Electric vehicle drive control device

Abstract

Electric vehicle drive control device (100) comprising: a power converter (2) for applying an alternating current voltage to an induction machine (1) installed in the electric vehicle; and a controller (60) for controlling the power converter (2) based on an external operating command, the controller (60) comprising: a first computing unit (9) for calculating, from current information (id, iq) acquired at the induction machine (1) and from current command values ​​(id*1, iq*1) based on the external operating command, a d-axis voltage command (Vd*1) and a q-axis voltage command (Vq*1) for the power converter (2) and a primary magnetic flux (Δds) and a secondary magnetic flux (Δdr) of the induction machine (1) and for calculating a first velocity (Δh).1), which is a freewheeling speed of the induction machine (1), by adding to or subtracting from a term comprising the q-axis voltage command (Vq*1), an interference term derived from the d-axis voltage command (Vd*1), in a numerator of a fraction, wherein a denominator of the fraction comprises the primary magnetic flux (Δds).;

Description

Area

[0001] The present invention relates to an electric vehicle drive control device that drives a drive motor mounted on an electric vehicle without the use of a speed detector, namely by means of a so-called speed sensorless control, and in particular an electric vehicle drive control device that restarts a drive motor in a freewheeling state. background

[0002] To restart a traction motor in a freewheeling state without an interrupted AC power supply, the frequency, phase, and amplitude of an output voltage applied by a power converter of an electric vehicle drive control unit must each match the rotational frequency, residual voltage phase, and amplitude of the traction motor in a freewheeling state. A voltage phase difference and an amplitude difference cause a large current flow through the power converter, and a frequency difference causes a sudden torque on the traction motor.

[0003] As a means of solving such a problem, a conventional technique described in patent literature 1 reduces an instability caused when a traction motor is restarted in a freewheeling state and is as follows. A magnetic flux estimation correction unit is provided between an induction motor modeling unit, which calculates magnetic flux estimates, and a motor current estimation unit, which receives the magnetic flux estimates as inputs from the induction motor modeling unit and calculates current estimates. This correction unit is intended to correct for an increase in the magnetic flux estimate when an electric vehicle is undergoing a changeover process from coasting to restarting. List of citations, patent literature

[0004] Patent literature 1: Published Japanese patent application no. 2002-374699 Summary: Technical Problems

[0005] Vehicle speed estimation plays a crucial role in a speed sensorless control system for an electric vehicle. However, speed information cannot be obtained in the speed sensorless control system if a power converter stops operating. Therefore, a so-called f-search, which estimates an initial speed, must be performed to restart the system after the power converter's operation temporarily ceases. The initial speed mentioned here represents a preliminary vehicle speed value required for transitioning to a continuous speed estimation. The f-search is needed to accurately estimate the vehicle speed in the short term for a smooth transition to a continuous speed estimation. As such, a highly responsive initial speed estimation using a simple formula is essential.

[0006] However, f-search methods are still evolving and require further improvement. In the field of electric vehicle control, a control frequency ranges widely from 0 to 200 Hz and, coupled with a condition of the electric vehicle such as an overhead line voltage ranging from 900 to 1800 V, cannot achieve a stable vehicle speed estimation.

[0007] It has also been confirmed that, with the advent of highly efficient induction motors in recent years, a stable velocity estimation cannot be achieved using f-search. Two specific reasons for this phenomenon are described below.

[0008] The first is a change in the line time constant resulting from improved efficiency of the induction motor. This improved efficiency of the induction motor allows for a secondary line time constant. L2 / R2 a relatively large ratio of secondary inductance L2 to a secondary resistance R2Accordingly, a secondary-side magnetic flux is difficult to excite compared to a conventional induction motor. The second method is a current-f-search control procedure. In current-f-search, a velocity estimation is performed using a simple formula for the secondary-side action of the induction motor. As such, current-f-search is susceptible to dead time, an AN voltage output error, or a primary resistance error. Thus, the f-search cannot achieve a stable velocity estimate if a desired secondary-side magnetic flux is not excited. Based on the above technical background, it can be said that improving the stability of the initial velocity estimate is a technical challenge in speed-sensorless control for electric vehicles.

[0009] The present invention was made in light of the above and an object of the present invention is to obtain an electric vehicle drive control device which enables improved stability of an estimation of an initial speed in a speed sensorless control for an electric vehicle. Problem solving

[0010] To solve the aforementioned problems and achieve the objective, an electric vehicle drive control device according to the present invention comprises a power converter that applies an AC voltage to an induction machine mounted on an electric vehicle, and a controller that controls the power converter based on an external operating command. The controller comprises a first processing unit and a second processing unit. The first processing unit calculates, from current information acquired at the induction machine and from current command values ​​based on the operating command, a d-axis voltage command and a q-axis voltage command for the power converter, as well as a primary magnetic flux and a secondary magnetic flux of the induction machine.The first processing unit adds to or subtracts from a term comprising the q-axis voltage command an interference term derived from the d-axis voltage command when calculating a first velocity, which represents a freewheeling speed of the induction machine. The second processing unit uses as initial values ​​the first velocity and the magnetic fluxes of the induction machine output by the first processing unit and calculates second voltage command values ​​for the power converter and a second velocity, which represents a drive speed of the rotating AC electric lathe. Advantageous effects of the invention

