Motor control device and electric power steering device equipped with same
阅读说明:本技术 电动机控制装置以及搭载了该电动机控制装置的电动助力转向装置 (Motor control device and electric power steering device equipped with same ) 是由 高濑博明 皆木亮 泽田英树 菅原孝义 于 2018-06-12 设计创作,主要内容包括:本发明提供一种电动机控制装置,其不需要调节操作,对逆变器的死区时间进行补偿,改善电流波形的失真,提高电流控制的响应性,抑制声音、振动和扭矩脉动。本发明的基于矢量控制方式的电动机控制装置运算出dq轴的控制辅助指令值,基于控制辅助指令值运算出dq轴电流指令值,将dq轴电流指令值变换成3个相的占空比指令值,通过PWM控制的逆变器对三相无刷电动机进行驱动控制,其基于经“使用dq轴电流指令值来进行的”相位补正后的电动机旋转角运算出3相死区时间基准补偿值,通过使“通过增益以及符号等来对3相死区时间基准补偿值进行处理后得到”的死区时间补偿值与dq轴电压指令值或3相电压指令值相加来进行逆变器的死区时间补偿。(The invention provides a motor control device which does not need adjustment operation, compensates the dead time of an inverter, improves the distortion of current waveform, improves the responsiveness of current control, and restrains sound, vibration and torque ripple. A motor control device based on a vector control method calculates a control assist command value of a dq axis, calculates a dq axis current command value based on the control assist command value, converts the dq axis current command value into a duty command value of 3 phases, and drives and controls a three-phase brushless motor by a PWM-controlled inverter, wherein dead time compensation of the inverter is performed by adding a dead time compensation value obtained by "processing a 3-phase dead time reference compensation value by gain and sign or the like" to a dq axis voltage command value or a 3-phase voltage command value based on a motor rotation angle after "phase correction performed using the dq axis current command value".)
1. A motor control device based on a vector control method, which calculates a control assist command value for a dq axis, calculates a dq axis current command value based on the control assist command value, converts the dq axis current command value into a duty command value for 3 phases, and controls driving of a three-phase brushless motor by a PWM-controlled inverter, characterized in that:
the dead time compensation of the inverter is performed by performing phase correction on a motor rotation angle using the dq-axis current command value, calculating a 3-phase dead time reference compensation value based on the phase-corrected motor rotation angle, processing the 3-phase dead time reference compensation value by a gain and a sign, and then performing 3-phase/dq-axis conversion on the processed value to obtain a dq-axis dead time compensation value, and adding the dq-axis dead time compensation value to a dq-axis voltage command value "obtained by processing the dq-axis current command value".
2. A motor control device based on a vector control method, which calculates a control assist command value for a dq axis, calculates a dq axis current command value based on the control assist command value, converts the dq axis current command value into a duty command value for 3 phases, and controls driving of a three-phase brushless motor by a PWM-controlled inverter, characterized in that:
the dead time compensation of the inverter is performed by performing phase correction on a motor rotation angle using the dq-axis current command value, calculating a 3-phase dead time reference compensation value based on the phase-corrected motor rotation angle, processing the 3-phase dead time reference compensation value by a gain and a sign to obtain a 3-phase dead time compensation value, and adding the 3-phase dead time compensation value to a 3-phase voltage command value "obtained by dq-axis space vector modulation".
3. The motor control device according to claim 1, characterized in that:
has a function of adjusting the dq-axis dead time compensation value based on the control assist command value.
4. The motor control device according to claim 2, characterized in that:
has a function of adjusting the 3-phase dead time compensation value based on the control assist command value.
5. The motor control device according to any one of claims 1 to 4, characterized in that:
the phase of the motor rotation angle is changed according to the motor rotation speed.
6. A motor control device based on a vector control method, which calculates a control assist command value for a dq axis, calculates a dq axis current command value based on the control assist command value, converts the dq axis current command value into a duty command value for 3 phases, and controls driving of a three-phase brushless motor by a PWM-controlled inverter, characterized in that:
comprises an axial current factor phase correction arithmetic unit, an angle-dead time compensation value function unit, an inverter applied voltage induction gain unit and a dead time compensation value output unit,
the shaft current factor phase correction computing means computes a phase correction rotation angle by performing phase correction on a motor rotation angle using the dq-axis current command value,
the angle-dead time compensation value function means calculates a 3-phase dead time reference compensation value based on the phase correction rotation angle,
the inverter applied voltage induction gain unit calculates a voltage induction gain based on an inverter applied voltage,
the dead time compensation value output unit obtains a dq axis dead time compensation value by multiplying the voltage induced gain by the 3-phase dead time reference compensation value and then performing 3-phase/dq-axis conversion on the multiplication result, and outputs the dq axis dead time compensation value,
the motor control device performs dead time compensation of the inverter by adding the dq-axis dead time compensation value to a dq-axis voltage command value obtained by processing the dq-axis current command value.
