JP4010313B2 - Electric car drive device - Google Patents

Description

The present invention relates to a driving equipment for an electric vehicle comprising a converter for converting alternating current into direct current and an inverter which converts direct current into alternate its DC, especially when the variable speed drive AC motor by the inverter, due to the rectification by the converter The present invention relates to a technique suitable for suppressing a beat phenomenon accompanying rectification pulsation.

In converter / inverter power converter with DC stage in the middle,
When the AC power supply of the converter is particularly single-phase, for example, in the case of a railway electric vehicle running on an AC overhead wire, the DC voltage converted to DC includes a pulsation frequency component twice the AC power supply frequency caused by rectification. . The pulsation frequency component can be reduced by increasing the capacity of the smoothing capacitor provided in the DC stage, but it cannot be reduced completely.
As a result, an increase in the size of the smoothing capacitor impedes the reduction in size and weight of the device.

When the DC voltage having the pulsation is converted into AC of variable frequency / variable voltage by an inverter and supplied to a load such as an AC motor, the inverter output voltage and the motor current include the inverter operating frequency component. Therefore, the difference component and the sum component of the pulsation frequency and the inverter operation frequency are included. Among these components, the component of the difference that becomes a low frequency component when the operating frequency and the pulsation frequency approach,
Since the motor has low impedance for low frequencies, a large pulsating current flows due to this component, and a beat phenomenon occurs in which the motor-generated torque pulsates.
The generation principle of this beat phenomenon and its suppression method are described in Patent Document 1, for example. The beat phenomenon suppression method disclosed in this publication detects the pulsation degree of the DC input voltage of the inverter, calculates the frequency pulsation degree with the compensation gain and compensation phase difference corresponding to the operating frequency for this pulsation degree, The beat phenomenon is suppressed by adjusting the inverter frequency accordingly.

JP-A-64-77492

However, the beat phenomenon suppression method described in the above-mentioned document 1 requires adjustment of the compensation gain and the compensation phase difference according to the operating frequency of the inverter in order to obtain a high beat phenomenon suppression effect. In order to always suppress the beat phenomenon to an optimum state, it is necessary to consider a change in motor output in addition to the operating frequency of the inverter.
However, considering the inverter operating frequency and motor output, compensation gain,
There is a problem that adjusting the phase difference is complicated (complex) in practice.
In recent years, as a control device for an induction motor for driving an electric vehicle, for example, Japanese Patent Laid-Open No. 5-151
Although the vector control inverter described in Japanese Patent No. -83976 has been used, there is no description about suppressing the beat phenomenon by utilizing the characteristics of vector control, and in other publications. I can't find anything about the technology.

The object of the present invention is to suppress the beat phenomenon caused by the pulsation component included in the inverter DC input voltage without requiring complicated gain adjustment and phase difference adjustment even if the operating frequency of the inverter, the motor output, etc. change. and to provide a driving equipment suitable electric vehicle to.

In order to solve the above problems, a converter that rectifies a single-phase AC voltage from an overhead wire and converts it into a DC voltage, a smoothing capacitor that is connected to the DC side of the converter, and converts the DC of the capacitor into an AC of variable voltage and variable frequency An inverter that supplies the converted output to an AC motor that drives the electric vehicle, a means for detecting an instantaneous current of the inverter output, a coordinate transformation of the detected current in a rotating coordinate system, and two orthogonal current components ( Means for vector calculation of excitation current component and torque current component), means for generating a voltage command so that the calculated two-axis current component matches a current command corresponding to each of the two axes, and AC of the inverter means for generating a command of the frequency of the output, control instrumentation having means for pulse-width control the output voltage of the inverter on the basis of said voltage command and the command of the frequency In the electric vehicle drive system consisting,
A pulsation component detection means for detecting a current component of a pulsation frequency accompanying rectification of the converter included in the current component from at least one of the two-axis current components, and a direction in which the detected value of the pulsation component becomes smaller Feedback compensation means for adjusting an AC output frequency command of the inverter based on the detected value ;
The pulsation voltage accompanying rectification of the converter superimposed on the DC voltage of the inverter input is obtained as the degree of pulsation with respect to the DC voltage, the frequency degree corresponding to the degree is detected as a compensation frequency, and the rectification pulsation is generated based on the compensation frequency. Feedforward compensation means for adjusting a command of the frequency of the AC output of the inverter in a direction in which the beat phenomenon is suppressed;
The compensation for both includes means for limiting the output frequency of the inverter only to a band in the vicinity of the pulsation frequency that passes the pulsation frequency associated with the rectification of the converter .