[0011] The present invention enables an improved stability estimation of the initial speed in a speed sensorless control system for the electric vehicle. List of characters Fig. Figure 1 shows a block diagram illustrating a configuration example of an electric vehicle drive control device according to the present embodiment. Fig. Figure 2 shows a block diagram illustrating a configuration of a first computing unit according to the present embodiment. Fig. Figure 3 represents a block diagram illustrating a configuration example of a [system / device]. Fig. 2. illustrated current controller. Fig. 4 shows a block diagram illustrating a configuration example of a second computing unit, which is located in Fig. 1 is illustrated. Fig. Figure 5 shows a block diagram illustrating a configuration example of a voltage command switching unit used in Fig. 1 is illustrated. Fig. Figure 6 shows a block diagram illustrating a configuration example of a speed switching unit that is in Fig. 1 is illustrated. Fig. Figure 7 shows a time diagram illustrating operating wave profiles according to the present invention when there is no residual magnetic flux in an induction machine. Fig. Figure 8 is a time diagram illustrating operating wave profiles according to the present invention when there is no residual magnetic flux in an induction machine. Fig. Figure 9 shows a time diagram illustrating operating wave profiles according to conventional techniques when there is residual magnetic flux in the induction machine. Fig. Figure 10 shows a time diagram illustrating operating wave profiles according to the present invention when there is a residual magnetic flux in the induction machine. Fig. Figure 11 presents a block diagram illustrating an example of a hardware configuration embodying the functions of the first and second computing units according to the present embodiment. Fig. Figure 12 shows a block diagram illustrating another example of the hardware configuration embodying the functions of the first and second computation units according to the present embodiment. Description of an embodiment

[0012] With reference to the drawings, a detailed description of an electric vehicle drive control device according to one embodiment of the present invention is given below. It should be noted that the following embodiment is not limiting to the present invention. Design.

[0013] Fig. Figure 1 represents a block diagram illustrating a configuration example of an electric vehicle drive control device. 100 illustrated according to a first embodiment. In Fig. 1 includes the electric vehicle drive control device 100 a power converter 2 , which converts a direct current voltage into an alternating current voltage for application to an induction machine 1 converts, and a controller 60 , which power converter 2 The controller is controlled based on an external operating command PB. 60 includes a control switching unit 12 , a current command unit 11 , a first unit of calculation 9 , a second unit of calculation 10 , a speed control unit 7 , a voltage command switching unit 8 , a phase calculation device 6 , a three-phase / dq converter 4 and a dq / three-phase converter 5.

[0014] The induction machine 1 This represents a drive motor mounted on the electric vehicle. The induction machine 1 is connected to the power converter 2 connected. The power converter 2 The three-phase voltage is applied to the induction machine at a chosen frequency. 1 on. Current detectors 3a , 3b and 3c Each phase currents iu, iv and iw are recorded, which occur during the respective phases of the induction machine. 1 The respective values ​​of the measured phase currents iu, iv, and iw are combined to form current information, which is used in the induction machine. 1 is detected. The current detectors 3a , 3b and 3c Examples include current transformers (CTs). It should be noted that the phase currents could be measured by other publicly known units or methods instead of CTs. While each of the three phases... Fig. If the CT is arranged in 1, the CT for one of the phases can be omitted by using a ratio, iu+iv+iw=0, which represents a three-phase equilibrium condition. The respective values ​​of the phase currents iu, iv and iw, which are measured by the current detectors 3a , 3b and 3c The signals that are captured are fed to the dq / three-phase converter 5.

[0015] The dq / three-phase converter 5 converts the respective values ​​of the detected phase currents iu, iv, and iw of the three-phase coordinate system into a d-axis current id and a q-axis current iq, which represent the current values ​​of a dq coordinate system. It should be noted that information about the phase angle of a control coordinate axis is required for a coordinate transformation. If the phase of the control coordinate axis is here 9 This phase θ can be obtained if an angular frequency ω, which is an output of the speed switching unit, is used. 7(described later) is integrated. In the present embodiment, this is achieved by the phase calculation device. 6 achieved, as illustrated in the drawing. d -Axis-Axis stream id and the q -Axis current iq, which is generated by the dq / three-phase converter 5, is fed to the first processing unit 9 and the second unit of calculation 10 issued.

[0016] The operating order PB is transmitted from a (not illustrated) driver's cab of a train driver into the control unit 12 of the controller 60 entered. The operating command PB Conceptually, it includes both an energy command P , which represents a notch command that is indicative for acceleration as well as a braking command B , which represents a gear step command indicative of braking. Upon receiving the operating command PB The control unit generates the input 12 a control mode signal chsg .

[0017] The control mode signal chsg, which comes from the control switching unit 12 output includes a control mode- 1 A first control signal and a second control mode signal. This is particularly relevant when receiving the operating command. PB The control unit provides the input 12 First, the control mode 1 signal is emitted, followed after a predetermined initial time interval by the control mode 2 signal. The control mode 1 signal acts as a trigger for initiating an induction machine 1 velocity estimation, while the control mode 2 signal is intended for switching between controllers that use the control mode- 1 -Replace signal.