7. The motor control device according to claim 6, characterized in that:
the dead time compensation value output unit is composed of a multiplication unit and a 3-phase alternating current/dq-axis conversion unit,
the multiplication unit multiplies the voltage induced gain by the 3-phase dead time reference compensation value,
the 3-phase AC/dq-axis conversion unit converts the 3-phase output of the multiplication unit into the dq-axis dead time compensation value.
8. The motor control device according to claim 6 or 7, characterized in that:
a current instruction value induction gain operation unit is provided,
the current command value induction gain operation unit calculates a current command value induction gain of "changing a compensation amount of the dq-axis dead time compensation value according to the control assist command value".
9. A motor control device based on a vector control method, which calculates a control assist command value for a dq axis, calculates a dq axis current command value based on the control assist command value, converts the dq axis current command value into a duty command value for 3 phases, and controls driving of a three-phase brushless motor by a PWM-controlled inverter, characterized in that:
comprises a space vector modulation unit, an axial current factor phase correction operation unit, an angle-dead time compensation value function unit, an inverter applied voltage induction gain unit, a dead time compensation value output unit, and a current command value induction gain operation unit,
the space vector modulation unit obtains a 3-phase voltage command value by space vector modulating the dq-axis current command value,
the shaft current factor phase correction computing means computes a phase correction rotation angle by performing phase correction on a motor rotation angle using the dq-axis current command value,
the angle-dead time compensation value function means calculates a 3-phase dead time reference compensation value based on the phase correction rotation angle,
the inverter applied voltage induction gain unit calculates a voltage induction gain based on an inverter applied voltage,
the dead time compensation value output unit finds a first 3-phase dead time compensation value by multiplying the voltage induced gain by the 3-phase dead time reference compensation value, and outputs the first 3-phase dead time compensation value,
the current command value induction gain operation unit calculates a current command value induction gain of changing the compensation amount of the first 3-phase dead time compensation value according to the control assist command value,
the motor control device obtains a second 3-phase dead time compensation value by multiplying the current command value induction gain by the first 3-phase dead time compensation value, and performs dead time compensation of the inverter by adding the second 3-phase dead time compensation value to the 3-phase voltage command value.
10. The motor control device according to claim 9, characterized in that:
the current instruction value induction gain operation unit is composed of a current control delay model, a compensation sign estimation unit, a current instruction value induction gain unit and a multiplication unit,
the current control delay model inputs the control auxiliary command value to compensate the delay of the current,
the compensation sign estimation unit estimates a sign of an output of the current control delay model,
the current command value induction gain unit outputs the current command value induction gain based on an output of the current control delay model,
the multiplication unit multiplies the sign by the current instruction value induction gain.
11. The motor control device according to any one of claims 6 to 10, characterized in that:
the axial current factor phase correction computing means includes dq-axis current ratio computing means and fluctuation angle computing means,
the dq-axis current ratio arithmetic unit calculates a current ratio of the dq-axis current command value,
the variation angle calculation means obtains a variation angle based on the current ratio,
the shaft current factor phase correction arithmetic means performs phase correction on the motor rotation angle by using the variation angle.
12. An electric power steering apparatus characterized in that:
the motor control device according to any one of claims 1 to 11 is mounted, and the assist torque is applied to a steering mechanism of the vehicle.
Technical Field
The present invention relates to a motor control device that performs vector control of driving a three-phase brushless motor using a dq-axis rotation coordinate system and compensates for a dead time of an inverter based on a function of a motor rotation angle (electrical angle) (dq-axis angle or 3-phase angle — dead time compensation value reference table) to realize "smooth and abnormal noise-suppressed" control, and an electric power steering device equipped with the motor control device.
Background
Examples of the "device having the motor control device" include an Electric Power Steering (EPS) device, an electric vehicle, and a machine tool, which "applies a steering assist force (assist force) to a steering mechanism of a vehicle by using a rotational force of a motor". The electric power steering apparatus applies a steering assist force to a steering shaft or a rack shaft by a transmission mechanism such as a gear or a belt via a reduction gear of a driving force of an electric motor as an actuator. Such a conventional electric power steering apparatus performs feedback control of a motor current in order to accurately generate a torque of a steering assist force. The feedback control adjusts the motor applied voltage so as to reduce the difference between the steering assist command value (current command value) and the motor current detection value, and generally adjusts the motor applied voltage by adjusting the duty ratio of PWM (pulse width modulation) control.
