Inverter control device, hybrid system, mechanical and electrical integrated unit, electric vehicle system, and inverter control method

Abstract

To suppress a capacitor voltage ribble sufficiently.SOLUTION: An inverter control device 1 includes: a carrier generation section 17 for generating a carrier signal Tr; a carrier frequency adjustment section 16 for adjusting a carrier frequency fc indicating the frequency of the carrier signal Tr; and a PWM control section 18 for pulse-width modulating three-phase voltage commands Vu*, Vv* and Vw* using the carrier signal Tr and generating a PWM pulse signal for controlling operation of an inverter. The carrier frequency adjustment section 16 determines a phase shift amount for reducing a voltage amplitude of specified order component of respective order components of capacitor voltage ripple superimposed on a DC voltage Hvdc and adjusts the carrier frequency fc to change a phase difference between the three-phase voltage commands Vu*, Vv* and Vw* and the carrier signal Tr according to the determined phase shift amount.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to an inverter control device, a hybrid system, an electromechanical integrated unit, an electric vehicle system, and an inverter control method. [Background technology]

[0002] Inverters are widely used in electric and hybrid vehicles, which are connected to drive motors and convert DC voltage supplied from a battery into AC voltage and output it to the drive motor. These inverters are required to be small and lightweight in terms of improving power consumption and space restrictions. The inverter is composed of a power module, a smoothing capacitor, a current sensor, bus bar wiring, a gate drive board, a control board, etc. The power module generates AC voltage by changing the DC voltage into a pulsed form through switching operation. The smoothing capacitor is installed between the battery, which is a DC voltage source, and the power module to smooth out fluctuations in the DC voltage (hereinafter referred to as "capacitor voltage ripple") caused by the switching operation of the power module.

[0003] The capacitor voltage ripple varies depending on the capacitance of the smoothing capacitor and the switching frequency of the power module. Therefore, the capacitor voltage ripple can be reduced by increasing the capacitance of the smoothing capacitor or increasing the switching frequency. However, increasing the capacitance of the smoothing capacitor leads to an increase in the volume of the smoothing capacitor, and increasing the switching frequency leads to an increase in switching loss. Therefore, inverters are required to reduce the capacitor voltage ripple using methods other than these.

[0004] Regarding reduction of capacitor voltage ripple, the technology of Patent Document 1 is known. Patent Document 1 discloses an inverter control device having a fundamental wave generating unit 112 that generates a fundamental wave command for generating AC power of any one phase of three-phase AC power, an adjustment wave generating unit 113 that generates an adjustment wave command with a frequency three times that of the fundamental wave command, a command output unit 114 that outputs a phase voltage command in which the adjustment wave command is superimposed on the fundamental wave command, and a phase calculation unit 122 that calculates the phase of the adjustment wave command based on the power factor of the three-phase AC power so as to reduce voltage ripple occurring on DC buses 14P, 14N at a frequency twice that of the fundamental wave command. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2019-187149 A Summary of the Invention [Problem to be solved by the invention]

[0006] In general, the input circuit of an inverter has a resonant frequency that is determined according to the inductance of the busbar wiring that connects the battery and the smoothing capacitor. In the technology of Patent Document 1, when the frequency of a specific order component among the order components (harmonic components) of the capacitor voltage ripple coincides with this resonant frequency, the order component is amplified, and therefore, there is a problem that the capacitor voltage ripple cannot be sufficiently suppressed. [Means for solving the problem]

[0007] The inverter control device according to the present invention controls an inverter that converts a DC voltage into an AC voltage and outputs it to a motor, and includes a carrier wave generation unit that generates a carrier wave, a carrier wave frequency adjustment unit that adjusts the frequency of the carrier wave, and a PWM control unit that pulse-width modulates a voltage command using the carrier wave to generate a PWM pulse signal for controlling the operation of the inverter, wherein the carrier wave frequency adjustment unit determines a phase shift amount for reducing the voltage amplitude of a specific order component among the order components of the voltage ripple superimposed on the DC voltage, and adjusts the frequency of the carrier wave so as to change the phase difference between the voltage command and the carrier wave in accordance with the determined phase shift amount. A hybrid system according to the present invention includes an inverter control device, the inverter connected to the inverter control device, the motor driven by the inverter, and an engine system connected to the motor. The mechanically and electrically integrated unit according to the present invention comprises an inverter control device, an inverter connected to the inverter control device, a motor driven by the inverter, and a gear that transmits the rotational driving force of the motor, wherein the motor, the inverter and the gear are of an integrated structure. An electric vehicle system according to the present invention includes an inverter control device, an inverter connected to the inverter control device, and a motor driven by the inverter, and runs using the rotational driving force of the motor. An inverter control method according to the present invention is a method for controlling an inverter that converts a DC voltage into an AC voltage and outputs it to a motor, and includes generating a carrier wave, determining a phase shift amount for reducing the voltage amplitude of a specific order component among the order components of a voltage ripple superimposed on the DC voltage, adjusting a frequency of the carrier wave so as to change a phase difference between a voltage command and the carrier wave in accordance with the determined phase shift amount, and pulse-width modulating the voltage command using the carrier wave to generate a PWM pulse signal for controlling the operation of the inverter. Effect of the Invention

[0008] According to the present invention, the capacitor voltage ripple can be sufficiently suppressed. [Brief description of the drawings]

[0009] [Figure 1] 1 is an overall configuration diagram of a motor drive system including an inverter control device according to an embodiment of the present invention; [Diagram 2] 1 is a block diagram showing a functional configuration of an inverter control device according to a first embodiment of the present invention. [Diagram 3] FIG. 2 is a block diagram of a carrier frequency adjustment unit according to the first embodiment of the present invention. [Figure 4] FIG. 2 is a block diagram of a voltage phase error calculation unit according to the first embodiment of the present invention. [Diagram 5] FIG. 4 is a conceptual diagram of a reference voltage phase calculation according to the present invention. [Figure 6] FIG. 13 is a diagram showing an example of a capacitor voltage ripple. [Figure 7] FIG. 4 is a diagram showing an example of the relationship between the motor rotation speed and the frequency of each order component. [Figure 8] 4 is a diagram showing an example of the relationship between the phase shift amount of a carrier wave relative to a modulated wave and each order component of a d-axis voltage and a q-axis voltage. [Figure 9] FIG. 13 is a diagram showing an example of a map of a 12th-order component. [Figure 10] FIG. 13 is a diagram showing a comparison example of a capacitor voltage ripple between the conventional technology and the present invention. [Figure 11] FIG. 13 shows a comparison example of a capacitor voltage ripple before and after shifting the phase of a carrier wave. [Figure 12] FIG. 11 is an overall configuration diagram of a motor drive system according to a second embodiment of the present invention. [Figure 13] FIG. 11 is a configuration diagram of a hybrid system according to a third embodiment of the present invention. [Figure 14] FIG. 13 is an external perspective view of an electromechanical integrated unit according to a fourth embodiment of the present invention. [Figure 15] FIG. 11 is a configuration diagram of a hybrid automobile system according to a fifth embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] (First embodiment) A first embodiment of the present invention will now be described with reference to the drawings.

[0011] Fig. 1 is an overall configuration diagram of a motor drive system equipped with an inverter control device according to one embodiment of the present invention. In Fig. 1, the motor drive system 100 includes an inverter control device 1, a permanent magnet synchronous motor (hereinafter simply referred to as "motor") 2, an inverter 3, a rotational position detector 4, and a high-voltage battery 5.

[0012] The inverter control device 1 controls the operation of the inverter 3 based on a torque command T* corresponding to a target torque required from the vehicle to the motor 2, thereby generating a PWM pulse signal for controlling the drive of the motor 2. Then, the generated PWM pulse signal is output to the inverter 3. The inverter control device 1 will be described in detail later.

[0013] The inverter 3 has an inverter circuit 31, a gate drive circuit 32, and a smoothing capacitor 33. The gate drive circuit 32 generates a gate drive signal for controlling each switching element of the inverter circuit 31 based on a PWM pulse signal input from the inverter control device 1, and outputs the gate drive signal to the inverter circuit 31. The inverter circuit 31 has switching elements corresponding to the upper and lower arms of the U, V, and W phases, respectively. By controlling each of these switching elements according to the gate drive signal input from the gate drive circuit 32, the DC power supplied from the high-voltage battery 5 is converted into AC power and output to the motor 2. The smoothing capacitor 33 smoothes the DC power supplied from the high-voltage battery 5 to the inverter circuit 31.

