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WO2020075620A1 - Dispositif de commande de moteur et dispositif de direction assistée - Google Patents

Dispositif de commande de moteur et dispositif de direction assistée Download PDF

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Publication number
WO2020075620A1
WO2020075620A1 PCT/JP2019/039092 JP2019039092W WO2020075620A1 WO 2020075620 A1 WO2020075620 A1 WO 2020075620A1 JP 2019039092 W JP2019039092 W JP 2019039092W WO 2020075620 A1 WO2020075620 A1 WO 2020075620A1
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WIPO (PCT)
Prior art keywords
motor
axis current
value
command value
axis
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Ceased
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PCT/JP2019/039092
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English (en)
Japanese (ja)
Inventor
智也 森
林峰 蘭
嶺 板羽
正倫 綿引
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Nidec Corp
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Nidec Corp
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/12—Stator flux based control involving the use of rotor position or rotor speed sensors

Definitions

  • the present invention relates to a motor control device and a power steering device.
  • Patent Document 1 an induced voltage ripple table is prepared, and the dq-axis voltage command generated by the dq-axis voltage command generation unit cancels the torque ripple component read from the induced voltage ripple table according to the rotation angle of the motor.
  • a technique has been proposed in which the amount on the shaft is added to reduce the torque ripple of the motor.
  • the amplitude M and the phase ⁇ at that time are read from the amplitude / phase compensation current table from the operating state (torque command / rotational speed).
  • the generated table compensation current iqc * is combined with the q-axis current command value iq0 and becomes the req-axis current command value iq.
  • Japanese Patent Publication Japanese Patent Laid-Open No. 2008-219966 Japanese Laid-Open Publication: Japanese Patent Laid-Open No. 2011-50118
  • a table for generating a compensation value for a wide motor drive range requires a large memory capacity in the CPU. I need.
  • the d-axis current is used for field weakening control or when the power supply voltage changes, it is necessary to generate a compensation value that also corresponds to the d-axis current value or the power supply voltage change. As a result, the dimensionality of the table is increased, which requires more memory capacity.
  • the cost of the CPU may increase.
  • the compensation value is generated by the CPU having a limited memory capacity
  • the compensation range of the motor operation may be narrowed. Therefore, the present invention aims to suppress the memory capacity for generating a compensation value.
  • One aspect of a motor control device is a motor control device that drives a motor having a phase number n of 3 or more, and an inverter that drives the motor and a control calculation unit that controls the inverter according to a current command value.
  • a torque ripple compensating unit for adding a compensation value for compensating the torque ripple in the motor to the control value in the control computing unit, wherein the control computing unit uses the current coordinate value as the rotational coordinate system of the motor.
  • the q-axis current command value indicating the q-axis current is used, and at least temporarily, the d-axis current command value indicating the d-axis current in the rotating coordinate system is also used as the current command value.
  • an aspect of a drive device includes the motor control device and a motor whose drive is controlled by the motor control device.
  • An aspect of the power steering device includes the motor control device, a motor whose drive is controlled by the motor control device, and a power steering mechanism driven by the motor.
  • the memory capacity for generating the compensation value can be suppressed.
  • FIG. 1 is a block configuration diagram schematically showing a configuration of an electromechanical integrated motor in which a motor control system is incorporated.
  • FIG. 2 is a schematic diagram of the motor control system of the first embodiment.
  • FIG. 3 is a schematic diagram of the q-axis command value generation unit.
  • FIG. 4 is a schematic diagram of the d-axis command value generator.
  • FIG. 5 is a schematic diagram of the torque ripple compensation calculation unit.
  • FIG. 6 is a schematic diagram of the dead time compensation calculation unit.
  • FIG. 7 is a diagram showing table contents of a comparative example for obtaining the gain (amplitude) ⁇ .
  • FIG. 8 is a diagram showing the table contents of a comparative example for obtaining the phase ⁇ .
  • FIG. 1 is a block configuration diagram schematically showing a configuration of an electromechanical integrated motor in which a motor control system is incorporated.
  • FIG. 2 is a schematic diagram of the motor control system of the first embodiment.
  • FIG. 3 is a schematic diagram of the
  • FIG. 9 is a diagram showing the contents of the table included in the first table for obtaining the gain (amplitude) ⁇ .
  • FIG. 10 is a diagram showing the contents of the table included in the first table for obtaining the phase ⁇ .
  • FIG. 11 is a diagram showing the contents of the table included in the second table for obtaining the gain (amplitude) ⁇ .
  • FIG. 12 is a diagram showing the contents of the table included in the second table for obtaining the phase ⁇ .
  • FIG. 13 is a diagram showing a modified example of the torque ripple compensation calculation unit.
  • FIG. 14 is a diagram showing another modification of the torque ripple compensation calculation unit.
  • FIG. 15 is a schematic diagram of the motor control system of the second embodiment.
  • FIG. 16 is a schematic diagram of the q-axis command value generation unit in the second embodiment.
  • FIG. 17 is a plan view of the first motor according to this embodiment.
  • FIG. 18 is a plan view of the second motor according to this embodiment.
  • FIG. 19 is a diagram showing a column-type electric power steering device according to this embodiment.