A general structure of the electric power steering apparatus will be described with reference to fig. 1. As shown in fig. 1, a column shaft (steering shaft or steering wheel shaft) 2 of a steering wheel (steering wheel) 1 is connected to steered
In addition, a CAN (Controller Area Network) 40 for transmitting and receiving various information of the vehicle is connected to the
In such an electric power steering apparatus, the
The function and operation of the
A PI (Proportional-Integral)
In addition, the
In recent years, as an actuator of an electric power steering apparatus, a three-phase brushless motor has become the mainstream, and since the electric power steering apparatus is an in-vehicle product, its operating temperature range is wide, and from the viewpoint of fail-safe, an inverter for driving a motor in the electric power steering apparatus requires a longer dead time (that is, the dead time of a general inverter for industrial equipment < the dead time of an inverter for EPS) as compared with a general inverter for industrial use typified by a household electric appliance product. In general, since there is a delay time when a switching element (e.g., a Field-effect transistor (FET)) is turned OFF (OFF), if switching elements of upper and lower arms are turned OFF/ON simultaneously, a short circuit occurs in a dc link, and in order to prevent this, a time (dead time) is set in which both switching elements of the upper and lower arms are in an OFF (OFF) state.
As a result, the current waveform is distorted, and the responsiveness and steering feeling of the current control deteriorate. For example, when the steering wheel is in a state near the center (on-center) and the steering is performed slowly, a discontinuous steering feeling or the like due to torque pulsation or the like occurs. Further, since the interference voltage between the back electromotive force of the motor and the winding, which occurs during the middle or high speed steering, acts as external interference on the current control, the steering following performance and the steering feeling during the reverse steering are deteriorated.
A vector control method is known in which "a q-axis for controlling torque and a d-axis for controlling magnetic field strength, which are coordinate axes of a rotor of a three-phase brushless motor, are independently set, and since each axis has a relationship of 90 °, a current (a d-axis current command value and a q-axis current command value) corresponding to each axis is controlled by the vector.
Fig. 3 shows a configuration example of "a case where the three-phase
The
Such an electric power steering apparatus based on the vector control method is an apparatus for "assisting the steering of the driver", and the sound, vibration, torque pulsation, and the like of the motor are transmitted as a force feeling to the driver via the steering wheel. As a power device for "driving an inverter", an FET is generally used, and in the case of a three-phase motor, FETs connected in series in upper and lower arms need to be used for each phase as shown in fig. 4 in order to energize the motor. Although ON/OFF (ON/OFF) of the FETs of the upper and lower arms is alternately repeated, an ON time and an OFF time are required since the FETs are not ideal switches and it is impossible to instantaneously perform ON/OFF of the FETs in accordance with a command of a gate signal. Therefore, if an ON command (ON command) to the FET of the upper arm and an OFF command (OFF command) to the FET of the lower arm are simultaneously input, there is a problem that "the FET of the upper arm and the FET of the lower arm are simultaneously in an ON state (ON state) and the upper and lower arms are short-circuited". Since the ON time and the OFF time of the FETs are different, when the FETs are simultaneously instructed, if "ON instruction is issued to the FET of the upper arm and the ON time is short (for example, the ON time is 100 ns)", the FETs are immediately turned ON, but if "OFF instruction is issued to the FET of the lower arm and the OFF time is long (for example, the OFF time is 400 ns)", the FETs are not immediately turned OFF, and therefore, there is a possibility that "the FET of the upper arm is instantaneously turned ON and the FET of the lower arm is turned ON (for example, ON-ON between 400ns and 100 ns)".
Therefore, by applying the ON signal to the gate drive circuit after a predetermined time "as a dead time" has elapsed, the phenomenon "the FET of the upper arm and the FET of the lower arm are simultaneously in the ON state" does not occur. Since the dead time is nonlinear, the current waveform is distorted, the response performance of the control is deteriorated, and sound, vibration, and torque ripple occur. In the case of a column shaft assist type electric power steering apparatus, since the electric motor directly connected to the gear box connected via the steering wheel and the steel column shaft is disposed very close to the driver in structure, it is necessary to take special consideration of sound, vibration, torque pulsation, and the like caused by the electric motor as compared with a downstream assist type electric power steering apparatus.
As a method of "compensating for the dead time of the inverter", in the related art, a timing of "occurrence of the dead time" is detected, a compensation value is added, and the dead time is compensated for by an external disturbance observer on the dq axis of the current control.
For example, japanese patent No. 4681453 (patent document 1) and japanese patent application laid-open No. 2015-171251 (patent document 2) disclose electric power steering apparatuses for "compensating for the dead time of the inverter".
Disclosure of Invention
Technical problem to be solved by the invention
The device of
In addition, the device of
The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a motor control device based on a vector control method, which compensates for a dead time of an inverter so as not to require an adjustment operation, improves distortion of a current waveform, improves responsiveness of current control, and suppresses sound, vibration, and torque ripple, and an electric power steering device equipped with the motor control device.
