Power converter control device and power conversion device

Abstract

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

Description

Technical Field

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

Background Art

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

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in motors actually mounted on vehicles, the MTPA (Maximum Torque Per Ampere) line may change or the center point of the magnetic flux limiting circle may change depending on the motor speed and the output voltage of the DC power supply. In other words, in motors actually mounted on vehicles, the response characteristics to the torque command value change due to both the rotation speed and the output voltage of the DC power supply. For this reason, when the current command value is determined from a single map based on the torque command value and the magnetic flux command value, as in Patent Document 1, the difference between the torque command value and the output torque may become large. Consequently, the motor control method for electric vehicles disclosed in Patent Document 1 may have difficulty ensuring accuracy of the output torque relative to the torque command value.

[0005] This invention has been made in view of the above-mentioned problems, and aims to improve the accuracy of the output torque relative to the torque command value when controlling a motor. [Means for solving the problem]

[0006] The present invention employs the following configuration as a means to solve the above problems.

[0007] One aspect of the present invention is a power converter control device for controlling a power converter that performs power conversion between a DC power supply and a motor, comprising: a magnetic flux command value generation unit that determines a magnetic flux command value based on a torque command value; a current command value generation unit that determines a current command value for controlling the motor based on the torque command value and the magnetic flux command value; and a current command value adjustment unit that adjusts the current command value based on the torque command value, a rotation detection value indicating the rotation speed of the motor, and a DC voltage value indicating the output voltage of the DC power supply. [Effects of the Invention]

[0008] One aspect of the present invention involves adjusting the current command value generated by the current command value generation unit in the current command value adjustment unit. The current command value adjustment unit adjusts the current command value based on the torque command value, a rotation detection value indicating the motor's rotation speed, and a DC voltage value indicating the output voltage of the DC power supply. Therefore, one aspect of the present invention can adjust the current command value according to both the rotation detection value and the DC voltage value. Consequently, the present invention can reduce the difference between the torque command value and the output torque even when the motor's rotation speed and the DC voltage value change, thereby improving the accuracy of the output torque relative to the torque command value. [Brief explanation of the drawing]

[0009] [Figure 1] This is a schematic circuit diagram showing the general configuration of the motor control device in the first embodiment of the present invention. [Figure 2] This is a block diagram showing the functional configuration of a power converter control device in the first embodiment of the present invention. [Figure 3] This is a block diagram showing the functional configuration of the torque control unit in the first embodiment of the present invention. [Figure 4] This is a block diagram showing the functional configuration of the magnetic flux command value generation unit in the first embodiment of the present invention. [Figure 5] This is a conceptual diagram of the current command value map in the first embodiment of the present invention. [Figure 6] This is a block diagram showing the functional configuration of the current command value adjustment unit in the first embodiment of the present invention. [Figure 7] This is a conceptual diagram of the adjustment value map in the first embodiment of the present invention. [Figure 8] This is a schematic diagram illustrating the operation and effects of the power converter control device in the first embodiment of the present invention. [Figure 9] This is a schematic diagram illustrating the operation and effects of the power converter control device in the first embodiment of the present invention. [Figure 10] This is a schematic diagram illustrating the operation and effects of the power converter control device in the first embodiment of the present invention. [Figure 11]This is a block diagram showing the functional configuration of a power converter control device in a second embodiment of the present invention. [Modes for carrying out the invention]

[0010] Hereinafter, an embodiment of the power converter control device and power converter according to the present invention will be described with reference to the drawings.

[0011] Figure 1 is a schematic circuit diagram showing the general configuration of the motor control device 1 (power converter) of this embodiment. As shown in this figure, the motor control device 1 comprises a power converter 2 and a power converter control device 3.

[0012] The power converter 2 is positioned between the motor M and the battery P (DC power source) and performs power conversion between the motor M and the battery P. As shown in Figure 1, the power converter 2 includes a buck-boost converter 2a, a drive inverter 2b, and a power generator inverter 2c. The buck-boost converter 2a boosts the DC voltage output from the battery P at a predetermined boost ratio. The buck-boost converter 2a also steps down the DC voltage output from the drive inverter 2b or the power generator inverter 2c at a predetermined step-down ratio. As shown in Figure 1, such a buck-boost converter 2a includes, for example, multiple capacitors, a transformer, and multiple power semiconductor elements for voltage transformation. IGBTs (Insulated Gate Bipolar Transistors) and SiC-MOSFETs (Metal Oxide Semiconductor Field Effect Transistors) can be used as power semiconductor elements.

[0013] Such a buck-boost converter 2a is a power circuit called a so-called magnetically coupled interleaved chopper circuit. The buck-boost converter 2a alternately performs a boosting operation of boosting the DC power input from the battery P via a pair of battery terminals and outputting it to the driving inverter 2b, and a bucking operation of bucking the DC power input from the driving inverter 2b or the power generation inverter 2c and outputting it to the battery P via a pair of battery terminals. That is, the buck-boost converter 2a is a power conversion circuit that bidirectionally inputs and outputs DC power between the battery P and the driving inverter 2b or the power generation inverter 2c.

[0014] The driving inverter 2b converts the DC power output from the battery P into AC power based on a PWM (Pulse Width Modulation) signal from the power converter control device 3 and supplies it to the motor M. Further, the driving inverter 2b converts the AC power output from the motor M into DC power based on the PWM signal from the power converter control device 3 and supplies it to the buck-boost converter 2a. Such a driving inverter 2b has three switching legs and a total of six driving power semiconductor elements as shown in FIG. 1.

[0015] Such a driving inverter 2b includes three (a plurality of) switching legs corresponding to the number of phases of the motor M. This driving inverter 2b is a power conversion circuit that alternately performs a power running operation and a regeneration operation. That is, the driving inverter 2b alternately performs a power running operation of converting the DC power input from the buck-boost converter 2a into three-phase AC power and outputting it to the motor M via three motor terminals, and a regeneration operation of converting the three-phase AC power input from the motor M via the three motor terminals into DC power and outputting it to the buck-boost converter 2a. That is, the driving inverter 2b is a power circuit that mutually converts DC power and three-phase AC power between the buck-boost converter 2a and the motor M.

[0016] The power generation inverter 2c converts the AC power output from the generator G into DC power based on the PWM signal from the power converter control device 3 and supplies it to the boost - buck converter 2a. Such a power generation inverter 2c also has three switching legs, just like the drive inverter 2b, and is equipped with a total of six drive power semiconductor devices.

[0017] Such a power generation inverter 2c includes three (a plurality of) switching legs corresponding to the number of phases of the generator G. This power generation inverter 2c is a power conversion circuit that converts the three - phase AC power input from the generator G through three generator terminals into DC power and outputs it to the boost - buck converter 2a. That is, this power generation inverter 2c is a power circuit that mutually converts DC power and three - phase AC power between the boost - buck converter 2a and the generator G.

[0018] As shown in the figure, a battery P, a motor M, and a generator G are respectively connected to such a power converter 2. The power converter 2 has a pair of battery terminals (the positive - pole battery terminal E1 and the negative - pole battery terminal E2) to which the battery P is connected as external connection terminals. Also, the power converter 2 has three motor terminals (the U - phase motor terminal Fu, the V - phase motor terminal Fv, and the W - phase motor terminal Fw) to which the motor M is connected. Also, the power converter 2 has three generator terminals (the U - phase generator terminal Hu, the V - phase generator terminal Hv, and the W - phase generator terminal Hw) to which the generator G is connected.

