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

Power converter control device and power converter

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

[0002] Motor control devices that perform vector control of an AC motor based on the d-axis and q-axis are known. Such motor control devices generate a d-axis current command value id* and a q-axis current command value iq*, and control the drive of the AC motor based on these d-axis current command values ​​id* and q-axis current command values ​​iq*. For example, Patent Document 1 discloses a motor control method for an electric vehicle that performs the above-described vector control. The electric vehicle motor control method disclosed in Patent Document 1 generates a magnetic flux command value from a torque command value, and further determines 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 ​​(the d-axis current command value id* and the q-axis current command value iq*).

[0003] Japanese Patent No. 6192263

[0004] However, in a motor actually installed in a vehicle, the MTPA (Maximum Torque Per Ampere) line may change or the center of the magnetic flux limit circle may shift depending on the motor's rotation speed and the output voltage of the DC power supply. In other words, in a motor actually installed in a vehicle, the response characteristics to a torque command value change depending on both the rotation speed and the output voltage of the DC power supply. Therefore, when a current command value is calculated from a single map based on a torque command value and a magnetic flux command value, as in Patent Document 1, the difference between the torque command value and the output torque may become large. Therefore, the electric vehicle motor control method disclosed in Patent Document 1 may have difficulty ensuring the accuracy of the output torque relative to the torque command value.

[0005] The present invention has been made in view of the above-mentioned problems, and has as its object to improve the accuracy of the output torque relative to a torque command value when controlling a motor.

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

[0007] One aspect of the present invention is a power converter control device that controls a power converter that performs power conversion between a DC power supply and a motor, and includes 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 that indicates the rotation speed of the motor, and a DC voltage value that indicates the output voltage of the DC power supply.

[0008] In one aspect of the present invention, a current command value generated by a current command value generation unit is adjusted by a current command value adjustment unit. The current command value adjustment unit adjusts the current command value based on a rotation detection value indicating the rotation speed of the motor and a DC voltage value indicating the output voltage of a DC power supply, in addition to a torque command value. Therefore, one aspect of the present invention can adjust the current command value in accordance with both the rotation detection value and the DC voltage value. Therefore, even when the rotation speed and the DC voltage value of the motor change, the present invention can reduce the difference between the torque command value and the output torque, thereby improving the accuracy of the output torque relative to the torque command value.

[0009] FIG. 1 is a circuit diagram schematically showing a general configuration of a motor control device in a first embodiment of the present invention. FIG. 2 is a block diagram showing a functional configuration of a power converter control device in a first embodiment of the present invention. FIG. 3 is a block diagram showing a functional configuration of a torque control unit in a first embodiment of the present invention. FIG. 4 is a block diagram showing a functional configuration of a magnetic flux command value generation unit in a first embodiment of the present invention. FIG. 5 is a conceptual diagram of a current command value map in a first embodiment of the present invention. FIG. 6 is a block diagram showing a functional configuration of a current command value adjustment unit in a first embodiment of the present invention. FIG. 7 is a conceptual diagram of an adjustment value map in a first embodiment of the present invention. FIG. 8 is a schematic diagram for explaining the action and effect of the power converter control device in a first embodiment of the present invention. FIG. 9 is a schematic diagram for explaining the action and effect of the power converter control device in a first embodiment of the present invention. FIG. 10 is a block diagram showing the functional configuration of a power converter control device in a second embodiment of the present invention.

[0010] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a power converter control device and a power converter according to the present invention will be described below with reference to the drawings.

[0011] 1 is a circuit diagram showing a schematic configuration of a motor control device (power conversion device) 1 according to this embodiment. As shown in this diagram, the motor control device 1 includes a power converter 2 and a power converter control device 3.

[0012] The power converter 2 is disposed between the motor M and a battery P (a DC power source) and performs power conversion between the motor M and the battery P. As shown in FIG. 1 , the power converter 2 includes a step-up / step-down converter 2a, a drive inverter 2b, and a power generation inverter 2c. The step-up / step-down converter 2a boosts the DC voltage output from the battery P at a predetermined step-up ratio. The step-up / step-down converter 2a also reduces the DC voltage output from the drive inverter 2b or the power generation inverter 2c at a predetermined step-down ratio. As shown in FIG. 1 , the step-up / step-down converter 2a includes, for example, a plurality of capacitors, a transformer, and a plurality of power semiconductor elements for voltage transformation. Examples of the power semiconductor elements that can be used include an insulated gate bipolar transistor (IGBT) or a metal oxide semiconductor field effect transistor (SiC-MOSFET).

