. For example, the gate driver generates a gate signal supplied to the buck-boost converter 2a based on the duty command value for voltage transformation input from the ECU. In addition, the gate driver generates a gate signal supplied to the driving inverter 2b based on the duty command value for driving input from the ECU. In addition, the gate driver generates a gate signal supplied to the power generation inverter 2c based on the duty command value for power generation input from the ECU.

[0040] ECU is a control circuit that performs a predetermined control process based on a pre-stored control program. The ECU outputs various duty command values ​​(duty command value for voltage transformation, duty command value for driving, and duty command value for power generation) generated based on the above control process to the gate driver. Such an ECU performs drive control of the motor M and charging control of the battery P via the power converter 2 and the gate driver. That is, the ECU generates various duty command values ​​(duty command value for voltage transformation, duty command value for driving, and duty command value for power generation) related to the buck-boost converter 2a, the drive inverter 2b, and the power generation inverter 2c based on the detection value (voltage detection value) of the voltage sensor and the detection value (current detection value) of the current sensor incidentally provided on the buck-boost converter 2a, the drive inverter 2b, and the power generation inverter 2c, as well as the operation information of the electric vehicle.

[0041] In addition, if Figure 1 As shown in FIG. 1 , the power converter control device 3 includes a storage unit 3a. The storage unit 3a stores the control program and various data. Figure 1 As shown, the storage unit 3a stores a current command value map Ma. The current command value map Ma is a map used when the power converter control device 3 finds a current command value for controlling the motor M. The current command value map Ma will be described in detail later.

[0042] The storage unit 3a also stores an adjustment value map Mb. The adjustment value map Mb is a map used when setting an adjustment value for adjusting the current command value. The adjustment value map Mb will also be described in detail later.

[0043] Figure 2 2 is a block diagram showing the functional structure of the power converter control device 3. The motor control device 1 includes the power converter 2 and the power converter control device 3. Figure 2 As shown, a current sensor 4 , a rotation angle sensor 5 , and a voltage sensor 6 are further provided.

[0044] The current sensor 4 detects the current of each phase between the motor M and the power converter 2, and outputs the detection result to the power converter control device 3. In addition, multiple current sensors 4 can be set between the power converter 2 and the motor M, or inside the power converter 2. The current sensor 4 is not particularly limited as long as it has a structure for detecting the phase current of each phase, for example, it has a current transformer (CT) with a transformer, a Hall element. In addition, the current sensor 4 can also be a shunt resistor.

[0045] The rotation angle sensor 5 detects the rotation angle of the motor M. The rotation angle of the motor M is the electrical angle of the rotor from a predetermined reference rotation position. The rotation angle sensor 5 outputs a detection signal indicating the detected rotation angle to the power converter control device 3. For example, the rotation angle sensor 5 may also include a resolver. In addition, the rotation speed (motor speed) of the motor M can be calculated based on the detection signal output from the rotation angle sensor 5. That is, the rotation angle sensor 5 outputs a detection signal including the motor speed as information.

[0046] The voltage sensor 6 detects the output voltage of the battery P. Figure 2 In the figure, the voltage sensor 6 is shown separated from the battery P, but in reality, the voltage sensor 6 is connected to the wiring connected to the battery P, and outputs the voltage value between the positive electrode and the negative electrode as a DC bus voltage value (DC voltage detection value Vdcf). The DC voltage detection value Vdcf is a DC voltage value indicating the output voltage of the battery P as a DC power source.

[0047] The power converter control device 3 includes a torque control unit 11, a current detection unit 12, a three-phase / dq conversion unit 13, an angular velocity calculation unit 14, a current control unit 15, a dq / three-phase conversion unit 16 and a PWM control unit 17, as functional units implemented by, for example, the above-mentioned gate driver, ECU, etc.

[0048] The torque control unit 11 receives the pre-compensation torque command value T* from the outside. The torque control unit 11 generates a d-axis current command value id*, which is a target value of the d-axis current of the motor M, and a q-axis current command value iq*, which is a target value of the q-axis current of the motor M, based on the pre-compensation torque command value T*. In addition, the torque control unit 11 outputs the generated d-axis current command value id* and q-axis current command value iq* to the current control unit 15.

[0049] Figure 3 1 is a block diagram showing a functional configuration of the torque control unit 11. As shown in the figure, in the present embodiment, the torque control unit 11 includes a torque command value generating unit 10, a magnetic flux command value generating unit 20, a current command value generating unit 30, a current command value adjusting unit 40, and a rotation speed calculating unit 50.

[0050] The torque command value generating unit 10 generates a compensated torque command value Tecmp* based on the pre-compensation torque command value T*, based on the torque feedback value calculated based on the state of the motor M. In addition, the calculation method of the torque feedback value is not particularly limited. For example, the torque feedback value can be obtained based on a value indicating the state of the motor M (e.g., the state of the output torque, the temperature state) obtained by a detector not shown in the figure. The compensated torque command value Tecmp* is a torque command value that is corrected based on the torque feedback value to match the pre-compensation torque command value T* with the actual output torque.

[0051] In the present embodiment, the post-compensation torque command value Tecmp* is input as a torque command value to the magnetic flux command value generating unit 20 and the current command value adjusting unit 40. However, it is not necessary to generate the post-compensation torque command value Tecmp* based on the pre-compensation torque command value T*. That is, the pre-compensation torque command value T* can also be input as a torque command value to the magnetic flux command value generating unit 20 and the current command value adjusting unit 40. In such a case, the torque command value generating unit 10 may not be provided.

[0052] The magnetic flux command value generating unit 20 generates a magnetic flux command value (a compensated magnetic flux command value Φocmp* described later in the present embodiment) based on the compensated torque command value Tecmp*. Figure 4 2 is a block diagram of the flux command value generating unit 20. As shown in the figure, the flux command value generating unit 20 includes an interlinkage flux command operator 21, an interlinkage flux command limit operator 22, an interlinkage flux command limit limiter 23, an interlinkage flux operator 24, a PI controller 25, an interlinkage flux compensation limit operator 26, and an interlinkage flux compensation limit limiter 27.