[0019] The motor control device 1 equipped with such a power converter 2 is an electrical device provided in an electric vehicle such as a hybrid vehicle or an electric vehicle. It controls the motor M, which is a rotating electrical machine, and also controls the charging of the AC power generated by the generator G to the battery P. That is, this motor control device 1 performs drive control of the motor M based on the output of the battery P (battery power) and charging control of the battery P based on the output power of the generator G (generated power).

[0020] Furthermore, the motor control device 1 can also be configured such that the power converter 2 does not have a power generation inverter 2c, and the power converter 2 is not connected to a generator G. In this case, the motor control device 1 does not control the charging of the battery P based on the output power (battery power) of the generator G, but rather controls the drive of the motor M based on the output power (battery power) of the battery P.

[0021] Here, as shown in the figure, the battery P has its positive electrode connected to the positive terminal E1 and its negative electrode connected to the negative terminal E2. This battery P is a secondary battery such as a lithium-ion battery, and it performs DC power discharge to the motor control device 1 and DC power charge via the motor control device 1.

[0022] Motor M is a three-phase motor with three phases and is the load for the drive inverter 2b. This motor M has a U-phase input terminal connected to the U-phase motor terminal Fu, a V-phase input terminal connected to the V-phase motor terminal Fv, and a W-phase input terminal connected to the W-phase motor terminal Fw. The rotating shaft (drive shaft) of this motor M is connected to the wheels of the electric vehicle, and the motor drives the wheels by applying rotational power to them.

[0023] Generator G is a three-phase generator, with its U-phase output terminal connected to the U-phase generator terminal Hu, its V-phase output terminal connected to the V-phase generator terminal Hv, and its W-phase output terminal connected to the W-phase generator terminal Hw. This generator G is connected to the output shaft of a power source such as an engine mounted on an electric vehicle and outputs three-phase AC power to the motor control device 1.

[0024] The power converter control device 3 includes a gate driver and an ECU (Electronic Control Unit). The gate driver is a circuit that generates gate signals based on various duty command values ​​(transformation duty command value, drive duty command value, and power generation duty command value) input from the ECU. For example, the gate driver generates a gate signal to be supplied to the step-up / step-up converter 2a based on the transformation duty command value input from the ECU. The gate driver also generates a gate signal to be supplied to the drive inverter 2b based on the drive duty command value input from the ECU. Furthermore, the gate driver generates a gate signal to be supplied to the power generation inverter 2c based on the power generation duty command value input from the ECU.

[0025] The ECU is a control circuit that performs predetermined control processing based on a pre-stored control program. This ECU outputs various duty command values ​​(transformation duty command value, drive duty command value, and power generation duty command value) generated based on the above control processing to the gate driver. Such an ECU performs drive control of the motor M and charge control of the battery P via the power converter 2 and the gate driver. In other words, this ECU generates various duty command values ​​(transformation duty command value, drive duty command value, and power generation duty command value) related to the boost-buck converter 2a, drive inverter 2b, and power generation inverter 2c based on the detected values ​​(voltage detection value) and current detection value (current detection value) of the voltage sensor and current sensor attached to the boost-buck converter 2a, drive inverter 2b, and power generation inverter 2c, as well as the operation information of the electric vehicle.

[0026] Furthermore, as shown in Figure 1, the power converter control device 3 includes a storage unit 3a. The storage unit 3a stores the control program and various data mentioned above. In this embodiment, as shown in Figure 1, the storage unit 3a stores a current command value map Ma. The current command value map Ma is a map used by the power converter control device 3 to determine the current command value for controlling the motor M. This current command value map Ma will be described in detail later.

[0027] Furthermore, the memory unit 3a stores the adjustment value map Mb. The adjustment value map Mb is used to set adjustment values ​​for adjusting the current command value. This adjustment value map Mb will also be explained in detail later.

[0028] Figure 2 is a block diagram showing the functional configuration of the power converter control device 3. In addition to the power converter 2 and the power converter control device 3, the motor control device 1 includes a current sensor 4, a rotation angle sensor 5, and a voltage sensor 6, as shown in Figure 2.

[0029] The current sensor 4 detects the phase current between the motor M and the power converter 2 and outputs the detection result to the power converter control device 3. Multiple current sensors 4 may be installed between the power converter 2 and the motor M, or they may be installed inside the power converter 2. The current sensor 4 is not particularly limited as long as it detects the phase current of each phase, but for example, it may be a current transformer (CT) with a transformer or a Hall element. Alternatively, the current sensor 4 may be a shunt resistor.

[0030] The rotation angle sensor 5 detects the rotation angle of the motor M. The rotation angle of the motor M is the electrical angle of the rotor from a predetermined reference rotation position. The rotation angle sensor 5 outputs a detection signal indicating the detected rotation angle to the power converter control device 3. For example, the rotation angle sensor 5 may be equipped with a resolver. The rotation speed of the motor M (motor rotation speed) can be calculated based on the detection signal output from the rotation angle sensor 5. In other words, the rotation angle sensor 5 outputs a detection signal that includes the motor rotation speed as information.

[0031] The voltage sensor 6 detects the output voltage of the battery P. In Figure 2, the voltage sensor 6 is shown separated from the battery P, but in reality, the voltage sensor 6 is connected to the wiring connected to the battery P and outputs the voltage value between the positive and negative electrodes as a DC bus voltage value (DC voltage detection value Vdcf). This DC voltage detection value Vdcf is a DC voltage value that indicates the output voltage of the battery P, which is a DC power source.

[0032] The power converter control device 3 includes, for example, a torque control unit 11, a current detection unit 12, a three-phase / dq conversion unit 13, an angular velocity calculation unit 14, a current control unit 15, a dq / three-phase conversion unit 16, and a PWM control unit 17, as functional units realized by the gate driver and ECU described above.

[0033] The torque control unit 11 receives an uncompensated torque command value T* from an external source. Based on the uncompensated torque command value T*, the torque control unit 11 generates a d-axis current command value id*, which is the target value for the d-axis current of the motor M, and a q-axis current command value iq*, which is the target value for the q-axis current of the motor M. The torque control unit 11 also outputs the generated d-axis current command value id* and q-axis current command value iq* to the current control unit 15.

[0034] Figure 3 is a block diagram showing the functional configuration of the torque control unit 11. As shown in this figure, in this embodiment, the torque control unit 11 includes a torque command value generation unit 10, a magnetic flux command value generation unit 20, a current command value generation unit 30, a current command value adjustment unit 40, and a rotational speed calculation unit 50.

[0035] The torque command value generation unit 10 generates a compensated torque command value Tecmp* from the pre-compensated torque command value T* based on the torque feedback value calculated based on the state of the motor M. The method for calculating the torque feedback value is not particularly limited. For example, the torque feedback value can be determined based on a value indicating the state of the motor M (e.g., output torque state or temperature state) acquired by a detector (not shown). The compensated torque command value Tecmp* is a torque command value obtained by correcting the pre-compensated torque command value T* to match the actual output torque based on the torque feedback value.