[0013] Such a buck-boost converter 2a is a power circuit known as a magnetically coupled interleaved chopper circuit. The buck-boost converter 2a selectively performs a boost operation, in which it boosts the DC power input from the battery P via a pair of battery terminals and outputs the boosted power to the drive inverter 2b, and a buck operation, in which it lowers the DC power input from the drive inverter 2b or the power generation inverter 2c and outputs the DC power to the battery P via a pair of battery terminals. In other words, the buck-boost converter 2a is a power conversion circuit that inputs and outputs DC power bidirectionally between the battery P and the drive inverter 2b or the power generation inverter 2c.

[0014] Based on a PWM (Pulse Width Modulation) signal from the power converter control device 3, the drive inverter 2b converts DC power output from the battery P into AC power and supplies it to the motor M. Based on the PWM signal from the power converter control device 3, the drive inverter 2b also converts AC power output from the motor M into DC power and supplies it to the step-up / step-down converter 2a. As shown in FIG. 1 , the drive inverter 2b has three switching legs and is equipped with a total of six drive power semiconductor elements.

[0015] Such a drive inverter 2b has three (a plurality of) switching legs corresponding to the number of phases of the motor M. This drive inverter 2b is a power conversion circuit that selectively performs a power running operation and a regenerative operation. That is, the drive inverter 2b selectively performs a power running operation in which it converts DC power input from the step-up / step-down converter 2a into three-phase AC power and outputs it to the motor M via three motor terminals, and a regenerative operation in which it converts three-phase AC power input from the motor M via the three motor terminals into DC power and outputs it to the step-up / step-down converter 2a. That is, the drive inverter 2b is a power circuit that mutually converts DC power and three-phase AC power between the step-up / step-down converter 2a and the motor M.

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

[0017] Such a power generation inverter 2c has 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 three-phase AC power input from the generator G via three generator terminals into DC power and outputs it to the step-up / step-down converter 2a. In other words, this power generation inverter 2c is a power circuit that converts DC power and three-phase AC power between the step-up / step-down converter 2a and the generator G.

[0018] As shown in the figure, a battery P, a motor M, and a generator G are connected to the power converter 2. The power converter 2 has a pair of battery terminals (a positive battery terminal E1 and a negative battery terminal E2) to which the battery P is connected as terminals for external connection. The power converter 2 also has three motor terminals (a U-phase motor terminal Fu, a V-phase motor terminal Fv, and a W-phase motor terminal Fw) to which the motor M is connected. The power converter 2 also has three generator terminals (a U-phase generator terminal Hu, a V-phase generator terminal Hv, and a 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 electrically powered vehicle such as a hybrid vehicle or an electric car, and controls the motor M, which is a rotating electrical machine, and also controls the charging of a battery P with AC power generated by a generator G. In other words, the motor control device 1 controls the drive of the motor M based on the output of the battery P (battery power), and controls the charging of the battery P based on the output power of the generator G (generated power).

[0020] The motor control device 1 may be configured so that the power converter 2 does not include the power generation inverter 2c, and the generator G is not connected to the power converter 2. In this case, the motor control device 1 does not control the charging of the battery P based on the output power of the generator G (generated power), but instead controls the drive of the motor M based on the output of the battery P (battery power).

[0021] As shown in the figure, the positive electrode of battery P is connected to positive battery terminal E1 and the negative electrode is connected to negative battery terminal E2. Battery P is a secondary battery such as a lithium ion battery, and discharges DC power to and charges DC power via motor control device 1.

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

[0023] The generator G is a three-phase generator, with a U-phase output terminal connected to a U-phase generator terminal Hu, a V-phase output terminal connected to a V-phase generator terminal Hv, and a W-phase output terminal connected to a W-phase generator terminal Hw. The 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 ​​(a transformation duty command value, a drive duty command value, and a 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-down 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. The gate driver also 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. The ECU outputs various duty command values ​​(a voltage transformation duty command value, a drive duty command value, and a power generation duty command value) generated based on the control processing to the gate driver. The ECU controls the drive of the motor M and the charging of the battery P via the power converter 2 and the gate driver. That is, the ECU generates various duty command values ​​(a voltage transformation duty command value, a drive duty command value, and a power generation duty command value) for the voltage step-up / down converter 2a, the drive inverter 2b, and the power generation inverter 2c based on detection values ​​(voltage detection values) of voltage sensors and detection values ​​(current detection values) of current sensors annexed to the voltage step-up / down converter 2a, the drive inverter 2b, and the power generation inverter 2c, as well as operation information of the electric vehicle.

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

[0027] The storage unit 3a also stores an adjustment value map Mb. The adjustment value map Mb is a map used when setting an adjustment value for adjusting the current command value. This adjustment value map Mb will also be described in detail later.

[0028] Fig. 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 Fig. 2.

[0029] The current sensor 4 detects each phase current between the motor M and the power converter 2 and outputs the detection result to the power converter control device 3. Note that multiple current sensors 4 may be provided between the power converter 2 and the motor M, or may be provided inside the power converter 2. The current sensor 4 is not particularly limited as long as it is configured to detect the phase current of each phase, and may include, for example, a current transformer (CT) with a transformer or a Hall element. The current sensor 4 may also 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 include 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 Fig. 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 functional units embodied by, for example, the above-mentioned gate drivers and ECUs, such as 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.