  • FIG. 20 is a conceptual diagram of a motor unit including a traction motor.
  • FIG. 21 is a schematic side view of the motor unit.
  • FIG. 1 is a block diagram schematically showing the structure of an integrated electromechanical motor incorporating a motor control system.
  • the electromechanical integrated motor 10 includes a motor 1, an inverter 52, a drive control calculation unit 53, and a target current calculation unit 54.
  • the motor 1 is, for example, a three-phase brushless motor.
  • Electric power is supplied to the electromechanical motor 10 from a power source such as a battery. Further, the target torque representing the output required for the motor 1 is input to the electromechanical motor 10, and the target current calculation unit 54 calculates the target current value based on the power supply voltage Vbat and the target torque. .
  • the calculated target current value is input to the drive control calculation unit 53, and the drive control calculation unit 53 executes drive control for supplying the current represented by the target current value from the inverter 52 to the motor 1. As a result of this drive control, the output torque corresponding to the target torque is generated by the motor 1.
  • FIG. 2 is a schematic diagram of the motor control system of the first embodiment.
  • the motor control system 5 includes a motor rotation angle sensor 51, an inverter 52, and a control calculation unit 53.
  • the motor control system 5 also includes the target current calculation unit 54 shown in FIG. 1, but is not shown in FIG.
  • the control calculation unit 53 includes a torque ripple compensation calculation unit 531, a q-axis command value generation unit 530q, a d-axis command value generation unit 530d, a 2-axis / 3-phase conversion unit 535, a dead time compensation calculation unit 536, and a PWM control calculation.
  • the unit 537 is provided.
  • FIG. 3 is a schematic diagram of the q-axis command value generation unit 530q
  • FIG. 4 is a schematic diagram of the d-axis command value generation unit 530d
  • FIG. 5 is a schematic diagram of the torque ripple compensation calculation unit 531
  • FIG. 6 is a schematic diagram of the dead time compensation calculation unit 536.
  • the motor control system 5 controls the motor 1 via the inverter 52.
  • the motor 1 has a rotor 3 (see FIG. 17), a stator 2 (see FIG. 17), and a motor rotation angle sensor 51.
  • the motor rotation angle sensor 51 detects the rotation angle of the rotor 3 of the motor 1.
  • the detected rotation angle of the rotor is represented by an arbitrary angle unit, and is appropriately converted from a mechanical angle to a motor electrical angle ⁇ or from a motor electrical angle ⁇ to a mechanical angle.
  • the motor control system 5 of the present embodiment performs control for feeding back the value of the current flowing through the inverter 52.
  • the current of each UVW phase flows through the inverter 52, and the current of each UVW phase flows into the motor 1 to generate a q-axis current and a d-axis current.
  • Such target values of the q-axis current and the d-axis current are used as target values for control in the motor control system 5. Therefore, when the current value is fed back, the actual q-axis current value IQR and the actual d-axis current value IDR calculated from the current flowing through each phase of the UVW of the inverter 52 are used. Further, the motor control system 5 can suppress the torque fluctuation of the motor 1 even when the induced voltage is increased by performing the field weakening control.
  • the target q-axis current IQ_target and the target d-axis current ID_target are input to the control calculation unit 53 from the target current calculation unit 54.
  • the target current calculation unit 54 gives an instruction to increase / decrease the motor output according to the increase / decrease in the target torque by increasing / decreasing the target q-axis current IQ_target and the target d-axis current ID_target.
  • the control calculator 53 controls the inverter 52 according to the current command value. Further, the control calculation unit 53 uses the q-axis current command value indicating the q-axis current in the rotation coordinate system of the motor 1 as the current command value, and at least temporarily (for example, in the field weakening control), the current command value. Also, a d-axis current command value indicating the d-axis current in the rotating coordinate system is used as the q-axis current command value indicating the q-axis current in the rotation coordinate system of the motor 1 as the current command value, and at least temporarily (for example, in the field weakening control), the current command value. Also, a d-axis current command value indicating the d-axis current in the rotating coordinate system is used as
  • the control calculation unit 53 of the motor control system 5 performs current limitation on the input target q-axis current IQ_target.
  • the current limit is processed by the current limit calculator 532 of the q-axis command value generator 530q.
  • the current limit calculation unit 532 receives the target q-axis current IQ_target and executes adaptive control according to the battery voltage, thereby limiting the target q-axis current IQ_target (output value) to a predetermined current value or less.
  • the motor applied voltage may be saturated as a result of the processing described later.
  • the motor applied voltage is saturated in this way, there is no room for adding a compensation current that suppresses motor torque fluctuations to the target q-axis current IQ_target.
  • the torque ripple sharply increases and an operating noise is generated.
  • the current limit calculation unit 532 leaves room for the compensation current by limiting the target q-axis current IQ_target.
  • the current limit calculation unit 532 of the present embodiment limits the motor current (target q-axis current IQ_target) using a function having the motor rotation angular velocity as a parameter. Due to such current limitation, there is room for compensation for the torque ripple at all times (when the voltage is not saturated). Therefore, quiet and smooth rotation of the motor is realized.
  • the adaptive control by the current limit calculation unit 532 reduces the range with a function having the motor rotation angular velocity as a parameter.