According to the present invention, by detecting the pulsation of the AC motor current caused by the rectification pulsation of the input voltage of the inverter as a current component in the rotating coordinate system, only the component caused by the rectification pulsation can be accurately extracted and feedback compensated. Therefore, even if there is a change in the inverter operating frequency, motor output, etc., the beat phenomenon caused by the pulsation contained in the inverter input voltage can be suppressed without requiring complicated gain adjustment and phase adjustment. .
In addition, even if there is a pulsation in the DC voltage at the inverter input, the beat phenomenon is suppressed, so that the capacity of the smoothing capacitor can be reduced.

  The best mode for carrying out the present invention will be described below with reference to the drawings.

FIG. 1 is an embodiment of the present invention, and shows a functional block diagram of a control device for controlling an inverter in the power converter shown in FIG. FIG. 2 shows a configuration diagram of a main circuit of a power converter in a railway electric vehicle.
First, FIG. 2 will be described. A converter 13 that rectifies and converts the input from the single-phase AC power supply 11 fed to the overhead wire 9 through the pantograph 10 and the reactor 12 to DC, and a DC voltage that is connected to the DC side of the converter 13 and rectified by the converter 13 is smoothed. Smoothing capacitor 14 to be input, and a DC voltage ed smoothed by the smoothing capacitor 14 as an input voltage, a three-phase AC motor 16 (here, an induction motor is shown)
And an inverter 15 for supplying AC of variable frequency and variable voltage. In the figure, the voltage ed of the smoothing capacitor is used as a detector for use in a control device described later.
The voltage detector 141 detects the three-phase output current (U
Current detectors 151 to 153 for detecting each phase current iu to iw), a voltage detector 161 for detecting the three-phase output voltage (Vu to Vw) of the inverter, and a speed detection for detecting the rotational frequency fr of the AC motor. It shows that a container 154 is provided.
The configuration of the control device in FIG. 1 is based on the vector control method described in the above Japanese Patent Laid-Open No. 5-83976. Reference numeral 31 denotes an operation command generating means for generating an excitation current command Id * and a torque current command Iq * of current components of two axes orthogonal to each other in the rotational coordinate system of the driving AC motor. Reference numeral 21 denotes current vector computing means, which converts the detected instantaneous output currents iu, iv, iw of each phase of the inverter with a basic coordinate finv0 of the inverter in the rotating coordinate system based on the equation (2) described later, and is orthogonal. The excitation current component Id and the torque current component Iq are vector-calculated by breaking down into two-axis current components.
Reference numeral 32 denotes current control means, and the above Id and Iq are respectively commanded Id * and Iq *.
Each command of the output voltage (effective value) V of the inverter and the slip frequency fs is calculated so as to match. Reference numeral 34 denotes inverter compensation frequency generating means for generating an inverter compensation frequency fc based on the calculated torque current component Iq. 35, 36
Is an adder which calculates the inverter basic frequency finv0 by adding the rotational frequency fr and the slip frequency fs of the AC motor by 35, and further adds the inverter compensation frequency fc to the inverter basic frequency finv0 by 36 and the inverter operating frequency f
Calculate the inv command. Reference numeral 90 denotes phase calculation means for calculating a phase command θ0 (= 2πfinvt, t: time) of the inverter output voltage based on the inverter operating frequency finv. Reference numeral 33 denotes PWM pulse generating means, which performs known pulse width modulation control based on the inverter output voltage command V and the inverter phase command θ0 to generate a PWM signal. The inverter 15 is operated by this PWM signal.
Here, the features of the present embodiment are in the configurations of 34 and 36, which are added to the basic configuration of the conventional vector control apparatus.

Before describing the present embodiment in the above control configuration in detail, the principle of the present embodiment will be described.
Vector control is to control excitation current and torque current independently. As is well known, first, each phase instantaneous current iu, iv, i of a three-phase AC motor.
A method for decomposing w into the two vector components will be described.
Equation (1) indicates that no beat phenomenon occurs (fc = 0, finv = finv0)
Represents the instantaneous phase current of the three phases of the AC motor, where IM is the effective value of the motor current,
t is time, φ is the power factor angle of the motor current.

上記３相の瞬時電流を２πｆinv0の位相で回転する回転座標系で直交するｄ−
ｑ２軸成分（Ｉｄ，Ｉｑ）に座標変換すると、（２）式で表せる。ここに、δは
インバータ出力電圧ベクトルとトルク電流成分との位相差である。

D− which is orthogonal in the rotating coordinate system which rotates the three-phase instantaneous current at a phase of 2πfinv0.
When the coordinates are converted to the q2-axis component (Id, Iq), it can be expressed by equation (2). Here, δ is a phase difference between the inverter output voltage vector and the torque current component.