[0033] The torque control unit 11 receives an external input of a pre-compensation torque command value T*. Based on the pre-compensation torque command value T*, the torque control unit 11 generates a d-axis current command value id*, which is a target value for the d-axis current of the motor M, and a q-axis current command value iq*, which is a 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] 3 is a block diagram showing the functional configuration of the torque control unit 11. As shown in this diagram, 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 rotation speed calculation unit 50.

[0035] The torque command value generating unit 10 generates a compensated torque command value Tecmp* from the pre-compensation torque command value T* based on a torque feedback value calculated based on the state of the motor M. The method of calculating the torque feedback value is not particularly limited. For example, the torque feedback value can be obtained based on a value indicating the state of the motor M (e.g., the state of output torque or the temperature state) acquired by a detector (not shown). The compensated torque command value Tecmp* is a torque command value obtained by correcting the pre-compensation 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 pre-compensation torque command value T*. In other words, the pre-compensation torque command value T* can also be input as a torque command value to the magnetic flux command value generation unit 20 and the current command value adjustment unit 40. In such a case, it is possible not to provide the torque command value generation unit 10.

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

[0038] The flux linkage command calculator 21 calculates a pre-compensation flux linkage command value Φo* (pre-compensation flux command value) based on the compensated torque command value Tecmp*. For example, the motor rotation speed Nf (rotation detection value) indicating the rotation speed of the motor M is input to the flux linkage command calculator 21 from the rotation speed calculation unit 50 shown in FIG. 3. This motor rotation speed Nf is a value calculated by the rotation speed calculation unit 50 based on the angular speed ω, as will be described later. Furthermore, the angular speed 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 speed ω is also a rotation detection value indicating the rotation speed of the motor M.

[0039] The DC voltage detection value Vdcf is also input to the flux linkage command calculator 21. For example, the flux linkage command calculator 21 determines the modulation factor coefficient gmref used in the power converter 2 based on a map that determines the modulation factor coefficient gmref using the compensated torque command value Tecmp*, the motor rotation speed Nf, and the DC voltage detection value Vdcf as parameters. Furthermore, the flux linkage command calculator 21 calculates the pre-compensation flux linkage command value Φo* based on the modulation factor coefficient gmref, the motor rotation speed Nf, and the DC voltage detection value Vdcf.

[0040] The flux linkage command calculator 21 calculates a flux estimation error αε based on the modulation factor coefficient gmref, the post-compensation 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 armature resistance minimum value Ramin. The flux linkage command calculator 21 further calculates a pre-compensation flux linkage command value Φo* using the flux estimation error αε.

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

[0042]

[0043]

[0044]

[0045]

[0046] For example, the flux linkage command calculator 21 calculates the flux estimation error αε based on the formulas (1) and (2). The flux linkage command calculator 21 also calculates the pre-compensation flux linkage command value Φo* based on the formula (3).

[0047] The flux linkage command limit calculator 22 calculates a flux linkage command upper limit value Φomax and a flux linkage command lower limit value Φomin based on the compensated torque command value Tecmp*, the motor rotation speed Nf, and the detected DC voltage value Vdcf. The flux linkage command upper limit value 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 flux linkage command lower limit value 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 calculates the flux linkage command upper limit value Φomax based on a flux linkage limit map for field control that indicates the maximum value of the flux linkage command value for each value of the compensated torque command value Tecmp*. Note that the flux linkage command lower limit value Φomin may be a predetermined value instead of being calculated.

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

[0050] The flux linkage calculator 24 calculates a flux linkage feedback value Φof (flux feedback value) based on the angular velocity ω. For example, the voltage command values ​​V* (d-axis voltage command value Vd* and q-axis voltage command value Vq*) are fed back and input from the current control unit 15 shown in FIG. 2 to the flux linkage calculator 24. The flux linkage calculator 24 calculates the flux linkage feedback value Φof based on the angular velocity ω indicating the current motor rotation speed input from the angular velocity calculator 14 and the current voltage command value V* input from the current control unit 15.

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

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

[0053] It should be noted that feedback anti-windup processing may be performed to prevent the integral term from saturating. In this case, a value is obtained by subtracting a flux compensation value dΦo* (described later) output from the flux linkage compensation limiting unit 27 from the pre-compensation flux linkage command value Φoff* output from the PI controller 25. This value is then multiplied by the reciprocal of the proportional gain used in the PI controller 25, and the obtained value is subtracted from the deviation Φoerr, and then the calculation is performed in which the result is multiplied by the integral gain as described above.

