Motor control device and electric vehicle
A motor can be controlled in a user-friendly manner so that a phase current based on an input command torque command value is caused to flow to at least one among U-phase, V-phase, and W-phase windings of the motor, so that a predetermined in-phase current is superimposed on the phase current and caused to flow to at least one among the windings. The motor is controlled such that energization to one winding corresponding to a predetermined energization stop phase is stopped, for example, so that energization to the U-phase winding is stopped, and so that a V-phase current, a W-phase current and an in-phase current are caused to flow to each winding corresponding to a phase other than the energization stop phase, for example, so that the V-phase current, the W-phase current and the in-phase current are caused to flow to the V-phase winding and the W-phase winding.
1. A motor control device for controlling a motor which has a plurality of windings that are electrically independent from each other in correspondence with each of a plurality of phases,
wherein the motor control device controls the motor so that a phase current based on an input command value is caused to flow to at least one of the plurality of windings, and a predetermined in-phase current is superimposed on the phase current and caused to flow to at least one of the plurality of windings, and
wherein the motor control device controls the motor so that energization to one winding among the plurality of windings corresponding to a predetermined energization stop phase is stopped, and the phase current and the in-phase current are respectively caused to flow to each winding corresponding to a phase other than the energization stop phase among the plurality of phases.
2. The motor control device according to claim 1 ,
wherein the motor control device changes a current waveform in each winding corresponding to the other phase according to a rotating speed of the motor.
3. The motor control device according to claim 2 ,
wherein, when the rotating speed of the motor is equal to or greater than a predetermined value, the motor control device changes the current waveform by limiting a fluctuation range, per unit time, of the current flowing to each winding corresponding to the other phase.
4. The motor control device according to claim 1 ,
wherein the current waveform of the phase current with the in-phase current superimposed thereon is of a trapezoidal shape.
5. The motor control device according to claim 1 ,
wherein the motor control device determines the in-phase current based on the input command value.
6. The motor control device according to claim 5 ,
wherein an inverter which has a plurality of switching elements and switch-drives each of the plurality of switching elements to supply AC power to the plurality of windings is connected to the motor,
wherein a current sensor for detecting a phase current flowing to each of the plurality of windings is disposed between the inverter and the motor,
wherein the motor control device comprises:
a current command operation unit which operates a d-axis current command value and a q-axis current command value based on the input command value;
a d-q axis current control unit which operates a d-axis voltage command value and a q-axis voltage command value based on the d-axis current command value and the q-axis current command value;
a coordinate conversion unit which operates each phase voltage command value to the plurality of phases based on the d-axis voltage command value and the q-axis voltage command value;
a PWM signal generation unit which generates a switching signal based on the phase voltage command value and outputs the generated switching signal to the inverter;
a current command correction unit which operates an in-phase current command value, which corresponds to a current command of the energization stop phase, based on the d-axis current command value and the q-axis current command value;
an in-phase current calculation unit which calculates a detection value of the in-phase current based on a detection value of the phase current detected by the current sensor; and
an in-phase current control unit which operates an in-phase voltage command value based on the in-phase current command value and the in-phase current detection value, and
wherein, when stopping energization to the winding corresponding to the energization stop phase, the coordinate conversion unit sets the phase voltage command value of the energization stop phase to 0, and adds the in-phase voltage command value to the phase voltage command value of the other phase and outputs a result thereof to the PWM signal generation unit.
7. The motor control device according to claim 6 ,
wherein the current command correction unit determines whether a current command vector according to the d-axis current command value and the q-axis current command value is within a predetermined outputtable range and, upon determining that the current command vector is not within the outputtable range, corrects the d-axis current command value and the q-axis current command value.
8. The motor control device according to claim 1 ,
wherein, when an amplitude of a current command based on the input command value is equal to or less than a predetermined value, the motor control device controls the motor so that the phase current and the in-phase current are respectively caused to flow to each of the plurality of windings.
9. The motor control device according to claim 8 ,
wherein a polarity of the phase current with the in-phase current superimposed thereon is constantly positive or negative.
10. The motor control device according to claim 8 ,
wherein the motor control device determines the in-phase current based on the current command amplitude and a predetermined current ripple.
