Charge / discharge control method and charge / discharge control device

Abstract

The present invention provides a charge / discharge control method and a charge / discharge control device that can efficiently transmit power when a battery is connected to external equipment via a rotating electric machine and an inverter. [Solution] The charging or discharging of the battery 10 connected to the external equipment 15 is controlled via the rotating electric machine 12 and the inverter 11. At this time, the rotation angle θ of the rotating electric machine 12 r For this purpose, the target rotation angle θ is predetermined. r * When the external device 15 charges the battery 10, or when the external device 15 discharges the battery 10, the rotation angle θ r The target rotation angle θ r * The switching elements SW1 to SW6 of the inverter 11 are driven in such a manner.

Description

[Technical Field]

[0001] The present invention relates to a charge / discharge control method and a charge / discharge control device for controlling the charging or discharging of a battery. [Background technology]

[0002] Patent Document 1 discloses a vehicle control device that can reduce vehicle vibration to a level that does not cause anxiety to the user, even when current is passed between the energy storage unit and the windings via an inverter while the vehicle is stopped in order to raise the temperature of the energy storage unit in a low-temperature environment. Specifically, in Patent Document 1, a target angular range is set for the rotational angular position of the rotor so that the torque generated by the rotating electric machine when the windings are energized while the vehicle is stopped is less than or equal to a determination torque, and the inverter is controlled to bring the rotational angular position of the rotor within the target angular range from just before the vehicle comes to a stop while decelerating to just after the vehicle comes to a stop. [Prior art documents] [Patent Documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-182013 [Overview of the project] [Problems that the invention aims to solve]

[0004] Electric vehicles may, while stationary, connect their batteries to external equipment such as chargers and power-consuming devices via rotating electric motors and inverters, thereby charging the batteries or supplying power to the external equipment.

[0005] Thus, when connecting a battery to external equipment via a rotating electric machine and inverter, and charging the battery using the external equipment or supplying power from the battery to the external equipment, a change in the rotation angle of the rotating electric machine can increase energy loss in the rotating electric machine and inverter.

[0006] The present invention aims to provide a charge / discharge control method and a charge / discharge control device that can maintain the rotation angle of a rotating electric machine and efficiently transmit power when connecting a battery to external equipment via a rotating electric machine and an inverter. [Means for solving the problem]

[0007] One aspect of the present invention is a charge / discharge control method for controlling the charging or discharging of a battery connected to external equipment via a rotating electric machine and an inverter. In this charge / discharge control method, a target rotation angle is set in advance for the rotation angle of the rotating electric machine, and when the battery is charged by the external equipment or when the battery is discharged toward the external equipment, the switching elements of the inverter are driven so that the rotation angle becomes the target rotation angle. [Effects of the Invention]

[0008] According to the present invention, when connecting a battery to external equipment via a rotating electric machine and an inverter, it is possible to provide a charge / discharge control method and a charge / discharge control device that can maintain the rotation angle of a rotating electric machine and efficiently transmit power. [Brief explanation of the drawing]

[0009] [Figure 1] Figure 1 is a block diagram showing the schematic configuration of a rotating electric machine system. [Figure 2] Figure 2 is a schematic circuit diagram of the rotating electric machine system. [Figure 3] Figure 3 shows the equivalent circuit for the U phase when configuring a boost converter. [Figure 4] Figure 4 is a block diagram showing the basic configuration of the controller. [Figure 5] Figure 5 shows a basic flowchart of charge / discharge control when using external equipment. [Figure 6] Figure 6 is a flowchart showing the case where park lock is maintained during charge / discharge control. [Figure 7]Figure 7 is a flowchart showing how to disable the park lock during charge / discharge control. [Figure 8] Figure 8 is a graph showing the inductance of each phase coil in charge / discharge control. [Figure 9] Figure 9 is a graph showing the current ripple that occurs during charge and discharge control. [Figure 10] Figure 10 is a block diagram showing the configuration of the controller according to the second embodiment. [Figure 11] Figure 11 is an explanatory diagram showing the coil magnetic flux generated in a rotating electric machine in the second embodiment. [Figure 12] Figure 12 is an explanatory diagram showing the division of the control region in the UVW coordinate system. [Figure 13] Figure 13 is an explanatory diagram showing the coil magnetic flux generated in a rotating electric machine in the third embodiment. [Figure 14] Figure 14 is an explanatory diagram showing the coil magnetic flux generated in a rotating electric machine in the third embodiment. [Figure 15] Figure 15 is an explanatory diagram showing the classification of control forces in the UVW coordinate system. [Modes for carrying out the invention]

[0010] Embodiments of the present invention will be described below with reference to the drawings.

[0011] [First Embodiment] Figure 1 is a block diagram showing the schematic configuration of a rotating electric machine system. The rotating electric machine system 100 is a vehicle drive system or power generation system installed in an electric vehicle, such as a hybrid vehicle or an electric vehicle. Therefore, as shown in Figure 1, the rotating electric machine system 100 comprises a battery 10, an inverter 11, a rotating electric machine 12, and a controller 13. Of these, the inverter 11 and the rotating electric machine 12 are, for example, substantially integrated together to form a so-called electric powertrain 14. External equipment 15 may also be connected to the rotating electric machine system 100.

[0012] Battery 10 is a rechargeable DC power source. Battery 10 supplies power to drive the rotating electric machine 12. That is, when driving the rotating electric machine 12, Battery 10 supplies a DC voltage V to the inverter 11. dc This is input. On the other hand, when the rotating electric machine 12 generates power, the battery 10 is charged by that power. The battery 10 is made up of, for example, a lithium-ion battery.

[0013] If the external equipment 15 is a charging device such as a rapid charger, the battery 10 is charged by the power supplied by the external equipment 15 via the electric powertrain 14. At this time, the input voltage V from the external equipment 15 IN This is boosted by the electric powertrain 14 as needed. This provides an output voltage V suitable for charging. OUT The battery 10 is charged by this. In this embodiment, the voltage of the battery 10 (DC voltage V dc The input voltage (V) is, for example, 800V. Furthermore, the rapid charger connected as external equipment 15 is a DC power source, and its voltage (input voltage V) is... IN The voltage is, for example, 400V or 800V. Therefore, when a 400V fast charger is connected, the output voltage is V OUT The voltage is boosted to 800V.

[0014] If the external equipment 15 is a power-consuming device, the battery 10 can discharge and supply power to the external equipment 15 via the electric powertrain 14. At this time, the input voltage to the external equipment 15 is stepped down by the electric powertrain 14 as needed.

[0015] The inverter 11 converts the DC power output by the battery 10 into AC power and supplies it to the rotating electric machine 12. This drives the rotating electric machine 12. Conversely, when the rotating electric machine 12 generates power, the inverter 11 converts the AC power generated by the rotating electric machine 12 into DC power and supplies it to the battery 10.

[0016] When external equipment 15 is connected to the rotating electric machine system 100, the inverter 11, together with the rotating electric machine 12, constitutes an input / output circuit (DC / DC converter). Specifically, when external equipment 15 is connected, the inverter 11 can constitute, for example, a boost converter or a buck converter. That is, all or part of the switching elements and freewheeling diodes that constitute the inverter 11 are used as elements of a boost converter or a buck converter. If the external equipment 15 is a rapid charger or the like, the inverter 11, together with the rotating electric machine 12, constitutes a boost converter, and the input voltage V IN The boosted output voltage V OUT The voltage is applied to the battery 10. Furthermore, if the external equipment 15 is a power-consuming device, the inverter 11, together with the rotating electric machine 12, constitutes a step-down converter. As a result, the external equipment 15 is supplied with power from the battery 10 at the required voltage.

[0017] The rotating electric machine 12 is either an electric motor or a generator. If the rotating electric machine 12 is an electric motor, the rotating electric machine system 100 is a drive system for an electric vehicle or the like that is equipped with it. If the rotating electric machine 12 is a generator, the rotating electric machine system 100 is a power generation system for a hybrid vehicle or the like that is equipped with it. In this embodiment, as an example, the rotating electric machine 12 is assumed to be an electric motor for vehicle drive. That is, in this embodiment, the output shaft (not shown) of the rotating electric machine 12 is connected to the drive shaft (not shown) of the vehicle. Therefore, the rotation of the rotating electric machine 12 is limited by the friction brake of the vehicle.

[0018] The rotating electrical machine 12 is a permanent magnet embedded type AC synchronous machine and has a plurality of phases. Therefore, the rotating electrical machine 12 includes a rotor in which permanent magnets 40 (see FIGS. 11 or 13) are embedded, and a stator having a plurality of independent coils. Then, it rotates due to the interaction between the magnetic flux generated by the permanent magnets (hereinafter referred to as permanent magnet magnetic flux) and the combined magnetic flux of the magnetic fluxes generated by the coils of the plurality of phases (hereinafter referred to as coil magnetic flux Φ). Also, the coils of the plurality of phases are connected in a so-called star connection (Y connection) and have a neutral point. In the present embodiment, the rotating electrical machine 12 is a permanent magnet embedded type three-phase AC synchronous motor. Therefore, the rotating electrical machine 12 includes a rotor having permanent magnets 40 and a stator having stator coils of three phases of UVW connected in a Y connection.

