JP5409877B1 - Motor control device for electric vehicle and motor control method for electric vehicle - Google Patents

Abstract

[PROBLEMS] To prevent vibration and noise of a drive system due to torque ripple when load torque of a motor shaft is reduced.
A torque command generator (12) that generates a first torque command based on vehicle information, a position / speed detector (11) that detects a rotational position and a rotational speed of a motor, and a first torque A torque ripple compensation unit (13) that generates a torque ripple compensation signal based on the command and the rotational position; an addition unit (14) that adds the first torque command and the torque ripple compensation signal to generate a second torque command; A torque limiter (15) that generates a torque that limits the magnitude of the second torque command based on the first torque command as a third torque command, and a rotational position, a rotational speed, and a third torque command. And a current control unit (16, 17) for controlling the motor current flowing in the motor.
[Selection] Figure 1

Description

  The present invention relates to a motor control device that drives an electric vehicle, and more particularly to a motor control device for an electric vehicle and a motor control method for the electric vehicle that prevent vibration of the electric vehicle caused by torque ripple of the motor.

  In a conventional motor control device for an electric vehicle, the motor current is controlled so that the torque generated by the motor follows the torque command corresponding to the accelerator operation of the driver.

  Here, in the motor control device for an electric vehicle, when the vehicle creeps, vehicle vibration is induced by a torque ripple generated by the motor. Therefore, it is required to prevent vehicle vibration due to torque ripple and provide a comfortable ride for the driver.

  As a conventional apparatus for meeting such a requirement, for example, a table relating to the amplitude and phase of torque ripple corresponding to the torque generated by the motor is created, and the amplitude and phase of torque ripple are suppressed with reference to this table. In addition, there is one that suppresses motor shaft vibration caused by torque ripple by calculating a ripple compensation value corresponding to the torque command value (see, for example, Patent Documents 1 and 2).

JP 2005-247574 A Japanese Patent No. 4835959

However, the prior art has the following problems.
In the conventional motor control devices described in Patent Documents 1 and 2, torque ripple is reduced using the torque command, speed information, and the amplitude and phase of torque ripple associated with each rotational position of the motor.

  However, in the electric vehicle targeted by the present invention, it is difficult to guarantee position detection with high accuracy for a detector that detects the rotational position of each motor, and torque ripple due to torque ripple compensation error remains. It becomes.

  Especially when the motor rotation speed is near zero, the vibration of the drive system decelerator due to torque ripple when the load torque of the motor shaft decreases due to slack in the power transmission chain or belt, backlash of the decelerator, etc. Becomes prominent. Further, when the state is bad, there are problems such as noise and continuous body vibration.

  The present invention has been made to solve the above-described problems, and is an electric vehicle capable of preventing the generation of vibration and noise of a drive system due to torque ripple when the load torque of the motor shaft is reduced. An object of the present invention is to obtain a motor control device and a motor control method for an electric vehicle.

  A motor control device for an electric vehicle according to the present invention includes: a torque command generation unit that generates a first torque command based on vehicle information including an accelerator opening degree and a vehicle speed of the electric vehicle in an electric vehicle using a motor as a drive source; Based on the position / speed detector for detecting the rotational position and rotational speed of the motor, the first torque command generated by the torque command generator, and the rotational position detected by the position / speed detector, A torque ripple compensation unit that generates a torque ripple compensation signal for compensating for the torque ripple component; a first torque command generated by the torque command generation unit; and a torque ripple compensation signal generated by the torque ripple compensation unit. Based on the addition unit that generates the command and the first torque command generated by the torque command generation unit, the magnitude of the second torque command generated by the addition unit is determined. Based on the torque limiting unit that generates the limited torque as the third torque command, the rotational position detected by the position / speed detection unit, the rotational speed, and the third torque command generated by the torque limiting unit. A current control unit that controls a motor current flowing through the first torque command, and the torque limiting unit outputs the second torque command when the second torque command has the same sign as the first torque command. If the sign of the second torque command and the sign of the first torque command are not the same sign, the third torque command is set to be limited to zero.