[0036] In this embodiment, the compensated torque command value Tecmp* is input as a torque command value to the magnetic flux command value generation unit 20 and the current command value adjustment unit 40. However, it is not always necessary to generate the compensated torque command value Tecmp* from the uncompensated torque command value T*. In other words, it is also possible to input the uncompensated torque command value T* as a torque command value to the magnetic flux command value generation unit 20 and the current command value adjustment unit 40. In such cases, it is also possible to omit the torque command value generation unit 10.

[0037] The magnetic flux command value generation unit 20 generates a magnetic flux command value (in this embodiment, the compensated magnetic flux command value Φocmp*, which will be described later) based on the compensated torque command value Tecmp*. Figure 4 is a block diagram of the magnetic flux command value generation unit 20. As shown in this figure, the magnetic flux command value generation unit 20 includes a linked flux command calculator 21, a linked flux command limit calculator 22, a linked flux command limit limiting unit 23, a linked flux calculator 24, a PI controller 25, a linked flux compensation limit calculator 26, and a linked flux compensation limit limiting unit 27.

[0038] The flux linkage command calculator 21 calculates the uncompensated flux linkage command value Φo* (uncompensated flux linkage command value) based on the compensated torque command value Tecmp*. For example, the flux linkage command calculator 21 receives the motor rotation speed Nf (rotation detection value) indicating the rotation speed of the motor M from the rotation speed calculation unit 50 shown in Figure 3. This motor rotation speed Nf is a value calculated by the rotation speed calculation unit 50 based on the angular velocity ω, as will be described later. The angular velocity ω is calculated based on the output value of the rotation angle sensor 5. Therefore, the motor rotation speed Nf is a rotation detection value indicating the rotation speed of the motor M. Similarly, the angular velocity ω is also a rotation detection value indicating the rotation speed of the motor M.

[0039] Furthermore, the flux linkage command calculator 21 receives the detected DC voltage value Vdcf as input. For example, the flux linkage command calculator 21 determines the modulation coefficient gmref used in the power converter 2 based on a map that uses the compensated torque command value Tecmp*, the motor rotation speed Nf, and the detected DC voltage value Vdcf as parameters. In addition, the flux linkage command calculator 21 calculates the uncompensated flux linkage command value Φo* based on the modulation coefficient gmref, the motor rotation speed Nf, and the detected DC voltage value Vdcf.

[0040] Furthermore, the flux linkage command calculator 21 calculates the flux estimation error αε based on the modulation coefficient gmref, the compensated torque command value Tecmp*, the angular velocity ω, the detected DC voltage value Vdcf, the d-axis current command value id* (current command value), the q-axis current command value iq* (current command value), and the minimum armature resistance value Ramin. The flux linkage command calculator 21 then uses the flux estimation error αε to determine the uncompensated flux linkage command value Φo*.

[0041] Equation (1) below is an example of an equation for calculating the magnetic flux estimation error αε. In equation (1), Δεfx can be calculated, for example, by equation (2) below. The pre-compensated flux linkage command value Φo* can be calculated, for example, by equation (3) below. Note that kν1ω in equations (1) and (3) is a value obtained by equation (4) below. The minimum armature resistance value Ramin is stored in the memory unit 3a beforehand, for example.

[0042]

number

[0043]

number

[0044]

number

[0045]

number

[0046] For example, the flux linkage command calculator 21 calculates the flux estimation error αε based on equations (1) and (2). The flux linkage command calculator 21 also calculates the uncompensated flux linkage command value Φo* based on equation (3).

[0047] The flux linkage command limit calculator 22 calculates the upper limit of the flux linkage command Φomax and the lower limit of the flux linkage command Φomin based on the compensated torque command value Tecmp*, the motor rotation speed Nf, and the DC voltage detection value Vdcf. The upper limit of the flux linkage command Φomax (maximum flux linkage value) is the maximum flux linkage value that can be set for the compensated torque command value Tecmp*, assuming that field control is possible. The lower limit of the flux linkage command Φomin is the minimum flux linkage value that can be set for the compensated torque command value Tecmp*, assuming that field control is possible.

[0048] For example, the flux linkage command limit calculator 22 determines the upper limit of the flux linkage command Φomax based on a field control flux linkage limit map that shows the maximum value of the flux linkage command for each value of the compensated torque command value Tecmp*. The lower limit of the flux linkage command Φomin may be a predetermined value used instead of being calculated.

[0049] The flux linkage command limit limiting unit 23 limits the upper and lower limits of the pre-compensated flux linkage command value Φo* calculated by the flux linkage command calculator 21, based on the upper limit value Φomax and lower limit value Φomin of the flux linkage command calculated by the flux linkage command limit calculator 22. In other words, if the pre-compensated flux linkage command value Φo* input from the flux linkage command calculator 21 is greater than the upper limit value Φomax of the flux linkage command, the flux linkage command limit limiting unit 23 replaces the value of the pre-compensated flux linkage command value Φo* with the value of the upper limit value Φomax and outputs it. Furthermore, if the pre-compensated flux linkage command value Φo* input from the flux linkage command calculator 21 is smaller than the lower limit value Φomin, the flux linkage command limit unit 23 replaces the pre-compensated flux linkage command value Φo* with the lower limit value Φomin and outputs it. The pre-compensated flux linkage command value Φo* output from the flux linkage command limit unit 23 is referred to as the pre-compensated flux linkage command value Φoff*.

[0050] The flux linkage calculator 24 calculates the flux linkage feedback value Φof (magnetic flux feedback value) based on the angular velocity ω. For example, the flux linkage calculator 24 receives feedback input of voltage command values ​​V* (d-axis voltage command value Vd* and q-axis voltage command value Vq*) from the current control unit 15 shown in Figure 2. The flux linkage calculator 24 calculates the flux linkage feedback value Φof based on the angular velocity ω, which indicates the current motor rotation speed and is input from the angular velocity calculation unit 14, and the current voltage command value V*, which is input from the current control unit 15.

[0051] The PI controller 25 calculates the flux compensation value dΦobuf* based on the deviation Φoerr between the pre-compensated flux linkage command value Φoff* and the flux linkage feedback value Φof. The deviation Φoerr obtained by the subtractor 28 is input. The subtractor 28 calculates the deviation Φoerr by subtracting the flux linkage feedback value Φof, which is input via the low-pass filter (LPF), from the pre-compensated flux linkage command value Φoff*, which is input via the low-pass filter (LPF).

[0052] The PI controller 25 calculates the magnetic flux compensation value dΦobuf* by adding a value obtained by multiplying the deviation Φoerr by a proportional gain and a value obtained by multiplying the deviation Φoerr by an integral gain and then integrating. In this way, the PI controller 25 calculates the magnetic flux compensation value dΦobuf* based on calculations using proportional gain and calculations using integral gain.

[0053] Furthermore, a feedback-type anti-windup process may be performed to prevent the integral term from saturating. In this case, the value obtained by subtracting the flux compensation value dΦo*, which will be output from the flux linkage compensation limit limiting unit 27, from the pre-compensated flux linkage command value Φoff* output from the PI controller 25 is calculated. Then, the value obtained by multiplying this value by the reciprocal of the proportional gain used in the PI controller 25 is subtracted from the deviation Φoerr, and then the integral gain is multiplied as described above.

