Controller for AC electric motor and electric powered vehicle
An AC electric motor, an inverter and a controller are mounted on an electric powered vehicle. The controller includes a voltage deviation calculating unit, a modulation factor calculating unit, and a mode switching determination unit. The voltage deviation calculating unit calculates a voltage deviation between a first voltage command when the rectangular wave voltage control is executed and a second voltage command when pulse width modulation control is executed, by inputting a current deviation to a voltage equation of the AC electric motor. Modulation factor calculating unit calculates the modulation factor based on the first voltage command and the voltage deviation. The mode switching determination unit determines whether or not control mode of the AC electric motor from the rectangular wave voltage control to the pulse width modulation control is necessary, based on the modulation factor.
1. A controller for an AC electric motor, wherein an applied voltage applied to said AC electric motor is controlled by an inverter converting a DC voltage to said applied voltage;
said controller comprising:
a current detector detecting a motor current flowing between said inverter and said AC electric motor;
a pulse width modulation control unit generating, based on a current deviation between said motor current detected by said current detector and a current command corresponding to an operation command of said AC electric motor, an AC voltage command causing said AC electric motor to operate in accordance with said operation command, and generating, by pulse width modulation control based on a comparison between said AC voltage command and a carrier wave, a control command for said inverter;
a rectangular wave voltage control unit generating said control command for said inverter, by rectangular wave voltage control controlling said applied voltage such that said applied voltage comes to be a rectangular wave voltage having a phase in accordance with said operation command, based on said motor current detected by said current detector and said operation command of said AC electric motor;
a voltage deviation calculating unit calculating, by executing an operation of substituting said current deviation to a voltage equation of said AC electric motor, a voltage deviation between a first voltage command corresponding to said AC voltage command when said rectangular wave voltage control is executed and a second voltage command corresponding to said AC voltage command when said pulse width modulation control is executed;
a modulation factor calculating unit calculating a first control value representing a modulation factor defined as a ratio of an effective value of said applied voltage with respect to said DC voltage, based on said first voltage command and said voltage deviation; and
a mode switching determination unit determining, when said rectangular wave voltage control is being executed by said rectangular wave voltage control unit, based on said first control value, whether or not switching of control mode of said AC electric motor from said rectangular wave voltage control to said pulse width modulation control is necessary.
2. The controller for an AC electric motor according to claim 1 , wherein
said current deviation includes a d-axis current deviation and a q-axis current deviation;
said voltage deviation calculating unit calculates said voltage deviation including a d-axis voltage deviation and a q-axis voltage deviation, by executing an operation of substituting said d-axis current deviation and said q-axis current deviation to said voltage equation; and
said modulation factor calculating unit calculates, by subtracting a correction value representing a magnitude of a composite vector of said d-axis voltage deviation and said q-axis voltage deviation from a first value representing a magnitude of a voltage vector corresponding to said first voltage command, a second value representing a magnitude of a voltage vector corresponding to said second voltage command, and based on a ratio of said second value with respect to said first value and on the value of said modulation factor when said rectangular wave voltage control is executed, calculates said first control value.
3. The controller for an AC electric motor according to claim 2 , wherein
said modulation factor calculating unit calculates, based on said second voltage command and said DC voltage value, a second control value representing said modulation factor when said pulse width modulation control is being executed by said pulse width modulation control unit MO); and
said mode switching determination unit determines, based on said second control value, whether or not switching of control mode from said pulse width modulation control to said rectangular wave voltage control is necessary.
4. The controller for an AC electric motor according to claim 3 , wherein said mode switching determination unit determines that switching from said rectangular wave voltage control to said pulse width modulation control is necessary when said
first control value is smaller than a first reference value, and determines that switching from said pulse width modulation control to said rectangular wave voltage control is necessary when said second control value is larger than a second reference value; and
said first reference value is smaller than said second reference value.
5. The controller for an AC electric motor according to claim 1 , wherein said pulse width modulation control unit generates said second voltage command such that said current deviation becomes closer to 0.