[0014] The motor 2 is a synchronous motor that is rotationally driven by AC power supplied from the inverter 3, and has a stator and a rotor. When AC power input from the inverter 3 is applied to the armature coils Lu, Lv, and Lw provided in the stator, three-phase AC currents Iu, Iv, and Iw are conducted in the motor 2, and armature magnetic flux is generated in each armature coil. Attractive and repulsive forces are generated between the armature magnetic flux of each armature coil and the magnetic flux of the permanent magnets arranged in the rotor, generating torque in the rotor, which is then rotated.

[0015] A rotational position sensor 8 for detecting the rotational position θ of the rotor is attached to the motor 2. The rotational position detector 4 calculates the rotational position θ from the input signal of the rotational position sensor 8. The calculation result of the rotational position θ by the rotational position detector 4 is input to the inverter control device 1, and is used in the phase control of AC power, which is performed by the inverter control device 1 generating a PWM pulse signal in accordance with the phase of the induced voltage of the motor 2.

[0016] Here, a resolver consisting of an iron core and windings is more suitable for the rotational position sensor 8, but a sensor using a magnetic resistance element such as a GMR sensor or a Hall element may also be used. Furthermore, the rotational position detector 4 may estimate the rotational position θ using the three-phase AC currents Iu, Iv, Iw flowing through the motor 2 or the three-phase AC voltages Vu, Vv, Vw applied to the motor 2 from the inverter 3, without using an input signal from the rotational position sensor 8.

[0017] A current detection unit 7 is disposed between the inverter 3 and the motor 2. The current detection unit 7 detects three-phase AC currents Iu, Iv, Iw (U-phase AC current Iu, V-phase AC current Iv, and W-phase AC current Iw) passing through the motor 2. The current detection unit 7 is configured using, for example, a Hall current sensor. The detection results of the three-phase AC currents Iu, Iv, Iw by the current detection unit 7 are input to the inverter control device 1 and are used for generating a PWM pulse signal performed by the inverter control device 1. Note that, although FIG. 2 shows an example in which the current detection unit 7 is configured with three current detectors, it is also possible to use two current detectors and calculate the AC current of the remaining one phase because the sum of the three-phase AC currents Iu, Iv, Iw is zero. In addition, the pulsed DC current flowing from the high-voltage battery 5 to the inverter 3 may be detected by a shunt resistor or the like inserted between the smoothing capacitor 33 and the inverter 3, and the three-phase AC currents Iu, Iv, Iw may be calculated based on this DC current and the three-phase AC voltages Vu, Vv, Vw applied from the inverter 3 to the motor 2.

[0018] Next, the inverter control device 1 will be described in detail. FIG. 2 is a block diagram showing a functional configuration of the inverter control device 1 according to the first embodiment of the present invention. In FIG. 2, the inverter control device 1 has the following functional blocks: a current command generating unit 11, a speed calculating unit 12, a three-phase / dq conversion current control unit 13, a current control unit 14, a dq / three-phase voltage command converting unit 15, a carrier frequency adjusting unit 16, a carrier generating unit 17, and a PWM control unit 18. The inverter control device 1 is configured, for example, by a microcomputer, and these functional blocks can be realized by executing a predetermined program in the microcomputer. Alternatively, some or all of these functional blocks may be realized using hardware circuits such as logic ICs and FPGAs.

[0019] The current command generating unit 11 calculates the d-axis current command Id* and the q-axis current command Iq* based on the input torque command T* and power supply voltage Hvdc. Here, the d-axis current command Id* and the q-axis current command Iq* according to the torque command T* are obtained by using, for example, a preset current command map or a formula.

[0020] The speed calculation unit 12 calculates the motor rotation speed ωr, which indicates the rotation speed (revolutions) of the motor 2, from the change over time of the rotation position θ. The motor rotation speed ωr may be a value expressed as either an angular velocity (rad / s) or a rotation speed (rpm). These values ​​may also be converted into each other for use.

[0021] The three-phase / dq conversion current control unit 13 performs dq conversion on the three-phase AC currents Iu, Iv, Iw detected by the current detection unit 7 based on the rotational position θ determined by the rotational position detector 4, and calculates the d-axis current value Id and the q-axis current value Iq.

[0022] The current control unit 14 calculates a d-axis voltage command Vd* and a q-axis voltage command Vq* according to the torque command T* based on the deviation between the d-axis current command Id* and the q-axis current command Iq* output from the current command generation unit 11 and the d-axis current value Id and the q-axis current value Iq output from the three-phase / dq conversion current control unit 13 so that these values ​​match each other. Here, for example, a control method such as PI control is used to determine the d-axis voltage command Vd* according to the deviation between the d-axis current command Id* and the d-axis current value Id, and the q-axis voltage command Vq* according to the deviation between the q-axis current command Iq* and the q-axis current value Iq.

[0023] The dq / three-phase voltage command conversion unit 15 performs three-phase conversion on the d-axis voltage command Vd* and q-axis voltage command Vq* calculated by the current control unit 14 based on the rotational position θ determined by the rotational position detector 41, and calculates three-phase voltage commands Vu*, Vv*, Vw* (U-phase voltage command value Vu*, V-phase voltage command value Vv*, and W-phase voltage command value Vw*). As a result, the three-phase voltage commands Vu*, Vv*, Vw* corresponding to the torque command T* are generated.

[0024] The carrier frequency adjustment unit 16 calculates a carrier frequency fc representing the frequency of a carrier wave used to generate a PWM pulse signal, based on the d-axis current command Id* and the q-axis current command Iq* generated by the current command generation unit 11, the d-axis voltage command Vd* and the q-axis voltage command Vq* calculated by the current control unit 14, the rotational position θ calculated by the rotational position detector 4, the rotational speed ωr calculated by the speed calculation unit 12, and the power supply voltage Hvdc. The carrier frequency adjustment unit 16 calculates a carrier frequency fc representing the frequency of a carrier wave used to generate a PWM pulse signal, based on the d-axis current command Id* and the q-axis voltage command Vq* calculated by the current control unit 14, the rotational position θ calculated by the rotational position detector 4, the rotational speed ωr calculated by the speed calculation unit 12, and the power supply voltage Hvdc. The carrier frequency adjustment unit 16 adjusts the frequency of the carrier wave so that the capacitor voltage ripple generated between both ends of the smoothing capacitor 33 can be reduced by generating a carrier wave according to the carrier frequency fc. The calculation method of the carrier frequency adjustment unit 16 for the carrier frequency fc will be described in detail later.

[0025] The carrier wave generating unit 17 generates a carrier wave signal (triangular wave signal) Tr based on the carrier wave frequency fc calculated by the carrier wave frequency adjusting unit 16.

[0026] The PWM control unit 18 uses the carrier signal Tr output from the carrier generation unit 17 to pulse-width modulate the three-phase voltage commands Vu*, Vv*, and Vw* output from the dq / three-phase voltage command conversion unit 15, respectively, to generate a PWM pulse signal for controlling the operation of the inverter 3. Specifically, based on a comparison result between the three-phase voltage commands Vu*, Vv*, and Vw* output from the dq / three-phase voltage command conversion unit 15 and the carrier signal Tr output from the carrier generation unit 17, a pulse-shaped voltage is generated for each of the U phase, V phase, and W phase. Then, based on the generated pulse-shaped voltage, a PWM pulse signal for the switching element of each phase of the inverter 3 is generated. At this time, the PWM pulse signals Gup, Gvp, and Gwp of the upper arm of each phase are logically inverted, respectively, to generate PWM pulse signals Gun, Gvn, and Gwn of the lower arm. The PWM pulse signal generated by the PWM control unit 18 is output from the inverter control device 1 to the gate drive circuit 32 of the inverter 3, and is converted into a gate drive signal by the gate drive circuit 32. As a result, each switching element of the inverter circuit 31 is on / off controlled, and the output voltage of the inverter 3 is adjusted.

[0027] Next, the operation of the carrier frequency adjustment unit 16 in the inverter control device 1 will be described. As described above, the carrier frequency adjustment unit 16 calculates the carrier frequency fc based on the d-axis current command Id* and the q-axis current command Iq*, the d-axis voltage command Vd* and the q-axis voltage command Vq*, the rotational position θ, the rotational speed ωr, and the power supply voltage Hvdc. By sequentially controlling the frequency of the carrier signal Tr generated by the carrier generation unit 17 according to this carrier frequency fc, the period and phase of the carrier signal Tr are adjusted to have a desired relationship with respect to the voltage waveforms of the three-phase voltage commands Vu*, Vv*, and Vw* corresponding to the torque command T*. The desired relationship here refers to, for example, a relationship in which the frequency of a specific order component of the capacitor voltage ripple generated by the switching operation of the inverter 3 does not match the resonance frequency of the input side circuit of the inverter 3.