Technical scheme for solving technical problem
The present invention relates to a motor control device based on a vector control method, which calculates a control assist command value for a dq axis, calculates a dq axis current command value based on the control assist command value, converts the dq axis current command value into a duty command value for 3 phases, and controls driving of a three-phase brushless motor by a PWM-controlled inverter, and the above object of the present invention can be achieved by: performing phase correction on a motor rotation angle using the dq-axis current command value, calculating a 3-phase dead time reference compensation value based on the phase-corrected motor rotation angle, processing the 3-phase dead time reference compensation value by a gain and a sign, and performing 3-phase/dq-axis conversion on the processed value to obtain a dq-axis dead time compensation value, and performing dead time compensation of the inverter by adding the dq-axis dead time compensation value to a dq-axis voltage command value obtained by processing the dq-axis current command value; or, the motor rotation angle is phase-corrected using the dq-axis current command value, a 3-phase dead time reference compensation value is calculated based on the phase-corrected motor rotation angle, the 3-phase dead time reference compensation value is processed by a gain and a sign to obtain a 3-phase dead time compensation value, and the 3-phase dead time compensation value is added to a 3-phase voltage command value "obtained by dq-axis space vector modulation" to perform dead time compensation of the inverter; or, the motor drive device is provided with an axial current factor phase correction arithmetic unit that calculates a phase correction rotation angle by phase correcting a motor rotation angle using the dq-axis current command value, an angle-dead time compensation value function unit that calculates a 3-phase dead time reference compensation value based on the phase correction rotation angle, an inverter applied voltage induction gain unit that calculates a voltage induction gain based on an inverter applied voltage, and a dead time compensation value output unit that obtains a dq-axis dead time compensation value by multiplying the voltage induction gain by the 3-phase dead time reference compensation value and then performing 3-phase/dq-axis conversion on the multiplication result, and outputting the dq-axis dead time compensation value, the motor control device performing dead time compensation of the inverter by adding the dq-axis dead time compensation value to a dq-axis voltage command value obtained by processing the dq-axis current command value; or, the motor control device is provided with a space vector modulation means for obtaining a 3-phase voltage command value by space vector modulation of the dq-axis current command value, an axis current factor phase correction arithmetic means for calculating a 3-phase dead time reference compensation value based on the phase correction rotation angle by phase correction of a motor rotation angle using the dq-axis current command value, an angle-dead time compensation value function means for calculating a voltage induction gain based on an inverter applied voltage, an inverter applied voltage induction gain means for calculating a voltage induction gain based on an inverter applied voltage, the dead time compensation value output unit calculates a first 3-phase dead time compensation value by multiplying the voltage induced gain by the 3-phase dead time reference compensation value, and outputs the first 3-phase dead time compensation value, the current command value induced gain operation unit calculates a current command value induced gain of "changing a compensation amount of the first 3-phase dead time compensation value according to the control assist command value", the motor control device calculates a second 3-phase dead time compensation value by multiplying the current command value induced gain by the first 3-phase dead time compensation value, and the motor control device performs dead time compensation of the inverter by adding the second 3-phase dead time compensation value to the 3-phase voltage command value.
Also, the above object of the present invention can be achieved by: any one of the motor control devices is mounted on an electric power steering device of a "steering mechanism for applying assist torque to a vehicle".
ADVANTAGEOUS EFFECTS OF INVENTION
According to the motor control device and the electric power steering device equipped with the motor control device of the present invention, the dead time compensation value of the inverter is calculated based on the function of the motor rotation angle (electric angle), and then the dead time compensation value is added to the voltage command value on the dq axis to perform compensation (that is, compensation is performed by feedforward control for the dead time compensation value and the voltage command value on the dq axis). By so doing, it is possible to compensate for the dead time of the inverter in such a manner that no adjustment operation is required, so that the distortion of the current waveform can be improved, and the responsiveness of the current control can also be improved. Also, the magnitude and direction of the dead time compensation value are adjusted and changed by controlling the auxiliary command value (iqref) so that it is not overcompensated.
Since the dead time compensation based on the function of the motor rotation angle (electrical angle) is performed, the control becomes smooth, so that the sound, vibration, and torque ripple of the motor can be suppressed. The present invention has high compensation accuracy in the low-speed and medium-speed steering regions where the phase of the motor angle matches the phase of the 3-phase current, and can compensate even when the compensation waveform of the 3 phases is not a rectangular wave.
Drawings
Fig. 1 is a schematic configuration diagram showing a general electric power steering apparatus.
Fig. 2 is a block diagram showing a configuration example of a control system of the electric power steering apparatus.
Fig. 3 is a block diagram showing an example of the configuration of the vector control method.
Fig. 4 is a wiring diagram showing a configuration example of a general inverter.
Fig. 5 is a block diagram showing a configuration example (embodiment 1) of the present invention.
Fig. 6 is a block diagram showing a configuration example (embodiment 1) of the dead time compensation unit of the present invention in detail.
Fig. 7 is a block diagram showing an example of the configuration of the current command value sensing gain unit.
Fig. 8 is a characteristic diagram showing an example of characteristics of a gain cell in the current command value sensing gain cell.
Fig. 9 is a characteristic diagram showing an example of characteristics of the current command value sense gain section.