[0053] The interlinkage flux command calculator 21 calculates the pre-compensation interlinkage flux command value Φo* (pre-compensation flux command value) based on the post-compensation torque command value Tecmp*. Figure 3 The speed calculation unit 50 shown inputs the motor speed Nf (rotation detection value) indicating the speed of the motor M to the interlinkage flux command operator 21. As described later, the motor speed Nf is a value calculated by the speed calculation unit 50 based on the angular velocity ω. In addition, the angular velocity ω is calculated based on the output value of the rotation angle sensor 5. Therefore, the motor speed Nf is a rotation detection value indicating the speed of the motor M. In addition, similarly, the angular velocity ω is also a rotation detection value indicating the speed of the motor M.

[0054] In addition, the DC voltage detection value Vdcf is input to the interlinkage flux command operator 21. For example, the interlinkage flux command operator 21 obtains the modulation factor gmref used in the power converter 2 based on a map that obtains the modulation factor gmref using the post-compensation torque command value Tecmp*, the motor speed Nf, and the DC voltage detection value Vdcf as parameters. Furthermore, the interlinkage flux command operator 21 calculates the pre-compensation interlinkage flux command value Φo* based on the modulation factor gmref, the motor speed Nf, and the DC voltage detection value Vdcf.

[0055] In addition, the interlinkage flux command operator 21 calculates the flux estimation error αε based on the modulation factor gmref, the post-compensation torque command value Tecmp*, the angular velocity ω, the DC voltage detection value Vdcf, the d-axis current command value id* (current command value), the q-axis current command value iq* (current command value) and the minimum armature resistance value Ramin. In addition, the interlinkage flux command operator 21 uses the flux estimation error αε to obtain the pre-compensation interlinkage flux command value Φo*.

[0056] The following formula (1) is an example of a formula for calculating the flux estimation error αε. In addition, Δεfx in formula (1) can be calculated, for example, by the following formula (2). In addition, the pre-compensation cross-linkage flux command value Φo* can be calculated, for example, by the following formula (3). In addition, kν1ω in formulas (1) and (3) is a value obtained by the following formula (4). In addition, the armature resistance minimum value Ramin is pre-stored in the storage unit 3a, for example.

[0057] [Mathematical formula 1]

[0058]

[0059] [Mathematical formula 2]

[0060]

[0061] [Mathematical formula 3]

[0062]

[0063] [Formula 4]

[0064]

[0065] For example, the interlinkage flux command calculator 21 calculates the flux estimation error αε based on equations (1) and (2). In addition, the interlinkage flux command calculator 21 calculates the pre-compensation interlinkage flux command value Φo* based on equation (3).

[0066] The interlinkage flux command limit calculator 22 calculates the interlinkage flux command upper limit value Φomax and the interlinkage flux command lower limit value Φomin based on the compensated torque command value Tecmp*, the motor speed Nf, and the DC voltage detection value Vdcf. The interlinkage flux command upper limit value Φomax (maximum interlinkage flux value) is the maximum interlinkage flux value that can be set for the compensated torque command value Tecmp* on the premise that excitation control can be performed. In addition, the interlinkage flux command lower limit value Φomin is the minimum interlinkage flux value that can be set for the compensated torque command value Tecmp* on the premise that excitation control can be performed.

[0067] For example, the interlinkage flux command limit calculator 22 calculates the interlinkage flux command upper limit value Φomax based on an excitation control interlinkage flux limit map showing the maximum interlinkage flux command value for each value of the compensated torque command value Tecmp*. In addition, the interlinkage flux command lower limit value Φomin may be used without calculation and a predetermined value may be used.

[0068] The interlinkage flux command limit limiting unit 23 limits the upper limit and lower limit of the pre-compensation interlinkage flux command value Φo* calculated by the interlinkage flux command limit calculator 21, based on the interlinkage flux command upper limit value Φomax and the interlinkage flux command lower limit value Φomin calculated by the interlinkage flux command limit calculator 22. That is, when the pre-compensation interlinkage flux command value Φo* input from the interlinkage flux command calculator 21 is greater than the interlinkage flux command upper limit value Φomax, the interlinkage flux command limit limiting unit 23 replaces the value of the pre-compensation interlinkage flux command value Φo* with the value of the interlinkage flux command upper limit value Φomax and outputs it. In addition, when the pre-compensation interlinkage flux command value Φo* input from the interlinkage flux command calculator 21 is less than the interlinkage flux command lower limit value Φomin, the interlinkage flux command limit limiting unit 23 replaces the value of the pre-compensation interlinkage flux command value Φo* with the value of the interlinkage flux command lower limit value Φomin and outputs it. In addition, the pre-compensation interlinkage flux command value Φo* output from the interlinkage flux command limit restriction section 23 is referred to as a pre-compensation interlinkage flux command value Φoff*.

[0069] The interlinkage flux calculator 24 calculates the interlinkage flux feedback value Φof (magnetic flux feedback value) based on the angular velocity ω. Figure 2The current control unit 15 shown in the figure feeds back the input voltage command value V* (d-axis voltage command value Vd* and q-axis voltage command value Vq*) to the interlinkage flux calculator 24. The interlinkage flux calculator 24 calculates the interlinkage flux feedback value Φof based on the angular velocity ω representing the current motor speed input from the angular velocity calculator 14 and the current voltage command value V* input from the current control unit 15.

[0070] The PI controller 25 calculates the flux compensation value dΦobuf* based on the deviation Φoerr between the pre-compensation interlinkage flux command value Φoff* and the interlinkage flux feedback value Φof. The deviation Φoerr obtained by the subtractor 28 is input. The subtractor 28 calculates the deviation Φoerr by subtracting the interlinkage flux feedback value Φof input via the low-pass filter (LPF) from the pre-compensation interlinkage flux command value Φoff* input via the low-pass filter (LPF).

[0071] The PI controller 25 calculates the flux compensation value dΦobuf* by adding a value obtained by multiplying the deviation Φoerr by a proportional gain and a value obtained by integrating the deviation Φoerr. In this way, the PI controller 25 calculates the flux compensation value dΦobuf* based on the calculation using the proportional gain and the calculation using the integral gain.

[0072] In addition, a feedback type anti-windup process may be performed in a manner that the integral term is not saturated. In this case, a value obtained by subtracting a flux compensation value dΦo*, which will be described later, output from the interlinkage flux compensation limit limiter 27 from the pre-compensation interlinkage flux command value Φoff* output from the PI controller 25 is obtained. In addition, a value obtained by multiplying the value by the inverse of the proportional gain used in the PI controller 25 is subtracted from the deviation Φoerr, and then the operation of multiplying by the integral gain is performed as described above.