[0018] Taking into account an operating time property of the first calculation unit 9 The aforementioned first time period is set as a time period that is necessary and sufficient for an accurate calculation of a first speed, which is a free-running speed of the induction machine. 1 This represents the following. It can be stated that the freewheeling speed is synonymous with the angular frequency of a voltage applied in the induction machine. 1 in a freewheeling state, although the unit expressing its physical value is different. The first speed, representing the freewheeling speed, is subsequently referred to as the "first angular frequency," and this first angular frequency is expressed by " ω1 “ shown.

[0019] In the present embodiment, the duration for the control mode 1 signal, which corresponds to the input of the operating command, is PB The time is less than 0.15 seconds. Any effect that can be obtained from this is not a factor in the case of a delay during acceleration or deceleration of the power converter. 2 and the induction machine 1 This follows the driver's input of the operating command PB. If the time duration for the control mode- 1 The longer the signal, the faster the power converter accelerates. 2 and the induction machine 1 Not immediately, even after the energy command P is entered, which could give the driver a false impression. The short duration of the control mode 1 signal can eliminate this false impression.

[0020] The control mode signal chsg, which is from the control switching unit 12 The output is sent to the power command unit. 11 , the voltage command switching unit 8 , the speed control unit 7 and into the first calculation unit 9entered. The power command unit 11 Generates a d-axis current command for output synchronously with the control mode 1 signal. id*1 and a q-axis current command iq*1 , each representing a magnetic flux axis current command value and a torque axis current command value, and the induction machine 1 correspond. The current command unit 11 It also generates a magnetic flux axis current command for output synchronously with the control mode 2 signal. id*2 and a moment-axis current command value iq*2 .

[0021] Next, a configuration and functions of the first computing unit will be described. 9 specified. Fig. Figure 2 represents a block diagram illustrating the configuration of the first computing unit. 9 Illustrated. The first unit of calculation. 9 mainly includes a power controller. 16 , a secondary d -Axis magnetic flux calculation device13 , Adding devices 14a and 14b , a subtractor 14c , a dividing device 14e , a sign extraction device 15 , amplification application units 17a and 17b and an integration device 18 .

[0022] Based on the d -Axis current command id*1 , dem q -Axis current command iq*1 , dem d -Axis current id , which represents a d-axis current detection value, to which q -Axis current iq , who one q -Axis current detection value, and the control mode signal chsg calculates the first calculation unit 9 first voltage command values ​​that d -Axis tension command Vd*1 and one q -Axis tension command Vq*1 represent, and also calculates the first angular frequency ω1 in the freewheeling state, a more primary one. d-Axis magnetic flux φds and a secondary d -Axis magnetic flux φdr .

[0023] The first unit of calculation 9 is similar to the earlier invention described in Japanese patent no. 4459301 (hereinafter referred to simply as the "earlier invention"), in that the d-axis current command id*1 , the q -Axis current command iq*1 , the d-axis current id, the q -Axis current iq and the control mode signal chsg is used as input signals, while the d-axis voltage command Vd*1 , the q -Axis tension command Vq*1 , the first angular frequency ω1 , the primary d-axis magnetic flux φds and the secondary dThe axis magnetic flux φdr is output as an output signal. However, the earlier invention is based on the assumption that there is no rotor-side residual magnetic flux, whereas the present invention takes a rotor-side residual magnetic flux into account. In other words, the present invention clearly differs from the earlier invention in that the rotor-side residual magnetic flux is taken into account. The following description of the present invention focuses on the differences compared to the earlier invention.

[0024] At a f -Searching according to the earlier invention, a formula is developed wherein a secondary current is eliminated from an equation of state of an induction machine, and the following two formulas are used to determine a first angular frequency ω1 derived, which represents a velocity estimate, where a primary magnetic flux vector along a d-axis is aligned, which is one of two axes of rotation that the d -axis and a q -axis encompass. [Formulas 1] ϕ d s = 1 S ( V d s − R s × i d s ) ω = ( V q s − R s × i q s ) ϕ d s

[0025] In the formulas (1) φds represents an estimated primary magnetic flux, Rs represents a primary resistance, S is a Laplace operator, Vds is a d -Axis-induced stress, Vqs is a q -Axis-induced stress, ids is a d -Axis-primary current and iqs is a q -Axis-primary current. The Laplace operator is also called the "differential operator".

[0026] A secondary magnetic flux φ does not appear in formulas (1). In other words, this means that formulas (1) do not represent the secondary magnetic flux. φ not to be taken into account. Next, a theoretical formula is derived that describes the secondary magnetic flux. φ taken into account.