  • This function is a continuous function with respect to the input target q-axis current IQ_target. That is, the current limit calculation unit 532 does not perform a discontinuous limit such as a peak value cut of the current, but performs a continuous range reduction that greatly limits the current as the input current value increases.
  • the function used for the range reduction in the current limit calculation unit 532 may be a function representing a linear reduction or a function representing a non-linear (and continuous) reduction.
  • the reduction width by the range reduction is the reduction width for reducing the current value i so that the following inequality (1) is satisfied. Vsat> (Ls + R) i + ke ⁇ (1) where Vsat is the saturation voltage, Ls is the motor inductance, R is the motor resistance, and ke ⁇ is the induced voltage associated with the rotation of the motor.
  • the current limit value due to the range reduction becomes the limit value according to the battery voltage Vbat.
  • the battery power supply is used when the supply amount by the alternator becomes insufficient. Since the battery power supply has internal resistance, the internal resistance changes due to deterioration of the battery power supply and the effective output voltage changes. Therefore, adaptive control is performed according to the battery voltage Vbat.
  • the motor control system 5 uses the q-axis command value generation unit 530q to subtract the actual q-axis current value IQR flowing through the inverter from the q-axis current value after current limitation to calculate the current deviation IQ_err of the q-axis current. . Further, in the motor control system 5, the d-axis command value generation unit 530d subtracts the actual d-axis current value IDR flowing through the inverter from the d-axis current value to calculate the current deviation ID_err of the d-axis current.
  • the motor control system 5 performs PI control and the like using these current deviations IQ_err and ID_err to feedback-control the output of the motor.
  • the motor control system 5 After obtaining the current deviation IQ_err of the q-axis current and the current deviation ID_err of the d-axis current, the motor control system 5 determines the q-axis and the d-axis based on the current deviation IQ_err of the q-axis current and the current deviation ID_err of the d-axis current, respectively. Voltage control is performed to calculate each motor applied voltage command value.
  • the voltage control is performed by the voltage control calculation unit 533 of each of the q-axis command value generation unit 530q and the d-axis command value generation unit 530d.
  • PI control is used as voltage control.
  • the voltage control is not limited to PI control, and other control methods such as PID control may be adopted.
  • the voltage control calculation unit 533 causes the PI control unit 5331 to calculate the q-axis voltage command value VQ1 and the d-axis voltage command value VD1 based on the q-axis current deviation IQ_err and the d-axis current deviation ID_err. Further, the voltage control calculation unit 533 adds the non-interference elements COR_Q and COR_D output from the non-interference processing unit 5332 to the q-axis voltage command value VQ1 and the d-axis voltage command value VD1 to obtain the q-axis voltage command value VQ2 and The d-axis voltage command value VD2 is calculated.
  • the non-interference element COR_Q is, for example, a current element added to prevent the d-axis current (voltage) and the q-axis current (voltage) from interfering with each other.
  • the motor control system 5 performs induced voltage compensation on the q-axis voltage command value VQ2.
  • the induced voltage compensation is performed by the induced voltage compensation calculation unit 534.
  • the motor is controlled in consideration of the influence of the induced voltage of the motor in addition to the current flowing through the motor.
  • the induced voltage compensation calculator 534 compensates the induced voltage (BEMF) by performing advance control based on the reciprocal of the induced voltage (BEMF) generated in the motor.
  • the induced voltage compensation calculation unit 534 obtains the reciprocal of the induced voltage (BEMF) generated in the motor and performs compensation (advance compensation) for adjusting the advance of the voltage (or current) based on the reciprocal. Calculate the compensation value of.
  • the induced voltage compensation calculation unit 534 adds the compensation value for the induced voltage compensation to the q-axis voltage command value VQ2 to calculate the q-axis voltage command value VQ3. If a compensation value based on the reciprocal of the induced voltage model is used, the compensation value may be subtracted from the q-axis voltage command value VQ2 instead of being added. Further, this compensation value may be added to the voltage value of each phase after the biaxial / 3-phase conversion.
  • the motor control system 5 performs torque ripple compensation control on the q-axis voltage command value VQ3 using the target q-axis current IQ_target, the target d-axis current ID_target, and the angular velocity ⁇ of the rotor.
  • the torque ripple compensation control is processed by the torque ripple compensation calculator 531.
  • torque ripple is affected by ripple in current. Therefore, the torque ripple generated in the motor 1 is suppressed (that is, the torque ripple is compensated) by performing a correction such as adding a compensation value for compensating the torque ripple to the control value in the control calculation unit 53 in advance.
  • the torque ripple compensation calculation unit 531 receives the target q-axis current IQ_target, the target d-axis current ID_target, and the rotation angle ⁇ of the rotor 3 detected by the motor rotation angle sensor 51, and performs calculation processing.
  • the torque ripple compensation calculation unit 531 includes a field weakening determination unit 5311 and a compensation value calculation unit 5312.
  • the field weakening determination unit 5311 determines the presence or absence of field weakening in driving the motor 1 based on the target q-axis current IQ_target and the target d-axis current ID_target. Specifically, the field weakening determination unit 5311 may determine the presence or absence of the field weakening based on whether the target d-axis current ID_target is 0, or in the q-axis current Iq and the d-axis current Id. It may be determined whether the advance angle tan ⁇ 1 (Id / Iq) is 0 or not.