[0028] 3 is a block diagram of carrier frequency adjustment unit 16 according to the first embodiment of the present invention. Carrier frequency adjustment unit 16 has a synchronous PWM carrier number selection unit 161, a voltage phase calculation unit 162, a modulation factor calculation unit 163, a power factor calculation unit 164, a voltage phase error calculation unit 165, a synchronous carrier frequency calculation unit 166, and a carrier frequency setting unit 167.

[0029] The synchronous PWM carrier number selection unit 161 selects the synchronous PWM carrier number Nc, which indicates the number of carriers for one period of the voltage waveform in the synchronous PWM control, based on the rotation speed ωr. The synchronous PWM carrier number selection unit 161 selects, for example, a number that satisfies the conditional expression Nc=3×(2×n−1) among multiples of 3 as the synchronous PWM carrier number Nc. In this conditional expression, n represents an arbitrary natural number, and for example, n=1 (Nc=3), n=2 (Nc=9), n=3 (Nc=15), etc. are often selected. In addition, by using a special carrier, it is also possible to select, as the synchronous PWM carrier number Nc, a number that does not satisfy the above conditional expression even if it is a multiple of 3, such as Nc=6 or Nc=12. Note that the synchronous PWM carrier number selection unit 161 may select the synchronous PWM carrier number Nc based on not only the rotation speed ωr but also the torque command T*. Also, the selection criteria for the synchronous PWM carrier number Nc may be changed depending on whether the rotation speed ωr increases or decreases, for example by setting a hysteresis.

[0030] Voltage phase calculation unit 162 calculates a voltage phase θv based on the d-axis voltage command Vd*, the q-axis voltage command Vq*, the rotational position θ, the rotational speed ωr, and the carrier frequency fc using the following equations (1) to (4). θv=θ+φv+φdqv+0.5π ···(1) φv = ωr 1.5Tc (2) Tc=1 / fc (3) φdqv = atan(Vq / Vd) (4)

[0031] Here, φv represents a calculation delay compensation value for the voltage phase, Tc represents the carrier wave period, and φdqv represents the voltage phase from the d-axis. The calculation delay compensation value φv is a value that compensates for the calculation delay of 1.5 control periods that occurs between when the rotation position detector 4 acquires the rotation position θ and when the inverter control device 1 outputs a PWM pulse signal to the inverter 3. In this embodiment, 0.5π is added to the fourth term on the right side of equation (1). This is a calculation to convert the voltage phase calculated in the first to third terms on the right side of equation (1) into a sine wave, since the voltage phase is a cosine wave.

[0032] The modulation factor calculation unit 163 calculates the modulation factor H based on the d-axis voltage command Vd*, the q-axis voltage command Vq*, and the power supply voltage Hvdc in accordance with the following equation (5). Note that the modulation factor H represents the ratio between the DC voltage supplied from the high-voltage battery 5 to the inverter 3 and the AC voltage output from the inverter 3 to the motor 2. H=√(Vd^2+Vq^2) / Hvdc ···(5)

[0033] Power factor calculation unit 164 calculates power factor PF based on d-axis current command Id*, q-axis current command Iq*, d-axis voltage command Vd*, and q-axis voltage command Vq* in accordance with the following equation (6). Note that power factor PF is a parameter that indicates the phase difference between the voltage vector and the current vector in the AC power output from inverter 3 to motor 2, and is an important parameter that determines how much current flows to the DC side in motor 2. The tendency of the capacitor voltage ripple in smoothing capacitor 33 changes significantly depending on the value of this power factor PF. PF=cos(atan(-Id / Iq)-atan(-Vd / Vq))...(6)

[0034] The voltage phase error calculation unit 165 calculates a voltage phase error Δθv based on the synchronous PWM carrier number Nc selected by the synchronous PWM carrier number selection unit 161, the voltage phase θv calculated by the voltage phase calculation unit 162, the modulation factor H calculated by the modulation factor calculation unit 163, the power factor PF calculated by the power factor calculation unit 164, and the rotation speed ωr. The voltage phase error Δθv represents a phase difference between three-phase voltage commands Vu*, Vv*, Vw*, which are voltage commands for the inverter 3, and the carrier signal Tr used for pulse width modulation. The voltage phase error calculation unit 165 calculates the voltage phase error Δθv at each predetermined calculation period, so that the carrier frequency adjustment unit 16 can change the phase difference between the voltage command for the inverter 3 and the carrier wave used for pulse width modulation, thereby adjusting the frequency of the carrier signal Tr to suppress the capacitor voltage ripple.

[0035] The synchronous carrier frequency calculation unit 166 calculates a synchronous carrier frequency fcs based on the voltage phase error Δθv calculated by the voltage phase error calculation unit 165, the rotation speed ωr, and the synchronous PWM carrier number Nc selected by the synchronous PWM carrier number selection unit 161, in accordance with the following equation (6). fcs=ωr·Nc·(1+Δθv·K) / (2π) ···(7)

[0036] The synchronous carrier frequency calculation unit 166 can calculate the synchronous carrier frequency fcs based on the equation (7) by, for example, PLL (Phase Locked Loop) control. Note that in the equation (7), the gain K may be a constant value or may be variable depending on conditions.

[0037] The carrier frequency setting unit 167 selects either the synchronous carrier frequency fcs calculated by the synchronous carrier frequency calculation unit 166 or the asynchronous carrier frequency fcns based on the rotation speed ωr, and outputs it as the carrier frequency fc. The asynchronous carrier frequency fcns is a constant value set in advance in the carrier frequency setting unit 167. Note that a plurality of asynchronous carrier frequencies fcns may be prepared in advance, and one of them may be selected according to the rotation speed ωr. For example, the carrier frequency setting unit 167 may select the asynchronous carrier frequency fcns and output it as the carrier frequency fc so that the value of the asynchronous carrier frequency fcns increases as the value of the rotation speed ωr increases.

[0038] Next, a method of calculating voltage phase error Δθv in voltage phase error calculation section 165 in carrier frequency adjustment section 16 will be described in detail.

[0039] 4 is a block diagram of the voltage phase error calculation unit 165 according to the first embodiment of the present invention. The voltage phase error calculation unit 165 includes a reference voltage phase calculation unit 1651, an order component selection unit 1652, a fixed carrier phase determination unit 1653, an addition unit 1654, and a subtraction unit 1655.

[0040] The reference voltage phase calculation unit 1651 calculates a reference voltage phase θvb for fixing the phase of the carrier wave in synchronous PWM control based on the synchronous PWM carrier number Nc and the voltage phase θv.

[0041] Fig. 5 is a conceptual diagram of the reference voltage phase calculation performed by the reference voltage phase calculation unit 1651. For example, as shown in Fig. 5, the reference voltage phase calculation unit 1651 calculates a reference voltage phase θvb that changes stepwise between 0 and 2π with the number of steps corresponding to the synchronous PWM carrier number Nc. Note that, for ease of understanding, Fig. 5 shows an example in which the synchronous PWM carrier number Nc is 3, but in practice, the synchronous PWM carrier number Nc is preferably set to Nc=3, 9, or 15 as described above. Alternatively, Nc=6 or 12 may be used.

[0042] In this embodiment, in order to reduce the processing load, for example, as shown in FIG. 5, the carrier frequency adjustment unit 16 can adjust the carrier frequency only in a valley section, which is a section where the triangular carrier rises from a minimum value (valley) to a maximum value (peak). In this case, the synchronous carrier frequency calculation unit 166 performs synchronous PWM control by sequentially calculating the synchronous carrier frequency fcs from the voltage phase error Δθv in the valley section of the carrier, as described later. The reference voltage phase calculation unit 1651 calculates the reference voltage phase θvb used in the calculation of this voltage phase error Δθv as a discrete value that changes at intervals of π / 3, as shown in FIG. 5. The interval of this reference voltage phase θvb changes according to the synchronous PWM carrier number Nc. The larger the synchronous PWM carrier number Nc, the smaller the interval of the reference voltage phase θvb becomes.

[0043] Specifically, the reference voltage phase calculation unit 1651 calculates the reference voltage phase θvb based on the voltage phase θv and the number of synchronous PWM carriers Nc in accordance with the following equations (8) to (9). θvb=int(θv / θs)·θs+0.5θs ···(8) θs=2π / Nc (9)

[0044] Here, θs represents the variation width of the voltage phase θv per carrier wave, and int represents a rounding down operation to the nearest integer.