Fig. 10 is a waveform diagram showing an example of the operation of the compensated symbol estimation unit.
Fig. 11 is a block diagram showing a configuration example of the inverter applied voltage induction gain unit.
Fig. 12 is a characteristic diagram showing an example of characteristics of the inverter applied voltage induction gain unit.
Fig. 13 is a characteristic diagram showing an example of characteristics of the phase adjusting means.
Fig. 14 is a diagram showing an example of the operation of the angle-dead time compensation value function unit (embodiment 1).
Fig. 15 is a block diagram showing an example of the structure of the space vector modulation unit.
Fig. 16 is a diagram showing an example of the operation of the space vector modulation section.
Fig. 17 is a diagram showing an example of the operation of the space vector modulation section.
Fig. 18 is a timing chart showing an example of the operation of the space vector modulation section.
Fig. 19 is a waveform diagram showing the effect of space vector modulation.
Fig. 20 is a waveform diagram showing an effect of the present invention (embodiment 1).
Fig. 21 is a waveform diagram showing an effect of the present invention (embodiment 1).
Fig. 22 is a block diagram showing a configuration example (embodiment 2) of the present invention.
Fig. 23 is a block diagram showing a configuration example (embodiment 2) of the dead time compensation unit of the present invention in detail.
Fig. 24 is a diagram showing an example of the operation of the angle-dead time compensation value function unit (embodiment 2).
Fig. 25 is a characteristic diagram showing an example of the output voltage characteristic of the angle-dead time compensation value reference table.
Fig. 26 is a waveform diagram showing an effect of the present invention (embodiment 2).
Fig. 27 is a waveform diagram showing an effect of the present invention (embodiment 2).
Fig. 28 is a block diagram showing a configuration example (embodiment 3) of the present invention.
Fig. 29 is a block diagram showing a configuration example (embodiment 3) of the dead time compensation unit of the present invention in detail.
Fig. 30 is a waveform diagram showing an effect of the present invention (embodiment 3).
Fig. 31 is a waveform diagram showing an effect of the present invention (embodiment 3).
Fig. 32 is a block diagram showing a configuration example (embodiment 4) of the present invention.
Fig. 33 is a block diagram showing a configuration example (embodiment 4) of the dead time compensation unit of the present invention in detail.
Fig. 34 is a block diagram showing an example of the configuration of the axial current factor phase correction arithmetic unit.
Fig. 35 is a waveform diagram showing an effect of the present invention (embodiment 4).
Fig. 36 is a waveform diagram showing an effect of the present invention (embodiment 4).
Fig. 37 is a waveform diagram showing an effect of the present invention (embodiment 4).
Fig. 38 is a waveform diagram showing an effect of the present invention (embodiment 4).
Fig. 39 is a waveform diagram showing an effect of the present invention (embodiment 4).
Fig. 40 is a waveform diagram showing an effect of the present invention (embodiment 4).
Fig. 41 is a waveform diagram showing an effect of the present invention (embodiment 4).
Fig. 42 is a waveform diagram showing an effect of the present invention (embodiment 4).
Fig. 43 is a block diagram showing a configuration example (embodiment 5) of the present invention.
Fig. 44 is a block diagram showing a configuration example (embodiment 5) of the dead time compensation unit of the present invention in detail.
Detailed Description
In order to solve the problem of "current distortion, torque ripple, steering noise deterioration, etc., due to the influence of the dead time of an inverter of a control unit (ECU, etc.)", the dead time compensation value is set to a function "corresponding to the motor rotation angle (electrical angle)", and then, the compensation is performed by adding the dq-axis dead time compensation value and the dq-axis voltage command value in a Feed Forward (FF) manner, or the compensation is performed by adding the 3-phase dead time compensation value and the 3-phase voltage command value "obtained by space vector modulation" in a feed forward manner. Obtaining a dq-axis dead time compensation value or a 3-phase dead time compensation value in advance in an off-line manner by a function corresponding to a motor rotation angle (electrical angle); creating a dq-axis angle (3-phase angle) -dead time compensation value reference table based on an output waveform of the dq-axis dead time compensation value or an output waveform of the 3-phase dead time compensation value; dead time compensation is performed by adding a dq-axis dead time compensation value to a dq-axis voltage command value in a feed-forward manner based on a dq-axis angle-dead time compensation value reference table, or dead time compensation is performed by adding a 3-phase dead time compensation value to a 3-phase voltage command value in a feed-forward manner based on a 3-phase angle-dead time compensation value reference table.
The adjustment of the appropriate dead time compensation amount and the estimation of the compensation direction can be performed by the control assist command value of the dq-axis or 3-phase command unit, and the adjustment of the appropriate dead time compensation amount can be performed based on the inverter applied voltage. In addition, the dead time compensation value "based on the motor rotation angle" can be calculated in real time, and the dead time compensation value "corresponding to the motor rotation angle" can be compensated for the dq-axis voltage command value or the 3-phase voltage command value.