  • the determination based on the advance angle it is determined that there is no field weakening when the advance angle is 0 °, and there is a field weakening when the advance angle is other than 0 °.
  • the determination based on the target d-axis current ID_target if the target d-axis current ID_target is 0, it is determined that there is no field weakening, and if it is other than 0, there is field weakening.
  • the field weakening determination unit 5311 can accurately determine the presence or absence of field weakening by such a determination method.
  • the compensation value calculation unit 5312 selectively refers to the first table 5313 and the second table 5314 to calculate the compensation value. That is, when the field weakening is used to drive the motor 1, the compensation value calculation unit 5312 receives two parameters including information on the target q-axis current IQ_target and the target d-axis current ID_target. The compensation value is obtained by referring to 5313. Further, when the field weakening is not used to drive the motor 1, the compensation value calculation unit 5312 receives the two parameters including the target q-axis current IQ_target and the information on the rotation speed of the motor 1 as a second parameter. The compensation value is obtained by referring to the table 5314.
  • the input parameters of the first table 5313 are the target q-axis current IQ_target and the target d-axis current ID_target in the present embodiment. That is, when the field weakening is used to drive the motor 1, the compensation value calculation unit 5312 obtains the compensation value by referring to the first table 5313 using the target q-axis current IQ_target and the target d-axis current ID_target as parameters. .
  • the compensation value for compensating the torque ripple is a sine wave
  • the gain ⁇ and the phase ⁇ are approximated by the approximation using the sixth harmonic component which is dominant in the vibration component of the torque ripple. Is represented as ⁇ sin6 ( ⁇ + ⁇ ).
  • the first table 5313 includes a table for finding the gain ⁇ and a table for finding the phase ⁇ . Further, the second table 5314 also includes a table for obtaining the gain ⁇ and a table for obtaining the phase ⁇ .
  • the compensation value calculation unit 5312 calculates the compensation value ⁇ sin6 ( ⁇ + ⁇ ) based on the gain ⁇ and the phase ⁇ obtained by referring to the first table 5313 or the second table 5314.
  • the contents of the first table 5313 and the second table 5314 will be described in comparison with a comparative example.
  • FIG. 7 is a diagram showing table contents of a comparative example for obtaining a gain (amplitude) ⁇
  • FIG. 8 is a diagram showing table contents of a comparative example for obtaining a phase ⁇ .
  • FIGS. 7 and 8 represent the number of revolutions of the motor 1
  • the vertical axis of FIG. 7 represents the voltage amplitude (gain) ⁇ at a high frequency (that is, the above-described sixth harmonic)
  • the vertical axis of FIG. Represents the voltage phase ⁇ at high frequency.
  • the gain (amplitude) ⁇ and the phase ⁇ have different values depending on the rotation speed of the motor.
  • the gain (amplitude) ⁇ and the phase ⁇ show different values depending on the q-axis current value.
  • FIG. 9 is a diagram showing the contents of the table for obtaining the gain (amplitude) ⁇ included in the first table
  • FIG. 10 is a diagram showing the contents of the table for obtaining the phase ⁇ included in the first table.
  • the horizontal axis of FIGS. 9 and 10 represents the d-axis current value
  • the vertical axis of FIG. 9 represents the gain ⁇
  • the vertical axis of FIG. 10 represents the phase ⁇ .
  • the part where the d-axis current value is 0 corresponds to the case where the field weakening is not used. That is, it can be seen that the d-axis current value is not appropriate as a parameter of the table when the field weakening is not used. Therefore, when the field weakening is not used, the second table is used.
  • FIG. 11 is a diagram showing the contents of the table for obtaining the gain (amplitude) ⁇ included in the second table
  • FIG. 12 is a diagram showing the contents of the table for obtaining the phase ⁇ included in the second table.
  • the horizontal axes of FIGS. 11 and 12 represent the number of rotations of the motor
  • the vertical axis of FIG. 11 represents the gain ⁇
  • the vertical axis of FIG. 12 represents the phase ⁇ .
  • the gain (amplitude) ⁇ and the phase ⁇ have different values depending on the rotation speed of the motor.
  • the gain (amplitude) ⁇ and the phase ⁇ show different values depending on the q-axis current value.
  • 11 and 12 also show lines corresponding to the lower limit voltage, the nominal voltage, and the upper limit voltage when the power supply voltage changes, and the three lines corresponding to the respective voltages substantially overlap each other. Therefore, when the field weakening is not used, if the motor rotation speed (and the q-axis current value) is used as a parameter, the fluctuation of the power supply voltage can be ignored in obtaining the gain ⁇ and the phase ⁇ .
  • the motor control system 5 adds the calculation result (compensation value) by the torque ripple compensation calculation unit 531 to the q-axis voltage command value VQ3 output from the q-axis command value generation unit 530q.
  • the motor control system 5 of the first embodiment performs torque ripple compensation using feedback control. As a result, the torque ripple is reduced and the deterioration of operating noise is prevented. Further, the above also improves the robustness of motor control.