[0073] The interlinked flux compensation limit calculator 26 calculates a limit value used in the interlinked flux compensation limit limiter 27. Here, the interlinked flux compensation limiter 27 calculates an upper limit value dΦomax that limits the upper limit value of the flux compensation value dΦobuf*. The calculated upper limit value dΦomax is provided to the interlinked flux compensation limiter 27. In addition, the interlinked flux compensation limit calculator 26 calculates a lower limit value dΦomin that limits the lower limit value of the flux compensation value dΦobuf*. The calculated lower limit value dΦomin is provided to the interlinked flux compensation limiter 27.

[0074] For example, the interlinkage flux compensation limit calculator 26 calculates the upper limit value dΦomax and the lower limit value dΦomin based on the pre-compensation interlinkage flux command value Φo* input from the interlinkage flux command calculator 21 and the interlinkage flux command upper limit value Φomax input from the interlinkage flux command limit calculator 22 .

[0075] The limitation of the flux compensation value dΦobuf* by the interlinkage flux compensation limit limiting unit 27 described later is useful when the motor M is subjected to field weakening control (weak field control). In addition, when the pre-compensation interlinkage flux command value Φo* is less than the interlinkage flux command upper limit value Φomax, it can be determined that field weakening control is required. Therefore, when the pre-compensation interlinkage flux command value Φo* is less than the interlinkage flux command upper limit value Φomax, the interlinkage flux compensation limit calculator 26 calculates the upper limit value dΦomax and the lower limit value dΦomin in a manner that limits the upper limit value and the lower limit value of the flux compensation value dΦobuf*. That is, when the pre-compensation interlinkage flux command value Φo* is greater than the interlinkage flux command upper limit value Φomax and field weakening control is not required, the interlinkage flux compensation limit calculator 26 sets the upper limit value dΦomax and the lower limit value dΦomin in a manner that the upper limit value and the lower limit value of the flux compensation value dΦobuf* become zero.

[0076] In addition, the interlinkage flux compensation limit calculator 26 may calculate the upper limit value dΦomax and the lower limit value dΦomin using the pre-compensation interlinkage flux command value Φoff* output from the interlinkage flux command limit limiter 23 instead of the pre-compensation interlinkage flux command value Φo*. In addition, the upper limit value dΦomax and the lower limit value dΦomin may be calculated using the pre-compensation interlinkage flux command value Φo* and the pre-compensation interlinkage flux command value Φoff*.

[0077] The interlinkage flux compensation limit limiter 27 limits the upper limit and lower limit of the flux compensation value dΦobuf* based on the limit value. Here, the interlinkage flux compensation limiter 27 limits the upper limit and lower limit of the flux compensation value dΦobuf* based on the upper limit value dΦomax and the lower limit value dΦomin input from the interlinkage flux compensation limit calculator 26.

[0078] That is, when the flux compensation value dΦobuf* input from the PI controller 25 is greater than the upper limit value dΦomax, the interlinked flux compensation limit limiter 27 replaces the value of the flux compensation value dΦobuf* with the upper limit value dΦomax and outputs it. In addition, when the flux compensation value dΦobuf* input from the PI controller 25 is less than the lower limit value dΦomin, the interlinked flux compensation limiter 27 replaces the value of the flux compensation value dΦobuf* with the lower limit value dΦomin and outputs it. In addition, the flux compensation value dΦobuf* output from the interlinked flux compensation limiter 27 is referred to as the flux compensation value dΦo*.

[0079] In addition, if Figure 4 As shown, the flux command value generating unit 20 includes an adder 29, which adds the pre-compensation interlinkage flux command value Φoff* and the flux compensation value dΦo* to calculate and output the post-compensation flux command value Φocmp*. That is, the adder 29 calculates the post-compensation flux command value Φocmp* from the pre-compensation interlinkage flux command value Φoff* based on the flux compensation value dΦo*.

[0080] In the flux command value generating unit 20 configured in this way, the compensated torque command value Tecmp*, the motor speed Nf, the angular velocity ω, and the DC voltage detection value Vdcf are input to the interlinkage flux command operator 21. In the interlinkage flux command operator 21, the pre-compensation interlinkage flux command value Φo* is calculated based on the compensated torque command value Tecmp*, the motor speed Nf, the angular velocity ω, and the DC voltage detection value Vdcf.

[0081] On the other hand, the compensated torque command value Tecmp*, the motor speed Nf and the DC voltage detection value Vdcf are also input to the interlinkage flux command limit calculator 22. In the interlinkage flux command limit calculator 22, the interlinkage flux command upper limit value Φomax and the interlinkage flux command lower limit value Φomin are calculated based on the compensated torque command value Tecmp*, the motor speed Nf and the DC voltage detection value Vdcf.

[0082] The pre-compensation interlinkage flux command value Φo* is limited by the interlinkage flux command upper limit value Φomax or the interlinkage flux command lower limit value Φomin as required in the interlinkage flux command limit limiter 23 and output as the pre-compensation interlinkage flux command value Φoff*.

[0083] The angular velocity ω and the voltage command value V* are input to the interlinkage flux calculator 24. The interlinkage flux calculator 24 calculates an interlinkage flux feedback value Φof based on the angular velocity ω and the voltage command value V*.

[0084] The pre-compensation interlinkage flux command value Φoff* is input to the subtractor 28 via a low-pass filter. The interlinkage flux feedback value Φof is also input to the subtractor 28 via a low-pass filter. The subtractor 28 calculates the deviation Φoerr by subtracting the interlinkage flux feedback value Φof from the pre-compensation interlinkage flux command value Φoff*.

[0085] The deviation Φoerr is input to the PI controller 25. The PI controller 25 calculates the magnetic flux compensation value dΦobuf* by adding a value obtained by multiplying the deviation Φoerr by a proportional gain and a value obtained by multiplying the deviation Φoerr by an integral gain and then integrating the values.

[0086] On the other hand, the pre-compensation interlinkage flux command value Φo* output from the interlinkage flux command operator 21 and the interlinkage flux command upper limit value Φomax output from the interlinkage flux command limit operator 22 are input to the interlinkage flux compensation limit operator 26. In the interlinkage flux compensation limit operator 26, the upper limit value dΦomax for limiting the upper limit value of the flux compensation value dΦobuf* is calculated based on the pre-compensation interlinkage flux command value Φo* and the interlinkage flux command upper limit value Φomax. In addition, in the interlinkage flux compensation limit operator 26, the lower limit value dΦomin for limiting the lower limit value of the flux compensation value dΦobuf* is calculated based on the pre-compensation interlinkage flux command value Φo* and the interlinkage flux command upper limit value Φomax.