In the low-speed and medium-speed control regions, the conventional 3-phase dead time compensation has a problem of "offset compensation due to a specific phase current amplitude and offset compensation due to a specific rotation speed" (in the case of EPS, there is a problem of "steering noise deterioration, steering feeling deterioration, etc.). In the conventional 3-phase dead time compensation, it is necessary to consider the magnitude of the rotational speed and the magnitude of the phase current for time adjustment, but it is difficult to obtain an optimal adjustment "capable of satisfying both" of them. In the conventional 3-phase dead time compensation, there is a problem that "accurate compensation cannot be performed" when the 3-phase compensation waveform is not a rectangular wave. In order to solve these problems, the present invention has been proposed to have an obvious effect "in a low-speed and medium-speed control state (in the case of EPS, in a low-speed and medium-speed steering state).
Embodiments of the present invention will be described below with reference to the drawings.
Fig. 5 corresponding to fig. 3 shows the overall structure of the present invention (embodiment 1). As shown in fig. 5, "dead
The d-axis current reference value id limited by the maximum value of the steering assist reference value idref and the q-axis current reference value iq limited by the maximum value of the steering assist reference value iqref are input to the
Next, the dead
Dead
Further, dead time compensation value output means is configured by multiplication means 231U, multiplication means 231V, multiplication means 231W, and 3-phase ac/dq-axis conversion means 240. Further, current command value inductive gain operation means is configured by current
Fig. 6 shows a detailed structure of the dead
As shown in fig. 6, the q-axis steering assist command value iqref is input to the current
The current command value Icm "output from the current
The current command value
The current command value induction gain Gc output from the current command value
The compensation
In the case where the sign of the dead time compensation value is decided simply based on the sign of the current of the phase current command value model, contact chattering occurs at low load. When the driver turns the steering wheel slightly to the left or right at the center, torque pulsation occurs. To solve this problem, hysteresis is set in the symbol determination. In cases other than the case where "the sign changes due to exceeding the set current value", the current sign is held, thereby suppressing contact chattering.
The current command value induction gain Gc from the current command value
Since the most appropriate dead time compensation amount changes depending on the inverter applied voltage VR, the dead time compensation amount is changed by calculating the voltage induced gain Gv "corresponding to the inverter applied voltage VR" in the present embodiment. The inverter applied voltage
In the present embodiment, when it is desired to advance or retard the timing of the dead time compensation in accordance with the motor rotation speed ω, the phase adjustment means 210 has a function of "calculating the adjustment angle in accordance with the motor rotation speed ω". In the case of lead angle control, the
There is a time lag of several tens [ mu ] s to hundreds [ mu ] s from "detecting the motor rotation angle and then calculating the duty command value" to "the calculated duty command value is actually reflected in the PWM signal". Since the motor is rotating during this period, a phase shift is generated between "the motor rotation angle at the time of calculation" and "the motor rotation angle at the time of reflection". In order to compensate for this phase shift, the phase is adjusted by performing advance angle control in accordance with the motor rotation speed ω.
As shown in detail in fig. 14, the angle-dead-time compensation
The dead time reference compensation values Udt, Vdt, and Wdt are input to the
As described above,
Next, the space vector modulation will be explained.
As shown in fig. 15, the space
That is, the space vector modulation has a function of performing coordinate conversion as described below based ON voltage command values vd and vq, a motor rotation angle θ, and sector numbers n (#1 to #6) in dq axis space, and controlling ON/OFF of "FETs for inverter of bridge configuration (upper arm FET q1, FET q3, and FET q5 and lower arm FET q2, FET q4, and FET q6), and supplying switching patterns S1 to S6 corresponding to
The relationship between the target voltage vector in the d-q coordinate system and the target voltage vector in the α - β coordinate system is expressed by the
In the switching pattern of the space vector control, the output voltages of the inverter are defined by the switching patterns S1 to S6 of the FETs (Q1 to Q6) and by the 8 kinds of discrete reference output voltage vectors V0 to V7 (non-zero voltage vectors V1 to V6 and zero voltage vectors V0 and V7 which differ in phase by pi/3 [ rad ]) as shown in the space vector diagram of fig. 17, and the selection of these reference output voltage vectors V0 to V7 and the generation times thereof are controlled, and by using 6 regions sandwiched by adjacent reference output voltage vectors, the space vector can be divided into 6 sectors #1 to #6, the target voltage vector V belongs to one of the sectors #1 to #6, and a sector number can be assigned, and based on the rotation angle γ in the coordinate system of α to-38 of the target voltage vector V, it is possible to determine the rotation angle γ as "the target voltage vector V α and V β is a target voltage vector V + Q" which is present in the space vector, and the rotation angle δ -V + Q is determined by the hexagonal voltage vector δ -V + Q "and the rotation angle" which is represented by the hexagonal voltage d-V + Q "and" indicated by the hexagonal voltage vector.