[0054] The flux linkage compensation limit calculator 26 calculates a limit value used in 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 value of the flux compensation value dΦobuf*. The calculated upper limit value dΦomax is supplied to the flux linkage compensation limit limiting unit 27. In addition, the flux linkage compensation limit calculator 26 calculates a lower limit value dΦomin that limits the lower limit value of the flux compensation value dΦobuf*. The calculated lower limit value dΦomin is supplied to the flux linkage compensation limit limiting unit 27.

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

[0056] The limitation of the flux compensation value dΦobuf* by the flux linkage compensation limiter 27, which will be described later, is useful when performing field-weakening control on the motor M. Furthermore, when the pre-compensation flux linkage command value Φo* is smaller than the flux linkage command upper limit value Φomax, it can be determined that field-weakening control is necessary. Therefore, when the pre-compensation flux linkage command value Φo* is smaller than the flux linkage command upper limit value Φomax, 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. In other words, when the pre-compensation flux linkage command value Φo* is greater than the flux linkage command upper limit value 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 limit values ​​of the flux compensation value dΦobuf* become 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-compensation flux linkage command value Φoff* output from the flux linkage command limiting unit 23, instead of the pre-compensation flux linkage command value Φo*. Alternatively, the upper limit value dΦomax and the lower limit value dΦomin may be calculated using the pre-compensation flux linkage command value Φo* and the pre-compensation flux linkage command value Φoff*.

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

[0059] That is, when the flux compensation value dΦobuf* input from the PI controller 25 is greater than the upper limit value dΦomax, the interlinkage flux compensation limiting unit 27 replaces the value of the flux compensation value dΦobuf* with the upper limit value dΦomax and outputs it. Also, when the flux compensation value dΦobuf* input from the PI controller 25 is smaller than the lower limit value dΦomin, the interlinkage flux compensation limiting unit 27 replaces the value of the flux compensation value dΦobuf* with the lower limit value dΦomin and outputs it. The flux compensation value dΦobuf* output from the interlinkage flux compensation limiting unit 27 is referred to as the flux compensation value dΦo*.

[0060] 4, the flux command value generating unit 20 includes an adder 29 that adds the pre-compensation flux linkage command value Φoff* and the flux compensation value dΦo* to calculate and output the post-compensation flux command value Φocmp*. That is, the adder 29 calculates the post-compensation flux command value Φocmp* from the pre-compensation flux linkage command value Φoff* based on the flux compensation value dΦo*.

[0061] In the flux command value generating unit 20 configured as described above, the post-compensation torque command value Tecmp*, the motor rotation speed Nf, the angular speed ω, and the detected DC voltage value Vdcf are input to the flux linkage command calculator 21. The flux linkage command calculator 21 determines the pre-compensation flux linkage command value Φo* based on the post-compensation torque command value Tecmp*, the motor rotation speed Nf, the angular speed ω, and the detected DC voltage value Vdcf.

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

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

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

[0065] The pre-compensation 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. The subtractor 28 calculates the deviation Φoerr by subtracting the flux linkage feedback value Φof from the pre-compensation 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 a value obtained by multiplying the deviation Φoerr by a proportional gain and a value obtained by multiplying the deviation Φoerr by an integral gain and then integrating the result.

[0067] On the other hand, the pre-compensation flux linkage command value Φo* output from the flux linkage command calculator 21 and the flux linkage command upper limit value Φomax output from the flux linkage command limit calculator 22 are input to a 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-compensation flux linkage command value Φo* and the flux linkage command 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-compensation flux linkage command value Φo* and the flux linkage command upper limit value Φomax.

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

[0069] The pre-compensation flux linkage command value Φoff* output from the flux linkage command limit restricting unit 23 and the flux compensation value dΦo* output from the flux linkage compensation limit restricting unit 27 are input to an adder 29. The adder 29 adds the pre-compensation flux linkage command value Φoff* and the flux compensation value dΦo* together to calculate a post-compensation flux command value Φocmp*. The calculated post-compensation flux command value Φocmp* is input to a current command value generating unit 30 shown in FIG.

[0070] In the present embodiment, this post-compensation flux command value Φocmp* is input as the flux command value to the current command value generation unit 30. That is, in the present embodiment, the flux command value calculated using the flux linkage feedback value Φof (flux feedback value) is input to the current command value generation unit 30. Therefore, the current command value generation unit 30 can calculate pre-adjustment current command values ​​(pre-adjustment d-axis current command value idbase* and pre-adjustment q-axis current command value iqbase*) described below in a state including a component due to the flux linkage feedback value Φof. However, it is also possible to input the pre-compensation flux linkage command value Φoff* to the current command value generation unit 30 as the flux command value.

[0071] The current command value generator 30 calculates a pre-adjustment d-axis current command value idbase* and a 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 generator 30 calculates the pre-adjustment d-axis current command value idbase* and the pre-adjustment q-axis current command value iqbase* based on a current command value map Ma stored in the storage unit 3 a.