[0087] The magnetic flux compensation value dΦobuf* output from the PI controller 25 is limited by the interlinkage magnetic flux compensation limit limiter 27 based on the upper limit value dΦomax or the lower limit value dΦomin as required, and is output as a magnetic flux compensation value dΦo*.

[0088] The pre-compensation interlinkage flux command value Φoff* output from the interlinkage flux command limit limiter 23 and the flux compensation value dΦo* output from the interlinkage flux compensation limiter 27 are input to the adder 29. In the adder 29, the pre-compensation interlinkage flux command value Φoff* and the flux compensation value dΦo* are added to calculate the post-compensation flux command value Φocmp*. The calculated post-compensation flux command value Φocmp* is input to Figure 3 The current command value generating unit 30 is shown.

[0089] In the present embodiment, the post-compensation flux command value Φocmp* is input as the flux command value to the current command value generation unit 30. That is, in the present embodiment, the flux command value obtained using the interlinkage flux feedback value Φof (flux feedback value) is input to the current command value generation unit 30. Therefore, in the current command value generation unit 30, the pre-adjustment current command value (pre-adjustment d-axis current command value idbase* and pre-adjustment q-axis current command value iqbase*) described later can be obtained in a state including the component caused by the interlinkage flux feedback value Φof. However, the pre-compensation interlinkage flux command value Φoff* can also be input as the flux command value to the current command value generation unit 30.

[0090] The current command value generating unit 30 obtains the pre-adjustment d-axis current command value idbase* and the pre-adjustment q-axis current command value iqbase* based on the compensated torque command value Tecmp* and the compensated magnetic flux command value Φocmp*. Here, the current command value generating unit 30 obtains the pre-adjustment d-axis current command value idbase* and the pre-adjustment q-axis current command value iqbase* based on the current command value map Ma stored in the storage unit 3a.

[0091] Figure 5 This is a conceptual diagram of the current command value map Ma. Figure 5 As shown in FIG. 1 , the current command value map Ma is a two-dimensional map with the compensated torque command value Tecmp* and the compensated magnetic flux command value Φocmp* as parameters. The current command value map Ma establishes a correspondence between the pre-adjustment d-axis current command value idbase* and the pre-compensation q-axis current command value iqbase* and the post-compensation torque command value Tecmp* and the post-compensation magnetic flux command value Φocmp*. The current command value generation unit 30 refers to such a current command value map Ma and obtains the pre-adjustment d-axis current command value idbase* and the pre-adjustment q-axis current command value iqbase* based on the post-compensation torque command value Tecmp* and the post-compensation magnetic flux command value Φocmp*.

[0092] The current command value adjustment unit 40 adjusts the d-axis current command value and the q-axis current command value before adjustment (the d-axis current command value idbase* before adjustment and the q-axis current command value iqbase* before adjustment) based on the input compensated torque command value Tecmp*, the motor speed Nf, and the DC voltage detection value Vdcf, thereby obtaining the d-axis current command value id* and the q-axis current command value iq*. That is, in the present embodiment, the d-axis current command value id* and the q-axis current command value iq* are the d-axis current command value and the q-axis current command value adjusted by the current command value adjustment unit 40.

[0093] Figure 62 is a block diagram showing a functional configuration of the current command value adjustment unit 40. As shown in the figure, the current command value adjustment unit 40 includes an adjustment value setting unit 41 and an adder 42 (adder-subtractor).

[0094] The adjustment value setting unit 41 sets the adjustment value based on the compensated torque command value Tecmp*, the motor speed Nf and the DC voltage detection value Vdcf. The adjustment value setting unit 41 sets the adjustment value based on the compensated torque command value Tecmp*, the motor speed Nf and the DC voltage detection value Vdcf by referring to the adjustment value map Mb stored in the storage unit.

[0095] Figure 7 is a conceptual diagram of the adjustment value map Mb. Figure 7 As shown, the adjustment value map Mb is a three-dimensional map having a plurality of two-dimensional maps (maps) M1 according to the DC voltage value. For example, one two-dimensional map M1 is provided for each DC voltage value of 1V. In addition, the two-dimensional map M1 can be arbitrarily changed according to how many V the DC voltage value is set. Each two-dimensional map M1 is a map that uses the compensated torque command value Tecmp* and the motor speed Nf as parameters. In addition, the adjustment values ​​(d-axis current adjustment value idadj* and q-axis current adjustment value iqadj*) of each two-dimensional map M1 are corresponding to the compensated torque command value Tecmp* and the motor speed Nf. The adjustment value setting unit 41 sets the adjustment value based on the compensated torque command value Tecmp*, the motor speed Nf and the DC voltage detection value Vdcf with reference to such an adjustment value map Mb.

[0096] In addition, such an adjustment value is determined in advance through experiments and simulations. Depending on the value of the compensated torque command value Tecmp*, the motor speed Nf, or the DC voltage detection value Vdcf, the d-axis current command value and the q-axis current command value may sometimes be changed without adjustment. Therefore, the adjustment value that matches the condition that the d-axis current command value and the q-axis current command value may be changed without adjustment is set to "0". When the adjustment value is "0", the values ​​of the pre-adjustment d-axis current command value idbase* and the pre-adjustment q-axis current command value iqbase* will not change due to the adjustment, and are output from the current command value adjustment unit 40 as the d-axis current command value id* and the q-axis current command value iq*.

[0097] The adder 42 adds the adjustment value to the d-axis current command value idbase* before adjustment and the q-axis current command value iqbase* before adjustment. The adder 42 adds the d-axis current adjustment value idadj* to the d-axis current command value idbase* before adjustment. In addition, the adder 42 adds the q-axis current adjustment value iqadj* to the q-axis current command value iqbase* before adjustment. The d-axis current command value id* is obtained by adding the d-axis current adjustment value idadj* to the d-axis current command value idbase* before adjustment. The q-axis current command value iq* is obtained by adding the q-axis current adjustment value iqadj* to the q-axis current command value iqbase* before adjustment. In addition, the adjustment value may be set to a value subtracted from the d-axis current command value idbase* before adjustment and the q-axis current command value iqbase* before adjustment. In this case, a subtractor is provided instead of the adder 42.