[0019] When an external device 15 is connected to the rotating electrical machine system 100, the rotating electrical machine 12 constitutes an input / output circuit (DC / DC converter) together with an inverter. Specifically, when the external device 15 is connected, the rotating electrical machine 12 can constitute a step-up converter or a step-down converter. That is, the coil of each phase is used as the inductor of the step-up converter or the step-down converter. At this time, one terminal of the external device 15 is connected to the neutral point of the rotating electrical machine 12.

[0020] Note that the current flowing through the coils of each phase of UVW (hereinafter referred to as three-phase current I UVW ), the neutral point voltage V n , and the rotation angle θ r of the rotor (permanent magnet 40) can all be detected at any timing. In the present embodiment, the three-phase current I UVW is detected by the current sensor 16. The neutral point voltage V n is detected by the voltage sensor 17. The rotation angle θ r is detected by the rotation sensor 18. The rotation angle θ r is measured counterclockwise in the UVW coordinate system with the position of the U-phase coil (U) as the reference angle (0°). Note that the rotation angle θ r referred to here is a so-called electrical angle.

[0021] The controller 13 is a control device that comprehensively controls the operation of each part of the rotating electric machine system 100. The controller 13 is composed of, for example, one or more computers and is programmed to cause each part to perform predetermined operations. In this embodiment, the controller 13 is a drive control device for an electric vehicle. Furthermore, in this embodiment, the controller 13 detects the connection of external equipment 15 using sensors (not shown). In this embodiment, the controller 13 controls the charging or discharging of the battery 10 by configuring a DC / DC converter with the inverter 11 and the rotating electric machine 12 when the external equipment 15 is connected. That is, the controller 13 also functions as a charge / discharge control device that controls the charging or discharging of the battery 10 according to the connected external equipment 15 when the external equipment 15 is connected. The charge / discharge control program for operating the inverter 11 and the rotating electric machine 12 as a DC / DC converter may be provided in the form of a storage medium.

[0022] Specifically, the controller 13 controls the overall operation of the rotating electric machine system 100 by inputting a PWM (pulse width modulation) signal to the inverter 11. For example, the controller 13 generates a PWM signal (referred to as a rotation control PWM signal) to control the rotation of the rotating electric machine 12, and inputs this to the inverter 11 to control the rotational speed and torque of the rotating electric machine 12. The controller 13 generates the rotation control PWM signal based, for example, the amount of accelerator operation.

[0023] Furthermore, in this embodiment, even when external equipment 15 is connected to the rotating electric machine system 100, the controller 13 inputs a PWM signal (hereinafter referred to as the converter PWM signal) to the inverter 11 to operate the electric powertrain 14 as a DC / DC converter. As a result, the inverter 11 and the rotating electric machine 12 function as a boost converter or a buck converter. The controller 13 outputs three-phase current I UVW , neutral point voltage V n , and rotation angle θ r Based on this, a PWM signal for the converter is generated.

[0024] Furthermore, in this embodiment, since the rotating electric machine system 100 is mounted on an electric vehicle, the controller 13 also functions as a friction brake control device (brake controller) that controls the friction brake 19 of the electric vehicle. Specifically, the controller 13 activates the friction brake 19 when the shift range of the electric vehicle is set to parking (P). In other words, the controller 13 can activate the park lock (also called parking lock) system of the electric vehicle. In this embodiment, since the rotating electric machine 12 is connected to the drive shaft, when the park lock is activated, the rotation of the rotating electric machine 12 is restricted. However, even when the park lock is activated, the rotating electric machine 12 can still rotate within the range of mechanical play. Therefore, even when the park lock is activated and the rotation of the rotating electric machine 12 is restricted, the rotation angle θ can be controlled when the rotating electric machine 12 is energized. r It changes.

[0025] External equipment 15 is equipment or devices installed separately from the vehicle on which the rotating electric system 100 is mounted. External equipment 15 supplies power to the rotating electric system 100, or is supplied with power from the rotating electric system 100. External equipment 15 that supplies power to the rotating electric system 100 is, for example, a fast charger or other charger installed at a charging station. External equipment 15 that is supplied with power from the rotating electric system 100 is, for example, outdoor equipment. In the following, as an example, external equipment 15 will be assumed to be a fast charger. Therefore, when external equipment 15 is connected to the rotating electric system 100, it charges the battery 10.

[0026] Figure 2 is a schematic circuit diagram of the rotating electric machine system. As shown in Figure 2, the battery 10 includes a battery body 21 and relays 22a and 22b. The inverter 11 includes a smoothing capacitor 23 and a bridge circuit 24. The rotating electric machine 12 includes U-phase coils (U), V-phase coils (V), and W-phase coils (W) as multi-phase coils.

[0027] The bridge circuit 24 includes multiple switching elements SW1 to SW6. SW1 and SW2 are switching elements that constitute a so-called U-phase leg, with a U-phase coil (U) connected between them. SW1 is the upper arm of the U-phase leg, and SW2 is the lower arm of the U-phase leg. SW3 and SW4 are switching elements that constitute a V-phase leg, with a V-phase coil (V) connected between them. SW3 is the upper arm of the V-phase leg, and SW4 is the lower arm of the V-phase leg. Similarly, SW5 and SW6 are switching elements that constitute a W-phase leg, with a W-phase coil (W) connected between them. SW5 is the upper arm of the W-phase leg, and SW6 is the lower arm of the W-phase leg. Each switching element SW1 to SW6 includes a freewheeling diode. The controller 13 controls the timing at which each switching element SW1 to SW6 is turned on (conducted) / turned off (disconnected) by inputting a PWM signal to the inverter 11.

[0028] Furthermore, the rotating electric machine system 100 includes relays 25, 26, and 27, a capacitor 28, and external input / output terminals 29. These are configured to connect the external equipment 15 to the rotating electric machine system 100.

[0029] Relay 25 is provided between the first terminal of the external input / output terminal 90 and one end of the battery 10, and relay 26 is provided between the second terminal of the external input / output terminal 90 and the other end of the battery 10. Relay 27 is provided on the line connecting the first terminal of the external input / output terminal 90 and the neutral point of the rotating electric machine 12. Capacitor 28 is provided between relay 27 and the neutral point of the rotating electric machine 12 so as to connect the first and second terminals of the external input / output terminal 90 in parallel.

[0030] Relays 25, 26, and 27 are each independently switched on / off by the controller 13. When there is no need to boost or lower the voltage, relays 25 and 26 are turned on (conductive), and relay 27 is turned off (disconnected). This allows the external equipment 15 to be connected directly to the battery 10 without going through the inverter 11 and the rotating electric machine 12. On the other hand, when there is a need to boost or lower the voltage, relay 25 is turned off, and relays 26 and 27 are turned on. This allows the external equipment 15 to be connected to the battery 10 via the rotating electric machine 12 and the inverter 11.

[0031] In this example, when there is no need for voltage boosting or bucking, the external equipment 15 is connected to the battery 10 without going through the inverter 11 and the rotating electric machine 12, but this is not the only configuration. Even when there is no need for voltage boosting or bucking, a circuit configuration in which the external equipment 15 is connected to the battery 10 via the inverter 11 and the rotating electric machine 12 may also be used. In addition, the controller 13 may, for example, control the three-phase current I UVW Alternatively, based on the positive or negative nature of the command, it is possible to determine whether relays 25, 26, and 27 should be turned on or off. Furthermore, the controller 13 can change the switching frequency of switching elements SW1 to SW6 depending on whether an electric vehicle is being driven or external equipment 15 is connected.

[0032] Figure 3 shows the equivalent circuit for the U phase when a boost converter is configured. As shown in Figure 3, when a boost converter is configured with the inverter 11 and the rotating electric machine 12, the switching element of the upper arm is kept in the off state, and the on / off state of the switching element of the lower arm is controlled. The coil of the rotating electric machine 12 (in this case, the U phase coil) functions as an inductor for the boost converter. Although the configuration of the boost converter for the U phase is shown here, the V phase and W phase are configured similarly. The boost converters for each of the U, V, and W phases are connected in parallel to the battery 10.

[0033] Therefore, it is possible to select and use any of the boost converters for each of the UVW phases. In this embodiment, when the inverter 11 and the rotating electric machine 12 are used as boost converters, all phase boost converters are used.

[0034] Furthermore, since the boost converters for each phase are in parallel, the timing for turning the switching elements on and off can be determined virtually independently in each phase boost converter. However, when current flows through the coils of each phase, torque is normally generated in the rotating electric machine 12. Therefore, when using the inverter 11 and the rotating electric machine 12 as boost converters, it is necessary to suppress the torque generated in the rotating electric machine 12 to the extent that it does not substantially rotate. To the extent that the rotating electric machine 12 does not substantially rotate means, for example, to the extent that it does not break the park lock.