[0054] The flux linkage compensation limit calculator 26 calculates limit values ​​to be used by the flux linkage compensation limit limiting unit 27. Here, the flux linkage compensation limit limiting unit 27 calculates an upper limit value dΦomax that limits the upper limit of the flux compensation value dΦobuf*. The calculated upper limit value dΦomax is supplied to the flux linkage compensation limit limiting unit 27. The flux linkage compensation limit calculator 26 also calculates a lower limit value dΦomin that limits the lower limit of the flux compensation value dΦobuf*. The calculated lower limit value dΦomin is supplied to the flux linkage compensation limit limiting unit 27.

[0055] For example, the flux linkage compensation limit calculator 26 calculates an upper limit value dΦomax and a lower limit value dΦomin based on the pre-compensated flux linkage command value Φo* input from the flux linkage command calculator 21 and the upper limit value of the flux linkage command Φomax input from the flux linkage command limit calculator 22.

[0056] The limitation of the flux compensation value dΦobuf* by the flux linkage compensation limit unit 27, described later, is useful when controlling the motor M with field weakening. Also, if the pre-compensation flux linkage command value Φo* is smaller than the upper limit value of the flux linkage command Φomax, it can be determined that field weakening control is necessary. Therefore, the flux linkage compensation limit calculator 26 calculates the upper limit value dΦomax and the lower limit value dΦomin so that the upper and lower limits of the flux compensation value dΦobuf* are limited when the pre-compensation flux linkage command value Φo* is smaller than the upper limit value of the flux linkage command Φomax. In other words, if the pre-compensation flux linkage command value Φo* is larger than the upper limit value of the flux linkage command Φomax and field weakening control is not necessary, the flux linkage compensation limit calculator 26 sets the upper limit value dΦomax and the lower limit value dΦomin so that the upper and lower limits of the flux compensation value dΦobuf* are zero.

[0057] The flux linkage compensation limit calculator 26 may calculate the upper limit value dΦomax and the lower limit value dΦomin using the pre-compensated flux linkage command value Φoff* output from the flux linkage command limit limiting unit 23, instead of the pre-compensated flux linkage command value Φo*. Alternatively, the upper limit value dΦomax and the lower limit value dΦomin may be calculated using the pre-compensated flux linkage command value Φo* and the pre-compensated flux linkage command value Φoff*.

[0058] The flux linkage compensation limit unit 27 limits the upper and lower limits of the flux compensation value dΦobuf* based on limit values. Here, the flux linkage compensation limit unit 27 limits the upper and lower limits of the flux compensation value dΦobuf* based on the upper limit value dΦomax and lower limit value dΦomin input from the flux linkage compensation limit calculator 26.

[0059] In other words, if the flux compensation value dΦobuf* input from the PI controller 25 is greater than the upper limit value dΦomax, the flux compensation value dΦobuf* is replaced with the upper limit value dΦomax and output. Also, if the flux compensation value dΦobuf* input from the PI controller 25 is less than the lower limit value dΦomin, the flux compensation value dΦobuf* is replaced with the lower limit value dΦomin and output. The flux compensation value dΦobuf* output from the flux compensation limit unit 27 is referred to as the flux compensation value dΦo*.

[0060] Furthermore, as shown in Figure 4, the magnetic flux command value generation unit 20 includes an adder 29 that adds the pre-compensated linked magnetic flux command value Φoff* and the magnetic flux compensation value dΦo* to calculate and output the post-compensated magnetic flux command value Φocmp*. In other words, the adder 29 calculates the post-compensated magnetic flux command value Φocmp* from the pre-compensated linked magnetic flux command value Φoff* based on the magnetic flux compensation value dΦo*.

[0061] In the magnetic flux command value generation unit 20 configured in this way, the compensated torque command value Tecmp*, motor rotation speed Nf, angular velocity ω, and DC voltage detection value Vdcf are input to the flux linkage command calculator 21. The flux linkage command calculator 21 determines the uncompensated flux linkage command value Φo* based on the compensated torque command value Tecmp*, motor rotation speed Nf, angular velocity ω, and DC voltage detection value Vdcf.

[0062] Meanwhile, the compensated torque command value Tecmp*, motor rotation speed Nf, and DC voltage detection value Vdcf are also input to the flux linkage command limit calculator 22. The flux linkage command limit calculator 22 determines the upper limit value Φomax and the lower limit value Φomin of the flux linkage command based on the compensated torque command value Tecmp*, motor rotation speed Nf, and DC voltage detection value Vdcf.

[0063] The pre-compensated flux linkage command value Φo* is limited by the flux linkage command limit limiting unit 23 as needed, based on the upper limit value Φomax or the lower limit value Φomin of the flux linkage command, and is output as the pre-compensated flux linkage command value Φoff*.

[0064] Furthermore, the angular velocity ω and the voltage command value V* are input to the flux linkage calculator 24. The flux linkage calculator 24 calculates the flux linkage feedback value Φof based on the angular velocity ω and the voltage command value V*.

[0065] The uncompensated flux linkage command value Φoff* is input to the subtractor 28 via a low-pass filter. The flux linkage feedback value Φof is also input to the subtractor 28 via a low-pass filter. In the subtractor 28, the deviation Φoerr is calculated by subtracting the flux linkage feedback value Φof from the uncompensated flux linkage command value Φoff*.

[0066] The deviation Φoerr is input to the PI controller 25. The PI controller 25 calculates the magnetic flux compensation value dΦobuf* by adding the value obtained by multiplying the deviation Φoerr by a proportional gain and the value obtained by multiplying the deviation Φoerr by an integral gain and then integrating it.

[0067] Meanwhile, the pre-compensated flux linkage command value Φo* output from the flux linkage command calculator 21 and the upper limit value Φomax output from the flux linkage command limit calculator 22 are input to the flux linkage compensation limit calculator 26. The flux linkage compensation limit calculator 26 calculates an upper limit value dΦomax that limits the upper limit of the flux compensation value dΦobuf* based on the pre-compensated flux linkage command value Φo* and the upper limit value Φomax. The flux linkage compensation limit calculator 26 also calculates a lower limit value dΦomin that limits the lower limit of the flux compensation value dΦobuf* based on the pre-compensated flux linkage command value Φo* and the upper limit value Φomax.

[0068] The magnetic flux compensation value dΦobuf* output from the PI controller 25 is limited by the linked flux compensation limit unit 27 based on the upper limit value dΦomax or the lower limit value dΦomin as needed, and output as the magnetic flux compensation value dΦo*.

[0069] The pre-compensated flux linkage command value Φoff* output from the flux linkage command limit limit unit 23 and the flux compensation value dΦo* output from the flux linkage compensation limit limit unit 27 are input to the adder 29. In the adder 29, the pre-compensated flux linkage command value Φoff* and the flux compensation value dΦo* are added together to calculate the post-compensated flux command value Φocmp*. The calculated post-compensated flux command value Φocmp* is input to the current command value generation unit 30 shown in Figure 3.

[0070] In this embodiment, the compensated magnetic flux command value Φocmp* is input to the current command value generation unit 30 as the magnetic flux command value. In other words, in this embodiment, the magnetic flux command value obtained using the linked magnetic flux feedback value Φof (magnetic flux feedback value) is input to the current command value generation unit 30. Therefore, the current command value generation unit 30 can determine the pre-adjustment current command value (pre-adjustment d-axis current command value idbase* and pre-adjustment q-axis current command value iqbase*), which will be described later, with a component caused by the linked magnetic flux feedback value Φof. However, it is also possible to input the pre-compensated linked magnetic flux command value Φoff* as the magnetic flux command value to the current command value generation unit 30.