[0098] The rotation speed calculation unit 50 calculates the motor rotation speed Nf based on the angular speed ω input from the angular speed calculation unit 14. Alternatively, the rotation speed calculation unit 50 may calculate the motor rotation speed Nf based on the electrical angle obtained from the rotation angle sensor 5. The rotation speed calculation unit 50 outputs the calculated motor rotation speed Nf to the magnetic flux command value generation unit 20 and the current command value adjustment unit 40.

[0099] Furthermore, in the present embodiment, the torque control unit 11 includes a rotation speed calculation unit 50. However, the rotation speed calculation unit 50 may be provided outside the torque control unit 11. In addition, the motor rotation speed Nf, which is one of the parameters of the current command value map Ma, may be changed to the angular velocity ω. That is, the current command value map Ma only needs to be a map that uses the motor rotation speed Nf, the angular velocity ω, and other rotation detection values ​​representing the rotation speed of the motor as parameters. For example, when the motor rotation speed Nf, which is one of the parameters of the current command value map Ma, is changed to the angular velocity ω, the motor rotation speed Nf calculated by the rotation speed calculation unit 50 may not be input to the current command value adjustment unit 40.

[0100] return Figure 2 The current detection unit 12 detects the current value (hereinafter referred to as "U-phase current value") iu flowing through the U-phase coil in the motor M, the current value (hereinafter referred to as "V-phase current value") iv flowing through the V-phase coil in the motor M, and the current value (hereinafter referred to as "W-phase current value") iw flowing through the W-phase coil in the motor M based on the detection results of each current sensor 4. Then, the current detection unit 12 outputs the detected U-phase current value iu, V-phase current value iv, and W-phase current value iw to the three-phase / dq conversion unit 13.

[0101] The three-phase / dq conversion unit 13 converts the U-phase current value iu, the V-phase current value iv, and the W-phase current value iw obtained from the current detection unit 12 into a d-axis current value id and a q-axis current value iq of the dq coordinate system using the electrical angle obtained from the rotation angle sensor 5. The three-phase / dq conversion unit 13 outputs the d-axis current value id and the q-axis current value iq to the current control unit 15.

[0102] The angular velocity calculation unit 14 calculates the angular velocity ω (rotation detection value) based on the electrical angle of the motor M output from the rotation angle sensor 5. The angular velocity calculation unit 14 outputs the calculated angular velocity ω to the current control unit 15. The current control unit 15 calculates the d-axis voltage command value Vd* based on the d-axis current command value id*. The current control unit 15 calculates the q-axis voltage command value Vq* based on the q-axis current command value iq*. The current control unit 15 outputs the d-axis voltage command value Vd* and the q-axis voltage command value Vq* to the dq / three-phase conversion unit 16.

[0103] The dq / three-phase conversion unit 16 obtains the electrical angle from the rotation angle sensor 5. The dq / three-phase conversion unit 16 obtains the d-axis voltage command value Vd* and the q-axis voltage command value Vq* from the current control unit 15. The dq / three-phase conversion unit 16 converts the d-axis voltage command value Vd* and the q-axis voltage command value Vq* into voltage command values ​​of each phase of the UVW phases in the motor M, namely, the U-phase voltage command value Vu*, the V-phase voltage command value Vv*, and the W-phase voltage command value Vw*, using the electrical angle. Furthermore, the dq / three-phase conversion unit 16 outputs the U-phase voltage command value Vu*, the V-phase voltage command value Vv*, and the W-phase voltage command value Vw* to the PWM control unit 17. The U-phase voltage command value Vu*, the V-phase voltage command value Vv*, and the W-phase voltage command value Vw* are modulated waves, and are sometimes referred to as "voltage command signals" without distinguishing them.

[0104] The PWM control unit 17 compares the carrier of the specified carrier frequency with the voltage command signal. Then, the PWM control unit 17 outputs a Hi (high) level signal during a period when the amplitude of the voltage command signal is larger than the carrier as a result of the comparison, and outputs a Lo (low) level signal during a period when the amplitude of the voltage command signal is smaller than the carrier, thereby outputting the PWM signal to the power converter 2. The PWM control unit 17 generates a PWM signal Du by comparing the carrier with the U-phase voltage command value Vu* and outputs it to the power converter 2. The PWM control unit 17 generates a PWM signal Dv by comparing the carrier with the V-phase voltage command value Vv* and outputs it to the power converter 2. The PWM control unit 17 generates a PWM signal Dw by comparing the carrier with the W-phase voltage command value Vw* and outputs it to the power converter 2.

[0105] The power converter 2 is driven based on the PWM signal (the above-mentioned PWM signal Du, PWM signal Dv, and PWM signal Dw) input from the PWM control unit 17 , thereby controlling the rotation of the motor M.

[0106] In the motor control device 1 of the present embodiment, the torque command value generating unit 10 generates the compensated torque command value Tecmp* from the pre-compensation torque command value T* based on the torque feedback value. The compensated torque command value Tecmp* is input to the magnetic flux command value generating unit 20, the current command value generating unit 30, and the current command value adjusting unit 40. In addition, the magnetic flux command value generating unit 20 generates the compensated magnetic flux command value Φocmp* based on the compensated torque command value Tecmp*. The compensated magnetic flux command value Φocmp* is input to the current command value generating unit 30.

[0107] In the current command value generating unit 30, the pre-adjustment d-axis current command value idbase* and the pre-adjustment q-axis current command value iqbase* are obtained based on the compensated torque command value Tecmp* and the compensated magnetic flux command value Φocmp*. These pre-adjustment d-axis current command value idbase* and pre-adjustment q-axis current command value iqbase* are input to the current command value adjusting unit 40. In the current command value adjusting unit 40, the d-axis current command value id* and the q-axis current command value iq* are obtained based on the compensated torque command value Tecmp*, the motor speed Nf, and the DC voltage detection value Vdcf.

[0108] The power converter control device 3 included in the motor control device 1 of the present embodiment as described above controls the power converter 2 that performs power conversion between the battery P and the motor M. The power converter control device 3 of the present embodiment includes a flux command value generation unit 20, a current command value generation unit 30, and a current command value adjustment unit 40. The flux command value generation unit 20 obtains a compensated flux command value Φocmp* based on the compensated torque command value Tecmp*. The current command value generation unit 30 obtains a current command value (pre-adjustment d-axis current command value idbase* and pre-adjustment q-axis current command value iqbase*) for controlling the motor M based on the compensated torque command value Tecmp* and the compensated flux command value Φocmp*. The current command value adjustment unit 40 adjusts the current command value (pre-adjustment d-axis current command value idbase* and pre-adjustment q-axis current command value iqbase*) based on the compensated torque command value Tecmp*, the motor speed Nf indicating the speed of the motor M, and the DC voltage detection value Vdcf indicating the output voltage of the battery P.