[0035] Note that I1 represents the output current before smoothing, and I2 represents the output current after smoothing. Furthermore, when a step-down converter is configured using the inverter 11 and the rotating electric machine 12, the on / off state of the switching element of the upper arm is controlled, contrary to the step-up converter described above, while the switching element of the lower arm remains in the off state.

[0036] Figure 4 is a block diagram showing the basic configuration of the controller 13. Here, in particular, the configuration of the controller 13 when a DC / DC converter is configured using the inverter 11 and the rotating electric machine 12 is shown, and the illustration and explanation of other parts are omitted.

[0037] As shown in Figure 4, the controller 13 includes a voltage controller 31, a target rotation angle setter 32, a rotation angle controller 33, a torque generator 34, a coordinate converter 35, a current controller 36, and a PWM signal generator 37.

[0038] The voltage controller 31 detects the neutral point voltage V n And the neutral point voltage V n Instructions concerning (hereinafter referred to as the neutral point voltage instruction V) n * Based on the above, Basic Duty Directive Dn * Set the basic duty cycle. n * This is the neutral point voltage V of the rotating electric machine 12 connected to the external equipment 15. n This is the basic drive signal for controlling the system and determines the duty cycle in PWM control. Basic Duty Cycle Command D n * This consists of duty directives for each phase of UVW.

[0039] The voltage controller 31 controls the neutral point voltage V by, for example, PI (Proportional Integral) control or PID (Proportional Integral Differential) control. n The neutral point voltage command V n * Basic duty directive D to match or follow n * The voltage controller 31 sets the neutral point voltage V. n and neutral point voltage command V n * Deviation ΔV n To minimize this, Basic Duty Directive D n * The neutral point voltage command V is calculated. n * This is predetermined, for example, by the user's settings selection.

[0040] The target rotation angle setter 32 sets the rotation angle θ detected when the external equipment 15 is connected. r Based on this, the target rotation angle θ r * Set the target rotation angle θ. r * The rotation angle θ that the rotating electric machine 12 must maintain when using the external equipment 15 (i.e., when the external equipment 15 charges the battery 10, or when power is supplied from the battery 10 to the external equipment 15). r This parameter represents the target value.

[0041] The rotation angle θ detected when external equipment 15 is connected to the rotating electric machine system 100r (The following is based on the initial value θ) r-ini (This refers to the rotation angle θ when an electric vehicle is stopped.) r Therefore, it is essentially random and can take any angle between 0° and 360°. Also, when using external equipment 15, the energy loss that occurs in the inverter 11 and the rotating electric machine 12 is the rotation angle θ r It varies, and the rotation angle θ while using the external equipment 15 r When this changes, the nature and magnitude of energy loss in the inverter 11 and the rotating electric machine 12 also change. The ideal rotation angle θ is one in which energy loss in the inverter 11 and the rotating electric machine 12 is small. r This is predetermined by the configuration of the inverter 11 and the rotating electric machine 12, etc. Therefore, in this embodiment, the ideal rotation angle θ with low energy loss is used. r However, the target rotation angle θ r * It is set in advance as follows. As a result, as will be described later, the rotation angle θ when using the external equipment 15. r This is an ideal rotation angle θ where energy loss is small. r The target rotation angle θ is r * It is controlled to match or follow a specific value.

[0042] Target rotation angle θ r * For example, these are {30°, 90°, 150°, 210°, 270°, 330°} or {0°, 60°, 120°, 180°, 240°, 300°}.

[0043] Specifically, when using external equipment 15, if switching elements SW1 to SW6 are controlled so that the coil magnetic flux Φ is generated in the so-called q-axis direction, the target rotation angle θ r * is, θ r(q) * ≡Select one of {30°, 90°, 150°, 210°, 270°, 330°}. In this embodiment, the target rotation angle setter 32 is θ r(q) * From each value, the initial value θ r-iniSelect the value closest to and set that value as the target rotation angle θ r * This minimizes the energy loss and maintains that state.

[0044] Also, when using the external equipment 15, when controlling the switching elements SW1 to SW6 so that the coil magnetic flux Φ occurs in the so-called d-axis direction, θ r(d) * ≡ {30°, 90°, 150°, 210°, 270°, 330°} is set to any one of them. In this embodiment, the target rotation angle setter 32 selects the value closest to the initial value θ r (d) * from each value of and sets that value as the target rotation angle θ r-ini This minimizes the energy loss and maintains that state. r *

[0045] Note that regardless of the above, the target rotation angle setter 32 can set the target rotation angle θ r * to the initial value θ r-ini In this case, the change in the rotation angle θ r-ini with respect to the initial value θ r is minimized. That is, the rotation angle θ r is substantially maintained at the initial value θ r-ini and the increase in energy loss when using the external equipment 15 can be suppressed. In particular, by setting the current of one of the UVW three phases to zero and adjusting the current ratio of the remaining two phases, the coil magnetic flux Φ can be generated constantly in the d-axis direction. In this case, when setting the target rotation angle θ r * to the initial value θ r-ini the change in the rotation angle θ r-ini with respect to the initial value θ r is minimized, and it is easy to suppress the increase in energy loss when using the external equipment 15.

[0046] The rotation angle controller 33 compares the detected rotation angle θ r with the target rotation angle θ r * ​Deviation Δθ r Based on the torque command T * The rotation angle controller 33 calculates the deviation Δθ by PI control or PID control, etc. r The rotation angle θ is set to zero, that is, so that it becomes zero. r The target rotation angle θ r * Torque command T to match or follow * Set the torque command T. * When using the external equipment 15, the rotation angle θ r This is the target value for the torque T that the rotating electric machine 12 should generate in order to adjust the torque.

[0047] The torque generator 34 receives the torque command T * Correction q-axis current command I q * Generates '. Correction q-axis current command I q * ′ is when the external equipment 15 is used and the rotating electric machine 12 is given a torque command T * The torque generator 34 is set to produce a torque T corresponding to the torque. The torque generator 34 corrects the q-axis current command I by, for example, referring to a torque table. q * The torque table is predetermined based on experiments or simulations. Here, the torque table is set for a state where the rotational speed (electrical angular velocity) of the rotating electric machine 12 is substantially zero, and the torque command T * and corrected q-axis current command I q * Assign the ' symbol in advance.

[0048] The coordinate converter 35 controls the rotation angle θ. r This unit performs coordinate transformation from the dq axis coordinate system to the UVW coordinate system based on the basic dq axis current command I dq * and corrected q-axis current command I q * From the sum of ', the three-phase current I UVW Three-phase current command I representing the target value for UVW * Perform the calculation.

[0049] Basic dq axis current command I dq * The d-axis current i that flows through the rotating electric machine 12 when the external equipment 15 is used is... d and q-axis current i q This is the target value for the basic d-axis current command I d * and the basic q-axis current command i q * This consists of the following. In this embodiment, the basic d-axis current command I d * and basic q-axis current command I q * All of these are zero. That is, when using external equipment 15, in principle, I dq * =(I d * ,I q * ) is pre-set to (0,0). This allows the three-phase current I UVW (Three-phase current command I UVW * The time average of ) is equalized. As a result, when the external equipment 15 is used, the rotating electric machine 12 does not generate torque and, consequently, does not rotate.

[0050] However, in this embodiment, the input to the coordinate converter 35 is corrected, dq * +I q * ′=(0,I q * ′) Therefore, the rotation angle θ r Target rotation angle θ r * If there is a difference, the three-phase current command I UVW * This is corrected. As a result, the rotating electric machine 12 generates torque T and rotation angle θ r The target rotation angle θ r * It rotates appropriately to match or follow the position.

[0051] The current controller 36 detects the three-phase current I UVW Three-phase current command IUVW * Corrected duty cycle command ΔD to match or follow * This is set. In other words, the current controller 36 sets the three-phase current I UVW and three-phase current command I UVW * Deviation ΔI UVW To minimize this, the corrected duty cycle command ΔD * Perform the calculation.

[0052] Correction duty command ΔD * When using external equipment 15, the corrected q-axis current command I q * 'In accordance with the basic duty directive D n * This is a correction drive signal for correcting the (basic drive signal) and modulating the drive patterns of switching elements SW1 to SW6. In this embodiment, the basic duty command D n * Correction duty command ΔD * The value obtained by superimposing (adding) these values ​​is the final duty cycle command D UVW * This is the result.

[0053] The current controller 36 controls the three-phase current I UVW So that they are equal, that is, I U =I V =I W The corrected duty cycle command ΔD * This can be set. In this case, the DC current loss P is expressed by the following equation (1). dc This is minimized. R in equation (1) U ,R V ,R W This represents the conductivity resistance of each phase.