[0072] 5 is a conceptual diagram of the current command value map Ma. As shown in FIG. 5, the current command value map Ma is a two-dimensional map having the compensated torque command value Tecmp* and the compensated magnetic flux command value Φocmp* as parameters. In the current command value map Ma, the pre-adjustment d-axis current command value idbase* and the pre-compensated 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 generator 30 refers to this current command value map Ma to determine 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 adjusting unit 40 adjusts the d-axis current command value and the q-axis current command value before adjustment (the d-axis current command value idbase* and the q-axis current command value iqbase* before adjustment) based on the input compensated torque command value Tecmp*, the motor rotation speed Nf, and the DC voltage detection value Vdcf. That is, 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 the q-axis current command value adjusted by the current command value adjusting unit 40.

[0074] 6 is a block diagram showing the functional configuration of the current command value adjusting unit 40. As shown in this figure, the current command value adjusting unit 40 has an adjustment value setting unit 41 and an adder 42 (adder-subtractor).

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

[0076] FIG. 7 is a conceptual diagram of the adjustment value map Mb. As shown in FIG. 7, the adjustment value map Mb is a three-dimensional map in which a plurality of two-dimensional maps M1 are provided corresponding to the DC voltage value. For example, one two-dimensional map M1 is provided for each 1 V DC voltage value. Note that the number of V DC voltages for which the two-dimensional maps M1 are provided can be arbitrarily changed. Each two-dimensional map M1 is a map using the compensated torque command value Tecmp* and the motor rotation speed Nf as parameters. Furthermore, each two-dimensional map M1 associates adjustment values ​​(d-axis current adjustment value idadj* and q-axis current adjustment value iqadj*) with the compensated torque command value Tecmp* and the motor rotation speed Nf. The adjustment value setting unit 41 references this adjustment value map Mb and sets adjustment values ​​based on the compensated torque command value Tecmp*, the motor rotation speed Nf, and the detected DC voltage value Vdcf.

[0077] Note that these adjustment values ​​are determined in advance through experiments or simulations. Depending on the values ​​of the compensated torque command value Tecmp*, the motor rotation speed Nf, or the detected DC voltage value Vdcf, there may be cases where the d-axis current command value and the q-axis current command value do not need to be changed by adjustment. For this reason, the adjustment value that meets the condition where the d-axis current command value and the q-axis current command value do not need to be changed by adjustment is set to "0." When the adjustment value is "0," the values ​​of the pre-adjustment d-axis current command value idbase* and the pre-adjustment q-axis current command value iqbase* do not change through adjustment and are output from the current command value adjuster 40 as the d-axis current command value id* and the q-axis current command value iq*.

[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*. The d-axis current command value id* is obtained by adding the d-axis current adjustment value idadj* to the pre-adjustment d-axis current command value idbase*. The q-axis current command value iq* is obtained by adding the q-axis current adjustment value iqadj* to the pre-adjustment q-axis current command value iqbase*. 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 a case, a subtractor is provided instead of the adder 42.

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

[0080] In this embodiment, the torque control unit 11 includes the rotation speed calculation unit 50. However, the rotation speed calculation unit 50 may be provided outside the torque control unit 11. Furthermore, the motor rotation speed Nf, which is one of the parameters of the current command value map Ma, may be changed to the angular velocity ω. In other words, the current command value map Ma may be any map that uses rotation detection values ​​indicating the rotation speed of the motor, such as the motor rotation speed Nf and the angular velocity ω, as parameters. For example, when the motor rotation speed Nf, which is one of the parameters of the current command value map Ma, is changed to the angular velocity ω, the motor rotation speed Nf calculated by the rotation speed calculation unit 50 does not need to be input to the current command value adjustment unit 40.

[0081] 2 , the current detection unit 12 detects the value of a current flowing through a U-phase coil of the motor M (hereinafter referred to as the “U-phase current value”) iu, the value of a current flowing through a V-phase coil of the motor M (hereinafter referred to as the “V-phase current value”) iv, and the value of a current flowing through a 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 converter 13 converts the U-phase current value iu, the V-phase current value iv, and the W-phase current value iw obtained from the current detector 12 into a d-axis current value id and a q-axis current value iq in a dq coordinate system using the electrical angle obtained from the rotation angle sensor 5. The three-phase / dq converter 13 outputs the d-axis current value id and the q-axis current value iq to the current controller 15.