[0071] The current command value generation unit 30 determines the pre-adjustment d-axis current command value idbase* and the pre-adjustment q-axis current command value iqbase* based on the compensated torque command value Tecmp* and the compensated magnetic flux command value Φocmp*. Here, the current command value generation unit 30 determines the pre-adjustment d-axis current command value idbase* and the pre-adjustment q-axis current command value iqbase* based on the current command value map Ma stored in the storage unit 3a.

[0072] Figure 5 is a conceptual diagram of the current command value map Ma. As shown in Figure 5, the current command value map Ma is a two-dimensional map whose parameters are the compensated torque command value Tecmp* and the compensated magnetic flux command value Φocmp*. In the current command value map Ma, the pre-adjustment d-axis current command value idbase* and the pre-adjustment q-axis current command value iqbase* are associated with the compensated torque command value Tecmp* and the compensated magnetic flux command value Φocmp*. The current command value generation unit 30 refers to this current command value map Ma and determines the pre-adjustment d-axis current command value idbase* and the pre-adjustment q-axis current command value iqbase* based on the compensated torque command value Tecmp* and the compensated magnetic flux command value Φocmp*.

[0073] The current command value adjustment unit 40 determines the d-axis current command value id* and the q-axis current command value iq* by adjusting the d-axis current command value and q-axis current command value (pre-adjustment d-axis current command value idbase* and pre-adjustment q-axis current command value iqbase*) based on the input compensated torque command value Tecmp*, motor rotation speed Nf, and DC voltage detection value Vdcf. In other words, in this embodiment, the d-axis current command value id* and the q-axis current command value iq* are the d-axis current command value and q-axis current command value adjusted by the current command value adjustment unit 40.

[0074] Figure 6 is a block diagram showing the functional configuration of the current command value adjustment unit 40. As shown in this figure, the current command value adjustment unit 40 includes an adjustment value setting unit 41 and an adder 42 (addition / subtraction device).

[0075] The adjustment value setting unit 41 sets the adjustment value based on the compensated torque command value Tecmp*, the motor rotation speed Nf, and the DC voltage detection value Vdcf. The adjustment value setting unit 41 refers to the adjustment value map Mb stored in the memory unit and sets the adjustment value based on the compensated torque command value Tecmp*, the motor rotation speed Nf, and the DC voltage detection value Vdcf.

[0076] Figure 7 is a conceptual diagram of the adjustment value map Mb. As shown in Figure 7, the adjustment value map Mb is a three-dimensional map in which multiple two-dimensional maps M1 are provided according to the DC voltage value. For example, one two-dimensional map M1 is provided for every 1V of DC voltage. Note that the interval at which two-dimensional maps M1 are provided can be arbitrarily changed. Each two-dimensional map M1 is a map whose parameters are the compensated torque command value Tecmp* and the motor rotation speed Nf. In addition, each two-dimensional map M1 has adjustment values ​​(d-axis current adjustment value idadj* and q-axis current adjustment value iqadj*) associated with the compensated torque command value Tecmp* and the motor rotation speed Nf. The adjustment value setting unit 41 refers to such an adjustment value map Mb and sets the adjustment value based on the compensated torque command value Tecmp*, the motor rotation speed Nf, and the DC voltage detection value Vdcf.

[0077] These adjustment values ​​are predetermined through experiments and simulations. Depending on the values ​​of the compensated torque command value Tecmp*, motor rotation speed Nf, or DC voltage detection value Vdcf, it may not be necessary to change the d-axis current command value and q-axis current command value through adjustment. For this reason, the adjustment value that meets the conditions under which the d-axis current command value and q-axis current command value do not need to be changed through adjustment is set to "0". When the adjustment value is "0", the values ​​of the pre-adjustment d-axis current command value idbase* and pre-adjustment q-axis current command value iqbase* are output from the current command value adjustment unit 40 as the d-axis current command value id* and q-axis current command value iq* without changing due to the adjustment.

[0078] The adder 42 adds the adjustment value to the pre-adjustment d-axis current command value idbase* and the pre-adjustment q-axis current command value iqbase*. The adder 42 adds the d-axis current adjustment value idadj* to the pre-adjustment d-axis current command value idbase*. The adder 42 also adds the q-axis current adjustment value iqadj* to the pre-adjustment q-axis current command value iqbase*. By adding the d-axis current adjustment value idadj* to the pre-adjustment d-axis current command value idbase*, the d-axis current command value id* is obtained. By adding the q-axis current adjustment value iqadj* to the pre-adjustment q-axis current command value iqbase*, the q-axis current command value iq* is obtained. Alternatively, the adjustment value may be set as a value to be subtracted from the pre-adjustment d-axis current command value idbase* and the pre-adjustment q-axis current command value iqbase*. In such cases, a subtractor is provided instead of the adder 42.

[0079] The rotational speed calculation unit 50 calculates the motor rotational speed Nf from the angular velocity ω input from the angular velocity calculation unit 14. Alternatively, the rotational speed calculation unit 50 may calculate the motor rotational speed Nf from the electrical angle obtained from the rotational angle sensor 5. The rotational speed calculation unit 50 outputs the calculated motor rotational speed Nf to the magnetic flux command value generation unit 20 and the current command value adjustment unit 40.

[0080] In this embodiment, the torque control unit 11 includes a rotational speed calculation unit 50. However, it is also possible to provide the rotational speed calculation unit 50 outside the torque control unit 11. Furthermore, it is possible to change the motor rotational speed Nf, which is one of the parameters of the current command value map Ma, to angular velocity ω. In other words, the current command value map Ma can be any map whose parameters are rotation detection values ​​indicating the rotational speed of the motor, such as motor rotational speed Nf or angular velocity ω. For example, when changing the motor rotational speed Nf, which is one of the parameters of the current command value map Ma, to angular velocity ω, it is not necessary to input the motor rotational speed Nf calculated by the rotational speed calculation unit 50 to the current command value adjustment unit 40.

[0081] Returning to Figure 2, the current detection unit 12 detects the current value flowing through the U-phase coil of the motor M (hereinafter referred to as the "U-phase current value") iu, the current value flowing through the V-phase coil of the motor M (hereinafter referred to as the "V-phase current value") iv, and the current value flowing through the W-phase coil of the motor M (hereinafter referred to as the "W-phase current value") iw from the detection results of each current sensor 4. The current detection unit 12 then outputs the detected U-phase current value iu, V-phase current value iv, and W-phase current value iw to the three-phase / dq conversion unit 13.

[0082] The three-phase / dq conversion unit 13 converts the U-phase current value iu, V-phase current value iv, and W-phase current value iw obtained from the current detection unit 12 into the d-axis current value id and q-axis current value iq of the dq coordinate system using the electrical angle obtained from the rotation angle sensor 5. The three-phase / dq conversion unit 13 outputs the d-axis current value id and q-axis current value iq to the current control unit 15.

[0083] The angular velocity calculation unit 14 calculates the angular velocity ω (rotation detection value) based on the electrical angle of the motor M output from the rotation angle sensor 5. The angular velocity calculation unit 14 outputs the calculated angular velocity ω to the current control unit 15. The current control unit 15 calculates the d-axis voltage command value Vd* based on the d-axis current command value id*. The current control unit 15 calculates the q-axis voltage command value Vq* based on the q-axis current command value iq*. The current control unit 15 outputs the d-axis voltage command value Vd* and the q-axis voltage command value Vq* to the dq / three-phase conversion unit 16.