[0045] In this embodiment, the reference voltage phase θvb is calculated in the reference voltage phase calculation unit 1651 according to the formulas (8) to (9) so that the reference voltage phase θvb is 0 rad in a mountain-divided interval, which is an interval in which the triangular carrier wave falls from the maximum value (peak) to the minimum value (valley). However, the period in which the reference voltage phase θvb is 0 rad is not limited to the mountain-divided interval. If the reference voltage phase θvb that changes stepwise between 0 and 2π with the number of steps corresponding to the number of synchronous PWM carriers Nc can be calculated using the voltage phase θv, the reference voltage phase calculation unit 1651 may calculate the reference voltage phase θvb by a calculation method other than the formulas (8) to (9).

[0046] The order component selection unit 1652 selects an order component (hereinafter referred to as a "target order component") Nr of which the voltage amplitude is to be reduced in the capacitor voltage ripple based on the rotation speed ωr. In the inverter 3, a fluctuation occurs in the DC voltage supplied from the high-voltage battery 5 due to the switching operation of each switching element of the inverter circuit 31. This DC voltage fluctuation is suppressed by the smoothing capacitor 33, but cannot be completely eliminated, and appears as a voltage fluctuation (capacitor voltage ripple) of the smoothing capacitor 33. Such a capacitor voltage ripple includes each order component having the frequency of the three-phase AC voltages Vu, Vv, and Vw as a fundamental wave. In this embodiment, the order component selection unit 1652 selects, from each order component of the capacitor voltage ripple, an order component whose frequency coincides with the resonant frequency of the input side circuit of the inverter 3 as the target order component Nr. Note that the details of the method of selecting the target order component Nr in the order component selection unit 1652 will be described later.

[0047] The fixed carrier phase determination unit 1653 determines a carrier phase difference Δθcarr representing the phase difference of the carrier with respect to the reference voltage phase θvb, for use in calculating the voltage phase error Δθv, based on the target order component Nr selected by the order component selection unit 1652, the modulation factor H, and the power factor PF. Here, the modulation factor H and the power factor PF are used as parameters to determine the value of the carrier phase difference Δθcarr that is optimal for reducing the voltage amplitude of the target order component Nr, so that the phase of the carrier based on the reference voltage phase θvb is fixed to the carrier phase difference Δθcarr. The method of determining the carrier phase difference Δθcarr in the fixed carrier phase determination unit 1653 will be described in detail later.

[0048] The adder 1654 calculates a corrected reference voltage phase θvb2 for reducing the voltage amplitude of the target order component Nr of the capacitor voltage ripple by adding the carrier phase difference Δθcarr determined by the fixed carrier phase determination unit 1653 to the reference voltage phase θvb calculated by the reference voltage phase calculation unit 1651.

[0049] The subtraction unit 1655 subtracts the corrected reference voltage phase θvb2 from the voltage phase θv to calculate the voltage phase error Δθv.

[0050] Next, the order component selection unit 1652 and the fixed carrier phase determination unit 1653, which are features of the present invention, will be described in detail below.

[0051] First, the capacitor voltage ripple taken up in the present invention will be described. In the motor drive system 100 of this embodiment, the DC voltage output from the high-voltage battery 5 is converted to a three-phase AC voltage by the inverter 3, and this is output to the motor 2, thereby driving the motor 2 which is a three-phase AC motor. The inverter 3 is provided with a smoothing capacitor 33 connected in parallel with the inverter circuit 31 to the high-voltage battery 5, and the capacitance of this smoothing capacitor 33 smoothes the pulse voltage generated on the DC side of the inverter 3. At this time, resonance occurs between the smoothing capacitor 33 and the high-voltage battery 5 at a resonance frequency fr expressed by the following formula (10). In formula (10), L represents the wiring inductance between the smoothing capacitor 33 and the high-voltage battery 5, and C represents the capacitance of the smoothing capacitor 33. fr=1 / {2π·√(LC)} ···(10)

[0052] On the other hand, the above-mentioned pulse voltage generates a capacitor voltage ripple on the DC side of the inverter 3. This capacitor voltage ripple contains many order components (harmonic components) with respect to the fundamental frequency (the frequency of the fundamental components of the three-phase AC voltages Vu, Vv, and Vw) of the motor 2, which is determined according to the rotation speed ωr. When the frequency of a specific order component among these order components contained in the capacitor voltage ripple matches the resonance frequency fr of equation (10), the order component is amplified by resonance, leading to an increase in the capacitor voltage ripple. The increase in the capacitor voltage ripple increases the ripple current flowing between the high-voltage battery 5 and the inverter 3, which may accelerate the deterioration of the high-voltage battery 5. In addition, the value of the modulation factor H expressed by equation (5) may suddenly change due to fluctuations in the power supply voltage Hvdc, which may cause the inverter control by the inverter control device 1 to become unstable.

[0053] A common measure against the capacitor voltage ripple is to increase the capacitance of the smoothing capacitor 33. However, when the capacitance of the smoothing capacitor 33 is increased, the volume of the smoothing capacitor 33 also increases accordingly. Since the smoothing capacitor 33 is a component that occupies a relatively large volume among the components mounted on the inverter 3, there is a strong demand for miniaturization. Therefore, there is a demand for a method of suppressing the capacitor voltage ripple other than increasing the capacitance of the smoothing capacitor 33.

[0054] Fig. 6 is a diagram showing an example of a capacitor voltage ripple. In Fig. 6, Fig. 6(a) and Fig. 6(b) respectively show an example of a capacitor voltage ripple waveform generated in the inverter 3 and a frequency analysis result thereof when the number of poles of the motor 2 is 8, the rotation speed is ωr=6000 [rpm], and the voltage of the high-voltage battery 5 is Hvdc=325 [Vdc].

[0055] When the motor 2 is driven under the above conditions, the fundamental frequency of the motor 2 is calculated as f1 = 400 [Hz] by the following equation (11). Therefore, one period of the electrical angle of the motor 2 at this time is 1 / f1 = 2.5 [ms]. In the equation (11), P represents the number of poles of the motor 2. f1=(ωr / 60)·(P / 2)·(11)

[0056] The frequency analysis result of the capacitor voltage ripple shown in Figure 6(b) shows the magnitude of the voltage amplitude of the capacitor voltage ripple of each order component relative to the fundamental frequency f1 of the motor 2 when the motor 2 is driven under the conditions described above. From this frequency analysis result, it can be seen that the main order components of the capacitor voltage ripple generated when the motor 2 is driven under the conditions described above are the order components that are multiples of 6 with respect to the fundamental frequency f1 of the motor 2, and that the voltage amplitude of the 12th order component in particular is large and dominant. The reason for this is thought to be that the 12th order component exists near the resonance frequency fr, and is amplified by resonance.

[0057] Therefore, in the motor drive system 100 of this embodiment, when the frequency difference between a specific order component (for example, an order component that is a multiple of 6) of the fundamental wave of the motor 2, whose frequency changes according to the rotation speed ωr of the motor 2, and the resonance frequency fr becomes less than a predetermined value, the inverter control device 1 performs reduction control of the capacitor voltage ripple. In this reduction control of the capacitor voltage ripple, the inverter control device 1 sets a voltage phase error Δθv by the voltage phase error calculation unit 165 in the carrier frequency adjustment unit 16 so as to reduce the voltage amplitude of the order component in the capacitor voltage ripple.

[0058] Specifically, the order component is selected as the target order component Nr by order component selector 1652 in voltage phase error calculator 165. Then, fixed carrier phase determiner 1653 determines a value of carrier phase difference Δθcarr that reduces the voltage amplitude of this target order component Nr. This allows carrier frequency adjuster 16 to operate so that a correction reference voltage phase θvb2 that reduces the voltage amplitude of the target order component Nr in the capacitor voltage ripple is set, and a voltage phase error Δθv corresponding to this is calculated to set carrier frequency fc.

[0059] Fig. 7 is a diagram showing an example of the relationship between the motor rotation speed and the frequency of each order component. In Fig. 7, the horizontal axis represents the rotation speed (rotational speed ωr) of the motor 2, and the vertical axis represents the fundamental wave component of the motor 2 and the frequency of each order component that is a multiple of 6. Note that, as in Fig. 6, the number of poles of the motor 2 is set to P=8 in Fig. 7.

[0060] Here, if the capacitance of the smoothing capacitor 33 is C = 1000 [μF] and the wiring inductance between the smoothing capacitor 33 and the high-voltage battery 5 is L = 2 [μH], the resonance frequency can be calculated as fr ≈ 3.5 [kHz] from the above-mentioned formula (10). In Fig. 7, the vicinity of this resonance frequency fr = 3.5 [kHz] is indicated by hatching as the resonance frequency band 70.