11. The motor control device according to claim 10 ,
wherein an inverter which has a plurality of switching elements and switch-drives each of the plurality of switching elements to supply AC power to the plurality of windings is connected to the motor,
wherein a current sensor for detecting a phase current flowing to each of the plurality of windings is disposed between the inverter and the motor,
wherein the motor control device comprises:
a current command operation unit which operates a d-axis current command value and a q-axis current command value based on the input command value;
a d-q axis current control unit which operates a d-axis voltage command value and a q-axis voltage command value based on the d-axis current command value and the q-axis current command value;
a coordinate conversion unit which operates each phase voltage command value to the plurality of phases based on the d-axis voltage command value and the q-axis voltage command value;
a PWM signal generation unit which generates a switching signal based on the phase voltage command value and outputs the generated switching signal to the inverter;
a current command correction unit which calculates an amplitude of the current command based on the d-axis current command value and the q-axis current command value, and operates an in-phase current command value according to the current command amplitude;
an in-phase current calculation unit which calculates a detection value of the in-phase current based on a detection value of the phase current detected by the current sensor; and
an in-phase current control unit which operates an in-phase voltage command value based on the in-phase current command value and the in-phase current detection value, and
wherein, when the current command amplitude is equal to or less than the predetermined value, the coordinate conversion unit adds the in-phase voltage command value to each phase voltage command value of the plurality of phases, and outputs a result thereof to the PWM signal generation unit.
12. An electric vehicle, comprising:
a motor control device for controlling a motor which has a plurality of windings that are electrically independent from each other in correspondence with each of a plurality of phases,
wherein the motor control device controls the motor so that a phase current based on an input command value is caused to flow to at least one of the plurality of windings, and a predetermined in-phase current is superimposed on the phase current and caused to flow to at least one of the plurality of windings, and
wherein the motor control device controls the motor so that energization to one winding among the plurality of windings corresponding to a predetermined energization stop phase is stopped, and the phase current and the in-phase current are respectively caused to flow to each winding corresponding to a phase other than the energization stop phase among the plurality of phases; and
the motor controlled by the motor control device.
13. The electric vehicle according to claim 12 ,
wherein the motor control device changes a current waveform in each winding corresponding to the other phase according to a rotating speed of the motor.
14. The electric vehicle according to claim 13 ,
wherein, when the rotating speed of the motor is equal to or greater than a predetermined value, the motor control device changes the current waveform by limiting a fluctuation range, per unit time, of the current flowing to each winding corresponding to the other phase.
15. The electric vehicle according to claim 12 ,
wherein the current waveform of the phase current with the in-phase current superimposed thereon is of a trapezoidal shape.
16. The electric vehicle according to claim 12 ,
wherein the motor control device determines the in-phase current based on the input command value.
17. The electric vehicle according to claim 16 ,
wherein an inverter which has a plurality of switching elements and switch-drives each of the plurality of switching elements to supply AC power to the plurality of windings is connected to the motor,
wherein a current sensor for detecting a phase current flowing to each of the plurality of windings is disposed between the inverter and the motor,
wherein the motor control device comprises:
a current command operation unit which operates a d-axis current command value and a q-axis current command value based on the input command value;
a d-q axis current control unit which operates a d-axis voltage command value and a q-axis voltage command value based on the d-axis current command value and the q-axis current command value;
a coordinate conversion unit which operates each phase voltage command value to the plurality of phases based on the d-axis voltage command value and the q-axis voltage command value;
a PWM signal generation unit which generates a switching signal based on the phase voltage command value and outputs the generated switching signal to the inverter;
a current command correction unit which operates an in-phase current command value, which corresponds to a current command of the energization stop phase, based on the d-axis current command value and the q-axis current command value;
an in-phase current calculation unit which calculates a detection value of the in-phase current based on a detection value of the phase current detected by the current sensor; and
an in-phase current control unit which operates an in-phase voltage command value based on the in-phase current command value and the in-phase current detection value, and
wherein, when stopping energization to the winding corresponding to the energization stop phase, the coordinate conversion unit sets the phase voltage command value of the energization stop phase to 0, and adds the in-phase voltage command value to the phase voltage command value of the other phase and outputs a result thereof to the PWM signal generation unit.
18. The electric vehicle according to claim 17 ,
wherein the current command correction unit determines whether a current command vector according to the d-axis current command value and the q-axis current command value is within a predetermined outputtable range and, upon determining that the current command vector is not within the outputtable range, corrects the d-axis current command value and the q-axis current command value.
19. The electric vehicle according to claim 12 ,
wherein, when an amplitude of a current command based on the input command value is equal to or less than a predetermined value, the motor control device controls the motor so that the phase current and the in-phase current are respectively caused to flow to each of the plurality of windings.
20. The electric vehicle according to claim 19 ,
wherein a polarity of the phase current with the in-phase current superimposed thereon is constantly positive or negative.