上記（２）式の演算の結果得られるＩｄとＩｑは、ｆinv0成分の励磁電流ベク
トルおよびトルク電流ベクトルの大きさを表し、Ｉｄ＝−ＩＭ・ｓｉｎ（φ−δ)
，Ｉｑ＝ＩＭ・ｃｏｓ(φ−δ)となる。
次に、インバータ入力の直流電圧に周波数がｆ０の脈動電圧が重畳した場合に
ついて説明する。インバータの交流出力電圧には、インバータ基本周波数ｆinv0
成分の他に、インバータ基本周波数ｆinv0と直流電圧の脈動周波数ｆ０の和の周
波数成分finv0＋ｆ０、及び差の周波数成分finv0−ｆ０の周波数成分が発生する。
このため、モータ電流ｉｕ，ｉｖ,ｉｗにもインバータ基本周波数ｆinv0の他に
ｆinv0＋ｆ０及びｆinv0−ｆ０の周波数成分が発生する。モータのインピーダン
スは低い周波数になればなるほど低くなることを考慮すると、ｆinv0−ｆ０の周
波数成分がビート現象を発生する主原因である。そこで、脈動周波数成分を含む
モータ電流をｆinv0及びｆinv0−ｆ０によって表すと以下の様になる。ここに、
ｆinv0成分の電流実効値をＩＭ、ｆinv0−ｆ０成分の電流実効値をＩＢとする。

Id and Iq obtained as a result of the calculation of the above equation (2) represent the magnitudes of the excitation current vector and the torque current vector of the finv0 component, and Id = −IM · sin (φ−δ)
, Iq = IM · cos (φ−δ).
Next, a case where a pulsating voltage having a frequency of f0 is superimposed on a DC voltage input to the inverter will be described. The inverter's basic frequency finv0
In addition to the components, a frequency component finv0 + f0 of the sum of the inverter basic frequency finv0 and the pulsation frequency f0 of the DC voltage and a frequency component of the difference frequency component finv0−f0 are generated.
For this reason, in addition to the inverter basic frequency finv0, frequency components of finv0 + f0 and finv0−f0 are also generated in the motor currents iu, iv, iw. Considering that the motor impedance becomes lower as the frequency becomes lower, the frequency component of finv0-f0 is the main cause of the beat phenomenon. Therefore, the motor current including the pulsation frequency component is expressed as follows by finv0 and finv0−f0. here,
The effective current value of the finv0 component is IM, and the effective current value of the finv0−f0 component is IB.

ただし、θ０は、直流電圧脈動成分の位相、φ０は、ｆinv0−ｆ０の周波数成
分に対するモータの力率角である。
上記（３）式の３相の瞬時電流を２πｆinv0の位相で回転する回転座標系で直
交するｄ−ｑ２軸成分（Ｉｄ，Ｉｑ）に座標変換すると、(４）式で表せる。

Where θ0 is the phase of the DC voltage pulsation component, and φ0 is the motor power factor angle with respect to the frequency component of finv0−f0.
When the three-phase instantaneous current in the above equation (3) is coordinate-converted into dq two-axis components (Id, Iq) orthogonal in a rotating coordinate system rotating at a phase of 2πfinv0, it can be expressed by equation (4).

その結果、Ｉｄ及びＩｑには、それぞれｆinv0成分の励磁電流およびトルク電
流のベクトルの大きさを示すＩＭ・ｓｉｎ（φ−δ），ＩＭ・ｃｏｓ（φ−δ）
の他にｆ０の周波数成分がｄ，ｑ軸の電流成分それぞれ含まれることが分かる。
すなわち、モータの電流をＩｄ，Ｉｑという回転座標に変換して検出すること
で、基本波成分の電流は直流信号として現れるので、それに重畳する脈動周波数
成分を取り出すことは容易となる。
本実施形態では、検出した３相のモータ電流を回転座標系に変換したＩｄ，Ｉ
ｑの少なくとも何れかよりｆ０の電流成分を取り出し、この成分が小さくなる方
向にインバータの動作周波数（出力周波数）ｆinvを制御することで、モータ電
流がｆinv0−ｆ０の周波数でビートする現象を抑制するようにしたものである。

As a result, Id and Iq are IM · sin (φ−δ) and IM · cos (φ−δ) indicating the magnitudes of the excitation current and torque current of the finv0 component, respectively.
In addition, it can be seen that the frequency component of f0 is included in each of the d- and q-axis current components.
That is, by converting the motor current into rotational coordinates of Id and Iq and detecting it, the current of the fundamental wave component appears as a DC signal, so that it is easy to extract the pulsation frequency component superimposed on it.
In the present embodiment, Id, I obtained by converting the detected three-phase motor current into a rotating coordinate system.
The phenomenon that the motor current beats at the frequency of finv0−f0 is suppressed by taking out the current component of f0 from at least one of q and controlling the operating frequency (output frequency) finv of the inverter in a direction in which this component becomes smaller. It is what I did.