[0061] 7, it can be seen that in the range of rotation speed ωr of 9000 rpm or less, there exists a region where the frequency of any of the 6th, 12th, 18th, and 24th order components overlaps with the resonant frequency band 70. Note that which order component overlaps with the resonant frequency band 70 is determined according to the rotation speed ωr. Therefore, in order to effectively reduce the capacitor voltage ripple over the entire range of rotation speeds ωr that the motor 2 can have, it is necessary to select the target order component Nr in consideration of the relationship between the frequency of each order component and the resonant frequency fr as shown in FIG. 7.

[0062] Specifically, the order component selection unit 1652 calculates the fundamental frequency f1 using equation (11) based on the rotation speed ωr. Then, the frequency of each order component is calculated based on this fundamental frequency f1, and if the difference between the frequency of any order component and a predetermined resonance frequency fr is less than a predetermined value, the order component is selected as the target order component Nr. Note that instead of calculating the frequency of each order component, information such as a map showing the relationship between the rotation speed ωr and the frequency of each order component may be stored in advance, so that the target order component Nr can be selected based on the rotation speed ωr. In addition to this, the target order component Nr can be selected by any other method.

[0063] Next, the operation of the fixed carrier phase determination unit 1653 will be described. Prior to the present invention, the inventor discovered that when the ratio of the carrier frequency fc to the fundamental frequency f1, i.e., the number of synchronous PWM carriers Nc, is 9 or more, the phase of the carrier is shifted with respect to the modulated wave, and the voltage amplitude of each order component of the capacitor voltage ripple can be changed according to the amount of phase shift while maintaining the voltage amplitude of the fundamental component of the three-phase AC voltages Vu, Vv, and Vw obtained by pulse width modulation. The fixed carrier phase determination unit 1653 utilizes this principle to determine the value of the carrier phase difference Δθcarr based on the modulation factor H and the power factor PF so as to obtain the amount of phase shift that minimizes the amplitude of the target order component Nr.

[0064] Fig. 8 is a diagram showing an example of the relationship between the phase shift amount of the carrier wave with respect to the modulated wave and each order component of the d-axis voltage and the q-axis voltage. In Fig. 8, when the modulation rate is H=1.15 and the number of synchronous PWM carriers is Nc=9, Fig. 8(a) to Fig. 8(f) respectively show the relationship between the phase shift amount of the carrier wave with respect to the modulated wave and each order component of the 0th order, 6th order, 12th order, 18th order, and 24th order in the d-axis voltage and the q-axis voltage.

[0065] It can be seen that even if the amount of phase shift is changed, the fluctuations in the voltage amplitudes of the 0th-order components of the d-axis and q-axis voltages shown in Figures 8(a) and (b) and the 6th-order components of the d-axis and q-axis voltages shown in Figures 8(c) and (d) can be suppressed to within ±2 V. On the other hand, it can be seen that, when the amount of phase shift is changed, the voltage amplitudes of the 12th-order components of the d-axis and q-axis voltages shown in Figures 8(c) and (d) and the 24th-order components of the d-axis and q-axis voltages shown in Figures 8(e) and (f) fluctuate greatly.

[0066] Here, the voltage amplitudes of each order component of the d-axis and q-axis voltages shown in Fig. 8 are obtained by converting the waveforms of the PWM pulse signals of each phase obtained by pulse width modulation of the three-phase voltage commands Vu*, Vv*, and Vw* into d-axis and q-axis voltages by dq conversion based on the rotational position θ. A certain relationship expressed by a well-known relational expression is established between the DC voltage and DC current input to the inverter 3 and the dq-axis voltage and dq-axis current output from the inverter 3, and if the dq-axis voltage is reduced, the DC voltage is also reduced. Therefore, if the sum of the specific order components of the dq-axis voltage can be reduced, the corresponding order component of the capacitor voltage ripple can also be reduced.

[0067] In this embodiment, taking note of such a feature, the fixed carrier phase determination unit 1653 sets the value of the carrier phase difference Δθcarr corresponding to the amount of phase shift so as to suppress the voltage amplitude of the target order component Nr of the capacitor voltage ripple.

[0068] 8 and the amplitude of each order component changes depending on the modulation factor H and the power factor PF. Therefore, the fixed carrier phase determination unit 1653 uses the modulation factor H and the power factor PF as parameters, selects the optimum carrier phase difference Δθcarr value for suppressing the voltage amplitude of the target order component Nr depending on the combination of these parameter values, and sets the phase shift amount.

[0069] Specifically, for example, the fixed carrier phase determination unit 1653 stores in advance a map indicating the optimum value of the carrier phase difference Δθcarr for each combination of the modulation factor H and the power factor PF for each order component that may be selected as the target order component Nr. The fixed carrier phase determination unit 1653 refers to the map corresponding to the target order component Nr using the values ​​of the modulation factor H and the power factor PF calculated by the modulation factor calculation unit 163 and the power factor calculation unit 164, respectively, as parameters, and acquires the value of the carrier phase difference Δθcarr. This makes it possible to determine the carrier phase difference Δθcarr.

[0070] FIG. 9 is a diagram showing an example of a map of the 12th order component. In the map example of FIG. 9, the values ​​of the carrier phase difference Δθcarr that is optimal for suppressing the voltage amplitude of the 12th order component are described in 15 degree increments for each combination of each value of the modulation factor H=0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1, 1.1.1.15 and each value of the power factor PF=1.00, 0.98, 0.94, 0.87, 0.77. When Nr=12, the fixed carrier phase determination unit 1653 can determine the value of the carrier phase difference Δθcarr by referring to the value of the combination that is closest to the modulation factor H and power factor PF at that time in such a map, for example. Note that FIG. 9 shows only an example of the map of the 12th order component, but similar maps for other order components are stored in the fixed carrier phase determination unit 1653.

[0071] Alternatively, the carrier phase difference Δθcarr may be determined by a method other than the map. For example, the relationship between the modulation factor H and the power factor PF and the carrier phase difference Δθcarr may be expressed by an arithmetic expression for each value of the target order component Nr, and the carrier phase difference Δθcarr may be determined by using this arithmetic expression. In addition to this, as long as an appropriate value of the carrier phase difference Δθcarr can be determined based on the target order component Nr, the modulation factor H, and the power factor PF, the fixed carrier phase determiner 1653 can determine the carrier phase difference Δθcarr by using any method.

[0072] Fig. 10 is a diagram showing a comparative example of the capacitor voltage ripple in the conventional technology and the present invention. Fig. 10 shows an example of the magnitude of the voltage amplitude of the capacitor voltage ripple when the modulation factor and the power factor are changed in a case where a conventional inverter to which the present invention is not applied is used, and a case where a specific order component of the capacitor voltage ripple is reduced by shifting the phase of the carrier wave relative to the modulated wave using the inverter 3 of the present invention. Fig. 10(a) shows the simulation results when the power factor PF is 1.00, Fig. 10(b) shows the power factor PF is 0.98, Fig. 10(c) shows the power factor PF is 0.94, Fig. 10(d) shows the power factor PF is 0.87, and Fig. 10(e) shows the power factor PF is 0.77, where the horizontal axis represents the modulation factor H and the vertical axis represents the voltage amplitude of the capacitor voltage ripple.

[0073] From the simulation results of Figure 10, it can be seen that in any case, by applying the present invention, the phase of the carrier wave is shifted relative to the modulated wave, thereby reducing the specific order components of the capacitor voltage ripple, thereby suppressing the capacitor voltage ripple.

[0074] FIG. 11 is a diagram showing a comparative example of the capacitor voltage ripple before and after the phase of the carrier wave is shifted in the inverter 3. FIG. 11(a) shows an example of the waveforms of the U-phase voltage command Vu* and the carrier signal Tr before the phase shift of the carrier wave, FIG. 11(b) shows an example of the waveform of the capacitor voltage ripple before the phase shift of the carrier wave, and FIG. 11(c) shows the frequency analysis result of FIG. 11(b). Note that FIG. 11(b) and FIG. 11(c) are the same as the above-mentioned FIG. 6(a) and FIG. 6(b), respectively. Meanwhile, FIG. 11(d) shows an example of the waveforms of the U-phase voltage command Vu* and the carrier signal Tr after the phase shift of the carrier wave, FIG. 11(e) shows an example of the waveform of the capacitor voltage ripple after the phase shift of the carrier wave, and FIG. 11(f) shows the frequency analysis result of FIG. 11(e). 11(d), 11(e), and 11(f) each show an example in which the value of the carrier phase difference Δθcarr is set to 245 [deg] in the fixed carrier phase determination unit 1653.