[0027] In the presence of the secondary magnetic flux φ The equation of state of an induction machine can be expressed as follows: [Formula 2] S σ L s ( i d i q ϕ ) = ( A ωσ L s M R r L r 2 − ωσ L s A − ω M L r σ L s M R r L r 0 − σ L s R r L r ) ( i d i q ϕ ) + ( V d V q 0 )

[0028] It should be noted that formula (2) assumes unloaded conditions and that it is used for a calculation under a condition such that a slip frequency ωs=0, i.e. ω=ωr. In formula (2), id represents a d -axis current represents, iq represents a q -Axis current, Ls is a primary inductance, Lr is a secondary inductance, M is a mutual inductance, ω represents an angular frequency Rr represents a secondary resistance, σ is a scattering coefficient and Arepresents a multiplication coefficient. The scattering coefficient σ can be expressed as σ = 1 - M. 2 can be expressed as / (Ls·Lr). The multiplication coefficient A can be expressed by the following formula: [Formula 3] A = − R s − M 2 L r 2 R r

[0029] Deriving from the first-row coefficient of a matrix of formula (2) is the following formula: [Formula 4] V d + A i d = S σ L s i d − ωσ L s i q − M R r L r 2 ϕ

[0030] Integrating both sides of formula (4) yields the following formula. [Formula 5] 1 S ( V d + A i d ) = σ L s i d − 1 S ωσ L s i q − 1 S M R r L r 2 ϕ

[0031] Deriving from the second-row coefficient of the matrix of formula (2) is the following formula: [Formula 6] V q + A i q = ω ( 1 ω S σ L s i q − σ L s i d + M L r ϕ )

[0032] Integrating both sides of a formula derived from the third-row coefficient of the matrix of formula (2) yields the following formula. [Formula 7] M L r ϕ − 1 S M 2 R r L r 2 i d = − 1 S M R r L r 2 ϕ

[0033] Substituting formula (7) into formula (4) yields the following formula: [Formula 8] 1 S ( V d + A i d ) = σ L s i d − σ L s ( − 1 S ω i q ) + ( M L r ϕ− 1 S M 2 R r L r 2 i d )

[0034] Subtracting formula (7) from formula (6) yields the following formula. [Formula 9] V q + A i q − ( V d + A i d ) = ω ( 1 ω S σ L s i q + σ L s i d + M L r ϕ ) − ω ( 1 ω S σ L s i d − σ L s i q − 1 ω M R r L r 2 ϕ ) = ω { L s i d + σ L s ( 1 ω S i q − 1 ω S i d + i q ) + ( M L r ϕ + 1 ω M R r L r 2 ϕ ) }

[0035] Here, a demonstration is provided that a right-hand side of formula (8) is equal to the inner curly bracket of a right-hand side of formula (9). Assuming that there is an axial deviation of θ=ωt between the control axis and an actual axis of rotation, the following ratios apply, each defined by the formulas below. [Formulas 10] I d ' = I d cos ω t + I q sin ω t I q ' = − I d sin ω t + I q cos ω t

[0036] In formulas (10) Id and Iq a d-axis current or a q -Axis current of the d - and q -axes represent, when a direction of the secondary magnetic flux of a rotor of the induction machine is along the d -axis is aligned, and Id' and Iq' represent a d -axis current or a q -Axis current of the control axes.

[0037] A transformation into the following formula can be obtained if, where for the control axis iq in the second term of the right-hand side of formula (8) iq=Iq', a right-hand side of a formula for Iq' , which is expressed by a second formula of formulas (10), is substituted. [Formula 11] ( − 1 S ω i q ) = − ω { 1 S ( − I d sin ω t + I q cos ω t ) } = − ω { 1 ω I d cos ω t + 1 ω I q sin ω t } = − I d '

[0038] A transformation into the following formula can be obtained if, where the control axis id and iq , the inner brackets of a second term within the right curly bracket of formula (9), id=Id' or iq=Iq' holds, a right-hand formula for Id' , which is expressed by a first formula of formulas (10), and the right-hand formula for Iq' , which is expressed by the second formula of formulas (10), can be substituted. [Formula 12] ( 1 ω S i q − 1 ω S i d + i q ) = 1 ω S ( − I d sin ω t + I q cos ω t ) − 1 ω S ( I d cos ω t + I q sin ω t ) − I d sin ω t + I q cos ω t = 1 ω ( − ω I d cos ω t − ω I q sin ω t ) − 1 ω ( − ω I d sin ω t − ω I q cos ω t ) − I d sin ω t + I q cos ω t = − I d cos ω t − I q sin ω t + I d sin ω t − I q cos ω t − I d sin ω t + I q cos ω t = − I d '

[0039] As can be seen from formulas (11) and (12), the second term of the right-hand side of formula (8) is equal to the second term of the right-hand side of formula (9).

[0040] Next, a second term within parentheses of a third term of the right-hand side of formula (8) can be transformed into the following formula if, where the control axis id of this second term within the parentheses is id=Id', the right-hand side that is for Id' in the first formula of formulas (10), is substituted. [Formula 13] − 1 S M 2 R r L r 2 i d = − M 2 R r L r 2 1 S ( I d cos ω t + I q sin ω t ) = − M 2 R r L r 2 ( 1 ω I d sin ω t − 1 ω I q cos ω t ) = 1 ω M 2 R r L r 2 I q '

[0041] As such, if MIq'=φ, the third term of the right-hand side of formula (8) becomes equal to a third term of the right-hand side of formula (9). If one direction of rotation differs, θ=-ωt, then the resulting ratio is -MIq'=φ.