Fig. 18 shows a basic timing chart of "the switching pulse width and the time in the ON/OFF signals S1 to S6 (switching pattern) for the FETs are determined so that the target voltage vector V is output from the inverter by digital control of the switching patterns S1, S3, and S5 of the inverter by space vector control". The space vector modulation performs an operation or the like in each predetermined sampling period Ts, and converts the operation result into a switching pulse width and the time in the switching patterns S1 to S6 in the next sampling period Ts, and outputs them.
The space vector modulation generates the switching patterns S1 to S6 corresponding to the sector number "found based on the target voltage vector V". Fig. 18 shows an example of switching patterns S1 to S6 of FETs of the inverter in the case of sector number #1(n ═ 1). Signals S1, S3, and S5 indicate gate signals of fet q1, fet q3, and fet q5 "corresponding to the upper arm". The horizontal axis represents time, Ts is a period "corresponding to the switching period, divided into 8 periods, consisting of T0/4, T1/2, T2/2, T0/4, T0/4, T2/2, T1/2, and T0/4". The time periods T1 and T2 are times dependent on the sector number n and the rotation angle γ, respectively.
In the case where there is no space vector modulation, the dead time compensation value waveform (U-phase waveform) in which "the dead time compensation of the present embodiment is applied to the dq axis and only the dead time compensation value is subjected to dq axis/3 phase conversion" becomes a waveform from which the third harmonic component is removed as shown by a broken line in fig. 19. The same applies to the V phase and the W phase. By applying space vector modulation instead of dq-axis/3-phase transformation, it is possible to superimpose the third harmonic on the 3-phase signal, and to compensate for the third harmonic component lost by 3-phase transformation, and it is possible to generate an ideal dead time compensation waveform like the solid line of fig. 19.
Fig. 20 and 21 are simulation results showing the effect of the present embodiment, and fig. 20 shows the U-axis current, the d-axis current, and the q-axis current in the case of "no compensation of dead time". By applying the dead time compensation of the present embodiment, it can be confirmed that "in the steering operation state of the low-speed and medium-speed steering, as shown in fig. 21, the waveform distortion of the phase current and the dq-axis current is improved (the ripple in the waveform of the dq-axis current is small, the waveform of the phase current is close to a sine wave)", and "the torque ripple and the steering noise at the time of steering are both improved".
Note that, in fig. 20 and 21, only the U-phase current is representatively shown.
Next,
Fig. 22 corresponding to fig. 5 shows the overall structure of the present invention (embodiment 2). As shown in fig. 22, "dead time compensation unit 200A for calculating dead time compensation values vd and vq" on the dq axis "is provided. Fig. 23 shows a detailed structure of the dead time compensation unit 200A, and the dead time compensation unit 200A will be described below with reference to fig. 23.
Dead time compensation section 200A is provided with "current
As shown in detail in fig. 24, the angle-dead time compensation value reference tables 260d and 260q calculate the dead time compensation value "as a function of the angle required for 3 phases" in an off-line manner, and convert it into the dead time compensation value on the dq axis. That is, as described in
The dead time reference compensation values Udt, Vdt, and Wdt are input to the 3-phase alternating current/dq-
Dead time reference compensation values vda and vqa from angle-dead time compensation value reference tables 260d and 260q are input to the multiplication unit 205d and the multiplication unit 205q, respectively, so as to be multiplied by the voltage sense gain Gv, respectively. The dead time compensation values vdb and vqb of the dq axis "obtained by multiplying the voltage-induced gain Gv" are input to the
As described above, the present embodiment employs a configuration in which the dead time compensation value is calculated from the angle-dead time compensation value reference table of the function "corresponding to the motor rotation angle (electrical angle)", and then compensation is performed by directly adding the "calculated" dead time compensation value to the voltage command value on the dq axis in a feed-forward manner. When estimating the "compensation sign of dead time", the steering assist command value (iqref) is used, and the amount of compensation is changed so as to have the most appropriate magnitude in accordance with the magnitude of the steering assist command value and the magnitude of the inverter applied voltage.
Fig. 26 and 27 are simulation results based on a bench test apparatus that simulates an actual vehicle, showing the effect of
Next, fig. 28 corresponding to fig. 5 shows
In
As described above, the present embodiment adopts a configuration in which the dead time compensation value is set as a function of 3 phases "corresponding to the motor rotation angle (electrical angle"), and then compensation is performed by directly adding the dead time compensation value to the voltage command values of the 3 phases in a feed-forward manner. When estimating the "compensation sign of dead time", the steering assist command value of the dq axis is used, and further, the amount of compensation is changed so as to have the most appropriate magnitude in accordance with the magnitude of the steering assist command value and the magnitude of the inverter applied voltage.