[0054]

number

[0055] The PWM signal generator 37 has a duty cycle of D UVW * Based on this, DC voltage Vdc The controller 13 generates a PWM signal (PWM) corresponding to the following. The controller 13 drives the switching elements SW1 to SW6 of the inverter 11 according to this PWM signal, thereby setting the neutral point voltage V when the external equipment 15 is used. n The neutral point voltage command V n * While maintaining the rotation angle θ, r Target rotation angle θ r * Maintain it.

[0056] Figure 5 is a basic flowchart of charge / discharge control when using external equipment 15. As shown in Figure 5, in step S10, the controller 13 detects the connection of the external equipment 15. After detecting the connection of the external equipment 15, the process proceeds to step S11, where the controller 13 controls the rotation angle θ r Initial value θ r-ini It detects the initial value θ. Then, in step S12, the controller 13 detects the initial value θ. r-ini Based on the target rotation angle θ r * The settings are then configured. Subsequently, in step S13, the controller 13 starts charging or discharging the battery 10 by operating the inverter 11 and the rotating electric machine 12 as a boost converter or a buck converter, depending on the connected external equipment 15.

[0057] At this time, as shown in step S14, the controller 13 controls the rotation angle θ of the rotating electric machine 12. r It detects the rotation angle θ. Also, in step S15, the controller 13 detects the rotation angle θ. r The target rotation angle θ r * The deviation Δθ r Correction q-axis current command I q * Set '. More specifically, the controller 13 sets the deviation Δθ as described above. r Torque command T according to the command * Set this torque command T * Based on this, corrected q-axis current command I q *Set '.

[0058] Then, in step S16, the controller 13 issues a corrected q-axis current command I q * Correction duty cycle command ΔD according to ' * The neutral point voltage command V is calculated and this is used. n * Basic duty directive D, which is determined accordingly. n * By superimposing it, the rotation angle θr becomes the target rotation angle θ r * The switching elements SW1 to SW6 of the inverter 11 are driven in such a manner.

[0059] In step S17, the controller 13 checks whether charging or discharging of the battery 10 using the external equipment 15 has been completed. Then, while charging or discharging of the battery 10 using the external equipment 15 is continuing, the controller 13 repeatedly executes steps S14 to S16.

[0060] Thus, the above rotation angle θ r Detection and correction of q-axis current command I q * The setting ' is repeated. This ensures that the neutral point voltage V is maintained while the external equipment 15 is in use. n While maintaining this, the rotating electric machine 12 is appropriately displaced in the rotational direction, and the rotation angle θ r The target rotation angle θ r * It is maintained in this way. And the rotation angle θ r The target rotation angle θ r * By maintaining this state, energy losses in the inverter 11 and the rotating electric machine 12 are suppressed.

[0061] In this embodiment, since the rotating electric machine 12 is connected to the drive shaft of the electric vehicle, the rotation of the rotating electric machine 12 is restricted by the friction brake 19 when the park lock is activated. The external equipment 15 is usually used when the electric vehicle is stopped and the park lock is activated. In relation to the park lock, charge / discharge control can be performed by disabling the park lock. Furthermore, the above charge / discharge control can be performed with the rotation restricted by the park lock, that is, within the range of the mechanical play of the rotating electric machine 12.

[0062] Figure 6 is a flowchart for maintaining park lock during charge / discharge control. As shown in Figure 6, steps S20 and S21 are inserted into the basic flowchart of Figure 5.

[0063] Specifically, in step S20, the controller 13 activates the park lock in response to the driver's operation, for example, when the electric vehicle stops. Then, the controller 13 executes steps S10 to S13 while the park lock is activated. That is, when the connection of the external equipment 15 is detected (S10), the controller 13 sets the rotation angle θ r (S11) detects the target rotation angle θ r * Set the parameters and start charging or power supply (S13).

[0064] Subsequently, the controller 13 executes steps S14 to S17. However, in this example, after the execution of steps S10 to S13, the controller 13 maintains the park clock in step S21. Therefore, steps S14 to S17 are executed with the rotation of the rotating electric machine 12 limited by the park clock.

[0065] Therefore, the initial value θ r-ini Depending on the rotation angle θ r Target rotation angle θ r * It may not always be possible to perfectly match it. However, the rotation angle θ r The target rotation angle θ r* Even if it does not perfectly match, the rotation angle θ r Target rotation angle θ r * By bringing it closer to this state, energy losses in the inverter 11 and the rotating electric machine 12 are reduced.

[0066] Figure 7 is a flowchart for releasing the park lock in charge / discharge control. As shown in Figure 7, steps S20, S22, and S23 are inserted into the basic flowchart in Figure 5.

[0067] Specifically, in step S20, the controller 13 activates the park lock in response to the driver's operation, for example, when the electric vehicle stops. Then, the controller 13 executes steps S10 to S13 while the park lock is activated. That is, when the connection of the external equipment 15 is detected (S10), the controller 13 sets the rotation angle θ r (S11) detects the target rotation angle θ r * The settings are configured and charging or power supply is started (S13). Subsequently, the controller 13 performs steps S14 to S17. This is similar to the case when maintaining a park lock.

[0068] However, in this example, after steps S10 to S13 are executed, in step S22 the controller 13 releases the park lock. Therefore, steps S14 to S17 are executed with the rotation of the rotating electric machine 12 not restricted by the park lock. Consequently, in charge / discharge control, the rotation angle θ r This effectively becomes the target rotation angle θ r * This is maintained. As a result, energy losses in the inverter 11 and the rotating electric machine 12 are particularly easily reduced.

[0069] Rotation angle θ r The target rotation angle is θ r *The state maintained is a state where the rotating electrical machine 12 does not rotate. Therefore, even if the park lock is released, the electric vehicle will not start moving. Also, in step S17, when it is confirmed that the charging or discharging of the battery 10 using the external equipment 15 has been completed, in step S23, the controller 13 reactivates the park lock.

[0070] Here, although the park lock is reactivated after the charging or power supply in step S17 is completed, it is not limited to this. The controller 13 can reactivate the park lock while repeatedly performing steps S14 to S17. For example, the controller 13 can reactivate the park lock at the timing when the rotation angle θ r substantially matches the target rotation angle θ r * and then continue the above charge-discharge control while maintaining the park lock. That is, the controller 13 can release the park lock only during the period until the rotation angle θ r substantially matches the target rotation angle θ r *

[0071] Hereinafter, the relationship of energy losses in the inverter 11 and the rotating electrical machine 12 will be described in detail.

[0072] FIG. 8 is a graph showing the inductance L UVW etc. of each phase coil in the charge-discharge control. FIG. 8(A) is a graph showing a typical three-phase current I UVW when using the external equipment 15. FIG. 8(B) is a graph showing the inductance L UVW of each phase coil. FIG. 8(C) is a graph showing the torque T generated by the rotating electrical machine 12.

[0073] As shown in FIG. 8(A), when using the external equipment 15, since each phase of the inverter 11 and the rotating electrical machine 12 is used as an equivalent DC / DC converter, the three-phase current I UVW typically has a relationship with the rotation angle θ r (initial value θ r-ini ​Regardless of , they are all controlled to be equal to a constant value. That is, I U = I V = I W is true. However, as shown in FIG. 8(B), the inductance L UVW of each phase coil changes according to the rotation angle θ r . Therefore, as shown in FIG. 8(C), a torque T corresponding to the rotation angle θ r is generated in the rotating electrical machine 12 used as part of the DC / DC converter.

[0074] And, as can be seen from FIG. 8(C), in order to prevent the torque T from being generated when the external equipment 15 is used and to make it difficult to rotate the rotating electrical machine 12, the rotation angle θ r is preferably any one of {0°, 60°, 120°, 180°, 240°, 300°}. However, in this embodiment, not only is the torque T not generated in the rotating electrical machine 12 simply to stop the rotation, but the energy losses in the inverter 11 and the rotating electrical machine 12 are reduced based on the current ripple.

[0075] FIG. 9 is a graph showing the current ripple generated in the charge / discharge control. FIG. 9(A) shows the ripple generated in the d-axis current i d when the external equipment 15 is used (hereinafter referred to as the d-axis current ripple Δi d ), and the ripple generated in the q-axis current i q (hereinafter referred to as the q-axis current ripple Δi q ). FIG. 9(B) is an enlarged view of the portion where the rotation angle θ r is 60° to 120°.

[0076] As shown in FIGS. 9(A) and 9(B), when the rotating electrical machine 12 is used as part of the DC / DC converter, the d-axis current ripple Δi d is minimized when the rotation angle θ r is {30°, 90°, 150°, 210°, 270°, 330°} and maximized when {0°, 60°, 120°, 180°, 240°, 300°}. Also, the q-axis current ripple Δi q is such that the rotation angle θ rThe minimum occurs when {0°, 60°, 120°, 180°, 240°, 300°}, and the maximum occurs when {30°, 90°, 150°, 210°, 270°, 330°}.