  • the motor control system 5 performs 2-axis / 3-phase conversion on the corrected q-axis voltage command value in which the compensation value is added to the q-axis voltage command value VQ3 and the d-axis voltage command value VD2.
  • the 2-axis / 3-phase conversion is performed by the 2-axis / 3-phase conversion calculator 535 based on the motor electrical angle ⁇ .
  • the 2-axis 3-phase conversion calculation unit 535 calculates the corresponding q-axis voltage and d-axis voltage based on the q-axis voltage command value VQ3 and the d-axis voltage command value VD2, and in each of the U, V, and W phases. Convert to a three-phase voltage command value.
  • the motor control system performs dead time compensation based on the voltage command value of each phase output from the 2-axis / 3-phase conversion calculation unit 535.
  • Dead time compensation is performed by the dead time compensation calculation unit 536.
  • the dead time compensation calculation unit 536 is a midpoint modulation unit 5363, and performs calculation by midpoint modulation that superimposes a higher harmonic (for example, a third harmonic) that is n times the fundamental wave of the voltage.
  • n is a positive integer.
  • the midpoint modulation causes the voltage waveform to approach a trapezoidal waveform from a sinusoidal waveform. As a result, the effective voltage ratio in the inverter 52 is improved.
  • the dead time compensation calculation unit 536 performs dead time compensation.
  • the midpoint modulation unit 5363 the above-described processing for the current deviation IQ_err, ID_err is performed, and the voltage component that reduces the current deviation IQ_err, ID_err is calculated.
  • the target IQ 2-axis / 3-phase conversion unit 5362 is input with the target q-axis current IQ_target and the target d-axis current ID_target, and the target q-axis current IQ_target and the target d-axis current ID_target are converted into 2-axis / 3-phase conversion. Is done.
  • the target value two-axis / three-phase conversion unit 5362 calculates the three-phase current command value in each of the U, V, and W phases corresponding to the target q-axis current IQ_target and the target d-axis current ID_target.
  • the motor electrical angle is used for the calculation in the 2-axis / 3-phase conversion in the target value 2-axis / 3-phase conversion unit 5362.
  • the motor electrical angle ⁇ 2 in which the motor electrical angle ⁇ detected by the sensor is phase-compensated is set as the motor electrical angle input to the target value 2-axis / 3-phase conversion unit 5362. Used. This phase compensation is performed by the correction phase compensator 5361, and the phase compensation of the voltage accompanying the rotation of the motor is compensated by this phase compensation.
  • the dead time correction unit 5364 calculates the dead time compensation voltage of each phase from the current command value in each of the U, V, and W phases obtained by the biaxial / 3-phase conversion, and sets the dead time compensation voltage at the midpoint.
  • the voltage command value is output by adding to the output value from the modulator 5363.
  • the motor control system 5 performs PWM control based on the voltage command value output from the dead time compensation calculation unit 536.
  • the PWM control command value is calculated by the PWM control calculation unit 537.
  • the PWM control calculation unit 537 controls the voltage of the inverter 52 based on the calculated command value.
  • a current corresponding to the above-mentioned current command value flows to the motor 1.
  • the current value of each UVW phase flowing in the inverter 52 is converted into the actual q-axis current value IQR and the actual d-axis current value IDR and fed back.
  • FIG. 13 is a diagram showing a modified example of the torque ripple compensation calculation unit 531.
  • the actual q-axis current value IQR is input to the torque ripple compensation calculation unit 531 in place of the above-described target q-axis current IQ_target.
  • the actual q-axis current value IQR is used as a parameter when referring to the first table 5313 and the second table 5314. That is, in this modified example, the parameter including the information based on the measured value obtained from at least one of the motor 1 and the inverter 52 is used for the table reference.
  • FIG. 14 is a diagram showing another modification of the torque ripple compensation calculation unit 531.
  • the current norm and the lead angle are input to the torque ripple compensation calculation unit 531.
  • the current norm and the lead angle are used as parameters for referring to the first table 5313, and the lead angle is also used for the determination in the field weakening determination unit 5311.
  • the compensation value calculation unit 5312 calculates the compensation value using the current norm and the advance angle as parameters when the field weakening is used to drive the motor 1.
  • FIG. 15 is a schematic diagram of the motor control system of the second embodiment
  • FIG. 16 is a schematic diagram of the q-axis command value generation unit 530q in the second embodiment.
  • the motor control system 5 includes a motor rotation angle sensor 51, an inverter 52, and a control calculation unit 53.
  • the control calculation unit 53 includes a torque ripple compensation calculation unit 531, a q-axis command value generation unit 530q, a d-axis command value generation unit 530d, a 2-axis / 3-phase conversion unit 535, a dead time compensation calculation unit 536, and a PWM control calculation.
  • the unit 537 is provided.
  • the motor control system 5 performs feedback control that feeds back the current value of the inverter 52. Further, the motor control system 5 can suppress the torque fluctuation of the motor 1 even when the induced voltage is increased by performing the field weakening control.
  • the target q-axis current IQ_target and the target d-axis current ID_target are externally input to the motor control system 5. From the outside, an increase / decrease in the motor output is instructed by increasing / decreasing the target q-axis current IQ_target and the target d-axis current ID_target.