  The motor control method for an electric vehicle according to the present invention is applied to a control device for suppressing torque ripple generated in the motor when the load torque of the motor shaft is reduced in the electric vehicle using the motor as a drive source. A motor control method for an electric vehicle, wherein a torque command generation step for generating a first torque command based on vehicle information including an accelerator opening degree and a vehicle speed of the electric vehicle, and a position for detecting a rotational position and a rotational speed of the motor A torque ripple component of the motor based on the position / speed reading step for reading the detection result by the speed detection unit, the first torque command generated in the torque command generation step, and the rotational position read in the position / speed reading step A torque ripple compensation step for generating a torque ripple compensation signal for compensating the torque, and a torque command generation step Based on the addition step of adding the torque ripple compensation signal generated in the torque ripple compensation signal generated in the first torque command generated and the torque ripple compensation step, and the first torque command generated in the torque command generation step A torque limiting step for generating, as a third torque command, a torque that limits the magnitude of the second torque command generated in the adding step, and the rotational position, rotational speed read in the position / speed reading step, and And a current control step for controlling the motor current flowing through the motor based on the third torque command generated in the torque limiting step, wherein the torque limiting step includes the sign of the second torque command and the first torque command. When the sign is the same sign, the second torque command is set as the third torque command, and the sign of the second torque command is the same as the sign of the second torque command. When the sign of the torque command is not the same sign is used for setting limits the third torque command to zero.

  According to the motor control device for an electric vehicle and the motor control method for an electric vehicle according to the present invention, the torque applied to the rotating shaft of the motor is not switched between positive and negative, and the average torque can be biased to either positive or negative. There is provided a motor control device for an electric vehicle and a motor control method for an electric vehicle capable of preventing the vibration and noise of the drive system due to torque ripple when the load torque of the motor shaft is reduced by providing torque limiting means. Can be obtained.

It is a block diagram which shows the structure of the motor control apparatus of the electric vehicle in Embodiment 1 of this invention. It is explanatory drawing of the meshing state of the motor side reduction device and vehicle side reduction device in Embodiment 1 of this invention. It is the flowchart which showed a series of arithmetic processing by the torque limiting means in Embodiment 1 of this invention. It is a block diagram which shows the structure of the motor control apparatus of the electric vehicle in a prior art. It is the illustration figure which showed the relationship between a rotational position and the torque added to the rotating shaft of a motor when the structure of FIG. 4 which is a prior art is used. FIG. 5 is a diagram showing an example of a temporal change in motor rotation speed in an extremely low speed state from deceleration to stop in the configuration of FIG. 4, which is a conventional technique. It is the illustration figure which showed the relationship between the rotational position and the torque added to the rotating shaft of a motor when the structure of FIG. 1 in Embodiment 1 of this invention is used. In the structure of FIG. 1 of Embodiment 1 of this invention, it is a figure which shows an example of the time change of the motor rotational speed of the extremely low speed state from a deceleration to a stop. It is a figure which shows an example of the 3rd torque instruction | command at the time of start in Embodiment 1 of this invention.

  Hereinafter, preferred embodiments of an electric vehicle motor control device and an electric vehicle motor control method according to the present invention will be described with reference to the drawings.

Embodiment 1 FIG.
FIG. 1 is a block diagram showing a configuration of a motor control device for an electric vehicle according to Embodiment 1 of the present invention. The detailed description of the electric vehicle itself is omitted here, but it may have a well-known configuration. For example, the one described in Patent Document 2 can be referred to.

  The motor control device 10 for the electric vehicle in FIG. 1 includes a position / speed detection means 11, a torque command generation means 12, a torque ripple compensation means 13, an addition means 14, a torque limiting means 15, a current command generation means 16, and a current control means 17. It is configured with.

Next, the function of each component in the block diagram of FIG. 1 will be described in detail.
The position / speed detection means 11 detects the rotational position θ and the rotational speed ω of the motor 1. Although not shown in the drawing, the torque command generation means 12 outputs a first torque command Tref1 related by a preset map, conditional expression, or mathematical expression according to information such as the accelerator opening and the vehicle speed.

  The torque ripple compensation unit 13 compensates the torque ripple component of the motor 1 based on the first torque command Tref1 generated by the torque command generation unit 12 and the rotational position θ detected by the position / speed detection unit 11. Compensation torque Tc is calculated.

  In the first embodiment, for example, the torque ripple compensation torque Tc is calculated using the following equation (1) in which the torque ripple of the motor is modeled by superposition of sine waves, as in Patent Document 1. The

Here, each code | symbol of the above Formula (1) means the following contents.
n: Torque ripple order Tn: nth order torque ripple amplitude αn: nth order torque ripple phase difference θ: rotational position (electrical angle)

  The amplitude and phase of the torque ripple compensation torque Tc are the amplitude and phase data table or function as shown in Patent Document 1, or the fixed value and phase of the amplitude set so that the torque ripple of the motor 1 is reduced. A fixed value may be used.