[0084] The dq / three-phase conversion unit 16 acquires the electrical angle from the rotation angle sensor 5. The dq / three-phase conversion unit 16 acquires the d-axis voltage command value Vd* and the q-axis voltage command value Vq* from the current control unit 15. Using the electrical angle, the dq / three-phase conversion unit 16 converts the d-axis voltage command value Vd* and the q-axis voltage command value Vq* into the U-phase voltage command value Vu*, V-phase voltage command value Vv*, and W-phase voltage command value Vw*, which are the voltage command values ​​for each phase of the UVW phase in the motor M. The dq / three-phase conversion unit 16 then outputs the U-phase voltage command value Vu*, V-phase voltage command value Vv*, and W-phase voltage command value Vw* to the PWM control unit 17. The U-phase voltage command value Vu*, V-phase voltage command value Vv*, and W-phase voltage command value Vw* are modulated waves, and when they are not distinguished, they may be referred to as "voltage command signals".

[0085] The PWM control unit 17 compares a carrier wave of a predetermined carrier frequency with a voltage command signal. Based on the comparison, the PWM control unit 17 outputs a Hi-level signal during periods when the amplitude of the voltage command signal is greater than that of the carrier wave, and outputs a Lo-level signal during periods when the amplitude of the voltage command signal is smaller than that of the carrier wave, thereby outputting a PWM signal to the power converter 2. The PWM control unit 17 generates a PWM signal Du by comparing the carrier wave with the U-phase voltage command value Vu* and outputs it to the power converter 2. The PWM control unit 17 generates a PWM signal Dv by comparing the carrier wave with the V-phase voltage command value Vv* and outputs it to the power converter 2. The PWM control unit 17 generates a PWM signal Dw by comparing the carrier wave with the W-phase voltage command value Vw* and outputs it to the power converter 2.

[0086] The rotation of the motor M is controlled by the power converter 2 being driven based on the PWM signals (PWM signals Du, Dv, and Dw mentioned above) input from the PWM control unit 17.

[0087] In the motor control device 1 of this embodiment, the torque command value generation unit 10 generates a compensated torque command value Tecmp* from the pre-compensated torque command value T* based on the torque feedback value. The compensated torque command value Tecmp* is input to the magnetic flux command value generation unit 20, the current command value generation unit 30, and the current command value adjustment unit 40. In addition, the magnetic flux command value generation unit 20 generates a compensated magnetic flux command value Φocmp* based on the compensated torque command value Tecmp*. The compensated magnetic flux command value Φocmp* is input to the current command value generation unit 30.

[0088] In the current command value generation unit 30, the pre-adjustment d-axis current command value idbase* and the pre-adjustment q-axis current command value iqbase* are determined based on the compensated torque command value Tecmp* and the compensated magnetic flux command value Φocmp*. These pre-adjustment d-axis current command value idbase* and pre-adjustment q-axis current command value iqbase* are input to the current command value adjustment unit 40. In the current command value adjustment unit 40, the d-axis current command value id* and the q-axis current command value iq* are determined based on the compensated torque command value Tecmp*, the motor rotation speed Nf, and the DC voltage detection value Vdcf.

[0089] The power converter control device 3 included in the motor control device 1 of this embodiment controls the power converter 2 that performs power conversion between the battery P and the motor M. The power converter control device 3 of this embodiment includes a magnetic flux command value generation unit 20, a current command value generation unit 30, and a current command value adjustment unit 40. The magnetic flux command value generation unit 20 determines the compensated magnetic flux command value Φocmp* based on the compensated torque command value Tecmp*. The current command value generation unit 30 determines the current command value (pre-adjustment d-axis current command value idbase* and pre-adjustment q-axis current command value iqbase*) for controlling the motor M based on the compensated torque command value Tecmp* and the compensated magnetic flux command value Φocmp*. The current command value adjustment unit 40 adjusts the current command value (pre-adjustment d-axis current command value idbase* and pre-adjustment q-axis current command value iqbase*) based on the compensated torque command value Tecmp*, the motor rotation speed Nf indicating the rotation speed of the motor M, and the DC voltage detection value Vdcf indicating the output voltage of the battery P.

[0090] As described above, the power converter control device 3 of this embodiment adjusts the current command values ​​(pre-adjustment d-axis current command value idbase* and pre-adjustment q-axis current command value iqbase*) generated by the current command value generation unit 30 in the current command value adjustment unit 40. The current command value adjustment unit 40 adjusts the current command value based on the compensated torque command value Tecmp*, the motor rotation speed Nf indicating the rotation speed of the motor M, and the DC voltage detection value Vdcf indicating the output voltage of the battery P. Therefore, the power converter control device 3 of this embodiment can adjust the current command value according to both the motor rotation speed Nf and the DC voltage detection value Vdcf. Consequently, even when the rotation speed of the motor M and the DC voltage detection value Vdcf change, the power converter control device 3 of this embodiment can reduce the difference between the compensated torque command value Tecmp* and the output torque, and can improve the accuracy of the output torque relative to the compensated torque command value Tecmp*.

[0091] Furthermore, for example, if the compensated torque command value Tecmp* is a value between multiple values ​​(grid points) set in the current command value map Ma, linear interpolation can be performed to obtain the d-axis current command value id* and the q-axis current command value iq*. In this case, if the compensated torque command value Tecmp* is not a value obtained by linear interpolation of two grid points (i.e., not located on a line connecting the two grid points), the search for a convergence point will continue in the magnetic flux feedback process, and it is possible that the d-axis current command value id* and the q-axis current command value iq* cannot be converged. In such cases, the d-axis current command value id* and the q-axis current command value iq* will not be stable and will become oscillating, resulting in an unstable output torque. In contrast, with the power converter control device 3 of this embodiment, the d-axis current command value id* and the q-axis current command value iq* can be adjusted using adjustment values ​​to converge, making it possible to stabilize the output torque.

[0092] Figures 8 and 9 are schematic diagrams illustrating the operation and effects of the power converter control device 3 of this embodiment. Figures 8 and 9 are schematic diagrams showing the transition of the current operating point in the id-iq plane. For example, as shown in Figure 8, when the motor M is driven at maximum output, the current operating point transitions along the minimum current maximum torque line (MTPA line) which is the most efficient. If such a minimum current maximum torque line is set to be only one, regardless of the motor speed Nf or the output voltage of the battery P, then torque accuracy cannot be ensured if the actual minimum current maximum torque line changes as shown by the dashed line in Figure 8, depending on the state of the motor speed Nf and the output voltage of the battery P. In contrast, the power converter control device 3 of this embodiment can set different minimum current maximum torque lines in the control system depending on the state of the motor speed Nf and the output voltage of the battery P. Therefore, torque accuracy can be ensured even if the motor speed Nf or the output voltage of the battery P changes.