[0077] d-axis current i d This is the current component that generates coil magnetic flux Φ in the direction of the permanent magnet 40. Therefore, the d-axis current ripple Δi d As this increases, so-called iron loss increases.

[0078] Therefore, from the perspective of reducing iron loss, the target rotation angle θ r * It is preferable to maintain the angle at one of the following: {30°, 90°, 150°, 210°, 270°, 330°}. And the target rotation angle θ r * When setting to {30°, 90°, 150°, 210°, 270°, 330°}, the coil magnetic flux Φ is generated in the q-axis direction, as in the second embodiment described later, and the d-axis current i d To prevent the occurrence of the three-phase current I UVW It is preferable to also perform control to adjust the phase.

[0079] q-axis current i q This is the current component that contributes to the generation of torque T. Therefore, the q-axis current ripple Δi q When the rotation angle θ is large, r This makes it easier for the q-axis current ripple Δi to change. q Typically, the d-axis current ripple Δi d Since it is larger than, the q-axis current ripple Δi q As it increases, DC current loss P dc (Conductivity loss) tends to increase.

[0080] Therefore, the rotation angle θ r Changes in and DC current loss P dc From the perspective of reduction, the target rotation angle θ r * It is preferable to maintain the angle at one of the following: {0°, 60°, 120°, 180°, 240°, 300°}. The target rotation angle θ r* When setting to {0°, 60°, 120°, 180°, 240°, 300°}, the coil magnetic flux Φ is generated in the d-axis direction, as in the third embodiment described later, and the q-axis current i q To prevent the occurrence of the three-phase current I UVW It is preferable to also perform control to adjust the phase.

[0081] [Second Embodiment] In the second embodiment, in the charge / discharge control described in the first embodiment, the three-phase current I is set such that the coil magnetic flux Φ is generated in the q-axis direction. UVW Let's explain an example of adjusting the phase.

[0082] Figure 10 is a block diagram showing the configuration of the controller 13 according to the second embodiment. As shown in Figure 10, a phase controller 41 is added to the controller 13 of the second embodiment. Other configurations related to charge and discharge control are the same as in the first embodiment.

[0083] The phase controller 41 controls the rotation angle θ. r Based on this, the d-axis and q-axis directions are identified, and when using the external equipment 15, the three-phase current I is set such that a coil magnetic flux Φ is generated in the q-axis direction by each phase coil. UVW Adjust the phase.

[0084] Specifically, the phase controller 41 controls the rotation angle θ. r Based on this, a first coil group consisting of one or more coils (stator coils) from the multi-phase coils is determined, and a second coil group consisting of a different combination of coils from the first coil group is determined.

[0085] The phase controller 41 generates two types of PWM signals: a first PWM signal (hereinafter referred to as PWM1) that controls the phase having coils belonging to the first coil group, and a second PWM signal (hereinafter referred to as PWM2) that controls the phase having coils belonging to the second coil group. As a result, the phase controller 41 makes the current phases of the first coil group controlled by PWM1 and the second coil group controlled by PWM2 different, among the UVW phases. In particular, in this embodiment, the phase controller 41 makes the timing (phase) of switching the switching elements different for PWM1 and PWM2 so that a coil magnetic flux Φ is generated in the q-axis direction.

[0086] In this embodiment, the phase controller 41 controls the coil magnetic flux Φ directed in the positive direction of the q-axis. q + And the coil magnetic flux Φ directed in the negative direction in the q-axis direction. q - This alternates between and . In this case, the time-averaged value of the coil magnetic flux Φ is practically zero. Such a q-axis current I q According to this, the rotating electric machine 12 does not generate torque T substantially, so the rotating electric machine 12 can maintain a state of substantially stopped rotation. Note that the coil magnetic flux Φ q + ,Φ q - This is the magnetic flux φ generated by the coils of each phase, UVW. U ,φ V ,φ W This is the combined magnetic flux.

[0087] The phase controller 41 sets the phase difference between PWM1 and PWM2 to half the period of the carrier wave, thereby controlling the coil magnetic flux Φ in the q-axis direction. q + ,Φ q - These can be generated alternately. However, the phase difference between PWM1 and PWM2 does not necessarily have to be half the period of the carrier wave. The current ripple is suppressed most effectively when the phase difference between PWM1 and PWM2 is set to half the period of the carrier wave, and the phases of the current ripple of the phase controlled by PWM1 and the phase driven by PWM2 are 180° apart.

[0088] Figure 11 is an explanatory diagram showing the coil magnetic flux Φ generated in the rotating electric machine 12 in the second embodiment. Here, as an example, it is assumed that the permanent magnet 40 has its north pole facing the U-phase coil (U). In this case, the phase controller 41 controls the W-phase current I W The U-phase current I is controlled by PWM1. U and V-phase current I V The coil magnetic flux Φ is controlled by PWM2. The phase controller 41 sets the phase difference between PWM1 and PWM2 to half the period of the carrier wave. As a result, the coil magnetic flux Φ is as shown in Figures 11(A) and 11(B). q + ,Φ q - These occur alternately.

[0089] More specifically, the phase controller 41 controls the rotation angle θ. r Based on this, the d-axis current I d The phase coil with the smallest amplitude is selected as the coil belonging to the first coil group. Then, the phase controller 41 selects the coils of the multiple phases of the rotating electric machine 12 that do not belong to the first coil group as the coils belonging to the second coil group. In simple terms, the phase controller 41 designates the coils whose orientation is closest to the q-axis direction as the first coil group.

[0090] When the rotating electric machine 12 has UVW three-phase coils, the phase controller 41 controls the rotation angle θ as follows: r Based on this, coils belonging to the first coil group and the second coil group can be selected.

[0091] Figure 12 is an explanatory diagram showing the division of the control region in the UVW coordinate system. As shown in Figure 12, the UVW coordinate system is defined by the magnetic flux φ generated by the U-phase coil. U Direction I U + Axis (0°), magnetic flux φ generated by the V-phase coil V Direction I V + Axis (120°), magnetic flux φ generated by W-phase coil W Direction I W +It is a coordinate system with the axis (240°). In the UVW coordinate system, I U - The axis is the axis in the 180° direction, and I V - The axis is the axis in the 300° direction, and I W - The axis is the axis in the 60° direction.

[0092] And the phase controller 41 can select the coils belonging to the first coil group and the second coil group according to which region (angle range) surrounded by these axes the rotation angle θ r belongs to. Specifically, the phase controller 41 selects the first coil group and the second coil group according to Table 1 below.

[0093]

Table 1

[0094] The first region S1 is the region (region from 0° or more and less than 60°) between the I U + axis and the I W - axis. Similarly, the second region S2 is the region (region from 60° or more and less than 120°) between the I W - axis and the I V + axis. The third region S3 is the region (region from 120° or more and less than 180°) between the I V + axis and the I U - axis. The fourth region S4 is the region (region from 180° or more and less than 240°) between the I U - axis and the I W + axis. The fifth region S5 is the region (region from 240° or more and less than 300°) between the I W + axis and the I V - axis. And the sixth region S6 is the region between the I V - axis and the I U +This is the region between the axes (the region between 300° and less than 360°). Each of these regions S1 to S6 corresponds to a "sector" used when controlling the rotation of the rotating electric machine 12 by vector control.

[0095] In this embodiment, the target rotation angle setting device 32 sets the target rotation angle θ according to Table 2 below. r * Set it.

[0096] [Table 2]

[0097] In other words, the target rotation angle setter 32 sets the rotation angle θ r (or initial value θ) r-ini If ) is in the first region S1, the target rotation angle θ r * Set it to 30°, and the rotation angle θ r If it is in the second region S2, the target rotation angle θ r * Set it to 90°, and the rotation angle θ r If it is in the third region S3, the target rotation angle θ r * Set to 150°. Also, the target rotation angle setting device 32 sets the rotation angle θ r If it is in the fourth region S4, the target rotation angle θ r * Set it to 210°, and the rotation angle θ r If it is in the fifth region S5, the target rotation angle θ r * Set it to 270°, and the rotation angle θ r If it is in the sixth region S6, the target rotation angle θ r * Set it to 330°.

[0098] [Third Embodiment] In the third embodiment, in the charge / discharge control described in the first embodiment, the three-phase current I is set such that the coil magnetic flux is generated in the d-axis direction. UVWAn example of adjusting the phase will be explained. The configuration of the controller 13 according to the third embodiment is the same as that of the controller 13 according to the first embodiment, with the addition of a phase controller 41.

[0099] However, in the third embodiment, the phase controller 41 controls the rotation angle θ r Based on this, the d-axis and q-axis directions are identified, and when using the external equipment 15, the three-phase current I is set such that a coil magnetic flux Φ is generated in the d-axis direction by each phase coil. UVW The phase is adjusted. In other words, in this embodiment in particular, the phase controller 41 makes the timing (phase) of switching the switching element different for PWM1 and PWM2 so that a coil magnetic flux Φ is generated in the d-axis direction.