  • the torque ripple compensation calculator 531 calculates the compensation value in the same manner as above. However, the torque ripple compensation calculation unit 531 in the second embodiment calculates the compensation value as a current value.
  • the q-axis command value generation unit 530q of the motor control system 5 performs current limiting processing on the input target q-axis current IQ_target. Then, the q-axis command value generation unit 530q adds the compensation value output from the torque ripple compensation calculation unit 531 to the q-axis current command value processed by the current limit calculation unit 532.
  • the q-axis command value generation unit 530q superimposes the compensation value output from the torque ripple compensation calculation unit 531 on the target q-axis current IQ_target output from the current limit calculation unit 532 to obtain a new current command value.
  • the corrected target q-axis current IQ_correct is calculated.
  • the corrected target q-axis current value IQ_correct is represented by the following equation (2) based on the uncorrected target q-axis current IQ_target and the motor electrical angle ⁇ .
  • IQ_correct IQ_target + ⁇ sin6 ( ⁇ + ⁇ ) ... (2)
  • the compensation value ⁇ sin6 ( ⁇ + ⁇ ) may be added to the target q-axis current IQ_target before the current limitation and the current may be limited thereafter, or the compensation value ⁇ sin6 ( ⁇ + ⁇ ) may be the target q-axis current IQ_target and the target q-axis current IQ_target. It may be added to the current deviation IQ_err from the actual q-axis current value IQR. Further, a part of the compensation value ⁇ sin6 ( ⁇ + ⁇ ) may be added to the d-axis current command value.
  • the motor control system 5 performs feedback control of subtracting the fed-back actual q-axis current value IQR from the corrected target q-axis current IQ_correct, and also feeds back the input target d-axis current ID_target. Feedback control for subtracting the calculated actual d-axis current value IDR is performed.
  • the motor control system 5 performs voltage control on the current deviations IQ_err and ID_err obtained by the feedback control.
  • the voltage control calculation unit 533 calculates the voltage command values VQ1 and VD1 based on the current deviations IQ_err and ID_err, and further adds the non-interference elements COR_Q and COR_D that suppress the interference of the d-axis and the q-axis to the voltage command values VQ1 and VD1. To do.
  • the induced voltage compensation calculation unit 534 adds the compensation value for the induced voltage compensation to the q-axis voltage command value VQ2.
  • the q-axis voltage command value VQ3 output from the q-axis command value generation unit 530q and the d-axis voltage command value VD2 output from the d-axis command value generation unit 530d are input to the 2-axis / 3-phase conversion unit 535, Hereinafter, the arithmetic processing is performed similarly to the first embodiment.
  • the motor control system 5 performs the torque ripple compensation for suppressing the torque ripple. Specifically, also in the motor control system 5 of the second embodiment, torque ripple compensation using feedback control is performed as in the first embodiment.
  • torque ripple compensation value two types of two-dimensional tables are selectively used according to the presence or absence of the field weakening, so that the memory capacity required for the compensation value calculation is suppressed. As a result, a rise in CPU cost is avoided, and the compensation range for motor operation is expanded.
  • the difference between the first embodiment and the second embodiment is that the output from the torque ripple compensation calculation unit 531 changes from a voltage value to a current value and, concomitantly, an addition point in the control flow. It is a changed point. As a result, stable torque fluctuation correction is performed regardless of motor characteristic fluctuations.
  • the current control, the induced voltage compensation, the biaxial / 3-phase conversion, the dead time compensation, and the PWM control in the second embodiment are the same as those in the first embodiment, and thus the description thereof will be omitted.
  • known techniques may be applied to these compensation and control. Further, in the second embodiment, these compensations and controls may not be performed if necessary.
  • FIG. 17 is a plan view of the first motor according to the present embodiment
  • FIG. 18 is a plan view of the second motor according to the present embodiment.
  • the motor 1 shown in FIGS. 17 and 18 has a stator 2 and a rotor 3.
  • the motor 1 is an inner rotor.
  • an outer rotor structure may be adopted as the motor 1.
  • the first motor 1 shown in FIG. 17 is an IPM (Interior Permanent Magnet) motor
  • the second motor 1 shown in FIG. 18 is an SPM (Surface Permanent Magnet) motor.
  • the stator 2 has a cylindrical outer shape extending in the axial direction.
  • the stator 2 is arranged outside the rotor 3 in the radial direction with a predetermined gap from the rotor 3.
  • the stator 2 has a stator core 21, an insulator 22, and a coil 23.
  • the stator core 21 is a tubular member extending in the axial direction.
  • the stator core 21 is formed by stacking a plurality of magnetic steel plates in the axial direction.
  • the stator core 21 has a core back 21a and teeth (not shown).
  • the core back 21a is a ring-shaped portion.
  • the teeth extend radially inward from the inner peripheral surface of the core back 21a.
  • a plurality of teeth are arranged side by side at predetermined intervals in the circumferential direction.
  • the gap between adjacent teeth is called a slot.
  • the number of slots S is 12, for example.
  • the rotor 3 has a cylindrical outer shape that extends in the axial direction.