[0093] As shown in Figure 9, when the motor M is controlled by field weakening, the current operating point shifts along the magnetic flux limiting circle. When the motor rotation speed Nf is low or the output voltage of the battery P is low, the actual position of the magnetic flux limiting circle changes as shown by the dashed line in Figure 9. In this case, if there is only one magnetic flux limiting circle for control, torque accuracy cannot be ensured when the actual magnetic flux limiting circle changes as shown by the dashed line in Figure 9, depending on the state of the motor rotation speed Nf and the output voltage of the battery P. In contrast, the power converter control device 3 of this embodiment can set different magnetic flux limiting circles for control purposes depending on the state of the motor rotation speed Nf and the output voltage of the battery P. Therefore, torque accuracy can be ensured even when the motor rotation speed Nf and the output voltage of the battery P are low.

[0094] Figure 10 is a graph showing the relationship between motor rotation speed Nf and the actual output torque Te of the motor M. As shown in this figure, in the region R1 where the output torque Te is close to 0 Nm, it is difficult to ensure torque accuracy when controlling using a single two-dimensional map with motor rotation speed and magnetic flux command value as parameters.

[0095] As shown in Figure 10, in the region R2 where the motor rotation speed Nf is low, the torque command value generation unit 10 may determine the torque command value without using the torque feedback value. In such cases, it is difficult to ensure torque accuracy when controlling using a single two-dimensional map with motor rotation speed and magnetic flux command value as parameters.

[0096] In the power converter control device 3 of this embodiment, even in regions R1 and R2 shown in Figure 10, different magnetic flux limiting circles can be controlled according to the motor rotation speed Nf and the output voltage state of the battery P. Therefore, torque accuracy can be ensured even in regions R1 and R2 shown in Figure 10.

[0097] Furthermore, in the power converter control device 3 of this embodiment, the current command value adjustment unit 40 includes an adjustment value setting unit 41 and an adder 42. The adjustment value setting unit 41 sets the adjustment value based on the compensated torque command value Tecmp*, the motor rotation speed Nf, and the DC voltage detection value Vdcf. The adder 42 adds the adjustment value to the current command value.

[0098] In this embodiment of the power converter control device 3, the current command value can be adjusted by simply adding an adjustment value to the current command value. Therefore, the power converter control device 3 of this embodiment can ensure torque accuracy while suppressing the amount of calculation.

[0099] Furthermore, the power converter control device 3 of the above embodiment includes a storage unit 3a. The storage unit 3a stores an adjustment value map Mb that shows the relationship between the compensated torque command value Tecmp*, the motor rotation speed Nf, the DC voltage detection value Vdcf, and the adjustment value. The adjustment value setting unit 41 sets the adjustment value based on the adjustment value map Mb.

[0100] In this embodiment, the power converter control device 3 allows for easy setting of adjustment values ​​by referring to the adjustment value map Mb. Therefore, the power converter control device 3 in this embodiment can easily determine the current command value.

[0101] Furthermore, by using an adjustment value map Mb, for example, it becomes possible to set finer adjustment values ​​in ranges where torque accuracy tends to decrease, and coarser adjustment values ​​in ranges where torque accuracy does not tend to decrease. Setting finer adjustment values ​​means setting more adjustment values ​​in the adjustment value map Mb for a certain range of change in the compensated torque command value Tecmp*, motor rotation speed Nf, and DC voltage detection value Vdcf. In this way, by setting finer adjustment values ​​in ranges where torque accuracy tends to decrease than in ranges where torque accuracy does not tend to decrease, the memory capacity of the adjustment value map Mb can be reduced. This reduces the memory area allocated to the adjustment value map Mb in the memory unit 3a, allowing other data to be stored in the memory unit 3a. For example, in recent vehicles, the memory capacity of the memory unit 3a has increased in order to support OTA (Over The Air: a wireless program update function). The power converter control device 3 of this embodiment can store the adjustment value map Mb in the memory unit 3a even in vehicles that support such OTA.

[0102] Furthermore, the power converter control device 3 of this embodiment includes a torque command value generation unit 10. The torque command value generation unit 10 can determine a compensated torque command value Tecmp* using a torque feedback value calculated based on the state of the motor M. In addition, when the torque command value generation unit 10 determines the compensated torque command value Tecmp* without using the torque feedback value, the current command value adjustment unit 40 changes the value of the current command value. This makes it possible to ensure torque accuracy even when the torque command value generation unit 10 determines the compensated torque command value Tecmp* without using the torque feedback value.

[0103] Furthermore, in the power converter control device 3 of this embodiment, the magnetic flux command value generation unit 20 determines the compensated magnetic flux command value Φocmp* using the magnetic flux feedback value calculated based on the state of the motor M. Therefore, the power converter control device 3 of this embodiment can determine a current command value that reflects the linked magnetic flux feedback value Φof. Consequently, the power converter control device 3 of this embodiment can further improve torque accuracy.

[0104] Furthermore, the motor control device 1 of this embodiment includes a power converter 2 and a power converter control device 3. Therefore, the motor control device 1 of this embodiment can improve the torque accuracy with respect to the compensated torque command value Tecmp*.

[0105] (Second Embodiment) Next, a second embodiment of the present invention will be described with reference to Figure 11. In this description, parts that are the same as those of the first embodiment will be omitted or simplified.

[0106] Figure 11 is a schematic diagram of the power converter control device 3 of this embodiment. As shown in this figure, in the power converter control device 3 of this embodiment, the storage unit 3a stores the MTPA control current command value map Mc, the waste power control current command value map Md, the MTPA control adjustment value map Me, and the waste power control adjustment value map Mf.

[0107] The MTPA control current command value map Mc is a current command value map Ma used to determine the current command value when performing MTPA control (maximum torque / current control) on a motor M. The MTPA control current command value map Mc is a map in which the current command values ​​based on MTPA control (pre-adjustment d-axis current command value idbase* and pre-adjustment q-axis current command value iqbase*) are associated with the compensated torque command value Tecmp* and the compensated magnetic flux command value Φocmp*.

[0108] The current command value map Md for power drain control is a current command value map Ma used to determine the current command value when performing power drain control (enhanced magnetic field control) on a motor M. The current command value map Md for power drain control is a map in which the current command values ​​based on power drain control (pre-adjustment d-axis current command value idbase* and pre-adjustment q-axis current command value iqbase*) are associated with the compensated torque command value Tecmp* and the compensated magnetic flux command value Φocmp*.

[0109] The MTPA control adjustment value map Me is an adjustment value map Mb used to determine adjustment values ​​when performing MTPA control on a motor M. The MTPA control adjustment value map Me is a map in which adjustment values ​​(d-axis current adjustment value idadj* and q-axis current adjustment value iqadj*) corresponding to the current command value based on MTPA control are associated with the compensated torque command value Tecmp*, the motor rotation speed Nf, and the DC voltage detection value Vdcf.

[0110] The drain power control adjustment value map Mf is an adjustment value map Mb used to determine adjustment values ​​when performing drain power control on a motor M. The drain power control adjustment value map Mf is a map in which adjustment values ​​(d-axis current adjustment value idadj* and q-axis current adjustment value iqadj*) corresponding to the current command value based on drain power control are associated with the compensated torque command value Tecmp*, the motor rotation speed Nf, and the DC voltage detection value Vdcf.

[0111] The current command value generation unit 30 determines the control state of the motor M based on, for example, a signal input from an external source. Specifically, the current command value generation unit 30 determines whether the control state of the motor M is MTPA control or power drain control. Similarly, the adjustment value setting unit 41 of the current command value adjustment unit 40 also determines whether the control state of the motor M is MTPA control or power drain control.