[0100] Figures 13 and 14 are explanatory diagrams showing the coil magnetic flux Φ generated in the rotating electric machine 12 in the third embodiment. Here, as an example, it is assumed that the permanent magnet 40 has its north pole facing the U-phase coil (U). In this case, the phase controller 41 controls the U-phase current I U The V-phase current I is controlled by PWM1. V and W-phase current I W This is controlled by PWM2. More specifically, the controller 13 controls the rotation angle θ r Based on this, the d-axis current I d The coil of the phase with the largest value is selected as the coil belonging to the first coil group. Then, the controller 13 selects the coils of the phases of the rotating electric machine 12 that do not belong to the first coil group as the coils belonging to the second coil group. In simple terms, the controller 13 designates the coils whose orientation is closest to the d-axis as the first coil group.

[0101] As shown in Figure 13(A), in this embodiment, the phase controller 41 controls the coil magnetic flux Φ directed in the positive direction of the d-axis. d + The phases of PWM1 and PWM2 can be adjusted so that this occurs. Also, as shown in Figure 13(B), the phase controller 41 directs the coil magnetic flux Φ in the negative direction in the d-axis direction. d -The phases of PWM1 and PWM2 can be adjusted so that this occurs.

[0102] Then, as shown in Figure 14, the phase controller 41 directs the coil magnetic flux Φ in the positive direction of the d-axis. d + And the coil magnetic flux Φ directed in the negative direction in the d-axis direction d - The phases of PWM1 and PWM2 can be adjusted so that they occur alternately. This is achieved by setting the phase difference between PWM1 and PWM2 to half the period of the carrier wave. However, as in the second embodiment, the phase difference between PWM1 and PWM2 does not necessarily have to be half the period of the carrier wave. When the phase difference between PWM1 and PWM2 is set to half the period of the carrier wave, and the phases of the current ripples of the phase controlled by PWM1 and the phase driven by PWM2 are 180° apart, the current ripple is suppressed to the greatest extent.

[0103] Note that the coil magnetic flux Φ d + ,Φ d - This is the magnetic flux φ generated by the coils of each phase, UVW. U ,φ V ,φ W This is the combined magnetic flux.

[0104] When the rotating electric machine 12 has UVW three-phase coils, the phase controller 41 controls the rotation angle θ as follows: r Based on this, coils belonging to the first coil group and the second coil group can be selected.

[0105] Figure 15 is an explanatory diagram showing the division of control forces in the UVW coordinate system. The phase controller 41 controls the rotation angle θ r However, as shown in Figure 15, the coils belonging to the first coil group and the second coil group can be selected depending on which region (angle range) they belong to within the defined area (angle range) in the UVW coordinate system. Specifically, the controller 13 selects the first coil group and the second coil group according to Table 3 below.

[0106] [Table 3]

[0107] The 7th region S7 is I U + This is the region that includes the axis (the region between -30° and +30°). Similarly, the 8th region S8 is I W - This is the region that includes the axis (the region between +30° and +90°). Region 9 S9 is I V + This is the region that includes the axis (the region between +90° and +150°). Region 10 S 10 is, I U - This is the region containing the axis (the region between +150° and +210°). Region 11 S 11 is, I W + This is the region that includes the axis (the region between +210° and +270°). And then there is the 12th region S. 12 is, I V - This is the region that includes the axis (the region between +270° and +330°). Each of these regions S7~S 12 This is set by rotating 30° with respect to the "sector" (the region enclosed by each axis of the UVW coordinate system) used when controlling the rotation of the rotating electric machine 12 by vector control.

[0108] In this embodiment, the target rotation angle setting device 32 sets the target rotation angle θ according to Table 4 below. r * Set it.

[0109] [Table 4]

[0110] In other words, the target rotation angle setter 32 sets the rotation angle θ r (or initial value θ) r-ini If ) is in the 7th region S7, the target rotation angle θ r * Set to 0°, and the rotation angle θ rIf it is in the 8th region S8, the target rotation angle θ r * Set it to 60°, and the rotation angle θ r If it is in the 9th region S9, the target rotation angle θ r * Set to 120°. Also, the target rotation angle setting device 32 sets the rotation angle θ r is the 10th region S 10 If it is located at, the target rotation angle θ r * Set it to 180°, and the rotation angle θ r is the 11th region S 11 If it is located at, the target rotation angle θ r * Set it to 240°, and the rotation angle θ r is the 12th region S 12 If it is located at, the target rotation angle θ r * Set it to 300°.

[0111] In the first to third embodiments described above, the rotation angle θ is controlled by feedback control. r The target rotation angle θ r * This is how it is designed, but it is not limited to this. The rotation angle θ is controlled by feedforward control. r The target rotation angle θ r * It would also be acceptable to do it this way.

[0112] As described above, the charge / discharge control methods according to each embodiment are charge / discharge control methods that control the charging or discharging of a battery 10 connected to an external device 15 via a rotating electric machine 12 and an inverter 11. This charge / discharge control method controls the rotation angle θ of the rotating electric machine 12. r For this purpose, the target rotation angle θ is predetermined. r * When the external device 15 charges the battery 10, or when the external device 15 discharges the battery 10, the rotation angle θ r The target rotation angle θ r * The switching elements SW1 to SW6 of the inverter 11 are driven in such a manner.

[0113] Thus, when using the external equipment 15, the rotation angle θ r The target rotation angle θ r * When the switching elements SW1 to SW6 are driven in this manner, the inductance L of each phase coil UVW Even if the rotation angle θ changes, r The target rotation angle is θ r * It is maintained at this angle. Therefore, when using the external equipment 15, the rotation angle θ r This prevents an increase in energy loss in the inverter 11 and the rotating electric machine 12 due to changes in the voltage. In other words, when the inverter 11 and the rotating electric machine 12 are used as DC / DC converters, power can be transmitted efficiently.

[0114] In the charge / discharge control methods according to each embodiment described above, the rotation angle θ r and target rotation angle θ r * Deviation Δθ r Torque command T based on * The rotating electric machine 12 calculates the torque command T * The drive patterns of the switching elements SW1 to SW6 are modulated to generate a torque T corresponding to the value.

[0115] Thus, when using the external equipment 15, the rotating electric machine 12 deliberately uses a deviation Δθ r If a torque T corresponding to the rotation angle θ is generated, r Target rotation angle θ r * It is easy to maintain. As a result, energy loss is easily suppressed. For example, even if the rotation of the rotating electric machine 12 is restricted by the park lock, the rotation within the range of mechanical play of the rotating electric machine 12 will reduce energy loss at a rotation angle θ. r In some cases, displacement may occur. In contrast, the charge / discharge control methods according to each of the above embodiments make it easier to maintain a state in which energy loss is suppressed.

[0116] In the charge / discharge control methods according to each of the above embodiments, the neutral point voltage V of the rotating electric machine 12 connected to the external equipment 15 n The basic drive signal (D) that controls the driven * Set the torque command T. * Based on the q-axis current command (I q * Set ') and this q-axis current command (I q * Correction drive signal (ΔD) according to ′) * Set the basic drive signal (D). n * ) to the correction drive signal (ΔD * By superimposing this, the drive patterns of switching elements SW1 to SW6 are modulated.

[0117] When using external equipment 15, the neutral point voltage V depends on the settings, etc. n It is necessary to maintain this. For this reason, as described above, the current command (I q * The drive pattern of switching elements SW1 to SW6 is modulated by ′), and the rotation angle θ r If the maintenance of the neutral point voltage V is controlled by current control, n and rotation angle θ r Both are easy to maintain. That is, the neutral point voltage V n Voltage control and rotation angle θ r By performing separate current control to maintain the current, these controls do not interfere with each other, making it easier to control each one precisely.

[0118] In the charge / discharge control according to each of the above embodiments, if the output shaft of the rotating electric machine 12 is connected to the drive shaft of the vehicle, and the rotation of the rotating electric machine 12 is restricted by the friction brake 19 (park lock) of the vehicle, the friction brake 19 is released, and with the friction brake 19 released, the rotation angle θ r Target rotation angle θ r * The switching elements SW1 to SW6 are driven in such a manner.

[0119] Thus, when the rotation of the rotating electric machine 12 is restricted by the friction brake 19 (park lock), it can be released. In this case, the rotation angle θ r In particular, to accurately target the rotation angle θ r* It is easy to maintain. As a result, energy loss is particularly easy to suppress. Also, the rotation angle θ r When adjusting, the release of the friction brake 19 (park lock) makes it less likely for noise and vibration caused by backlash, etc., to occur.

[0120] In the charge / discharge control according to each of the above embodiments, if the output shaft of the rotating electric machine 12 is connected to the drive shaft of the vehicle, and the rotation of the rotating electric machine 12 is limited by the friction brake 19 (park lock) of the vehicle, the friction brake 19 is maintained and the rotation angle θ is kept within the range of the limit imposed by the friction brake 19. r The target rotation angle θ r * The switching elements SW1 to SW6 of the inverter 11 are driven to approach this value.

