Motor drive device, controller, and electric vehicle system
Stable current control is performed even at the time of occurrence of disturbance, while the steadily occurring current pulsation is suppressed. A motor drive device 100 includes a power conversion circuit 103 that drives an alternating-current motor 101, and a controller 102 that controls the power conversion circuit 103. The controller 102 includes a voltage command calculation unit 108, a control state judgement unit 112, and a control gain change unit 113. When the determination signal output from the control state judgement unit 112 is switched from a determination signal representing a steady state to a determination signal representing a transient state, the control gain change unit 113 immediately changes the control gain to a value of normal setting, and when the judgement signal output from the control state judgement unit 112 is switched from a determination signal representing the transient state to a judgement signal representing the steady state, the control gain change unit 113 changes, with a predetermined delay time, the control gain to a value of high-gain setting.
1. A motor drive device, comprising:
a power conversion circuit that drives an alternating-current motor; and
a controller that controls the power conversion circuit, wherein
the controller has
a voltage command calculation unit that calculates a voltage command for operating the power conversion circuit on a basis of a current deviation, which is a difference between a current command and an actual current flowing through the alternating-current motor,
a control state judgement unit that outputs a judgement signal corresponding to a control state of the power conversion circuit on a basis of the current deviation, and
a control gain change unit that changes a control gain used for the voltage command calculation unit to calculate the voltage command on a basis of the judgement signal,
the control state judgement unit outputs a first judgement signal when the current deviation satisfies a predetermined range condition and outputs a second judgement signal when the current deviation does not satisfy the range condition, and
the control gain change unit
immediately changes the control gain to a value corresponding to the second judgement signal when a judgement signal output from the control state judgement unit is switched from the first judgement signal to the second judgement signal, and
changes, with a predetermined delay time, the control gain to a value corresponding to the first judgement signal when a judgement signal output from the control state judgement unit is switched from the second judgement signal to the first judgement signal.
2. The motor drive device according to claim 1 , wherein the control gain change unit has a low-pass filter and realizes the delay time by using the low-pass filter.
3. The motor drive device according to claim 2 , wherein the control gain change unit has a gain setting unit that holds a two-dimensional or higher-dimensional lookup table and determines a value of the control gain corresponding to the judgement signal by using the lookup table.
4. The motor drive device according to claim 1 , wherein the control gain change unit has an integrator and realizes the delay time by using the integrator.
5. The motor drive device according to claim 4 , wherein the control gain change unit determines a value of the control gain on a basis of a value obtained by integrating, using the integrator, an absolute value of the current deviation.
6. The motor drive device according to claim 4 , wherein the integrator integrates 0 when an absolute value of the current deviation is smaller than a predetermined value, and integrates the absolute value of the current deviation when the absolute value of the current deviation is larger than the predetermined value.
7. The motor drive device according to claim 4 , wherein
the control gain change unit
permits an integration calculation by the integrator when a judgement signal output from the control state judgement unit is the first judgement signal, and
prohibits an integration calculation by the integrator when a judgement signal output from the control state judgement unit is the second judgement signal.
8. The motor drive device according to claim 4 , wherein the control gain change unit resets a result of an accumulation calculation by the integrator to return a value of the control gain to a predetermined initial value when a judgement signal output from the control state judgement unit is switched from the first judgement signal to the second judgement signal.
9. The motor drive device according to claim 1 , wherein the control gain change unit makes a value of the control gain corresponding to the second judgement signal when the current deviation is a positive value and a value of the control gain corresponding to the second judgement signal when the current deviation is a negative value different from each other.
10. A controller that controls a power conversion circuit that drives an alternating-current motor, the controller, comprising:
a voltage command calculation unit that calculates a voltage command for operating the power conversion circuit on a basis of a current deviation corresponding to a difference between a current command and an actual current flowing through the alternating-current motor;
a control state judgement unit that outputs a judgement signal corresponding to a control state of the power conversion circuit on a basis of the current deviation; and
a control gain change unit that changes a control gain used for the voltage command calculation unit to calculate the voltage command on a basis of the judgement signal, wherein
the control state judgement unit outputs a first judgement signal when the current deviation satisfies a predetermined range condition and outputs a second judgement signal when the current deviation does not satisfy the range condition, and
the control gain change unit
immediately changes the control gain to a value corresponding to the second judgement signal when a judgement signal output from the control state judgement unit is switched from the first judgement signal to the second judgement signal, and
changes, with a predetermined delay time, the control gain to a value corresponding to the first judgement signal when a judgement signal output from the control state judgement unit is switched from the second judgement signal to the first judgement signal.
11. An electric vehicle system, comprising:
the motor drive device according to claim 1 ;
the alternating-current motor;
a pivotally supported axle mechanically connected with the alternating-current motor;
a wheel fixed to the axle; and
a driving battery that supplies power to the motor drive device.