[0112] The current command value generation unit 30, when the control state of the motor M is MTPA control, refers to the MTPA control current command value map Mc to determine the current command value (pre-adjustment d-axis current command value idbase* and pre-adjustment q-axis current command value iqbase*). Also, when the control state of the motor M is MTPA control, the adjustment value setting unit 41 of the current command value adjustment unit 40 refers to the MTPA control adjustment value map Me to set the adjustment value (d-axis current adjustment value idadj* and q-axis current adjustment value iqadj*).

[0113] On the other hand, if the motor M's control state is drain control, the current command value generation unit 30 refers to the drain control current command value map Md to determine the current command value (pre-adjustment d-axis current command value idbase* and pre-adjustment q-axis current command value iqbase*). Also, if the motor M's control state is drain control, the adjustment value setting unit 41 of the current command value adjustment unit 40 refers to the drain control adjustment value map Mf to set the adjustment value (d-axis current adjustment value idadj* and q-axis current adjustment value iqadj*).

[0114] In the power converter control device 3 of this embodiment as described above, the storage unit 3a stores the MTPA control adjustment value map Me as the adjustment value map Mb used when performing MTPA control on the motor M. The adjustment value setting unit 41 sets the adjustment value based on the MTPA control adjustment value map Me when performing MTPA control on the motor M. With the power converter control device 3 of this embodiment, the current command value (pre-adjustment d-axis current command value idbase* and pre-adjustment q-axis current command value iqbase*) can be adjusted using adjustment values ​​suitable for MTPA control.

[0115] Furthermore, in the power converter control device 3 of this embodiment, the storage unit 3a stores the power drain control adjustment value map Mf as the adjustment value map Mb used when performing power drain control on the motor M. The adjustment value setting unit 41 sets the adjustment value based on the power drain control adjustment value map Mf when performing power drain control on the motor M. With the power converter control device 3 of this embodiment, the current command value (pre-adjustment d-axis current command value idbase* and pre-adjustment q-axis current command value iqbase*) can be adjusted using adjustment values ​​suitable for power drain control.

[0116] As described above, the power converter control device 3 of this embodiment uses different current command values ​​(pre-adjustment d-axis current command value idbase* and pre-adjustment q-axis current command value iqbase*) and different adjustment values ​​(d-axis current adjustment value idadj* and q-axis current adjustment value iqadj*) depending on the control state of the motor M. Therefore, it is possible to perform control that is suitable for each control state of the motor M.

[0117] Preferred embodiments of the present invention have been described above with reference to the attached drawings, but it goes without saying that the present invention is not limited to the above embodiments. The shapes and combinations of the constituent members shown in the above embodiments are examples, and can be modified in various ways based on design requirements, etc., without departing from the spirit of the present invention.

[0118] Furthermore, the above embodiments can also be described, for example, as shown in the following appendix.

[0119] (Note 1) A power converter control device that controls a power converter that performs power conversion between a DC power source and a motor, A magnetic flux command value generation unit that determines the magnetic flux command value based on the torque command value, A current command value generation unit that determines a current command value for controlling the motor based on the torque command value and the magnetic flux command value, A current command value adjustment unit adjusts the current command value based on the torque command value, the rotation detection value indicating the rotation speed of the motor, and the DC voltage value indicating the output voltage of the DC power supply. Equipped with A power converter control device characterized by the following features.

[0120] (Note 2) The current command value adjustment unit is, An adjustment value setting unit sets an adjustment value based on the torque command value, the rotation detection value, and the DC voltage value, An adder / subtractor that adds or subtracts the adjustment value from the current command value. Equipped with The power converter control device described in Appendix 1, characterized by the features described herein.

[0121] (Note 3) The system includes a storage unit that stores an adjustment value map showing the relationship between the torque command value, the rotation detection value, the DC voltage value, and the adjustment value. The adjustment value setting unit sets the adjustment value based on the adjustment value map. The power converter control device according to Appendix 2, characterized in that it is a power converter control device.

[0122] (Note 4) The storage unit stores a maximum torque / current control adjustment value map as the adjustment value map used when performing maximum torque / current control on the motor. The adjustment value setting unit sets the adjustment value based on the adjustment value map for maximum torque / current control when performing maximum torque / current control on the motor. The power converter control device described in Appendix 3, characterized by the features described herein.

[0123] (Note 5) The storage unit stores an adjustment value map for strengthening magnetic field control as the adjustment value map used when performing strengthening magnetic field control on the motor. The adjustment value setting unit sets the adjustment value based on the adjustment value map for strengthening magnetic field control when performing the strengthening magnetic field control on the motor. A power converter control device as described in Appendix 3 or 4, characterized by the features described herein.

[0124] (Note 6) The system includes a torque command value generation unit capable of determining the torque command value using a torque feedback value calculated based on the state of the motor, When the torque command value generation unit determines the torque command value without using the torque feedback value, The current command value adjustment unit changes the value of the current command value. A power converter control device as described in any one of the appendices 1 to 5, characterized by the features described herein.

[0125] (Note 7) The magnetic flux command value generation unit, The magnetic flux command value is determined using the magnetic flux feedback value calculated based on the state of the motor. A power converter control device as described in any one of the appendices 1 to 6, characterized by the features described herein.

[0126] (Note 8) A power conversion device characterized by comprising the aforementioned power converter and a power converter control device described in any one of the appendices 1 to 7. [Explanation of Symbols]

[0127] 1...Motor control device (power converter), 2...Power converter, 3...Power converter control device, 3a...Storage unit, 10...Torque command value generation unit, 11...Torque control unit, 20...Magnetic flux command value generation unit, 30...Current command value generation unit, 40...Current command value adjustment unit, 41...Adjustment value setting unit, 42...Adder (addition / subtraction unit), 50...Rotation speed calculation unit

Claims

1. A power converter control device that controls a power converter that performs power conversion between a DC power source and a motor, A magnetic flux command value generation unit that determines the magnetic flux command value based on the torque command value, A current command value generation unit that determines a current command value for controlling the motor based on the torque command value and the magnetic flux command value, A current command value adjustment unit adjusts the current command value based on the torque command value, the rotation detection value indicating the rotation speed of the motor, and the DC voltage value indicating the output voltage of the DC power supply. The system includes a torque command value generation unit capable of determining the torque command value using a torque feedback value calculated based on the state of the motor, When the torque command value generation unit determines the torque command value without using the torque feedback value, The current command value adjustment unit changes the value of the current command value. A power converter control device characterized by the following features.

2. The current command value adjustment unit is, An adjustment value setting unit sets an adjustment value based on the torque command value, the rotation detection value, and the DC voltage value, An adder / subtractor that adds or subtracts the adjustment value from the current command value. Equipped with The power converter control device according to claim 1, characterized in that it is a power converter control device.

3. The system includes a storage unit that stores an adjustment value map showing the relationship between the torque command value, the rotation detection value, the DC voltage value, and the adjustment value. The adjustment value setting unit sets the adjustment value based on the adjustment value map. The power converter control device according to claim 2, characterized in that it is as described above.

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

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

6. The magnetic flux command value generation unit is: The magnetic flux command value is determined using the magnetic flux feedback value calculated based on the state of the motor. A power converter control device according to any one of claims 1 to 4.

7. A power conversion device comprising the power converter and the power converter control device according to any one of claims 1 to 4.

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