[0121] Thus, when the rotation of the rotating electric machine 12 is restricted by the friction brake 19 (park lock), the rotation angle θ is maintained even when the friction brake 19 (park lock) is engaged and the rotation is restricted. r This can be adjusted. In many cases, even while maintaining the friction brake 19 (park lock), the rotation angle θ can be adjusted. r Target rotation angle θ r * It is possible to reach this point and maintain it.

[0122] In the charge / discharge control according to each of the above embodiments (particularly the second embodiment), the rotation angle θ r Based on this, the direction of the permanent magnet 40 in the rotor of the rotating electric machine 12 is determined as the d-axis direction, and the q-axis direction is perpendicular to the d-axis direction. When the battery 10 is charged by the external equipment 15, or when the battery 10 is discharged toward the external equipment 15, the multi-phase coils of the rotating electric machine 12 generate magnetic flux in the q-axis direction (coil magnetic flux Φ = Φ q + ,Φ q - This causes )

[0123] Thus, when using the external equipment 15, generating a coil magnetic flux Φ in the q-axis direction makes it particularly easy to maintain a state where iron loss is reduced.

[0124] In the charge / discharge control methods according to each of the above embodiments (particularly the second embodiment), the rotation angle θ r Based on this, a first coil group consisting of one or more coils and a second coil group consisting of a different combination of coils from the first coil group are determined from the multi-phase coils, and the phase of the current is made different between the first coil group and the second coil group.

[0125] In this way, by dividing each phase coil into two groups and adjusting the phase of the current in the coils of each group, it is easier to generate a coil magnetic flux Φ in the q-axis direction, even when using external equipment 15.

[0126] In the charge-discharge control method according to each of the above embodiments (particularly the second embodiment), the rotating electric machine 12 has a U-phase coil, a V-phase coil, and a W-phase coil as multiple phase coils. In a UVW coordinate system where the direction of the magnetic flux generated by the U-phase coil is 0°, the direction of the magnetic flux generated by the V-phase coil is 120°, and the direction of the magnetic flux generated by the W-phase coil is 240°, the rotation angle θ r When it is in the first region S1 from 0° to 60°, and the rotation angle θ r When the rotation angle θ is in the fourth region S4 between 180° and 240°, the W-phase coil is selected for the first coil group, and the U-phase coil and V-phase coil are selected for the second coil group. r When it is in the second region S2 from 60° to 120°, and the rotation angle θ r If the rotation angle θ is in the fifth region S5 between 240° and 300°, the U-phase coil is selected for the first coil group, and the V-phase coil and W-phase coil are selected for the second coil group. r When it is in the third region S3 between 120° and 180°, and the rotation angle θ r If the temperature is in the sixth region S6 between 300° and 360°, the V-phase coil is selected for the first coil group, and the W-phase coil and U-phase coil are selected for the second coil group.

[0127] Thus, when generating a coil magnetic flux Φ in the q-axis direction, the rotation angle θ r Depending on which of the regions S1 to S6 it belongs to, the first coil group and the second coil group can be selected, and the rotation angle θ r Depending on the configuration, it is easy to form a coil magnetic flux Φ in the q-axis direction.

[0128] In the charge / discharge control methods according to each of the above embodiments (particularly the second embodiment), the rotation angle θ r If it is in the first region S1, the target rotation angle θ r * Set it to 30°, and the rotation angle θ r If it is in the second region S2, the target rotation angle θ r * Set it to 90°, and the rotation angle θ r If it is in the third region S3, the target rotation angle θ r * Set it to 150°. Also, the rotation angle θ r If it is in the fourth region S4, the target rotation angle θ r * Set it to 210°, and the rotation angle θ r If it is in the fifth region S5, the target rotation angle θ r * Set it to 270°, and the rotation angle θ r If it is in the sixth region S6, the target rotation angle θ r * Set it to 330°.

[0129] When generating coil magnetic flux Φ in the q-axis direction, as described above, the target rotation angle θ r * By setting this, the rotation angle θ will be at the position where iron loss is minimized. r It can be maintained.

[0130] In the charge / discharge control methods according to each of the above embodiments (particularly the third embodiment), the rotation angle θ rBased on this, the direction of the permanent magnet 40 on the rotor of the rotating electric machine 12 is determined, and the direction of the d-axis, which is the d-axis, and the direction of the q-axis, which is perpendicular to the d-axis, are determined. When the battery 10 is charged by the external equipment 15, or when the battery 10 is discharged toward the external equipment 15, the multiple coils of the rotating electric machine 12 generate magnetic flux in the d-axis direction (coil magnetic flux Φ = Φ d + ,Φ d - This causes )

[0131] Thus, when using the external equipment 15, if a coil magnetic flux Φ is generated in the d-axis direction, the q-axis current ripple Δi q (Or torque ripple) can be kept low. As a result, DC current loss P dc (Conditioning loss) is easily suppressed.

[0132] In the charge / discharge control methods according to each of the above embodiments (particularly the third embodiment), the rotation angle θ r Based on this, a first coil group consisting of one or more coils and a second coil group consisting of a different combination of coils from the first coil group are determined from the multi-phase coils, and the phase of the current is made different between the first coil group and the second coil group.

[0133] By dividing each phase coil into two groups and adjusting the current phase in the coils of each group, it is easier to generate a coil magnetic flux Φ in the d-axis direction, even when using external equipment 15.

[0134] In the charge-discharge control methods according to each of the above embodiments (particularly the third embodiment), the rotating electric machine 12 has a U-phase coil, a V-phase coil, and a W-phase coil as multiple phase coils. In a UVW coordinate system where the direction of the magnetic flux generated by the U-phase coil is 0°, the direction of the magnetic flux generated by the V-phase coil is 120°, and the direction of the magnetic flux generated by the W-phase coil is 240°, the rotation angle θ r When it is in the 7th region S7 from -30° to +30°, and the rotation angle θ r The 10th region S is from +150° to +210°. 10If the configuration is as follows, the U-phase coil is selected for the first coil group, and the V-phase coil and W-phase coil are selected for the second coil group. r If it is in the 8th region S8 between +30° and +90°, and the rotation angle θ r The 11th region S is from +210° to +270°. 11 If the configuration is as follows, the V-phase coil is selected for the first coil group, and the W-phase coil and U-phase coil are selected for the second coil group. Then, the rotation angle θ r If it is in the 9th region S9 between +90° and +150°, and the rotation angle θ r The 12th region S is from +270° to +330°. 12 If the configuration is as described, the W-phase coil is selected for the first coil group, and the U-phase coil and V-phase coil are selected for the second coil group.

[0135] Thus, when generating a coil magnetic flux Φ in the d-axis direction, the rotation angle θ r is region S7~S 12 Depending on which region it belongs to, you can select the first coil group and the second coil group, and the rotation angle θ r Depending on the configuration, it is easy to form a coil magnetic flux Φ in the d-axis direction.

[0136] In the charge / discharge control methods according to each of the above embodiments (particularly the third embodiment), the rotation angle θ r If it is in the 7th region, the target rotation angle θ r * Set to 0°, and the rotation angle θ r If it is in the 8th region, the target rotation angle θ r * Set it to 60°, and the rotation angle θ r If it is in the 9th region, the target rotation angle θ r * Set it to 120°. Also, the rotation angle θ r If it is in the 10th region, the target rotation angle θ r * Set it to 180°, and the rotation angle θ r If it is in the 11th region, the target rotation angle θ r * Set it to 240°, and the rotation angle θ r If it is in the 12th region, the target rotation angle θr * Set it to 300°.

[0137] When generating coil magnetic flux Φ in the d-axis direction, as described above, the target rotation angle θ r * If you set this, the DC current loss P dc The rotation angle θ is at the position where (conduction loss) is minimized. r This allows for maintenance of the system. Furthermore, it makes it easier to suppress noise and vibrations generated when using external equipment 15.

[0138] In the charge / discharge control method according to each of the above embodiments (particularly the first embodiment), when the battery 10 is charged by the external equipment 15, or when the battery is discharged toward the external equipment 15, the rotation angle θ r Initial value θ r-ini Detect this initial value θ r-ini Target rotation angle θ r * It can be set to that.

[0139] Thus, the rotation angle θ r Initial value θ r-ini Target rotation angle θ r * When set to this configuration, the current in one of the three UVW phases is set to zero, and the current ratio of the remaining two phases is adjusted to generate a constant coil magnetic flux Φ in the d-axis direction, resulting in a rotation angle θ r This minimizes changes while also suppressing increases in energy loss.