[0083] The angular velocity calculation unit 14 calculates an angular velocity ω (detected rotation 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 a d-axis voltage command value Vd* based on the d-axis current command value id*. The current control unit 15 calculates a 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 converter 16 acquires the electrical angle from the rotation angle sensor 5. The dq / three-phase converter 16 acquires a d-axis voltage command value Vd* and a q-axis voltage command value Vq* from the current control unit 15. Using the electrical angle, the dq / three-phase converter 16 converts the d-axis voltage command value Vd* and the q-axis voltage command value Vq* into a U-phase voltage command value Vu*, a V-phase voltage command value Vv*, and a W-phase voltage command value Vw*, which are voltage command values ​​for the U-, V-, and W-phases of the motor M. The dq / three-phase converter 16 then outputs the U-phase voltage command value Vu*, the V-phase voltage command value Vv*, and the W-phase voltage command value Vw* to the PWM control unit 17. The U-phase voltage command value Vu*, the V-phase voltage command value Vv*, and the W-phase voltage command value Vw* are modulated waves, and may be referred to as "voltage command signals" when they are not distinguished from one another.

[0085] The PWM control unit 17 compares a carrier wave of a predetermined carrier frequency with the voltage command signal. Based on the comparison result, the PWM control unit 17 outputs a Hi-level signal during a period in which the amplitude of the voltage command signal is greater than that of the carrier wave, and outputs a Lo-level signal during a period in which 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 compares the carrier wave with a U-phase voltage command value Vu* to generate a PWM signal Du and outputs the PWM signal Du to the power converter 2. The PWM control unit 17 compares the carrier wave with a V-phase voltage command value Vv* to generate a PWM signal Dv and outputs the PWM signal Dw to the power converter 2. The PWM control unit 17 compares the carrier wave with a W-phase voltage command value Vw* to generate a PWM signal Dw and outputs the PWM signal Dw to the power converter 2.

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

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

[0088] The current command value generating unit 30 determines a pre-adjustment d-axis current command value idbase* and a pre-adjustment q-axis current command value iqbase* based on the compensated torque command value Tecmp* and the compensated magnetic flux command value Φocmp*. These pre-adjustment d-axis current command value idbase* and pre-adjustment q-axis current command value iqbase* are input to the current command value adjusting unit 40. The current command value adjusting unit 40 determines a d-axis current command value id* and a q-axis current command value iq* 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 as described above controls the power converter 2 that performs power conversion between the battery P and the motor M. The power converter control device 3 of this embodiment includes a flux command value generation unit 20, a current command value generation unit 30, and a current command value adjustment unit 40. The flux command value generation unit 20 calculates a compensated flux command value Φocmp* based on the compensated torque command value Tecmp*. The current command value generation unit 30 calculates current command values ​​(pre-adjustment d-axis current command value idbase* and pre-adjustment q-axis current command value iqbase*) for controlling the motor M based on the compensated torque command value Tecmp* and the compensated flux command value Φocmp*. The current command value adjustment unit 40 adjusts the current command values ​​(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*, 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 ​​(the pre-adjustment d-axis current command value idbase* and the pre-adjustment q-axis current command value iqbase*) generated by the current command value generation unit 30 using the current command value adjustment unit 40. The current command value adjustment unit 40 adjusts the current command value based on 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, in addition to the compensated torque command value Tecmp*. Therefore, the power converter control device 3 of this embodiment can adjust the current command value in accordance with both the motor rotation speed Nf and the DC voltage detection value Vdcf. Therefore, 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, thereby improving 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 determine the d-axis current command value id* and the q-axis current command value iq*. If the compensated torque command value Tecmp* is not a value obtained by linear interpolation of two lattice points (i.e., if it is not located on a line connecting the two lattice points), the flux feedback process continues to search for a convergence point, and it is possible that the d-axis current command value id* and the q-axis current command value iq* cannot converge. In such a case, the d-axis current command value id* and the q-axis current command value iq* become unstable and oscillate, resulting in an unstable output torque. In contrast, the power converter control device 3 of this embodiment can adjust the d-axis current command value id* and the q-axis current command value iq* to converge using an adjustment value, thereby stabilizing the output torque.

[0092] 8 and 9 are schematic diagrams illustrating the effects of the power converter control device 3 of this embodiment. FIGS. 8 and 9 are schematic diagrams showing the transition of the current operating point on the id-iq plane. For example, as shown in FIG. 8 , when the motor M is driven at maximum output, the current operating point transitions along the minimum current maximum torque line (MTPA line) that provides the highest efficiency. If such a minimum current maximum torque line were set in a control configuration so that there was only one line, independent of the motor rotation speed Nf or the output voltage of the battery P, torque accuracy would not be ensured if the actual minimum current maximum torque line changed as shown by the dashed line in FIG. 8 depending on the state of the motor rotation speed Nf or 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 a control configuration depending on the state of the motor rotation speed Nf and the output voltage of the battery P. This makes it possible to ensure torque accuracy even when the motor rotation speed Nf or the output voltage of the battery P changes.