[0042] Assuming above that the right-hand side of formula (8) is essentially the same as that within the curly brackets of the right-hand side of formula (9), the angular frequency can be ω , which represents an estimated speed, are summed and calculated using the following formula (14): [Formula 14] ω = V q + A i q ∓ ( V d + A i d ) 1 S ( V d + A i d )

[0043] The angular frequency ω, expressed by formula (14), is applied to the second unit of calculation. 10 output and becomes an initial value for the second calculation unit. 10 , which is used to estimate a continuous velocity.

[0044] A minus-plus sign preceding "Vd+Aid" in formula (14) indicates that, based on the result of a calculation using formula (7), a suitable choice must be made in accordance with the sign of the angular frequency ω, i.e., the direction of rotation of the induction machine. However, the direction of rotation is not clear in a truly sensorless control system, so a signum function sign of a q-axis voltage signal is used in the following formula for its determination. [Formula 15] ω = V q + A i q − ( V d + A i d ) ⋅ S i g n ( V q + A i q ) 1 S ( V d + A i d ) <?page 9=""?>

[0045] As described above, the method of the present invention, which uses formula (15) to account for the rotor-side residual magnetic flux, is such that a “Vd+Aid” value based on a sign of “Vq+Aiq” is added to the formula of the earlier invention. It should be noted here that “Vd+Aid” represents an interference term from the perspective of “Vq+Aiq”. As such, this “Vd+Aid” from the perspective of “Vq+Aiq” designates a d-axis interference term.

[0046] In cases where a new f-search according to the present invention is used, the primary magnetic flux must be φds and the secondary magnetic flux φdr to be estimated in order to serve as initial values ​​for the second calculation unit 10 to be applied, which in Fig. 1 is illustrated.

[0047] The primary magnetic flux φds can be calculated using the following formula: [Formula 16] ϕ d s = 1 S ( V d + A i d )

[0048] On the other hand, for the secondary magnetic flux φdr, formula (9), which takes into account the residual magnetic flux, is first transformed into the following formula. [Formula 17] V q + A i q − ( V d + A i d ) ω ^ = σ L s i d + σ L s ( 1 ω S i q − 1 ω S i d + i q ) + ( M L r ϕ + 1 ω M R r L r 2 ϕ )

[0049] In formula (17), a second term of the right-hand side is zero in a continuous state. During a rotation of the induction machine, within the brackets of a third term of the right-hand side, a first element is much larger than a second term. In other words, this means that there is a ratio between the first and second elements within these brackets, defined by the following formula: [Formula 18] M L r ϕ > > 1 ω M R r L r 2 ϕ

[0050] Using the ratio defined by formula (18), formula (17) can be transformed into the following formula: [Formula 19] ϕ d r = L r M { V q + A i q − ( V d + A i d ) ω ^ − σ L s i d } = L r M { ϕ d s − σ L s i d }

[0051] As such, using formula (19), the secondary d -Axis magnetic flux φdr calculated as an estimated secondary magnetic flux.

[0052] Returning to Fig. Section 2 will describe the correspondences between the above formulas and the components of a Fig. 2 illustrated tax systems are provided.

[0053] The first angular frequency ω1 can be estimated using formula (15) mentioned above. To determine the first angular frequency ω1 to calculate Fig. 2 the amplification application unit 17b , the adding device 14b , the subtractor 14c , a multiplication device 14d , the dividing device 14e and the sign extraction device 15 installed. The q -Axis current iq is transformed into a physical q -Axis voltage value for input into a positive terminal of the adding device 14b through the amplification application unit 17b transformed, which led to q -The axis current iq applies a gain corresponding to a value of A expressed by formula (3). An input to another positive terminal of the adding device 14b is the q -Axis tension command Vq*1 , which is controlled by the current controller 16 is generated. An input into a positive terminal of the subtractor unit. 14c represents a value that is obtained by adding the q -Axis tension command Vq*1 and the q -Axis current iq is obtained, on which the amplification is applied according to the value of A is applied.

[0054] The sign extraction device 15monitors the sign of the output from the amplification application unit 17b If the output of the amplification application unit 17b If it has a plus sign, the multiplication device multiplies it. 14d a q -Axis tension command Vq*1 with “1” for input into a negative terminal of the subtractor 14c This means that if the output of the amplification application unit 17b which has a plus sign, the subtractor 14c , for input into the divider 14e , a value of a difference from the q -Axis tension command Vq*1 plus the q -Axis current iq calculated, to which the amplification is applied according to the value of A.

[0055] On the other hand, if the output of the amplification application unit 17b If the value has a negative sign, the multiplication device multiplies it. 14dthe q -Axis tension command Vq*1 with "-1" and an output of the multiplication device 14d is connected to the negative terminal of the subtractor 14c entered. This means that if the output of the amplification application unit 17b the minus sign, the subtractor 14c for input into the divider device 14e a value is calculated that results from adding to the q -Axis tension command Vq*1 plus the q -Axis current iq results in the amplification according to the value A is applied.