In FIG. 1, the structure of the characteristic part of this embodiment based on the said principle is demonstrated. The inverter compensation frequency generation means 34 extracts the frequency component f0 from the torque current component Iq obtained from the current vector calculation means 21, and based on this, the compensation frequency fc is extracted.
Is calculated. Then, this fc is added to the inverter basic frequency finv0 to generate an inverter output frequency (operation frequency) finv, and the output frequency of the inverter is controlled based on this output frequency. As a result, a feedback system for the pulsation frequency component included in the motor current is formed, and the beat phenomenon can always be suppressed regardless of the operating state. In this embodiment, the feedback system is formed by Iq. However, since the f0 component is also detected in Id, it is needless to say that the feedback system may be formed by Id.
Further, since the beat phenomenon occurs when the operating frequency of the inverter passes through the pulsation frequency, the compensation frequency fc may be added to the inverter basic frequency finv0 only in the band near the pulsation frequency.

FIG. 3 shows an example of a detailed configuration of the inverter compensation frequency generation means 34 of FIG. In the embodiment shown in the figure, the pulsation component detector 61 detects the component of the frequency f0 contained in the torque current component Iq, and then subtracts the output from the target value 0 by the subtractor 41, and outputs the output of the subtractor 41. Input to the compensator 62. The compensator 62 has an inverter compensation frequency fc so that the input becomes zero, that is, the pulsation component becomes zero.
Is generated. As a specific configuration of the pulsation component detector, for example, a bandpass filter that detects only frequency components near f0 can be cited. The compensator 62 is
It is a compensation element composed of proportional elements, proportional integral elements, and the like.

FIG. 4 shows another configuration example of the inverter compensation frequency generation means 34 of FIG. In the configuration shown in the figure, the subtractor 42 subtracts the torque current component Iq from the target value 0,
The output of the subtracter 42 is input to the pulsation component compensator 63. For example, 63 is a compensation element having the characteristics shown by the transfer function shown in the equation (5). Where K in the formula
s is a compensation gain, and s is a differential operator.

（５）式で示される補償要素は、周波数ｆ０近傍についてのみ高いゲインを有
する補償要素であるために、Ｉｑに含まれるｆinv0成分はＩＭ×ｃｏｓ（φ−δ）
で表せる直流成分であることからｆinv0に関わる成分には影響を与えることなく、
脈動周波数ｆ０の成分のみを補償できる。このことから同図の構成は、図３に示
した補償手段の構成よりも少ない構成で同等の効果を得ることができる。なお、
補償要素の伝達関数は周波数ｆ０近傍のゲインが高ければ良いので、（５）式に
限らず、脈動周波数ｆ０近傍についてのみ高いゲインを有する補償要素であれば、
（５）式の伝達関数にこだわることはない。
以上に述べた図３，図４の実施形態においては、トルク電流成分Ｉｑの脈動成
分に着目して制御を行っているが、励磁電流成分Ｉｄの脈動成分に着目してビー
ト現象抑制制御を行っても良い。

Since the compensation element represented by the equation (5) is a compensation element having a high gain only in the vicinity of the frequency f0, the finv0 component included in Iq is IM × cos (φ−δ).
Without affecting the components related to finv0,
Only the component of the pulsation frequency f0 can be compensated. For this reason, the configuration shown in the figure can achieve the same effect with a configuration that is smaller than the configuration of the compensation means shown in FIG. In addition,
Since the transfer function of the compensation element only needs to have a high gain in the vicinity of the frequency f0, the compensation function is not limited to the expression (5), and any compensation element having a high gain only in the vicinity of the pulsation frequency f0
(5) There is no particular concern about the transfer function.
In the embodiment shown in FIGS. 3 and 4 described above, control is performed while paying attention to the pulsation component of the torque current component Iq, but beat phenomenon suppression control is performed paying attention to the pulsation component of the excitation current component Id. May be.