  The torque ripple compensation torque Tc may be changed in the ratio added to the first torque command Tref1 according to the rotational speed ω of the motor 1. For example, the above equation (1) can be changed to the following equation (2). Good.

Here, each code | symbol of the above Formula (2) means the following contents.
ωc: positive constant ω: rotational speed from position / velocity detecting means 11 m: correction magnification (0 to 1)

  Next, the adding means 14 adds the first torque command Tref1 generated by the torque command generating means 12 and the torque ripple compensation torque Tc calculated by the torque ripple compensating means 13 as shown in the following equation (3). As a result, the second torque command Tref2 is calculated and output.

  Based on the first torque command Tref1 generated by the torque command generation unit 12 and the second torque command Tref2 output from the addition unit 14, the torque limiting unit 15 generates a torque command Tref3 that limits the torque. .

  The current command generator 16 outputs a current command Iref based on the third torque command Tref3 generated by the torque limiter 15 and the rotational position θ and rotational speed ω detected by the position / speed detector 11. .

  Further, the current control means 17 generates a voltage value Vref applied to the motor 1 based on the current command Iref generated by the current command generation means 16, the rotational position θ and the rotational speed ω detected by the position / speed detection means 11. Is generated.

  The motor-side speed reducer 2 and the vehicle-side speed reducer 3 are connected to the rotation shaft of the motor 1 that is the control target of the motor control device 10 having such a configuration. FIG. 2 is an explanatory diagram of a meshed state of the motor-side speed reducer 2 and the vehicle-side speed reducer 3 according to the first embodiment of the present invention. The motor-side speed reducer 2 and the vehicle-side speed reducer 3 are constituted by gears having backlash, for example, as shown in FIG.

  Further, a drive system (not shown) such as a drive shaft and a clutch of the vehicle is connected to the tip of the vehicle-side speed reducer 3. Then, the current control means 17 in the motor control device 10 of the electric vehicle outputs a voltage command Vref given to the motor 1 to control the motor 1, whereby the driving force is transmitted from the motor 1 to the vehicle.

  The present invention has a technical feature that the torque limiting means 15 is provided. Therefore, details of the calculation processing of the torque limiting means 15 will be described using a flowchart.

  FIG. 3 is a flowchart showing a series of arithmetic processing by the torque limiting means 15 in the first embodiment of the present invention. First, in step S301, the torque limiting unit 15 reads the first torque command Tref1 output from the torque command generating unit 12 and the second torque command Tref2 output from the adding unit 14.

  Next, the torque limiting means 15 determines whether or not the sign of the first torque command Tref1 and the sign of the second torque command Tref2 are the same in step S302. If it is determined that the two signs are the same, the torque limiting means 15 proceeds to step S303 and sets the second torque command Tref2 as the third torque command Tref3.

  On the other hand, when it is determined in step S302 that the sign of the first torque command Tref1 and the sign of the second torque command Tref2 are different, the torque limiting means 15 proceeds to step S304, and the third torque command Zero is set as Tref3.

  Through such a series of processing, the torque limiting means 15 switches and sets the set value of the third torque command Tref3 according to the state of the sign of the first torque command Tref1 and the sign of the second torque command Tref2. ing.

  Next, in order to clarify the effect of the function of the torque limiting unit 15 in the first embodiment, the present invention will be described while comparing it with the prior art.

  FIG. 4 is a block diagram showing a configuration of a motor control device for an electric vehicle in the prior art. The configuration of FIG. 4 according to this prior art omits the torque limiting means 15 from the configuration of FIG. 1 according to the first embodiment, and the second torque command Tref2 as the output of the adding means 14 is replaced with the current command generation means 16. Corresponds to the input. FIG. 4 is configured using the same components as those in FIG. 1 except that the torque limiting means 15 is not present. The same reference numerals are given, and the detailed description thereof is omitted.

  A specific comparison of control responses due to the difference in configuration between FIG. 1 and FIG. 4 will be described with reference to the drawings. FIG. 5 is an exemplary diagram showing the relationship between the rotational position and the torque applied to the rotating shaft of the motor 1 when the configuration of FIG. The vertical axis in FIG. 5 is the torque applied to the rotating shaft of the motor 1, and the maximum amplitude of the absolute value of the torque ripple compensation torque Tc is described as 1. Further, the horizontal axis in FIG. 5 indicates the rotational position of the motor 1, and shows a situation in which six peaks are generated as torque waves per one motor rotation.