[0056] The dividing device 14e multiplies the output of the subtractor. 14c through the primary d -Axis magnetic flux φds In this way, the first angular frequency is determined. ω1 calculated, which represents the estimated velocity value.

[0057] The amplification provided by the amplification application unit 17b the Fig. 2 is applied, corresponds to the value of A , which is expressed by formula (3). The gain here is a component that is related to the response sensitivity of determining the first angular frequency. ω1 is linked. As disclosed in the earlier invention, an amplification corresponding to a value of the primary resistance Rs could be applied as a first amplification.

[0058] That a second term of a numerator in formula (14) or (15) involves adding or subtracting the d -Axis interference component to or from the q The axis-induced stress expresses a key point. If this control system is ensured, the effect that can be obtained represents a guaranteed stability of the initial velocity estimate.

[0059] The secondary d-axis magnetic flux φdr, which represents the residual magnetic flux, can be estimated using the formula (19) mentioned above. Fig. 2 is the secondary d -Axis magnetic flux calculation device 13 mounted to the secondary d -Axis magnetic flux φdr to calculate, and differs from that of the earlier invention in that input signals, in addition to the d-axis current id, the primary magnetic flux φds include, which represents an estimated primary magnetic flux that passes through the integrating device 18 is generated.

[0060] The earlier invention uses only the d -Axis current id to estimate the secondary d -Axis magnetic flux φdr , whereas the present invention d -Axis current id and the primary magnetic flux φds to estimate the secondary d-Axis magnetic flux φdr used and thus an improved estimation accuracy of the secondary d-axis magnetic flux φdr This enables the secondary d-axis magnetic flux. φdr represents a term that contributes to the instantaneous response. As such, when using the primary magnetic flux φds in addition to the d -Axis current id for estimating the secondary d -Axis magnetic flux φdr , represents an effect that can be obtained, namely improved stability in terms of instantaneous response.

[0061] Fig. Figure 3 shows a block diagram illustrating a configuration example of the power controller. 16 illustrates, which in Fig. Figure 2 illustrates the current controller. 16 receives the d -Axis current command id*1 , the q-axis current command iq*1 , the d -Axis current id , the q-Axis current iq and the control mode signal chsg as inputs and represents the component that the d -Axis tension command Vd*1 and the q -Axis tension command Vq*1 calculated. As in Fig. As illustrated in section 3, the current controller includes 16 Subtraction devices 19a and 19b , switching units 20a and 20b , which represent electrical switching units, multiplication devices 21a and 21b , each applying a current-control proportional gain Kp, multiplication devices 22a and 22b , each employing a current-control integral amplification AI, integrating devices 23a and 23b and adding devices 24a and 24b .

[0062] It should be noted that details of the functions and operation of the power controller 16are described in the earlier invention and are therefore omitted here.

[0063] Fig. Figure 4 shows a block diagram illustrating a configuration example of the second computing unit. 10 shows that in Fig. 2 is illustrated. As in the Fig. 1 and Fig. As illustrated in section 4, the second processing unit receives 10 as inputs the d -axles- and q -Axis current commands id*2 and iq*2 , which are controlled by the current command unit 11 be generated d -Axis current ID and the q -Axis current iq , which are converted by the dq / three-phase converter 5, and those which are converted by the first processing unit 9 to be calculated, and the first angular frequency ω1 , the primary d-axis magnetic flux φds and the secondary d -Axis magnetic flux φdr The second unit of calculation 10represents the component that issues a d-axis tension command Vd*2 , a q -Axis tension command Vq*2 and calculates a second speed, which is a driving speed of the induction machine 1 represents.

[0064] It should be noted here that the driving speed of the induction machine 1 synonymous with an angular frequency of the alternating current voltage, which the power converter 2 on the induction machine 1 applies, although a unit representing its physical quantity is different. As such, the second speed, which is the driving speed of the induction machine, is 1 represented as the "second angular frequency", and this second angular frequency is represented by " ω2 “ represents.

[0065] As in Fig. As illustrated in section 4, the second unit of calculation comprises 10a voltage command calculation device 25 , a slip frequency calculation device 26 , an adding device 27 , a motor frequency estimation unit 28 , a runner rotation frequency estimation unit 29 , a magnetic flux estimation unit 30 and integration facilities 31a , 31b , 31c and 31d .

[0066] It should be noted that details of functions and operation of the second computing unit 10 are described in the earlier invention and are therefore omitted here.