FIG. 5 shows another configuration of the inverter compensation frequency generation means 34 of FIG. In the same configuration, Id and Iq, which are the outputs of the current vector calculation means 21, are converted into torque calculation means 6.
4 and the generated torque of the motor is calculated from Id and Iq (T = K · Id · Iq,
K: constant). For example, a torque pulsation is detected by a pulsation detector 65 that passes only the frequency f0 that is a component of the pulsation frequency like a band-pass filter, and the subtraction unit 43 subtracts this calculation result from 0 that is the target value of the torque pulsation component. And input to a compensator 66 for compensating for torque pulsation. Here, the compensator 66 is a compensation system including a proportional element, an integral element, and the like, and outputs the inverter compensation frequency fc so that the input becomes zero, that is, the torque pulsation becomes zero.
In the configuration shown in the figure, since torque pulsation is controlled, there is an advantage that a higher torque pulsation suppressing effect of the motor can be obtained.

FIG. 6 shows another configuration of the inverter compensation frequency generation means 34 of FIG. In the same configuration, the torque generated by the motor is calculated from Id and Iq by the torque calculating means 67 as in FIG. 5, and is subtracted from the target value 0 by the subtractor 44 (in order to reverse the phase of the calculated torque). 4 is input to a pulsation component compensator 68 having a compensation element represented by the transfer function of the equation (5), for example, and only the pulsation frequency component is extracted and output as an inverter compensation frequency fc, as in FIG. Is. According to the configuration of FIG. 5, the same effect can be obtained with fewer components than the configuration of FIG.
Of course, the transfer function of the compensation element is not limited to the expression (5), but may be any transfer function having a high gain only in the vicinity of the frequency f0.
5 and 6, the torque is calculated from Iq and Id. However, since the torque is proportional to the output of the motor, the power can be calculated from Iq and Id instead of the torque in FIG. Of course it is good.

Although some of the embodiments of the inverter compensation frequency generation means 34 in the control device of FIG. 1 have been described above, here, from the operation waveform verified by simulation of the effect of this embodiment when the configuration of FIG. 3 is used. explain. The simulation conditions are set as follows: AC motor: three-phase 100 kW four-pole induction motor, inverter input DC voltage: 1800 V, pulsation voltage and frequency superimposed on it: 100 V · 1
20 Hz, motor rotation frequency fr: 110 Hz, slip frequency fs: 5 Hz,
Motor current (inverter output current): 150A.

FIG. 7 is based on the conventional control apparatus, and the inverter compensation frequency generating means 34 is not provided in the control apparatus of FIG. FIG. 5A shows an inverter input voltage waveform, and this input indicates that a pulsation frequency component is present when a 60 Hz AC power source is rectified by a converter. FIG. 6B shows a motor phase current (inverter output current) waveform, and the inverter operating frequency 115 Hz (f
It can be seen that the current of the inv = fr + fs) component is superimposed on the beat frequency component having a frequency 5 Hz (= finv−f0) which is the difference between the operating frequency and the pulsation frequency of the DC voltage. It can be seen that this beat increases the maximum value of the operating frequency component of the motor current by the current component due to the beat. FIGS. 5C and 5D show an excitation current component and a torque current component obtained by coordinate conversion of the motor phase current of FIG. From this, it can be seen that a pulsation frequency component is superimposed on each current component. FIG. 4E shows the output torque of the motor. It can be seen that the pulsation frequency component is also superimposed on the output torque.

FIG. 8 shows operation waveforms when the present invention is applied, and FIGS.
This corresponds to the events (a) to (e). Although the commutation pulsation is present in the inverter input voltage as shown in FIG. 6A, the motor phase current is only the operating frequency component as shown in FIG. 5B, and the beat frequency component due to the commutation pulsation is suppressed. You can see that As a result, as shown in (c), (d), and (e), the excitation current, torque current, and motor output torque components Id, Iq, and T have direct current amounts with very little pulsation. Since this DC amount is of the operating frequency component, it can be seen from the same waveform that the beat phenomenon associated with the rectifying pulsation is suppressed by the present invention.
Thus, in the present invention, the pulsation frequency component included in the torque current component is detected,
By feeding back to the inverter output frequency, it can be confirmed that the generation of the motor current and torque pulsation is suppressed, and the occurrence of the beat phenomenon is suppressed.
In addition, since the present invention is a method for suppressing the beat phenomenon by adjusting the inverter output frequency, the inverter output voltage is composed of a plurality of pulses, and the operation range in which the output voltage can be adjusted is not limited to that of the railway vehicle inverter. In this way, by adjusting the frequency of the inverter even in the operation region (one pulse mode) where the pulse included in one cycle of the inverter output voltage has a width of 180 ° (one pulse) and the inverter output voltage cannot be operated. It is possible to suppress the beat phenomenon.