[0140] The charge control device according to each of the above embodiments is a charge / discharge control device (controller 13) that controls the charging or discharging of a battery 10 connected to an external device 15 via a rotating electric machine 12 and an inverter 11. This charge / discharge control device (13) controls the rotation angle θ of the rotating electric machine 12. r For this purpose, the target rotation angle θ is predetermined. r * The target rotation angle setting device 32 sets the rotation angle θ when the battery 10 is charged by the external equipment 15, or when the battery 10 is discharged toward the external equipment 15. r The target rotation angle θ r* The system includes a PWM signal generator 37 that drives the switching elements SW1 to SW6 of the inverter 11.

[0141] Thus, when using the external equipment 15, the rotation angle θ r The target rotation angle θ r * When the switching elements SW1 to SW6 are driven in this manner, the inductance L of each phase coil UVW Even if the rotation angle θ changes, r The target rotation angle is θ r * It is maintained at this angle. Therefore, when using the external equipment 15, the rotation angle θ r This prevents an increase in energy loss in the inverter 11 and the rotating electric machine 12 due to changes in the voltage. In other words, when the inverter 11 and the rotating electric machine 12 are used as DC / DC converters, power can be transmitted efficiently.

[0142] Although embodiments and modifications of the present invention have been described above, the configurations described in the above embodiments represent only a part of the application examples of the present invention and are not intended to limit the technical scope of the present invention. [Explanation of symbols]

[0143] 10: Battery, 11: Inverter, 12: Rotating Electric Machine, 13: Controller, 14: Electric Powertrain, 15: External Equipment, 16: Current Sensor, 17: Voltage Sensor, 18: Rotation Sensor, 19: Friction Brake, 21: Battery Unit, 22a: Relay, 22b: Relay, 23: Smoothing Capacitor, 24: Bridge Circuit, 25: Relay, 26: Relay, 27: Relay, 28: Capacitor, 29: External Input / Output Terminals, 31: Voltage Controller, 32: Target Rotation Angle Setter, 33: Rotation Angle Controller, 34: Torque Generator, 35: Coordinate Converter, 36: Current Controller, 37: PWM Signal Generator, 40: Permanent Magnet, 41: Phase Controller, 90: External Input / Output Terminals, 100: Rotating Electric Machine System

Claims

1. A charge / discharge control method for controlling the charging or discharging of a battery connected to external equipment via a rotating electric machine and an inverter, A target rotation angle is set in advance for the rotation angle of the aforementioned rotating electric machine. When the battery is charged by the external equipment, or when the battery is discharged toward the external equipment, the switching elements of the inverter are driven so that the rotation angle becomes the target rotation angle. Charge / discharge control method.

2. A charge / discharge control method according to claim 1, A torque command is calculated based on the difference between the rotation angle and the target rotation angle. The driving pattern of the switching element is modulated so that the rotating electric machine generates torque corresponding to the torque command. Charge / discharge control method.

3. A charge / discharge control method according to claim 2, A basic drive signal is set to control the neutral point voltage of the rotating electric machine connected to the external equipment. Based on the torque command, set the q-axis current command. The correction drive signal is set according to the q-axis current command. The drive pattern of the switching element is modulated by superimposing the correction drive signal onto the basic drive signal. Charge / discharge control method.

4. A charge / discharge control method according to claim 1, If the output shaft of the rotating electric machine is connected to the drive shaft of the vehicle, and the rotation of the rotating electric machine is restricted by the friction brakes of the vehicle, Release the aforementioned friction brake, With the friction brake released, the switching element is driven so that the rotation angle becomes the target rotation angle. Charge / discharge control method.

5. A charge / discharge control method according to claim 1, If the output shaft of the rotating electric machine is connected to the drive shaft of the vehicle, and the rotation of the rotating electric machine is restricted by the friction brakes of the vehicle, Maintain the aforementioned friction brake, The switching element is driven so that the rotation angle approaches the target rotation angle within the limits imposed by the friction brake. Charge / discharge control method.

6. A charge / discharge control method according to claim 1, Based on the rotation angle, the d-axis direction, which is the direction of the permanent magnets in the rotor of the rotating electric machine, and the q-axis direction, which is perpendicular to the d-axis direction, are identified. When the battery is charged by the external equipment, or when the battery is discharged toward the external equipment, the multi-phase coils of the rotating electric machine generate a magnetic flux in the q-axis direction. Charge / discharge control method.

7. A charge / discharge control method according to claim 6, Based on the rotation angle, a first coil group consisting of one or more coils and a second coil group consisting of a combination of coils different from the first coil group are determined from the coils of the multiple phases. The phase of the currents in the first coil group and the second coil group are made different. Charge / discharge control method.

8. A charge / discharge control method according to claim 7, The aforementioned rotating electric machine has multiple phase coils, including a U-phase coil, a V-phase coil, and a W-phase coil. In a UVW coordinate system where the direction of the magnetic flux generated by the U-phase coil is 0°, the direction of the magnetic flux generated by the V-phase coil is 120°, and the direction of the magnetic flux generated by the W-phase coil is 240°, When the rotation angle is in a first region from 0° to 60°, and when the rotation angle is in a fourth region from 180° to 240°, the W-phase coil is selected for the first coil group, and the U-phase coil and the V-phase coil are selected for the second coil group. When the rotation angle is in a second region from 60° to 120°, and when the rotation angle is in a fifth region from 240° to 300°, the U-phase coil is selected for the first coil group, and the V-phase coil and the W-phase coil are selected for the second coil group. When the rotation angle is in a third region from 120° to 180°, and when the rotation angle is in a sixth region from 300° to 360°, the V-phase coil is selected for the first coil group, and the W-phase coil and the U-phase coil are selected for the second coil group. Charge / discharge control method.

9. A charge / discharge control method according to claim 8, If the rotation angle is in the first region, the target rotation angle is set to 30°. If the rotation angle is in the second region, the target rotation angle is set to 90°. If the rotation angle is in the third region, the target rotation angle is set to 150°. If the rotation angle is in the fourth region, the target rotation angle is set to 210°. If the rotation angle is in the fifth region, the target rotation angle is set to 270°. If the rotation angle is in the sixth region, set the target rotation angle to 330°. Charge / discharge control method.

10. A charge / discharge control method according to claim 1, Based on the rotation angle, the d-axis direction, which is the direction of the permanent magnets in the rotor of the rotating electric machine, and the q-axis direction, which is perpendicular to the d-axis direction, are identified. When the battery is charged by the external equipment, or when the battery is discharged toward the external equipment, the multi-phase coils of the rotating electric machine generate a magnetic flux in the d-axis direction. Charge / discharge control method.

11. A charge / discharge control method according to claim 10, Based on the rotation angle, a first coil group consisting of one or more coils and a second coil group consisting of a combination of coils different from the first coil group are determined from the coils of the multiple phases. The phase of the currents in the first coil group and the second coil group are made different. Charge / discharge control method.

12. A charge / discharge control method according to claim 11, The aforementioned rotating electric machine has multiple phase coils, including a U-phase coil, a V-phase coil, and a W-phase coil. In a UVW coordinate system where the direction of the magnetic flux generated by the U-phase coil is 0°, the direction of the magnetic flux generated by the V-phase coil is 120°, and the direction of the magnetic flux generated by the W-phase coil is 240°, When the rotation angle is in the seventh region from -30° to +30°, and when the rotation angle is in the tenth region from +150° to +210°, the U-phase coil is selected for the first coil group, and the V-phase coil and the W-phase coil are selected for the second coil group. When the rotation angle is in the eighth region from +30° to +90°, and when the rotation angle is in the eleventh region from +210° to +270°, the V-phase coil is selected for the first coil group, and the W-phase coil and the U-phase coil are selected for the second coil group. When the rotation angle is in the ninth region from +90° to +150°, and when the rotation angle is in the twelfth region from +270° to +330°, the W-phase coil is selected for the first coil group, and the U-phase coil and the V-phase coil are selected for the second coil group. Charge / discharge control method.

13. A charge / discharge control method according to claim 12, If the rotation angle is in the seventh region, the target rotation angle is set to 0°. If the rotation angle is in the eighth region, the target rotation angle is set to 60°. If the rotation angle is in the ninth region, the target rotation angle is set to 120°. If the rotation angle is in the 10th region, the target rotation angle is set to 180°. If the rotation angle is in the 11th region, the target rotation angle is set to 240°. If the rotation angle is in the 12th region, set the target rotation angle to 300°. Charge / discharge control method.

14. A charge / discharge control method according to claim 12, When the battery is charged by the external equipment, or when the battery is discharged toward the external equipment, the initial value of the rotation angle is detected. The initial value is set to the target rotation angle. Charge / discharge control method.

15. A charge / discharge control device that controls the charging or discharging of a battery connected to external equipment via a rotating electric machine and an inverter, A target rotation angle setting device for which a target rotation angle is set in advance for the rotation angle of the aforementioned rotating electric machine, A PWM signal generator drives the switching elements of the inverter so that the rotation angle becomes the target rotation angle when the battery is charged by the external equipment or when the battery is discharged toward the external equipment. A charge / discharge control device equipped with the following features.

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