[0109] As described above, the power converter control device 3 of the present embodiment adjusts the current command value (the pre-adjustment d-axis current command value idbase* and the pre-adjustment q-axis current command value iqbase*) generated by the current command value generation unit 30 through the current command value adjustment unit 40. The current command value adjustment unit 40 adjusts the current command value based on the motor speed Nf indicating the speed of the motor M and the DC voltage detection value Vdcf indicating the output voltage of the battery P in addition to the compensated torque command value Tecmp*. Therefore, the power converter control device 3 of the present embodiment can adjust the current command value based on both the motor speed Nf and the DC voltage detection value Vdcf. Therefore, the power converter control device 3 of the present embodiment can reduce the difference between the compensated torque command value Tecmp* and the output torque even when the speed of the motor M and the DC voltage detection value Vdcf change, and can improve the accuracy of the output torque relative to the compensated torque command value Tecmp*.

[0110] In addition, for example, when the compensated torque command value Tecmp* is a value between a plurality of values ​​(grid points) set in the current command value map Ma, linear interpolation can be performed to obtain the d-axis current command value id* and the q-axis current command value iq*. At this time, when the compensated torque command value Tecmp* is not a value obtained by linear interpolation of two grid points (that is, when it is not located on a line connecting the two grid points), it is considered that the d-axis current command value id* and the q-axis current command value iq* cannot be converged by continuing to search for a point that converges through the flux feedback process. In such a case, the d-axis current command value id* and the q-axis current command value iq* are unstable and vibrate, and the output torque is unstable. In contrast, according to the power converter control device 3 of the present embodiment, it is possible to use an adjustment value to make adjustments so that the d-axis current command value id* and the q-axis current command value iq* converge, and the output torque can be stabilized.

[0111] Figure 8 and Fig. 9 It is a schematic diagram for explaining the operation and effect of the power converter control device 3 according to the present embodiment. Figure 8 and Fig. 9 is a schematic diagram showing the transition of the current operating point in the id-iq plane. Figure 8 As shown in FIG. 1 , when the motor M is driven at maximum output, the current operating point moves along the minimum current maximum torque line (MTPA line) that is the most efficient. If such a minimum current maximum torque line is set to be independent of the motor speed Nf and the output voltage of the battery P and is only one line, then the actual minimum current maximum torque line varies according to the state of the motor speed Nf and the output voltage of the battery P. Figure 8If the current changes as shown by the dotted line, the torque accuracy cannot be ensured. In contrast, in the power converter control device 3 of the present embodiment, different minimum current maximum torque lines can be set in control according to the state of the motor speed Nf and the output voltage of the battery P. Therefore, even if the motor speed Nf and the output voltage of the battery P change, the torque accuracy can be ensured.

[0112] like Fig. 9 As shown in FIG. 1 , when the motor M is subjected to field weakening control, the current operating point moves along the magnetic flux limiting circle. When the motor speed Nf is low and the output voltage of the battery P is low, the actual position of the magnetic flux limiting circle is as shown in FIG. Fig. 9 At this time, if there is only one magnetic flux limiting circle under control, the actual magnetic flux limiting circle changes as shown by the dotted line of the motor speed Nf and the output voltage of the battery P. Fig. 9 In the case where the torque changes as shown by the dotted line, the torque accuracy cannot be ensured. In contrast, in the power converter control device 3 of the present embodiment, different magnetic flux limiting circles can be set in control according to the state of the motor speed Nf and the output voltage of the battery P. Therefore, even when the motor speed Nf and the output voltage of the battery P are low, the torque accuracy can be ensured.

[0113] Fig.10 This is a graph showing the relationship between the motor speed Nf and the actual output torque Te of the motor M. As shown in the graph, in the region R1 where the output torque Te is close to 0 Nm, it is difficult to ensure torque accuracy when controlling using a single two-dimensional map with the motor speed and the flux command value as parameters.

[0114] like Fig.10 As shown, in the region R2 where the motor speed Nf is low, the torque command value generating unit 10 may obtain the torque command value without using the torque feedback value. In such a case, it is difficult to ensure torque accuracy when controlling using a single two-dimensional map with the motor speed and the flux command value as parameters.

[0115] In the power converter control device 3 of the present embodiment, even if Fig.10 The regions R1 and R2 shown in FIG. 1 can also be controlled to set different magnetic flux limiting circles according to the motor speed Nf and the output voltage of the battery P. Fig.10 The torque accuracy can also be ensured in the regions R1 and R2 shown.

[0116] In the power converter control device 3 of the present embodiment, the current command value adjustment unit 40 includes an adjustment value setting unit 41 and an adder 42. The adjustment value setting unit 41 sets the adjustment value based on the compensated torque command value Tecmp*, the motor speed Nf, and the DC voltage detection value Vdcf. The adder 42 adds the adjustment value to the current command value.

[0117] In the power converter control device 3 of the present embodiment, the current command value can be adjusted simply by adding the adjustment value to the current command value. Therefore, the power converter control device 3 of the present embodiment can ensure torque accuracy while suppressing the amount of calculation.

[0118] The power converter control device 3 of the above embodiment includes a storage unit 3a. The storage unit 3a stores an adjustment value map Mb showing the relationship between the compensated torque command value Tecmp*, the motor speed Nf, and the DC voltage detection value Vdcf and the adjustment value. The adjustment value setting unit 41 sets the adjustment value based on the adjustment value map Mb.

[0119] The power converter control device 3 of this embodiment can easily set the adjustment value by referring to the adjustment value map Mb. Therefore, the power converter control device 3 of this embodiment can easily obtain the current command value.