ここに、Ｋ：入力電圧ｅｄの脈動率、α：ΔＥ _０ の検出時の所定の位相差
このように、直流電圧ｅｄの脈動成分ΔＥ _０ をインバータ周波数に反映させるというフィードフォワード補償機能と、インバータ出力電流における脈動周波数成分をフィードバック補償するという両者を合わせ持つ構成とすることで、より精度の高い安定したビート抑制効果を得ることができる。

FIG. 9 is a configuration diagram of a control device showing another embodiment of the present invention. The configuration of the figure is the same as the control configuration shown in FIG. 1, but the compensation frequency generation means 38 that generates the compensation frequency fc2 by the DC voltage ed detected by the DC voltage detection means 141, and the output of the compensation frequency generation means 38 is the adder 35. Is added with an adder 37 to be added to the inverter operating frequency command finv0. Here, the function of the compensation frequency generation means 38 is to obtain the pulsation voltage superimposed on the DC voltage of the inverter input as the degree of pulsation with respect to the DC voltage, and output the frequency degree corresponding to the degree as the compensation frequency fc2.
Details thereof are described in JP-A No. 64-77492 , particularly, page 4, lower left column 14 to lower right column 13, line 13 and formula (2) in the same column. The same publication is cited, applied to the embodiment of the present application, and rewritten. The compensation frequency fc2 to be added to the inverter frequency command finv0 is expressed by the following equation, where E is the DC component of the DC voltage ed, ΔE _{0 is} the pulsation component, and f ₀ is the pulsation frequency .

Here, K: ripple factor of the input voltage ed, alpha: a predetermined phase difference at the time of detection of the Delta] E ₀ as this, the feedforward compensation function that reflects the pulsating component Delta] E ₀ of the DC voltage ed to the inverter frequency, the inverter By adopting a configuration in which both of the pulsation frequency components in the output current are feedback-compensated, a more accurate and stable beat suppression effect can be obtained.

FIG. 10 is a configuration diagram of a control device showing another embodiment of the present invention. A difference from the configuration of FIG. 1 is a method of directly compensating the inverter phase command instead of the method of compensating the inverter output frequency. It is added by adder 39 to adder 3
Compensation phase calculating means for outputting the compensation phase θc based on the output of the phase calculating means 90 for calculating the phase θ0 of the inverter based on the inverter frequency command finv0 which is the output of 5, and the pulsation frequency component included in the torque current component Iq 40 outputs are added, and the result is input to the PWM pulse generating means 33. The compensation phase calculation means 40
It is configured by any of the compensation elements shown in FIGS. The PWM pulse generating unit 33 is configured to generate PWM for driving the inverter based on the inverter output voltage effective command V generated by the current control unit 32 and the inverter output voltage phase command θ output from the adder 39.
As described above, the beat phenomenon suppressing effect similar to that in the above-described embodiment can be obtained by directly compensating the output phase of the inverter.

In the embodiments of the present invention described so far, the controlled object machine is a vector control device, but the present invention is not limited to this.
FIG. 11 shows an example in which the present invention is implemented by an apparatus for constant voltage / frequency control, so-called V / F control. In the configuration of the figure, the same reference numerals as those in FIG. 50
The slip frequency command generating means adds the slip frequency command fs output from the means and the detected motor rotation frequency fr to generate the fundamental frequency finv0.
Based on the phase of the frequency, the motor phase current iu is obtained from the current vector calculation means 21.
.About.iw are transformed in the rotating coordinate system to calculate the torque current component Iq. 52 is V /
The constant voltage F control means outputs a voltage command V proportional to the fundamental frequency finv0. Reference numeral 34 denotes inverter compensation frequency generating means for generating an inverter compensation frequency fc based on the calculated torque current component Iq. This fc and the basic frequency finv0 are added to generate an inverter operating frequency (output frequency) command finv. Reference numeral 33 denotes PWM pulse generating means for generating a PWM signal by performing well-known pulse width modulation control based on the inverter output voltage command V and the phase command θ0. The inverter 15 is operated by this PWM signal. Here, the inverter compensation frequency generation means 34 is shown in FIGS.
It is comprised by what is shown by either. However, when the configurations of FIGS. 5 and 6 are applied, the current vector calculation means 21 also calculates the excitation current component and uses the result.
In the V / F control of the present embodiment, since there is no control system for controlling the excitation current component and the torque current component in the motor to be their command values, the torque calculated by the current vector calculation means 21 The current component or excitation current component is not true. This is due to deviation from dq axes in the actual motor rotation coordinate system. It has been found that this axial deviation increases as the motor frequency decreases. However, the frequency band where the beat phenomenon occurs is 100 as described above.
Considering that the frequency is in the vicinity of Hz, the axis deviation in this region is small, so that the accuracy of Iq and Id to be calculated is hardly reduced.
Therefore, in this embodiment, the inverter compensation frequency fc is added to the fundamental frequency finv0 only in the region near the pulsation frequency accompanying the rectification superimposed on the DC voltage of the inverter input, and thus obtained in the embodiment of FIG. The effect of suppressing the beat phenomenon is almost the same.
Thus, in the present invention, the inverter control method applied is vector control, V / F
It also has features that can be implemented regardless of control.
As described above, the embodiment of the present invention has shown the method of suppressing the beat phenomenon by detecting the torque current component Iq, the excitation current component Id or the pulsation component of the motor torque T and feeding back to the inverter output frequency. Since the instantaneous value of the DC input power, that is, the product of the instantaneous value of the DC voltage of the inverter and the instantaneous value of the DC input current is proportional to the instantaneous value of the motor torque T, the pulsation component of the instantaneous value of the DC input power of the inverter is detected. However, it is clear that the beat phenomenon can also be suppressed by feeding back to the inverter output frequency.