  • the rotor 3 is arranged radially inward of the stator 2 with a predetermined gap provided between the rotor 3 and the stator 2.
  • the rotor 3 has a shaft 31, a rotor core 40, and a magnet 32.
  • the rotor 3 rotates about a shaft 31 extending in the up-down direction (direction perpendicular to the paper surface of FIGS. 17 and 18).
  • the rotor core 40 is a cylindrical member that extends in the axial direction.
  • the shaft 31 is inserted into a hole 41d located at the center of the rotor core 40 in the radial direction.
  • the rotor core 40 is configured by stacking a plurality of magnetic steel plates in the axial direction.
  • the magnet 32 is arranged inside the rotor core 40 in the first motor 1 shown in FIG. 17, and is attached to the surface of the rotor core 40 in the second motor 1 shown in FIG.
  • a plurality of magnets 32 are arranged side by side at predetermined intervals in the circumferential direction. In the motor 1 shown in FIGS. 17 and 18, eight magnets 32 are provided, for example. That is, in the motor 1 shown in FIGS. 17 and 18, the pole number P is eight.
  • the magnetic characteristics of the motor differ depending on the number of poles P and the number of slots S described above.
  • the causes of the operating noise are mainly radial force and torque ripple.
  • radial forces which are radial components of the electromagnetic force generated between the rotor and the stator, cancel each other out, so that torque ripple is the main factor. It causes operating noise.
  • the motor control system described above compensates only the torque ripple, so that the operating noise of the 8P12S motor is efficiently reduced. Therefore, the motor control system of the present invention is particularly useful for 8P12S motors.
  • the motor control system of the present invention is particularly useful in SPM motors because radial force cancellation is particularly effective in SPM motors. More specifically, in the SPM motor, reluctance torque is not generated and only magnet torque contributes. Therefore, by adopting the present invention, vibration reduction is realized by compensating only the magnet torque.
  • the control calculation unit 53 for controlling the SPM motor uses the d-axis current command value for the field weakening.
  • the canceling of the radial force is not an action that occurs only in the SPM motor and the 8P12S motor, but is an action that also occurs in the IPM motor or, for example, the 10P12S motor. Therefore, the motor control system of the present invention is also useful in the IPM motor. Or is also useful with, for example, a 10P12S motor.
  • the control calculation unit 53 for controlling the IPM motor uses the d-axis current command value for torque generation and field weakening.
  • the electric power steering device 9 is mounted on a steering mechanism of a vehicle wheel.
  • the electric power steering device 9 is a column-type power steering device that directly reduces the steering force by the power of the electromechanical motor 10.
  • the electric power steering device 9 includes an electromechanical integrated motor 10, a steering shaft 914, and an axle 913.
  • the steering shaft 914 transmits the input from the steering 911 to an axle 913 having wheels 912.
  • the power of the electromechanical motor 10 is transmitted to the axle 913 via a ball screw.
  • the electromechanical integrated motor 10 used in the column-type electric power steering device 9 is provided inside an engine room (not shown).
  • the electric power steering device 9 shown in FIG. 19 is of a column type as an example, but the power steering device of the present invention may be of a rack type.
  • the present invention is also useful for applications other than power steering devices.
  • the present invention is useful for motors such as traction motors (running motors), compressor motors, and oil pump motors that require a reduction in operating noise.
  • motors such as traction motors (running motors), compressor motors, and oil pump motors that require a reduction in operating noise.
  • traction motors running motors
  • compressor motors compressor motors
  • oil pump motors that require a reduction in operating noise.
  • the following is a description of a motor unit equipped with a traction motor.
  • FIG. 20 is a conceptual diagram of a motor unit 100 including a traction motor
  • FIG. 21 is a schematic side view of the motor unit 100.
  • the motor unit 100 is mounted on a vehicle having a motor as a power source, such as a hybrid vehicle (HEV), a plug-in hybrid vehicle (PHV), and an electric vehicle (EV), and is used as a power source.
  • the motor unit 100 of the present embodiment includes a motor (main motor) 102, a gear portion 103, a housing 106, and a motor control system 5.
  • the motor 102 includes a rotor 120 that rotates about a motor shaft J2 that extends in the horizontal direction, and a stator 130 that is located radially outside the rotor 120.
  • a housing space 180 for housing the motor 102 and the gear unit 103 is provided inside the housing 106.
  • the accommodation space 180 is divided into a motor chamber 181 that accommodates the motor 102 and a gear chamber 182 that accommodates the gear portion 103.
  • the motor 102 is housed in the motor chamber 181 of the housing 106.
  • the motor 102 includes a rotor 120 and a stator 130 located outside the rotor 120 in the radial direction.
  • the motor 102 is an inner rotor type motor including a stator 130 and a rotor 120 rotatably arranged inside the stator 130.
  • the rotor 120 rotates when power is supplied to the stator 130 via a motor control system 5 from a battery (not shown).
  • the rotor 120 has a shaft (motor shaft) 121, a rotor core 124, and a rotor magnet (not shown).
  • the rotor 120 (that is, the shaft 121, the rotor core 124, and the rotor magnet) rotates about a motor shaft J2 that extends in the horizontal direction.