[0120] In addition, for example, by using the adjustment value map Mb, for example, the adjustment value can be finely set in a range where the torque accuracy is easy to decrease, and the setting of the adjustment value can be made rougher in a range where the torque accuracy is difficult to decrease. In addition, setting the adjustment value finely means setting a large number of adjustment values ​​in a certain fixed variation range of the compensated torque command value Tecmp*, the motor speed Nf, and the DC voltage detection value Vdcf in the adjustment value map Mb. In this way, in a range where the torque accuracy is easy to decrease, by setting the adjustment value finer than in a range where the torque accuracy is difficult to decrease, the storage capacity of the adjustment value map Mb can be reduced. As a result, the storage area allocated to the adjustment value map Mb can be reduced in the storage unit 3a, and the storage unit 3a can store other data, etc. For example, in recent vehicles, in order to be able to cope with OTA (Over The Air: a program update function based on wireless), the storage capacity of the storage unit 3a is increased. The power converter control device 3 of this embodiment can store the adjustment value map Mb in the storage unit 3a even in a vehicle that supports such OTA.

[0121] In addition, the power converter control device 3 of the present embodiment includes a torque command value generating unit 10. The torque command value generating unit 10 can obtain the compensated torque command value Tecmp* using the torque feedback value calculated based on the state of the motor M. In addition, when the torque command value generating unit 10 obtains the compensated torque command value Tecmp* without using the torque feedback value, the current command value adjusting unit 40 changes the value of the current command value. Thus, even when the torque command value generating unit 10 obtains the compensated torque command value Tecmp* without using the torque feedback value, the torque accuracy can be ensured.

[0122] In addition, in the power converter control device 3 of the present embodiment, the flux command value generating unit 20 obtains the compensated flux command value Φocmp* using the flux feedback value calculated based on the state of the motor M. Therefore, the power converter control device 3 of the present embodiment can obtain the current command value reflecting the interlinkage flux feedback value Φof. Therefore, the power converter control device 3 of the present embodiment can further improve the torque accuracy.

[0123] Furthermore, the motor control device 1 of the present embodiment includes the power converter 2 and the power converter control device 3. Therefore, the motor control device 1 of the present embodiment can improve the torque accuracy with respect to the compensated torque command value Tecmp*.

[0124] (Second Embodiment)

[0125] Next, refer to Fig.11 A second embodiment of the present invention will be described. In the description of this embodiment, descriptions of the same parts as those of the first embodiment will be omitted or simplified.

[0126] Fig.11 : is a schematic diagram of the power converter control device 3 of the present embodiment. As shown in the figure, in the power converter control device 3 of the present embodiment, the storage unit 3a stores a current command value map (map) Mc for MTPA control, a current command value map (map) Md for waste power control, an adjustment value map (map) Me for MTPA control, and an adjustment value map (map) Mf for waste power control.

[0127] The MTPA control current command value map Mc is a current command value map Ma used to obtain the current command value when the motor M is subjected to MTPA control (maximum torque / current control). The MTPA control current command value map Mc is a map that establishes a correspondence between the current command value (pre-adjustment d-axis current command value idbase* and pre-adjustment q-axis current command value iqbase*) of the MTPA control and the compensated torque command value Tecmp* and the compensated magnetic flux command value Φocmp*.

[0128] The waste power control current command value map Md is a current command value map Ma used to obtain a current command value when waste power control (strong magnetic field control) is performed on the motor M. The waste power control current command value map Md is a map that establishes a correspondence between the waste power control current command value (pre-adjustment d-axis current command value idbase* and pre-adjustment q-axis current command value iqbase*) and the post-compensation torque command value Tecmp* and the post-compensation magnetic flux command value Φocmp*.

[0129] The MTPA control adjustment value map Me is an adjustment value map Mb used to obtain adjustment values ​​when MTPA control is performed on the motor M. The MTPA control adjustment value map Me is a map in which adjustment values ​​corresponding to the current command values ​​based on the MTPA control (d-axis current adjustment value idadj* and q-axis current adjustment value iqadj*) are associated with the compensated torque command value Tecmp*, the motor speed Nf, and the DC voltage detection value Vdcf.

[0130] The waste power control adjustment value map Mf is an adjustment value map Mb used to obtain adjustment values ​​when waste power control is performed on the motor M. The waste power control adjustment value map Mf is a map in which adjustment values ​​corresponding to current command values ​​based on waste power control (d-axis current adjustment value idadj* and q-axis current adjustment value iqadj*) are associated with the compensated torque command value Tecmp*, the motor speed Nf, and the DC voltage detection value Vdcf.

[0131] The current command value generating unit 30 determines the control state of the motor M based on a signal input from the outside, for example. Specifically, the current command value generating unit 30 determines whether the control state of the motor M is MTPA control or waste power control. In addition, the adjustment value setting unit 41 of the current command value adjusting unit 40 also determines whether the control state of the motor M is MTPA control or waste power control.

[0132] When the control state of the motor M is MTPA control, the current command value generating unit 30 refers to the MTPA control current command value map Mc to obtain the current command value (the pre-adjustment d-axis current command value idbase* and the pre-adjustment q-axis current command value iqbase*). In addition, when the control state of the motor M is MTPA control, the adjustment value setting unit 41 of the current command value adjusting unit 40 refers to the MTPA control adjustment value map Me to set the adjustment value (the d-axis current adjustment value idadj* and the q-axis current adjustment value iqadj*).

[0133] On the other hand, when the control state of the motor M is the waste power control, the current command value generating unit 30 refers to the waste power control current command value map Md to obtain the current command value (the pre-adjustment d-axis current command value idbase* and the pre-adjustment q-axis current command value iqbase*). Furthermore, when the control state of the motor M is the waste power control, the adjustment value setting unit 41 of the current command value adjusting unit 40 refers to the waste power control adjustment value map Mf to set the adjustment value (the d-axis current adjustment value idadj* and the q-axis current adjustment value iqadj*).

[0134] In the power converter control device 3 of the present embodiment as described above, the storage unit 3a stores the MTPA control adjustment value map Me as the adjustment value map Mb used when the motor M is subjected to MTPA control. In addition, the adjustment value setting unit 41 sets the adjustment value based on the MTPA control adjustment value map Me when the motor M is subjected to MTPA control. According to the power converter control device 3 of the present embodiment as described above, the current command value (the pre-adjustment d-axis current command value idbase* and the pre-adjustment q-axis current command value iqbase*) can be adjusted using the adjustment value suitable for MTPA control.

[0135] In the power converter control device 3 of the present embodiment, the storage unit 3a stores the waste power control adjustment value map Mf as the adjustment value map Mb used when the waste power control is performed on the motor M. In addition, the adjustment value setting unit 41 sets the adjustment value based on the waste power control adjustment value map Mf when the waste power control is performed on the motor M. According to the power converter control device 3 of the present embodiment, the current command value (the pre-adjustment d-axis current command value idbase* and the pre-adjustment q-axis current command value iqbase*) can be adjusted using the adjustment value suitable for the waste power control.