FIG. 12 is a block diagram of a control device showing another embodiment of the present invention. 1 differs from the configuration of FIG. 1 in that the inverter output voltage command V is compensated instead of the inverter output frequency compensation method based on the pulsation frequency component of the torque current component Iq detected in 21. Reference numeral 70 denotes compensation voltage generating means for generating an inverter output voltage compensation voltage Vc based on the detected torque current component Iq. An adder 71 adds the compensation voltage Vc to the voltage command V generated by the current control means, and outputs an output voltage command. Here, the detailed configuration of the compensation voltage generation means 70 applies the control circuit shown in FIGS. For example, when the one shown in FIG. 3 is applied, the pulsation component detection circuit 61 detects the component of the pulsation frequency f0 included in the torque current component Iq, and the compensator 62 compensates the compensation voltage so that the component of f0 becomes zero. It consists of compensation elements such as proportionality and integral that output Vc.
According to this embodiment, the same effect as in FIG. 1 can be obtained in a region where the output voltage of the inverter is not saturated.

FIG. 13 is a block diagram of a control device showing another embodiment of the present invention. The difference from the configuration of FIG. 1 is that the frequency is compensated by the inverter output voltage. 72
Is a voltage vector calculation means, and the detected instantaneous output voltage Vu of each phase of the inverter
.About.Vw are coordinate-transformed in a rotating coordinate system, and vector operations are performed on the orthogonal two-axis voltage components Vd and Vq. At least one of the obtained voltage components (Vq in the embodiment in the figure)
, The compensation frequency fc for compensating the pulsation frequency component is generated by the inverter compensation frequency generating means 73 and added to the operating frequency finv0 of the inverter.
Here, the detailed configuration of the inverter compensation frequency voltage generating means 73 is shown in FIGS.
The control circuit shown in the figure is applied. For example, when the one shown in FIG. 3 is applied, the pulsation component detection circuit 61 detects the component of the pulsation frequency f0 included in Vq, and the compensator 6
2, the compensation frequency fc is output by a compensation element such as proportionality and integration so that the component of f0 becomes 0.
According to the present embodiment, it is necessary to provide an inverter output voltage detector and voltage vector calculation means specially as pulsation frequency component compensation as compared with FIG. 1, but on the positive and negative side of the inverter output voltage that generates the beat phenomenon. Since voltage imbalance is directly detected and compensated, there is an effect that accuracy and responsiveness are excellent.
Although the embodiment of FIG. 13 compensates the frequency based on the pulsation frequency component of Vq, the phase θ0 may be compensated instead.

FIG. 14 is a configuration diagram of a control device showing another embodiment of the present invention. A difference from the configuration of FIG. 13 is a method of compensating the output voltage command V of the inverter instead of the method of compensating the inverter output frequency based on the pulsation frequency component of Vq.
74 is a compensation voltage generating means for generating a compensation voltage Vc of the inverter output voltage based on the detected Vq. An adder 75 adds the compensation voltage Vc to the voltage command V generated by the current control means, and outputs an output voltage command. Here, the compensation voltage generating means 7
For the detailed configuration of FIG. 4, the control circuit shown in FIGS. 3 and 4 is applied. For example, when the circuit shown in FIG. 3 is applied, the pulsation component detection circuit 61 detects the pulsation frequency f0 component included in Vq, and the compensator 62 outputs the compensation voltage Vc so that the f0 component becomes zero. It consists of compensation elements such as proportionality and integral.
According to the present embodiment, the same effect as in FIG. 13 can be obtained in a region where the output voltage of the inverter is not saturated.