  • the torque of the rotor 120 is transmitted to the gear unit 103.
  • the shaft 121 extends around a motor shaft J2 extending horizontally and in the vehicle width direction.
  • the shaft 121 rotates around the motor axis J2.
  • the shaft 121 extends across the motor chamber 181 and the gear chamber 182 of the housing 106. One end of the shaft 121 projects toward the gear chamber 182 side.
  • the first gear 141 is fixed to the end of the shaft 121 protruding into the gear chamber 182.
  • the rotor core 124 is formed by stacking silicon steel plates (magnetic steel plates).
  • the rotor core 124 is a cylindrical body extending along the axial direction. A plurality of rotor magnets are fixed to the rotor core 124.
  • the stator 130 surrounds the rotor 120 from the outside in the radial direction.
  • the stator 130 has a stator core 132 and a coil 131.
  • the stator 130 is held by the housing 106.
  • the stator core 132 has a plurality of magnetic pole teeth radially inward from the inner peripheral surface of the annular yoke.
  • a coil wire (not shown) is wound between the magnetic pole teeth to form a coil 31.
  • the gear portion 103 is housed in the gear chamber 182 of the housing 106.
  • the gear portion 103 is connected to the shaft 121 on one axial side of the motor shaft J2.
  • the gear unit 103 includes a speed reducer 104 and a differential device 105.
  • the torque output from the motor 102 is transmitted to the differential device 105 via the speed reducer 104.
  • the speed reducer 104 is connected to the rotor 120 of the motor 102.
  • the speed reducer 104 has a function of reducing the rotation speed of the motor 102 and increasing the torque output from the motor 102 according to the speed reduction ratio.
  • the speed reducer 104 transmits the torque output from the motor 102 to the differential device 105.
  • the reduction gear 104 has a first gear (intermediate drive gear) 141, a second gear (intermediate gear) 142, a third gear (filenal drive gear) 143, and an intermediate shaft 145.
  • the torque output from the motor 102 is transmitted to the ring gear (gear) 151 of the differential device 105 via the shaft 121 of the motor 102, the first gear 141, the second gear 142, the intermediate shaft 145, and the third gear 143. Transmitted.
  • the differential device 105 is connected to the motor 102 via the speed reducer 104.
  • the differential device 105 is a device for transmitting the torque output from the motor 102 to the wheels of the vehicle.
  • the differential device 105 has a function of transmitting the same torque to the axles 155 of the left and right wheels while absorbing the speed difference between the left and right wheels when the vehicle turns.
  • the motor control system 5 is electrically connected to the motor 102.
  • the motor control system 5 supplies electric power to the motor 102 with an inverter.
  • the motor control system 5 controls the current supplied to the motor 2.
  • the motor control system 5 compensates the torque ripple to reduce the operating noise of the motor 102.
  • the embodiments of the present disclosure can be widely used in various devices including various motors such as a vacuum cleaner, a dryer, a ceiling fan, a washing machine, a refrigerator, and a power steering device.
  • various motors such as a vacuum cleaner, a dryer, a ceiling fan, a washing machine, a refrigerator, and a power steering device.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

L'invention concerne, dans un mode, un dispositif de commande de moteur comprenant : un onduleur qui entraîne un moteur ; une unité d'actionnement de commande qui commande l'onduleur en fonction d'une valeur d'instruction de courant ; et une unité de compensation d'ondulation de couple qui ajoute une valeur de compensation pour compenser une ondulation de couple sur le moteur à une valeur de commande dans l'unité d'actionnement de commande, lorsqu'un champ faible est utilisé pour entraîner le moteur, l'unité de compensation d'ondulation de couple trouvant la valeur de compensation en référençant une table qui utilise en tant qu'entrée deux paramètres comprenant des informations d'un courant d'axe q et d'un courant d'axe d et, lorsqu'un champ faible n'est pas utilisé, la valeur de compensation étant trouvée en référençant la table qui utilise en tant qu'entrée deux paramètres comprenant des informations du courant d'axe q et de la vitesse du moteur.
PCT/JP2019/039092 2018-10-10 2019-10-03 Dispositif de commande de moteur et dispositif de direction assistée Ceased WO2020075620A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2018-191886 2018-10-10
JP2018191886 2018-10-10

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WO2020075620A1 true WO2020075620A1 (fr) 2020-04-16

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005081397A1 (fr) * 2004-02-23 2005-09-01 Nsk Ltd. Dispositif de contrôle de dispositif de servodirection motorisé
JP2008141835A (ja) * 2006-11-30 2008-06-19 Denso Corp モータの制御方法及びそれを利用するモータ制御装置
JP2008219966A (ja) * 2007-02-28 2008-09-18 Mitsubishi Heavy Ind Ltd 永久磁石モータ制御装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005081397A1 (fr) * 2004-02-23 2005-09-01 Nsk Ltd. Dispositif de contrôle de dispositif de servodirection motorisé
JP2008141835A (ja) * 2006-11-30 2008-06-19 Denso Corp モータの制御方法及びそれを利用するモータ制御装置
JP2008219966A (ja) * 2007-02-28 2008-09-18 Mitsubishi Heavy Ind Ltd 永久磁石モータ制御装置

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