  In FIG. 5A, the solid line is the torque applied to the rotating shaft of the motor 1 when the torque ripple compensation torque Tc is not applied, and the broken line is the second torque command Tref2 including the torque ripple compensation torque Tc. .

  FIG. 5B shows the torque applied to the rotating shaft of the motor 1 when the second torque command Tref2 including the torque ripple compensation torque Tc is given. The solid line torque in FIG. This corresponds to the difference from torque.

  The torque ripple of the motor is not a strict sine wave, and it is difficult to completely match the torque ripple compensation torque Tc of the above equation (2) with the torque ripple of the motor 1 due to variations among the motors, rotational position detection errors, and the like. . Therefore, in this example, assuming that there is a deviation, the second torque command Tref2 is set to be larger than the torque applied to the rotating shaft of the motor 1. At this time, in the structure of FIG. 4, it turns out that the torque added to the rotating shaft of the motor 1 switches to positive / negative.

  When the motor 1 starts rotating or decelerates, or when the motor rotational speed is almost zero, as shown in FIG. 2, the backlash between the motor side speed reducer 2 and the vehicle side speed reducer 3 occurs. Thus, the load torque applied from the vehicle-side speed reducer 3 to the motor-side speed reducer 2 is reduced. FIG. 6 is a diagram illustrating an example of a temporal change in the motor rotation speed in the extremely low speed state from the deceleration to the stop in the configuration of FIG. 4 which is the prior art. It can be seen from the positive and negative changes in the torque shown in FIG. 5B that the rotational speed ω of the motor 1 generates speed oscillations near zero.

  On the other hand, FIG. 7 is an exemplary diagram showing the relationship between the rotational position and the torque applied to the rotating shaft of the motor 1 when the configuration of FIG. 1 in the first embodiment of the present invention is used. As in FIG. 5, the vertical axis in FIG. 7 is the torque applied to the rotating shaft of the motor 1, and the maximum amplitude of the absolute value of the torque ripple compensation torque Tc is described as 1. In addition, the horizontal axis in FIG. 7 indicates the rotational position of the motor 1, and shows a situation in which six peaks are generated as torque waves per one motor rotation.

  In FIG. 7A, the solid line is the torque applied to the rotating shaft of the motor 1 when the torque ripple compensation torque Tc is not applied, and the broken line is the third torque command Tref3 including the torque ripple compensation torque Tc. . As in FIG. 5, the second torque command Tref2 is made larger than the torque applied to the rotating shaft of the motor 1 in FIG.

  FIG. 7B shows the torque applied to the rotating shaft of the motor 1 when the third torque command Tref3 including the torque ripple compensation torque Tc is given. The solid line torque in FIG. This corresponds to the difference from torque.

  From the comparison between FIG. 5B and FIG. 7B, the torque applied to the rotating shaft of the motor 1 does not switch between positive and negative in the configuration of FIG. It can be seen that the torque can be biased to either positive or negative.

  In general, the moment of inertia including the motor-side speed reducer 2 and the rotating portion of the motor 1 is smaller than the moment of inertia including the vehicle-side speed reducer 3 and the vehicle body. For this reason, by biasing the average torque positively or negatively, the motor-side speed reducer 2 can be used even in the extremely low speed state when the motor 1 starts rotating or when the motor is decelerated or stopped, or even when the motor rotational speed is substantially zero. The vehicle-side speed reducer 3 can be operated so as to maintain as much contact as possible.

  FIG. 8 is a diagram illustrating an example of a temporal change in the motor rotation speed in the extremely low speed state from the deceleration to the stop in the configuration of FIG. 1 according to the first embodiment of the present invention. In the configuration of FIG. 1, the torque applied to the rotating shaft of the motor 1 is not switched between positive and negative by the function of the torque limiting means 15, and the average torque can be biased to either positive or negative. Therefore, it can be seen that the speed vibration of the motor 1 is suppressed even near zero.

  In the above description, the effect in the extremely low speed state from the deceleration to the stop is shown. However, the effect of the present invention is not limited to such an extremely low speed state. With the configuration of FIG. 1 provided with the torque limiting means 15, the motor-side speed reducer 2 can be operated so as to be kept in contact with the vehicle-side speed reducer 3 as much as possible even when starting from a stopped state. It is easy to see that the speed vibration can be suppressed because it is possible.