6. The controller for an AC electric motor according to claim 1 , wherein said pulse width modulation control unit includes
a first control unit generating said control command in accordance with said current deviation, by sine wave pulse width modulation method, and
a second control unit generating said control command in accordance with said current deviation, by over modulation pulse width modulation method for outputting said applied voltage having larger fundamental wave component than said sine wave pulse width modulation method.
7. An electric powered vehicle, comprising:
an AC electric motor;
an inverter converting a DC voltage to an applied voltage applied to said AC electric motor and controlling said applied voltage; and
a controller controlling said inverter, said controller including
a current detector detecting a motor current flowing between said inverter and said AC electric motor,
a pulse width modulation control unit generating, based on a current deviation between said motor current detected by said current detector and a current command corresponding to an operation command of said AC electric motor, an AC voltage command causing said AC electric motor to operate in accordance with said operation
command, and generating, by pulse width modulation control based on a comparison between said AC voltage command and a carrier wave, a control command for said inverter,
a rectangular wave voltage control unit generating said control command for said inverter, by rectangular wave voltage control controlling said applied voltage such that said applied voltage comes to be a rectangular wave voltage having a phase in accordance with said operation command, based on said motor current detected by said current detector and said operation command of said AC electric motor,
a voltage deviation calculating unit calculating, by executing an operation of substituting said current deviation to a voltage equation of said AC electric motor, a voltage deviation between a first voltage command corresponding to said AC voltage command when said rectangular wave voltage control is executed and a second voltage command corresponding to said AC voltage command when said pulse width modulation control is executed,
a modulation factor calculating unit calculating a first control value representing a modulation factor defined as a ratio of an effective value of said applied voltage with respect to said DC voltage, based on said first voltage command and said voltage deviation, and
a mode switching determination unit determining, when said rectangular wave voltage control is being executed by said rectangular wave voltage control unit, based on said first control value, whether or not switching of control mode of said AC electric motor from said rectangular wave voltage control to said pulse width modulation control is necessary.
8. The electric powered vehicle according to claim 7 , wherein
said current deviation includes a d-axis current deviation and a q-axis current deviation;
said voltage deviation calculating unit calculates said voltage deviation including a d-axis voltage deviation and a q-axis voltage deviation, by executing an operation of substituting said d-axis current deviation and said q-axis current deviation to said voltage equation; and
said modulation factor calculating unit calculates, by subtracting a correction value representing a magnitude of a composite vector of said d-axis voltage deviation and said q-axis voltage deviation from a first value representing a magnitude of a voltage vector corresponding to said first voltage command, a second value representing a magnitude of a voltage vector
corresponding to said second voltage command, and based on a ratio of said second value with respect to said first value and on the value of said modulation factor when said rectangular wave voltage control is executed, calculates said first control value.
9. The electric powered vehicle according to claim 8 , wherein
said modulation factor calculating unit calculates, based on said second voltage command and said DC voltage value, a second control value representing said modulation factor when said pulse width modulation control is being executed by said pulse width modulation control unit; and
said mode switching determination unit determines, based on said second control value, whether or not switching of control mode from said pulse width modulation control to said rectangular wave voltage control is necessary.
10. The electric powered vehicle according to claim 9 , wherein
said mode switching determination unit ( 3 - 60 ) determines that switching from said rectangular wave voltage control to said pulse width modulation control is necessary when said first control value is smaller than a first reference value, and determines that switching from said pulse width modulation control to said rectangular wave voltage control is necessary when said second control value is larger than a second reference value; and
said first reference value is smaller than said second reference value.
11. The electric powered vehicle according to claim 7 , wherein said pulse width modulation control unit generates said second voltage command such that said current deviation becomes closer to 0.
12. The electric powered vehicle according to claim 7 , wherein said pulse width modulation control unit includes
a first control unit generating said control command in accordance with said current deviation, by sine wave pulse width modulation method, and
a second control unit generating said control command in accordance with said current deviation, by over modulation pulse width modulation method for outputting said applied voltage having larger fundamental wave component than said sine wave pulse width modulation method.