[0136] In this way, according to the power converter control device 3 of the present embodiment, different current command values ​​(pre-adjustment d-axis current command value idbase* and pre-adjustment q-axis current command value iqbase*) and different adjustment values ​​(d-axis current adjustment value idadj* and q-axis current adjustment value iqadj*) are used according to the control state of the motor M. Therefore, control suitable for each control state of the motor M can be performed.

[0137] The above, while referring to the attached Figure 1 While the preferred embodiment of the present invention has been described, the present invention is of course not limited to the above embodiment. The shapes and combinations of the components shown in the above embodiment are examples and can be variously changed based on design requirements within the scope of the present invention.

[0138] In addition, the above-mentioned embodiment can also be described as the following supplementary notes, for example.

[0139] (Note 1)

[0140] A power converter control device controls a power converter for performing power conversion between a DC power supply and a motor, and is characterized by comprising:

[0141] a magnetic flux command value generating unit that obtains a magnetic flux command value based on the torque command value;

[0142] a current command value generating unit that obtains a current command value for controlling the motor based on the torque command value and the magnetic flux command value; and

[0143] The current command value adjustment unit adjusts the current command value based on the torque command value, a rotation detection value indicating the rotation speed of the motor, and a DC voltage value indicating an output voltage of the DC power supply.

[0144] (Note 2)

[0145] The power converter control device as described in Supplementary Note 1 is characterized in that:

[0146] The current command value adjustment unit includes:

[0147] an adjustment value setting unit that sets an adjustment value based on the torque command value, the rotation detection value, and the DC voltage value; and

[0148] An adder and subtractor performs addition and subtraction operations on the adjustment value and the current command value.

[0149] (Note 3)

[0150] The power converter control device as described in Supplementary Note 2 is characterized in that:

[0151] A storage unit is provided for storing an adjustment value map indicating a relationship between the torque command value, the rotation detection value, the DC voltage value, and the adjustment value,

[0152] The adjustment value setting section sets the adjustment value based on the adjustment value map.

[0153] (Note 4)

[0154] The power converter control device as described in Supplementary Note 3 is characterized in that:

[0155] The storage unit stores a maximum torque / current control adjustment value map as the adjustment value map used when performing maximum torque / current control on the motor.

[0156] The adjustment value setting unit sets the adjustment value based on an adjustment value map for maximum torque / current control when the motor is subjected to maximum torque / current control.

[0157] (Note 5)

[0158] The power converter control device as described in Supplement 3 or 4 is characterized in that:

[0159] The storage unit stores a strong magnetic field control adjustment value map as the adjustment value map used when the strong magnetic field control is performed on the motor.

[0160] The adjustment value setting unit sets the adjustment value based on an adjustment value map for strong magnetic field control when the strong magnetic field control is performed on the motor.

[0161] (Note 6)

[0162] The power converter control device as described in any one of Supplementary Notes 1 to 5, characterized in that

[0163] A torque command value generating unit is provided, the torque command value generating unit being capable of obtaining the torque command value using a torque feedback value calculated based on the state of the motor,

[0164] When the torque command value generating unit obtains the torque command value without using a torque feedback value, the current command value adjusting unit changes the value of the current command value.

[0165] (Note 7)

[0166] The power converter control device as described in any one of Supplementary Notes 1 to 6 is characterized in that:

[0167] The magnetic flux command value generating unit obtains the magnetic flux command value using a magnetic flux feedback value calculated based on a state of the motor.

[0168] (Note 8)

[0169] A power conversion device is characterized by comprising the power converter and the power converter control device according to any one of Supplementary Notes 1 to 7.

[0170] Description of Reference Numerals

[0171] 1...motor control device (power conversion device), 2...power converter, 3...power converter control device, 3a...storage unit, 10...torque command value generating unit, 11...torque control unit, 20...flux command value generating unit, 30...current command value generating unit, 40...current command value adjusting unit, 41...adjustment value setting unit, 42...adder (adder-subtractor), 50...rotation speed calculating unit.

Claims

1. A power converter control device for controlling a power converter for performing power conversion between a DC power supply and a motor, characterized in that: have: a magnetic flux command value generating unit that obtains a magnetic flux command value based on the torque command value; a current command value generating unit that obtains a current command value for controlling the motor based on the torque command value and the magnetic flux command value; as well as The current command value adjustment unit adjusts the current command value based on the torque command value, a rotation detection value indicating the rotation speed of the motor, and a DC voltage value indicating an output voltage of the DC power supply.

2. The power converter control device according to claim 1, characterized in that: The current command value adjustment unit includes: an adjustment value setting unit that sets an adjustment value based on the torque command value, the rotation detection value, and the DC voltage value; and The adder and subtractor performs addition and subtraction operations on the adjustment value and the current command value.

3. The power converter control device according to claim 2, characterized in that: A storage unit is provided for storing an adjustment value map indicating a relationship between the torque command value, the rotation detection value, the DC voltage value, and the adjustment value, The adjustment value setting section sets the adjustment value based on the adjustment value map.

4. The power converter control device according to claim 3, characterized in that: The storage unit stores a maximum torque / current control adjustment value map as the adjustment value map used when performing maximum torque / current control on the motor. The adjustment value setting unit sets the adjustment value based on an adjustment value map for maximum torque / current control when the motor is subjected to maximum torque / current control.

5. The power converter control device according to claim 3 or 4, characterized in that: The storage unit stores a strong magnetic field control adjustment value map as the adjustment value map used when the strong magnetic field control is performed on the motor. The adjustment value setting unit sets the adjustment value based on an adjustment value map for strong magnetic field control when the strong magnetic field control is performed on the motor.

6. The power converter control device according to any one of claims 1 to 4, characterized in that: A torque command value generating unit is provided, the torque command value generating unit being capable of obtaining the torque command value using a torque feedback value calculated based on the state of the motor, When the torque command value generating unit obtains the torque command value without using a torque feedback value, the current command value adjusting unit changes the value of the current command value.

7. The power converter control device according to any one of claims 1 to 4, characterized in that: The magnetic flux command value generating unit obtains the magnetic flux command value using a magnetic flux feedback value calculated based on a state of the motor.

8. A power conversion device, characterized in that: The invention comprises the power converter described above and the power converter control device according to any one of claims 1 to 4.

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