[0075] As described above, when the 12th order component of the fundamental wave of the motor 2 is in the vicinity of the resonance frequency fr, in the inverter control device 1, the order component selector 1652 selects the 12th order component as the target order component Nr based on the rotation speed ωr. Then, the fixed carrier phase determiner 1653 determines a carrier phase difference Δθcarr that reduces the 12th order component, which is the target order component Nr, based on the modulation factor H and the power factor PF. By generating a carrier signal Tr according to this carrier phase difference Δθcarr, the phase of the carrier with respect to the modulated wave is shifted as shown in Fig. 11(a) and Fig. 11(d).

[0076] A PWM pulse signal is generated by performing pulse width modulation based on the three-phase voltage commands Vu*, Vv*, and Vw* using the carrier wave after the phase shift as described above. In this way, as shown in Fig. 11(c) and Fig. 11(f), the voltage of the 12th order component that has increased due to resonance in the capacitor voltage ripple can be reduced from 7.4 [V] to 0.7 [V]. As a result, as shown in Fig. 11(b) and Fig. 11(e), it is possible to suppress the voltage amplitude (peak-to-peak) of the capacitor voltage ripple from 28.5 [V] to 13.3 [V].

[0077] In the method for suppressing the capacitor voltage ripple described in this embodiment, the magnitude of the voltage amplitude that can be suppressed is strongly affected by the modulation factor H and the power factor PF, so there is a concern that the target may not be fully achieved if an attempt is made to reduce the capacitor voltage ripple over the entire rotation speed range of the motor 2. For this reason, it is desirable to achieve the target by combining the method for suppressing the capacitor voltage ripple of this embodiment with an increase in the capacitance of the smoothing capacitor 33.

[0078] In addition, when the rotation speed ωr or the torque command T* of the motor 2 is changing rapidly, there is a concern that the phase shift amount of the carrier wave may not be able to sufficiently follow the command value when the method for suppressing the capacitor voltage ripple of this embodiment is implemented. Therefore, for example, when the rotation speed ωr is changing at a rate equal to or greater than a predetermined acceleration, that is, when the rate of change of the rotation speed ωr is equal to or greater than a predetermined value, the carrier phase difference Δθcarr may be kept constant without being changed, so that the phase shift amount of the carrier wave is not changed. Then, when the rate of change of the rotation speed ωr becomes less than a predetermined value, the carrier phase difference Δθcarr is determined based on the modulation factor H and the power factor PF at that time, and is changed to the target phase shift amount, thereby suppressing the capacitor voltage ripple. Note that when the rotation speed ωr does not change, the carrier phase difference Δθcarr is constant, so that the phase shift amount of the carrier wave is also not changed and remains constant in this case.

[0079] In addition, when the value of the carrier phase difference Δθcarr selected by the fixed carrier phase determination unit 1653 changes in response to a change in the rotation state of the motor 2, for example, a change in at least one of the modulation factor H, the power factor PF, and the rotation speed ωr, the values ​​of the voltage phase error Δθv output from the voltage phase error calculation unit 165 before and after the change may be changed continuously rather than being switched in a stepwise manner. For example, the voltage phase error Δθv output from the voltage phase error calculation unit 165 can be input to the synchronous carrier frequency calculation unit 166 via a one-time delay filter to change the voltage phase error Δθv continuously. In this way, it is possible to prevent the torque and rotation speed of the motor 2 from suddenly changing when the phase shift amount of the carrier wave is changed in order to suppress the capacitor voltage ripple.

[0080] In the voltage phase error calculation unit 165, the voltage phase error Δθv is calculated as described above. As a result, the phase shift amount for reducing the voltage amplitude of a specific order component among the order components of the capacitor voltage ripple superimposed on the power supply voltage Hvdc supplied from the high voltage battery 5 is determined based on the rotation speed ωr, the modulation factor H, and the power factor PF, and the voltage phase error Δθv can be determined so as to change the phase difference between the three-phase voltage commands Vu*, Vv*, Vw* and the carrier signal Tr according to the determined phase shift amount. As a result, the phase difference between the voltage command for the inverter 3 and the carrier wave used for pulse width modulation can be changed to set the carrier frequency fc so as to suppress the capacitor voltage ripple.

[0081] In addition, in the carrier frequency adjustment unit 16, the above processing may be performed either when the motor 2 is in power running or regenerative driving. During power running, the torque command T* has a positive value, and during regenerative driving, the torque command T* has a negative value. Therefore, in the carrier frequency adjustment unit 16, a determination is made as to whether the motor 2 is in power running or regenerative driving from the value of the torque command T*, and the above-mentioned calculation processing is performed in the voltage phase error calculation unit 165 based on the result of the determination, whereby the voltage phase error Δθv is changed to set the carrier frequency fc so as to suppress the capacitor voltage ripple.

[0082] According to the first embodiment of the present invention described above, the following advantageous effects are achieved.

[0083] (1) The inverter control device 1 controls the inverter 3 that converts the DC voltage Hvdc into an AC voltage and outputs it to the motor 2, and includes a carrier generation unit 17 that generates a carrier signal Tr, a carrier frequency adjustment unit 16 that adjusts a carrier frequency fc that represents the frequency of the carrier signal Tr, and a PWM control unit 18 that pulse-width modulates three-phase voltage commands Vu*, Vv*, and Vw* using the carrier signal Tr to generate a PWM pulse signal for controlling the operation of the inverter 3. The carrier frequency adjustment unit 16 determines a carrier phase difference Δθcarr that represents a phase shift amount for reducing the voltage amplitude of a specific order component among the order components of the capacitor voltage ripple superimposed on the DC voltage Hvdc, and adjusts the carrier frequency fc so as to change a voltage phase error Δθv that represents a phase difference between the three-phase voltage commands Vu*, Vv*, and Vw* and the carrier signal Tr according to the determined carrier phase difference Δθcarr. In this way, the capacitor voltage ripple can be sufficiently suppressed.

[0084] (2) The carrier frequency adjuster 16 determines the carrier phase difference Δθcarr based on the modulation factor H, which is the ratio of the DC voltage Hvdc to the AC voltage, and the power factor PF, which represents the phase difference between the AC voltage and the AC current output from the inverter 3 to the motor 2. As a result, it is possible to determine the carrier phase difference Δθcarr that can sufficiently suppress the capacitor voltage ripple, which is strongly affected by the modulation factor H and the power factor PF.

[0085] (3) The carrier frequency adjustment unit 16 selects a specific order component (target order component Nr) for reducing the voltage amplitude in the capacitor voltage ripple based on the rotation speed ωr representing the rotation speed of the motor 2. Specifically, the carrier frequency adjustment unit 16 selects, as the target order component Nr, an order component whose frequency difference with the resonance frequency fr of the inverter 3 in the input path of the DC voltage Hvdc is less than a predetermined value, from among the order components of the voltage ripple whose frequency changes according to the rotation speed ωr. Since this is done, the order component amplified by resonance can be selected as the target order component Nr, making it possible to effectively suppress the capacitor voltage ripple.

[0086] (4) Carrier frequency adjuster 16 selects, for example, an order component that is a multiple of 6 as the target order component Nr. Since this is done, it is possible to select an order component that is a multiple of 6, which is the main order component of the capacitor voltage ripple, as the target order component Nr and reduce the voltage amplitude of this target order component Nr, so that the capacitor voltage ripple can be reliably suppressed.

[0087] (5) The carrier frequency adjuster 16 adjusts the carrier frequency fc so that the carrier frequency fc is an integer multiple of the frequency of the three-phase voltage commands Vu*, Vv*, and Vw* by selecting the synchronous PWM carrier number Nc to a predetermined integer value by the synchronous PWM carrier number selector 161. Specifically, for example, the synchronous PWM carrier number Nc is selected to be a multiple of 3, thereby adjusting the carrier frequency fc so that the number of carriers per period of the three-phase voltage commands Vu*, Vv*, and Vw* is a multiple of 3. In this manner, the period and phase of the carrier signal Tr are adjusted to have the desired relationship with respect to the voltage waveforms of the three-phase voltage commands Vu*, Vv*, and Vw*, and synchronous PWM control can be reliably performed.

[0088] (6) When the rotation speed ωr does not change or when the rate of change of the rotation speed ωr is equal to or greater than a predetermined value, the carrier frequency adjuster 16 may keep the carrier phase difference Δθcarr constant. In this way, it is possible to suppress the capacitor voltage ripple while maintaining the tracking ability of the control.