The present invention is an inverter that drives an AC motor at a variable speed using a direct current obtained by rectifying an alternating current power supply with a converter as a power supply, and is particularly used for an electric railway railroad vehicle with a single-phase alternating current power supply that increases rectification pulsation. Of course, it is also suitable for use in, for example, an air conditioner, a refrigerator, a washing machine, etc., in which a motor is controlled by an inverter in a home appliance with single-phase power reception.

The functional block diagram of the control apparatus of the power converter which shows one Embodiment of this invention The main circuit block diagram of the power converter which applied embodiment of this invention to the electric vehicle of a railway FIG. 1 is a specific configuration diagram of the characteristic part of the present invention in the embodiment of FIG. FIG. 1 is a block diagram showing another specific configuration of the feature of the present invention in the embodiment of FIG. FIG. 1 is a block diagram showing another specific configuration of the feature of the present invention in the embodiment of FIG. FIG. 1 is a block diagram showing another specific configuration of the feature of the present invention in the embodiment of FIG. Operation waveform diagram of each part under conventional control Operation waveform diagram of each part when controlled by the present invention The block diagram of the control apparatus of the power converter which shows another embodiment of this invention The functional block diagram of the control apparatus of the power converter which shows another embodiment of this invention The functional block diagram of the control apparatus of the power converter which shows another embodiment of this invention The functional block diagram of the control apparatus of the power converter which shows another embodiment of this invention The functional block diagram of the control apparatus of the power converter which shows another embodiment of this invention The functional block diagram of the control apparatus of the power converter which shows another embodiment of this invention

Explanation of symbols

DESCRIPTION OF SYMBOLS 9 ... Overhead wire, 11 ... Single phase alternating current power supply, 13 ... Converter, 14 ... Smoothing capacitor, 1
5 ... Inverter, 141 ... Voltage detector, 151-153 ... Current detector, 161 ...
Voltage detector, 154 ... speed detector, 16 ... three-phase AC motor 21 ... current vector calculation means, 31 ... operation command generation means, 32 ... current control means,
33: PWM pulse generating means, 34: inverter compensation frequency generating means, 35, 3
6 ... adder, 90 ... phase calculation means 41 ... subtractor, 42 ... subtractor, 61 ... pulsation component detector, 62 ... compensator, 63 ... pulsation component compensator, 64 ... calculation means, 65 ... pulsation detector, DESCRIPTION OF SYMBOLS 66 ... Compensator, 67 ... Torque calculating means, 68 ... Pulsating component compensator 37 ... Adder, 38 ... Compensation frequency generating means, 39 ... Adder 39, 40 ... Compensation phase calculating means, 50 ... Slip frequency command generating means, 52 ... V / F constant control means, 70
... Compensation voltage generation means, 71 ... Adder, 72 ... Voltage vector calculation means, 73 ... Inverter compensation frequency generation means, 74 ... Compensation voltage generation means, 75 ... Adder

Claims (1)

A converter that rectifies a single-phase AC voltage from an overhead wire and converts it into a DC voltage, a smoothing capacitor connected to the DC side of the converter, converts the DC of the capacitor into AC of a variable voltage and variable frequency, and converts the converted output to an electric vehicle Inverter supplied to an AC motor that drives the motor, means for detecting the instantaneous current of the inverter output, coordinate conversion of the detected current in a rotating coordinate system, and two orthogonal current components (excitation current component, torque current component) Generating a voltage command so that the calculated two-axis current component matches a current command corresponding to each of the two axes, and generating an AC output frequency command. means and, electric vehicle drive system comprising a controller having a means for pulse width control of the output voltage of the inverter on the basis of said voltage command and the command of the frequency Oite,
A pulsation component detection means for detecting a current component of a pulsation frequency accompanying the rectification of the converter included in the current component , and a detected value of the pulsation component are smaller than at least one of the two-axis current components Feedback compensation means for adjusting an AC output frequency command of the inverter based on the detected value in a direction ;
A pulsation voltage accompanying rectification of the converter superimposed on the DC voltage of the inverter input is obtained as a pulsation degree with respect to the DC voltage, a frequency degree corresponding to the degree is detected as a compensation frequency, and the rectification pulsation is based on the compensation frequency. Feedforward compensation means for adjusting an AC output frequency command of the inverter in a direction in which a beat phenomenon generated by the inverter is suppressed;
The electric vehicle driving apparatus is characterized in that the compensation of the both includes only a band in the vicinity of the pulsation frequency where the output frequency of the inverter passes the pulsation frequency associated with the rectification of the converter .

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