  Further, in the conventional motor control device, since the torque ripple is compensated even when the motor is stationary, there is a problem that the power consumption increases even when the vehicle is not running.

  On the other hand, in the present invention, the torque ripple compensation signal from the torque ripple compensation means 13 is zero, that is, in the above equation (1), at least when the rotational speed of the motor is zero and the first torque command is zero. By setting the correction magnification m to 0, it is possible to reduce power consumption while the motor is stationary.

  FIG. 9 is a diagram showing an example of the third torque command Tref3 at the time of start in the first embodiment of the present invention. In FIG. 9, the third torque command Tref3 is set to zero at the time of stop, and it becomes possible to reduce power consumption while the motor is stationary.

  As described above, according to the first embodiment, the torque applied to the rotating shaft of the motor 1 is not switched between positive and negative by the function of the torque limiting means, and the average torque can be biased to either positive or negative. it can. As a result, the motor-side speed reducer 2 can be operated so as to be kept in contact with the vehicle-side speed reducer 3 as much as possible, and speed vibration can be suppressed.

  Therefore, the vibration and noise of the drive system due to the torque ripple when the load torque of the motor shaft decreases due to slack of the power transmission system chain or belt near the motor rotation speed, backlash of the reducer, etc. It is possible to obtain a motor control device for an electric vehicle and a motor control method for an electric vehicle that can easily prevent occurrence with a simple configuration.

  DESCRIPTION OF SYMBOLS 1 Motor, 2 Motor side reducer, 3 Vehicle side reducer, 10 Motor control apparatus, 11 Position / speed detection means, 12 Torque command generation means, 13 Torque ripple compensation means, 14 Addition means, 15 Torque limit means, 16 Current command Generation means, 17 Current control means.

Claims (3)

In an electric vehicle using a motor as a drive source, a torque command generation unit that generates a first torque command based on vehicle information including an accelerator opening degree and a vehicle speed of the electric vehicle;
A position / speed detector for detecting the rotational position and rotational speed of the motor;
A torque ripple compensation signal for compensating for a torque ripple component of the motor is generated based on the first torque command generated by the torque command generator and the rotational position detected by the position / speed detector. A torque ripple compensator;
An adder that adds the first torque command generated by the torque command generator and the torque ripple compensation signal generated by the torque ripple compensator to generate a second torque command;
Based on the first torque command generated by the torque command generation unit, a torque limit that generates, as a third torque command, a torque that limits the magnitude of the second torque command generated by the addition unit. And
A current control unit configured to control a motor current flowing in the motor based on the rotation position detected by the position / speed detection unit, the rotation speed, and the third torque command generated by the torque limiting unit; Prepared,
When the sign of the second torque command and the sign of the first torque command are the same sign, the torque limiting unit sets the second torque command as the third torque command, When the sign of the second torque command and the sign of the first torque command are not the same sign, the third torque command is set to be limited to zero. . In the motor control device of the electric vehicle according to claim 1,
The torque ripple compensator is in a state where the rotational speed detected by the position / velocity detector is zero and the first torque command generated by the torque command generator is zero. Outputs the torque ripple compensation signal as zero. A motor control device for an electric vehicle. In an electric vehicle using a motor as a drive source, a motor control method for an electric vehicle applied to a control device for suppressing torque ripple generated in the motor when a load torque of a motor shaft decreases.
A torque command generating step for generating a first torque command based on vehicle information including an accelerator opening and a vehicle speed of the electric vehicle;
A position / speed reading step for reading a detection result by a position / speed detection unit for detecting a rotation position and a rotation speed of the motor;
Based on the first torque command generated in the torque command generation step and the rotational position read in the position / speed reading step, a torque ripple compensation signal for compensating for a torque ripple component of the motor is generated. A torque ripple compensation step;
An addition step of adding the first torque command generated in the torque command generation step and the torque ripple compensation signal generated in the torque ripple compensation step to generate a second torque command;
Torque limitation that generates, as a third torque command, a torque obtained by limiting the magnitude of the second torque command generated in the addition step based on the first torque command generated in the torque command generation step. Steps,
A current control step for controlling a motor current flowing in the motor based on the rotation position read in the position / speed reading step, the rotation speed, and the third torque command generated in the torque limiting step; Prepared,
In the torque limiting step, when the sign of the second torque command and the sign of the first torque command are the same sign, the second torque command is set as the third torque command, When the sign of the second torque command and the sign of the first torque command are not the same sign, the third torque command is set to be limited to zero. .

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