[0089] Second embodiment Next, a second embodiment of the present invention will be described with reference to the drawings.

[0090] Fig. 12 is an overall configuration diagram of a motor drive system according to a second embodiment of the present invention. In Fig. 12, a motor drive system 75 has redundant drive systems 102A and 102B, and an inverter control device 1, a motor 2, and a high-voltage battery 5 are commonly connected to these drive systems 102A and 102B. In this embodiment, a motor 2 has two winding systems 21 and 22, one winding system 21 forming the drive system 102A and the other winding system 22 forming the drive system 102B.

[0091] The drive system 102A has an inverter 3 and a rotational position detector 4, and a rotational position sensor 8 for detecting a rotational position θ of a rotor corresponding to the winding system 21 is attached to the motor 2. AC power generated by the inverter 3 flows through the winding system 21 of the motor 2 to rotate the motor 2. In the drive system 102A, a current detector 7 is disposed between the inverter 3 and the motor 2.

[0092] The drive system 102B has an inverter 3a and a rotational position detector 4a, and a rotational position sensor 8a for detecting the rotational position θa of the rotor corresponding to the winding system 22 is attached to the motor 2. The AC power generated by the inverter 3a flows through the winding system 22 of the motor 2 to rotate the motor 2. In the drive system 102B, a current detector 7a is disposed between the inverter 3a and the motor 2.

[0093] The inverter control device 1 of this embodiment is connected to the inverters 3 and 3a. A torque command T* for the motor 2 is input to the inverter control device 1. The inverter control device 1 generates a PWM pulse signal for controlling the driving of the motor 2 in the manner described in the first embodiment based on the input torque command T*, and outputs the PWM pulse signal to the inverters 3 and 3a. That is, the voltage phase error calculation unit 165 of the carrier frequency adjustment unit 16 of the inverter control device 1 sets the carrier phase difference Δθcarr so that the capacitor voltage ripple generated in the drive systems 102A and 102B can be suppressed, and calculates the voltage phase error Δθv based on the carrier phase difference Δθcarr to adjust the frequency of the carrier signal Tr. At this time, it is preferable that the fixed carrier phase determination unit 1653 refers to separate maps for the drive system 102A and the drive system 102B, and sets the values ​​of the carrier phase difference Δθcarr for the drive systems 102A and 102B so that the capacitor voltage ripple generated in each system can be most effectively reduced. Alternatively, the values ​​of the carrier phase difference Δθcarr for the driving systems 102A and 102B may be set so that the sum of the capacitor voltage ripples of the driving systems 102A and 102B can be most effectively reduced.

[0094] According to this embodiment, the motor drive system 75 of FIG. 12 is realized using the inverter control device 1 described in the first embodiment, and the effect of suppressing capacitor voltage ripple is obtained for each of the drive systems 102A and 102B.

[0095] (Third embodiment) Next, a third embodiment of the present invention will be described with reference to the drawings.

[0096] FIG. 13 is a configuration diagram of a hybrid system 72 according to the third embodiment of the present invention.

[0097] 13, the hybrid system 72 is configured to include the motor drive system 100 (inverter control device 1, motor 2, inverter 3, rotational position detector 4, high-voltage battery 5, current detection unit 7) described in the first embodiment, and a similar motor drive system 101 (inverter control device 1, motor 2a, inverter 3a, rotational position detector 4a, high-voltage battery 5, current detection unit 7a). The motor drive systems 100, 101 share the inverter control device 1 and the high-voltage battery 5.

[0098] A rotational position sensor 8a for detecting the rotational position θa of the rotor is attached to the motor 2a. The rotational position detector 4a calculates the rotational position θa from the input signal of the rotational position sensor 8a and outputs it to the inverter control device 1. A current detection unit 7a is disposed between the inverter 3a and the motor 2a. The torque generated in the rotor of the motor 2a is transmitted to the outside of the motor drive system 101 from a rotating shaft fixed to the rotor.

[0099] The inverter 3a has an inverter circuit 31a, a gate drive circuit 32a, and a smoothing capacitor 33a. The gate drive circuit 32a is connected to the inverter control device 1 in common with the gate drive circuit 32 of the inverter 3, and generates a gate drive signal for controlling each switching element of the inverter circuit 31a based on a PWM pulse signal input from the inverter control device 1, and outputs the gate drive signal to the inverter circuit 31a. The inverter circuit 31a and the smoothing capacitor 33a are connected to the high-voltage battery 5 in common with the inverter circuit 31 and the smoothing capacitor 33.

[0100] The inverter control device 1 receives a torque command T* for the motor 2 and a torque command Ta* for the motor 2a. Based on these torque commands, the inverter control device 1 generates PWM pulse signals for controlling the driving of the motors 2 and 2a in the manner described in the first embodiment, and outputs the PWM pulse signals to the inverters 3 and 3a. That is, the voltage phase error calculation unit 165 of the carrier frequency adjustment unit 16 of the inverter control device 1 calculates the voltage phase error Δθv and adjusts the frequency of the carrier signal Tr so that the capacitor voltage ripples generated in the motor driving systems 100 and 101 can be suppressed. In the voltage phase error calculation unit 165, the fixed carrier phase determination unit 1653 may set the carrier phase difference Δθcarr to different values ​​for each of the inverters 3 and 3a.

[0101] An engine system 721 and an engine control unit 722 are connected to the motor 2. The engine system 721 is driven under the control of the engine control unit 722 to rotate the motor 2. The motor 2 operates as a generator by being rotated by the engine system 721, and generates AC power. The AC power generated by the motor 2 is converted to DC power by the inverter 3 and charged into the high-voltage battery 5. This allows the hybrid system 72 to function as a series hybrid system. Note that the engine system 721 and the engine control unit 722 may be connectable to the motor 2a.

[0102] According to this embodiment, the hybrid system 72 in FIG. 13 is realized using the inverter control device 1 described in the first embodiment, and similar to the second embodiment, the effect of suppressing capacitor voltage ripple is obtained for each of the motor drive system 100 and the motor drive system 101.

[0103] (Fourth embodiment) Next, a fourth embodiment of the present invention will be described with reference to the drawings.

[0104] Fig. 14 is an external perspective view of a mechanically and electrically integrated unit 71 in the fourth embodiment of the present invention. The mechanically and electrically integrated unit 71 is configured to include the motor drive system 100 (the inverter control device 1, the motor 2, and the inverter 3) described in the first embodiment. The motor 2 and the inverter 3 are connected at a coupling portion 713 via a bus bar 712. The output of the motor 2 is transmitted via a gear 711 to a differential gear (not shown), and then to the axle. Note that although the inverter control device 1 is not shown in Fig. 14, the inverter control device 1 can be placed in any position.

[0105] The electromechanical integrated unit 71 is characterized by a structure in which the motor 2, the inverter 3, and the gear 711 are integrated together. Since the electromechanical integrated unit 71 is strongly required to be compact due to such an integrated structure, it is necessary to reduce the size of the smoothing capacitor 33, which occupies a large amount of space inside the inverter 3. Therefore, by using the inverter control device 1 described in the first embodiment, it is possible to reduce the capacitance of the smoothing capacitor 33 to achieve compactness while suppressing the capacitor voltage ripple. Therefore, a compact electromechanical integrated unit can be realized.

[0106] Fifth embodiment Next, an embodiment in which the motor drive system 100 described in the first embodiment is applied to a vehicle will be described with reference to FIG.

[0107] Fig. 15 is a configuration diagram of a hybrid automobile system according to a fifth embodiment of the present invention. As shown in Fig. 15, the hybrid automobile system of this embodiment has a power train in which a motor 2 is applied as a motor / generator.

[0108] 15, a front axle 801 is rotatably supported at the front of a vehicle body 800, and front wheels 802, 803 are provided at both ends of the front axle 801. A rear axle 804 is rotatably supported at the rear of the vehicle body 800, and rear wheels 805, 806 are provided at both ends of the rear axle 804.

[0109] A differential gear 811 , which is a power distribution mechanism, is provided in the center of the front axle 801 , and distributes the rotational driving force transmitted from the engine 810 via a transmission 812 to the left and right front axles 801 .

[0110] A pulley provided on the crankshaft of the engine 810 and a pulley provided on the rotating shaft of the motor 2 are mechanically connected via a belt.

[0111] This allows the rotational driving force of motor 2 to be transmitted to engine 810, and the rotational driving force of engine 810 to motor 2. In motor 2, three-phase AC power output from inverter 3 under the control of inverter control device 1 is supplied to a stator coil of a stator, causing the rotor to rotate and generating a rotational driving force according to the three-phase AC power.