[0067] Fig. Figure 5 shows a block diagram that illustrates a configuration example of the voltage command switching unit. 8 illustrates the in Fig. 1 is illustrated. As in the Fig. 1 and Fig. Figure 5 illustrates how the voltage command switching unit receives 8The inputs are the d-axis and q-axis voltage commands. Vd*1 and Vq*1 , which is determined by the first calculation unit 9 The d-axis and q-axis voltage commands are calculated. Vd*2 and Vq*2 , which is determined by the second calculation unit 10 to be calculated, and the control mode signal chsg, which is from the control switching unit 12 It's coming. The voltage command switching unit. 8 represents the component that derives its output for the three-phase / dq converter 4 from the d -axles- and q -Axis tension commands Vd*1 and Vq*1 in the d -Axis and q-axis tension commands Vd*2 and Vq*2 changes when the control mode signal chsg is from a control mode 1 into a control mode 2 switches. The voltage command switching unit 8 includes, as in Fig. 5 illustrates switching units 32a and 32b, a first voltage command switching unit 50 , which includes a comparator 33a and a logical conjunction unit 34a includes, and a second voltage command switching unit 51 , which includes a comparator 33b and a logical conjunction unit 34b includes.

[0068] It should be noted that details of the functions and operation of the voltage command switching unit 8 are described in the earlier invention and are therefore omitted here.

[0069] Fig. Figure 6 shows a block diagram illustrating a configuration example of the speed control unit. 7 illustrates the in Fig. Figure 1 illustrates the speed control unit. 7 includes a switching unit 35 The speed control unit 7 The first angular frequency is received as input. ω1 , which is determined by the first calculation unit 9 The first angular frequency is calculated ω2 , which is determined by the second calculation unit 10 is calculated, and the control mode signal chsg , which is controlled by the control unit 12 This occurs when the control mode signal chsg is from the control mode. 1 into control mode 2 When the switching unit switches, it switches 35 from one contact to another contact b to, which causes the speed control unit 7 their output for the phase calculation device 6 from the first angular frequency ω1 , which is determined by the first calculation unit 9 is calculated into the second angular frequency ω2 changes that are caused by the second calculation unit 10 is calculated. In this way, the output is smoothly reduced from the first angular frequency. ω1 into the second angular frequency ω2 changed.

[0070] With reference to the Fig. 7 to Fig. Section 10 provides a description of the effects or results obtained when the above-mentioned control method is applied according to the present invention. Fig. Figure 7 shows a time diagram illustrating the operating wave profiles according to conventional techniques when there is no residual magnetic flux in the induction machine. Fig. Figure 8 shows a time diagram illustrating operating wave profiles according to the present invention when there is no residual magnetic flux in the induction machine. Fig. Figure 9 shows a time diagram illustrating operating wave profiles according to conventional techniques when there is residual magnetic flux in the induction machine. Fig. Figure 10 shows a time diagram illustrating operating wave profiles according to the present invention when there is a residual magnetic flux in the induction machine.

[0071] In each of the Fig. 7 to Fig. The horizontal axes represent time, and the vertical axes represent wave profiles corresponding to the current commands, voltage commands, modulation ratio, phase current, magnetic flux, and angular frequency, which, when listed in the order above, represents the estimated velocity. Fig. 7 to Fig. Figure 10 illustrates all the operating wave profiles at a given time. t1 , when the control mode 1 signal is output to initiate the f-search, and at a time t2 , when a switch to the control mode 2 signal occurs. In each wave profile region for the magnetic flux, φdr represents the residual magnetic flux. What the other symbols represent is what is described for the present embodiment.

[0072] How to draw on a comparison between the Fig. 7 and Fig. As explained in section 8, if there is no residual magnetic flux in the induction machine, the voltage commands, the modulation ratio, and the angular frequency each undergo smaller changes in the present invention. However, even with conventional techniques, angular frequency switching is smooth, and the stability of an initial velocity estimate is ensured.

[0073] In contrast, operating wave profiles according to conventional techniques show that in the presence of residual magnetic flux in the induction machine, a residual magnetic flux estimation introduces significant errors and that the angular frequency, which represents the estimated speed, and the voltage commands change unstably.

[0074] On the other hand, the operating wave profiles of the Fig. 10 according to the present invention, that the residual magnetic flux estimation has smaller errors and that the angular frequency, which represents the estimated velocity, and the voltage commands change stably.

[0075] According to the electric vehicle drive control device of the present embodiment, described above, the d -Axis tension command and the q The axis voltage command for the power converter and the primary and secondary magnetic fluxes of the induction machine are calculated from the current information acquired at the induction machine and the current command values ​​based on the operating command. The interference term derived from the d The axis voltage command is added to or subtracted from the term that defines the qThe -axis voltage command is included in the calculation of the first speed, which represents the freewheeling speed of the induction machine. As such, improved stability of the initial speed estimation is enabled in a speed-sensorless control system.

[0076] According to the electric vehicle drive control device of the present embodiment, the current information detected by the induction machine is converted into the d-axis current and the q -Axis current converted, representing the current values ​​of the dq coordinate system. The q -The axial current is converted into a physical q-Axis voltage command size by application, in addition to the first gain according to the primary resistance of the induction machine, the gain according to the value obtained by dividing the product of the square of the mutual inductance of the induction machine and the secondary resistance of the induction machine by the square of the secondary inductance of the induction machine, to the q The q-axis current and the physical q-axis voltage command size are added to or subtracted from the q-axis voltage command. This results in improved accuracy and stability of the initial velocity estimation.