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

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

[0095] 10, in region R2 where the motor rotation speed Nf is low, the torque command value generator 10 may calculate the torque command value without using the torque feedback value. In such a case, it is difficult to ensure torque accuracy when control is performed using a single two-dimensional map with the motor rotation speed and the magnetic flux command value as parameters.

[0096] In the power converter control device 3 of this embodiment, even in the region R1 or region R2 shown in Fig. 10, different magnetic flux limiting circles can be set in the control depending on the motor rotation speed Nf and the state of the output voltage of the battery P. Therefore, even in the region R1 or region R2 shown in Fig. 10, it is possible to ensure torque accuracy.

[0097] Furthermore, in the power converter control device 3 of this embodiment, the current command value adjusting unit 40 includes an adjustment value setting unit 41 and an adder 42. The adjustment value setting unit 41 sets an 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 the power converter control device 3 of this embodiment, the current command value can be adjusted by simply adding the 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] The power converter control device 3 of the above embodiment also includes a storage unit 3a. The storage unit 3a stores an adjustment value map Mb that indicates the relationship between the compensated torque command value Tecmp*, the motor rotation speed Nf, the detected DC voltage value Vdcf, and the adjustment value. The adjustment value setting unit 41 sets the adjustment value based on the adjustment value map Mb.

[0100] The power converter control device 3 of this embodiment can easily set the adjustment value by referring to the adjustment value map Mb, and therefore can easily determine the current command value.

[0101] Furthermore, by using the adjustment value map Mb, for example, it is possible to set fine adjustment values ​​in a range where torque accuracy is likely to decrease and set coarse adjustment values ​​in a range where torque accuracy is unlikely to decrease. Setting fine adjustment values ​​means setting larger adjustment values ​​in the adjustment value map Mb within a certain range of change for the compensated torque command value Tecmp*, the motor rotation speed Nf, and the detected DC voltage value Vdcf. In this way, by setting finer adjustment values ​​in a range where torque accuracy is likely to decrease than in a range where torque accuracy is unlikely to decrease, the storage capacity of the adjustment value map Mb can be reduced. This reduces the storage area allocated to the adjustment value map Mb in the storage unit 3a, allowing other data to be stored in the storage unit 3a. For example, in recent vehicles, the storage capacity of the storage unit 3a has increased to enable support for over-the-air (OTA) (a wireless program update function). The power converter control device 3 of this embodiment can store the adjustment value map Mb in the storage unit 3a even in vehicles that support such OTA.

[0102] The power converter control device 3 of this embodiment also includes a torque command value generation unit 10. The torque command value generation unit 10 is capable of calculating the compensated torque command value Tecmp* using a torque feedback value calculated based on the state of the motor M. Furthermore, when the torque command value generation unit 10 calculates 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 calculates 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 flux command value generator 20 calculates the compensated flux command value Φocmp* using the flux feedback value calculated based on the state of the motor M. Therefore, the power converter control device 3 of this embodiment can calculate a current command value that reflects the flux linkage feedback value Φof. Therefore, 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 Fig. 11. In the description of this embodiment, the description of the same parts as those in the first embodiment will be omitted or simplified.

[0106] 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 a current command value map Mc for MTPA control, a current command value map Md for waste electricity control, an adjustment value map Me for MTPA control, and an adjustment value map Mf for waste electricity control.

[0107] The current command value map Mc for MTPA control is a current command value map Ma used to determine a current command value when MTPA control (maximum torque / current control) is performed on the motor M. The current command value map Mc for MTPA control is a map in which 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 a compensated torque command value Tecmp* and a compensated magnetic flux command value Φocmp*.

[0108] The current command value map Md for power waste control is a current command value map Ma used to determine a current command value when power waste control (strong magnetic field control) is performed on the motor M. The current command value map Md for power waste control is a map in which current command values ​​based on power waste control (pre-adjustment d-axis current command value idbase* and pre-adjustment q-axis current command value iqbase*) are associated with compensated torque command value Tecmp* and 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 the 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*) according to the current command value based on the MTPA control are associated with the compensated torque command value Tecmp*, the motor rotation speed Nf, and the detected DC voltage value Vdcf.

[0110] The adjustment value map Mf for waste electricity control is an adjustment value map Mb used to determine adjustment values ​​when waste electricity control is performed on the motor M. The adjustment value map Mf for waste electricity control is a map in which adjustment values ​​(d-axis current adjustment value idadj* and q-axis current adjustment value iqadj*) according to the current command value based on the waste electricity 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 generating 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 generating unit 30 determines whether the control state of the motor M is MTPA control or power waste control. Similarly, the adjustment value setting unit 41 of the current command value adjusting unit 40 determines whether the control state of the motor M is MTPA control or power waste control.