[0112] That is, the motor 2 operates as an electric motor using three-phase AC power output from the inverter 3 under the control of the inverter control device 1, while at the same time, as the rotor rotates in response to the rotational driving force of the engine 810, an electromotive force is induced in the stator coil of the stator, causing the motor 2 to operate as a generator that generates three-phase AC power.

[0113] The inverter 3 is a power conversion device that converts DC power supplied from a high-voltage battery 5, which is a high-voltage (42V or 300V) power source, into three-phase AC power, and controls the three-phase AC current flowing through the stator coil of the motor 2 according to the operation command value and the magnetic pole position of the rotor.

[0114] The three-phase AC power generated by the motor 2 is converted to DC power by the inverter 3 and charges the high-voltage battery 5. The high-voltage battery 5 is electrically connected to a low-voltage battery 823 via a DC-DC converter 824. The low-voltage battery 823 constitutes a low-voltage (14V) power source for the automobile, and is used as a power source for a starter 825 that initially starts (cold starts) the engine 810, a radio, lights, etc.

[0115] When the vehicle is stopped, such as when waiting for a traffic light (idle stop mode), the engine 810 is stopped, and when the engine 810 is restarted (hot start) when the vehicle is re-driven, the inverter 3 drives the motor 2 to restart the engine 810. In the idle stop mode, if the charge level of the high-voltage battery 5 is insufficient or if the engine 810 is not sufficiently warmed up, the engine 810 continues to run without being stopped. In addition, in the idle stop mode, it is necessary to secure a drive source for the accessories that use the engine 810 as a drive source, such as the compressor of the air conditioner. In this case, the motor 2 is driven to drive the accessories.

[0116] Even in acceleration mode or high load operation mode, the motor 2 is driven to assist the driving of the engine 810. Conversely, in a charging mode in which charging of the high voltage battery 5 is required, the engine 810 is made to generate power at the motor 2 to charge the high voltage battery 5. In other words, the regeneration mode is performed when braking or decelerating the vehicle.

[0117] 15, which is realized using the motor drive system 100 described in the first embodiment, a phase shift amount for reducing the voltage amplitude of a specific order component among the order components of the capacitor voltage ripple is determined based on the rotation speed ωr, modulation factor H, and power factor PF, and a voltage phase error Δθv is determined so as to change the phase difference between the three-phase voltage commands Vu*, Vv*, Vw* and the carrier signal Tr according to the determined phase shift amount. As a result, the capacitor voltage ripple can be suppressed, which makes it possible to prevent deterioration of batteries used in environmentally friendly vehicles such as electric vehicles and hybrid vehicles and to stabilize motor control.

[0118] In each of the above-described embodiments, each component in the inverter control device 1 (FIGS. 2, 3, 4, etc.) may be realized by a CPU and a program, instead of by hardware. When each component in the inverter control device 1 is realized by a CPU and a program, there is an advantage that the amount of hardware is reduced, thereby reducing costs. In addition, this program can be provided by being stored in a storage medium of the inverter control device in advance. Alternatively, the program can be provided by being stored in an independent storage medium, or the program can be recorded and stored in the storage medium of the inverter control device via a network line. It may also be supplied as a computer-readable computer program product in various forms, such as a data signal (carrier wave).

[0119] The present invention is not limited to the above-described embodiment, and various modifications are possible without departing from the spirit of the present invention. [Explanation of symbols]

[0120] 1... inverter control device, 2... motor, 3... inverter, 4... rotational position detector, 5... high voltage battery, 7... current detection unit, 8... rotational position sensor, 11... current command generation unit, 12... speed calculation unit, 13... three-phase / dq conversion current control unit, 14... current control unit, 15... dq / three-phase voltage command conversion unit, 16... carrier frequency adjustment unit, 17... carrier generation unit, 18... PWM control unit, 31... inverter circuit, 32... gate drive circuit, 33... smoothing capacitor, 71... mechanically and electrically integrated unit, 72... hybrid system, 75, 100, 101... motor drive system, 102A, 102B... drive system, 161... synchronous PWM carrier number selection unit, 162... voltage position Phase calculation unit, 163...modulation factor calculation unit, 164...power factor calculation unit, 165...voltage phase error calculation unit, 166...synchronous carrier frequency calculation unit, 167...carrier frequency setting unit, 1651...reference voltage phase calculation unit, 1652...order component selection unit, 1653...fixed carrier phase determination unit, 1654...addition unit, 1655...subtraction unit, 711...gear, 712...bus bar, 713...coupling unit, 800...vehicle body, 801...front axle, 802...front wheel, 803...front wheel, 804...rear axle, 805...rear wheel, 806...rear wheel, 810...engine, 811...differential gear, 812...transmission, 823...low voltage battery, 824...DC-DC converter, 825...starter

Claims

1. An inverter control device that controls an inverter that converts a DC voltage into an AC voltage and outputs the AC voltage to a motor, A carrier wave generating unit that generates a carrier wave; A carrier frequency adjustment unit that adjusts the frequency of the carrier wave; a PWM control unit that uses the carrier wave to pulse-width modulate a voltage command and generate a PWM pulse signal for controlling an operation of the inverter, The carrier wave frequency adjustment unit determines a phase shift amount for reducing a voltage amplitude of a specific order component among the order components of a voltage ripple superimposed on the DC voltage, and adjusts a frequency of the carrier wave in accordance with the determined phase shift amount so as to change a phase difference between the voltage command and the carrier wave.

2. 2. The inverter control device according to claim 1, The carrier frequency adjustment unit is an inverter control device that determines the amount of phase shift based on a modulation factor, which is the ratio of the DC voltage to the AC voltage, and a power factor, which represents the phase difference between the AC voltage and the AC current output from the inverter to the motor.

3. 2. The inverter control device according to claim 1, The carrier frequency adjustment unit is an inverter control device that selects the specific order component based on the rotation speed of the motor.

4. 4. The inverter control device according to claim 3, The carrier frequency adjustment unit selects, from among the order components of the voltage ripple whose frequency changes according to the rotation speed of the motor, an order component whose frequency difference from a resonant frequency of the inverter in the input path of the DC voltage is less than a predetermined value as the specific order component.

5. 4. The inverter control device according to claim 3, The inverter control device, wherein the carrier frequency adjustment unit selects an order component that is a multiple of 6 as the specific order component.

6. 2. The inverter control device according to claim 1, The carrier wave frequency adjusting unit is an inverter control device that adjusts the frequency of the carrier wave so that the frequency of the carrier wave becomes an integer multiple of the frequency of the voltage command.

7. 7. The inverter control device according to claim 6, The carrier wave frequency adjusting unit adjusts a frequency of the carrier wave so that the number of the carrier waves per one period of the voltage command is a multiple of three.

8. 2. The inverter control device according to claim 1, The inverter control device wherein the carrier frequency adjusting unit keeps the phase shift amount constant when the rotation speed of the motor does not change.

9. 2. The inverter control device according to claim 1, The inverter control device wherein the carrier frequency adjusting unit keeps the phase shift amount constant when the rate of change of the rotation speed of the motor is equal to or greater than a predetermined value.

10. 2. The inverter control device according to claim 1, The carrier frequency adjustment unit is an inverter control device that continuously changes the phase difference in response to changes in the rotation state of the motor.

11. 2. The inverter control device according to claim 1, an inverter control device connected to the plurality of inverters and outputting the PWM pulse signal to each of the inverters;

12. An inverter control device according to any one of claims 1 to 11, The inverter connected to the inverter control device; The motor driven by the inverter; and an engine system connected to the motor.

13. An inverter control device according to any one of claims 1 to 11, The inverter connected to the inverter control device; The motor driven by the inverter; a gear that transmits the rotational driving force of the motor, The motor, the inverter and the gear are integrated into an electromechanical integrated unit.

14. An inverter control device according to any one of claims 1 to 11, The inverter connected to the inverter control device; The motor is driven by the inverter, An electric vehicle system that runs using the rotational driving force of the motor.

15. A method for controlling an inverter that converts a DC voltage into an AC voltage and outputs the AC voltage to a motor, comprising the steps of: Generate a carrier wave, determining a phase shift amount for reducing a voltage amplitude of a specific order component among the order components of the voltage ripple superimposed on the DC voltage; adjusting a frequency of the carrier wave so as to change a phase difference between a voltage command and the carrier wave in accordance with the determined phase shift amount; An inverter control method for generating a PWM pulse signal for controlling the operation of the inverter by pulse-width modulating the voltage command using the carrier wave.

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