[0077] Finally, with reference to both the Fig. 11 as well as on the Fig. 12. A description of a hardware configuration is given that provides all or some of the functions of the first and second processing units. 9 and 10implemented according to the present embodiment. Fig. 11 presents a block diagram illustrating an example of the hardware configuration that defines the functions of the first and second processing units. 9 and 10 embodied according to the present embodiment. Fig. Figure 12 shows a block diagram illustrating another example of the hardware configuration that defines the functions of the first and second computing units. 9 and 10 embodied according to the present embodiment.

[0078] To implement all or some of the functions of the aforementioned first and second computing units 9 and 10 The configuration can include, as in Fig. Figure 11 illustrates a central processing unit (CPU) 200 , which performs calculations, a memory 202 , the programs for reading by the CPU 200stores, and an interface 204 , which inputs and outputs signals. It can be observed that the CPU 200 It could be a processing unit, such as a microprocessor, a microcomputer, a processor, or a digital signal processor (DSP). The memory 202 corresponds to a non-volatile or volatile semiconductor memory, such as a random access memory (RAM), a read-only memory (ROM), a flash memory, a wipeable programmable read-only memory ROM (EPROM) or an electrically erasable programmable read-only memory EPROM (EEPROM).

[0079] The storage 202 In particular, it stores the programs according to which all or some of the functions of the first and second processing units are executed. 9 and 10 be implemented. During the transmission and reception of necessary information via the interface. 204 , the CPU implements 200Calculations of the first and second calculation units 9 and 10 , which are described in the present embodiment.

[0080] It can be noted that the CPU 200 and the storage 202 , which in Fig. 11 are illustrated by a processing circuit 203 could be replaced, as in Fig. 12 illustrates the processing circuit. 203 This corresponds, for example, to a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an application-specific integrated circuit (ASIC), a free programmable logic gate (FPGA), or a combination thereof.

[0081] The above configurations, illustrated in the embodiment, represent illustrative content of the present invention, can be combined with other methods that are publicly known, and can be partially omitted or modified without departing from the core of the present invention. Reference symbol list

[0082] 1 Induction machine; 2 Power converter; 3a, 3b, 3c Current detector; 4 Three-phase / dq converter; 5 dq / Three-phase converter; 6 Phase calculation unit; 7 Speed ​​switching unit; 8 Voltage command switching unit; 9 First calculation unit; 10 Second calculation unit; 11 Current command unit; 12 Control switching unit; 13 Secondary d-axis magnetic flux calculation unit; 14a, 14b, 24a, 24b, 27 Adding unit; 14c, 19a, 19b Subtracting unit; 14d, 21a, 21b, 22a, 22b Multiplication unit; 14e Dividing unit; 15 Sign extraction unit; 16 Current controller; 17a, 17b Gain application unit; 18, 23a, 23b, 31a, 31b, 31c, 31d Integrating unit; 20a, 20b Switching unit; 25 Voltage command calculation unit; 26 Slip frequency calculation unit; 28 Motor frequency estimating unit; 29 Rotor rotation frequency estimating unit; 30 Magnetic flux estimating unit; 32a, 32b, 35 Switching unit; 33a, 33b Comparator; 34a, 34b Logic conjunction unit;50 First voltage command switching unit; 51 Second voltage command switching unit; 60 Controller; 100 Electric vehicle drive control device.; QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] JP 2002374699

[0004] JP 4459301

[0023]

Claims

[1] Electric vehicle drive control device comprising: a power converter for applying an alternating current voltage to an induction machine installed in the electric vehicle; and a controller for controlling the power converter based on an external operating command, the controller includes: a first computation unit for calculating, from current information acquired at the induction machine and from current command values ​​based on the external operating command, a d-axis voltage command and a q-axis voltage command for the power converter and a primary magnetic flux and a secondary magnetic flux of the induction machine, and for adding to or subtracting from a term comprising the q-axis voltage command, an interference term derived from the d-axis voltage command when calculating a first velocity which is a freewheeling velocity of the induction machine; and a second calculation unit for use as initial values ​​of the first velocity, primary magnetic flux and secondary magnetic flux output from the first calculation unit, and for calculating second voltage command values ​​for the power converter and a second velocity representing a drive speed of the induction machine. [2] Electric vehicle drive control device according to claim 1, wherein the first computation unit converts the current information into a d-axis current and a q-axis current, which represent the current values ​​of a dq coordinate system, converts the q-axis current into a physical q-axis voltage command quantity by applying to the q-axis current a first gain corresponding to a primary resistance of the induction machine and adding to or subtracting from the q-axis voltage command the physical q-axis voltage command quantity. [3] Electric vehicle drive control device according to claim 2, wherein the first computation unit converts the q-axis current into a physical q-axis voltage command quantity by applying, in addition to the first amplification, an amplification corresponding to a value obtained by dividing a product of a square of a mutual inductance of the induction machine and of a secondary resistance of the induction machine by a square of a secondary inductance of the induction machine, to the q-axis current, and adding or subtracting the q-axis voltage command from the physical q-axis voltage command quantity. [4] Electric vehicle drive control device according to claim 2 or 3, wherein the first computation unit calculates the secondary magnetic flux based on the primary magnetic flux and the d-axis current.

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