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

[0113] On the other hand, when the control state of the motor M is waste electricity control, the current command value generating unit 30 refers to the waste electricity control current command value map Md to determine the current command values ​​(the pre-adjustment d-axis current command value idbase* and the pre-adjustment q-axis current command value iqbase*). Also, when the control state of the motor M is waste electricity control, the adjustment value setting unit 41 of the current command value adjusting unit 40 refers to the waste electricity control adjustment value map Mf to set the adjustment values ​​(the d-axis current adjustment value idadj* and the 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. Furthermore, the adjustment value setting unit 41 sets adjustment values ​​based on the MTPA control adjustment value map Me when performing MTPA control on the motor M. According to the power converter control device 3 of this embodiment as described above, it is possible to adjust the current command values ​​(the pre-adjustment d-axis current command value idbase* and the pre-adjustment q-axis current command value iqbase*) using adjustment values ​​suitable for MTPA control.

[0115] Furthermore, in the power converter control device 3 of this embodiment, the storage unit 3a stores an adjustment value map Mf for waste electricity control as the adjustment value map Mb used when performing waste electricity control on the motor M. Furthermore, the adjustment value setting unit 41 sets adjustment values ​​based on the adjustment value map Mf for waste electricity control when performing waste electricity control on the motor M. According to the power converter control device 3 of this embodiment, it is possible to adjust the current command values ​​(the pre-adjustment d-axis current command value idbase* and the pre-adjustment q-axis current command value iqbase*) using adjustment values ​​suitable for waste electricity control.

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

[0117] While the preferred embodiments of the present invention have been described above with reference to the accompanying drawings, it goes without saying that the present invention is not limited to the above-described embodiments. The shapes and combinations of the components shown in the above-described embodiments are merely examples, and various modifications can be made based on design requirements, etc., without departing from the spirit of the present invention.

[0118] The above embodiment can also be described as follows, for example:

[0119] (Supplementary Note 1) A power converter control device that controls 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 that indicates the rotation speed of the motor, and a DC voltage value that indicates the output voltage of the DC power supply.

[0120] (Supplementary Note 2) The power converter control device according to Supplementary Note 1, wherein the current command value adjustment unit comprises: an adjustment value setting unit that sets an adjustment value based on the torque command value, the rotation detection value, and the DC voltage value; and an adder / subtractor that adds or subtracts the adjustment value to the current command value.

[0121] (Supplementary Note 3) The power converter control device according to Supplementary Note 2, further comprising: a storage unit that stores an adjustment value map that indicates a relationship between the torque command value, the rotation detection value, the DC voltage value, and the adjustment value; and the adjustment value setting unit sets the adjustment value based on the adjustment value map.

[0122] (Supplementary Note 4) The power converter control device according to Supplementary Note 3, wherein the storage unit stores a maximum torque / current control adjustment value map as the adjustment value map to be used when maximum torque / current control is performed on the motor, and the adjustment value setting unit sets the adjustment value based on the maximum torque / current control adjustment value map when maximum torque / current control is performed on the motor.

[0123] (Supplementary Note 5) The power converter control device according to Supplementary Note 3 or 4, characterized in that the storage unit stores an adjustment value map for strong magnetic field control as the adjustment value map to be used when performing strong magnetic field control on the motor, and the adjustment value setting unit sets the adjustment value based on the adjustment value map for strong magnetic field control when performing strong magnetic field control on the motor.

[0124] (Supplementary Note 6) The power converter control device according to any one of Supplementary Notes 1 to 5, further comprising: a torque command value generation unit capable of calculating the torque command value using a torque feedback value calculated based on a state of the motor; and when the torque command value generation unit calculates the torque command value without using the torque feedback value, the current command value adjustment unit changes a value of the current command value.

[0125] (Supplementary Note 7) The power converter control device according to any one of Supplementary Notes 1 to 6, wherein the magnetic flux command value generation unit calculates the magnetic flux command value using a magnetic flux feedback value calculated based on a state of the motor.

[0126] (Supplementary Note 8) A power conversion device comprising the power converter and the power converter control device according to any one of Supplementary Notes 1 to 7.

[0127] 1... Motor control device (power conversion device), 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 (adder-subtractor), 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 supply and a motor, comprising: a magnetic flux command value generation unit that obtains a magnetic flux command value based on a torque command value; a current command value generation unit that obtains 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 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; a torque command value generation unit capable of obtaining the torque command value using a torque feedback value calculated based on the state of the motor; when the torque command value generation unit obtains 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 above.

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

3. includes a storage unit that stores an adjustment value map indicating 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 by the 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 maximum torque / current control adjustment value map when performing maximum torque / current control on the motor The power converter control device according to claim 3, characterized by the above.

5. the storage unit stores an overexcitation control adjustment value map as the adjustment value map used when performing overexcitation control on the motor; the adjustment value setting unit sets the adjustment value based on the overexcitation control adjustment value map when performing the overexcitation control on the motor The power converter control device according to claim 3 or 4, characterized by the above.

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

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