Fig. 30 and 31 show simulation results of the effect of the present embodiment "taking U phase as an example". Fig. 30 shows the U-phase current, the d-axis current, and the q-axis current in the case of "compensation without dead time". By applying the dead time compensation according to the present embodiment, it can be confirmed that "in the steering operation state of the low-speed and medium-speed steering, as shown in fig. 31, the waveform distortion of the phase current and the dq-axis current is improved (the ripple in the waveform of the dq-axis current is small and the waveform of the phase current is close to a sine wave)", and "the torque ripple and the steering noise at the time of steering are both improved".
Next, an embodiment in which a function of "performing phase correction on the motor rotation angle by using the d-axis current command value and the q-axis current command value" is added will be described.
In the middle-speed and high-speed steering regions, it is necessary to pass a current through the d-axis in order to improve the steering following performance. At this time, the phase of the phase current fluctuates with respect to the motor rotation angle (electrical angle) according to the amount of current in the d-axis. If dead time compensation is applied in a feed-forward manner in accordance with the motor rotation angle in a state where a current flows through the d-axis, the timing of the dead time compensation for the phase current may deviate, thereby causing torque ripple. In order to solve this problem, a function of "calculating a phase difference (a variation angle) between a motor rotation angle and a phase current based on a d-axis current command value and a q-axis current command value to perform phase correction on the motor rotation angle" (hereinafter, this function is referred to as a "phase correction function") is added, and dead time compensation is performed using the motor rotation angle (hereinafter, this function is referred to as a "phase correction rotation angle") after the phase correction by the phase correction function, thereby realizing dead time compensation with "almost no time shift".
Fig. 32 corresponding to fig. 5 shows a configuration example (embodiment 4) of "phase correction function is added to
The axis current factor phase correction
The dq-axis current
The input limiting unit 285 limits the current ratio Rdq of "the object of arctan operation" in such a manner that "the operation range is set to the limit value" so that the current ratio Rdq does not exceed the operation range.
Variation
The
In the
The axial current factor phase correction
Fig. 35 to 42 show the results of "simulation performed with phase correction" and "simulation performed without phase correction" under the medium-speed steering condition (inverter applied voltage 12[ V ], q-axis current command value 45[ a ], d-axis current command value 15[ a ], and motor rotation speed 1200[ rpm ]) "in order to confirm the effect of phase correction in the present embodiment. Fig. 35 to 38 show the results of the "case without phase correction", and fig. 39 to 42 show the results of the "case with phase correction". In fig. 35 and 39, the motor rotation angle (fig. 35) or the phase correction rotation angle (fig. 39), the U-phase current, the d-axis current, and the q-axis current are shown; in fig. 36 and 40, the U-phase current and the U-phase dead time compensation value are shown; fig. 37 and 41 show the U-phase current and the d-axis dead time compensation value; fig. 38 and 42 show the U-phase current and the q-axis dead time compensation value.
As shown in fig. 35, when a current flows through the d-axis, distortion occurs in all of the U-phase current, the d-axis current, and the q-axis current. Although the zero-crossing point (the point crossing the horizontal axis and having a value of zero) of the U-phase current coincides with the point at which the motor rotation angle becomes zero when the d-axis current is zero, it can be seen that the phase of the U-phase current is advanced with respect to the motor rotation angle when the current flows through the d-axis. Although the U-phase dead time compensation value shown in fig. 36 is a signal during calculation, it can be seen that the U-phase dead time compensation value is deviated in timing with respect to the U-phase current "phase lead due to current flowing through the d-axis". As shown in fig. 37 and 38, the d-axis dead time compensation value and the q-axis dead time compensation value are similarly deviated.
In contrast, in the dead time compensation of the feedforward method "corresponding to the motor rotation angle", by performing the phase correction "corresponding to the d-axis current", even when the current flows through the d-axis, as shown in fig. 40, it can be confirmed that the timing of the dead time compensation is appropriate. As shown in fig. 41 and 42, the dead time compensation time is also preferably set for the d-axis dead time compensation value and the q-axis dead time compensation value. As described above, by performing the phase correction according to the present embodiment, the timing of the dead time compensation of the feedforward method "corresponding to the motor rotation angle" can be improved, and as shown in fig. 39, it is confirmed that the distortion of the current waveform is improved, the ripple in the waveforms of the d-axis current and the q-axis current is reduced, and the waveform of the U-phase current becomes a waveform close to a sine wave.
Fig. 43 corresponding to fig. 28 shows a configuration example (embodiment 5) of "phase correction function is added to
In
In the above-described embodiments, the motor control device "mounted in the electric power steering device" has been described, but it is needless to say that the motor control device of the present invention may be mounted in an electric vehicle, a machine tool, or the like.
Description of the reference numerals
1 steering wheel (steering wheel)
2 column shaft (steering shaft or steering wheel shaft)
10 torque sensor
20. 100 motor
30 control unit (ECU)
31 steering assist command value arithmetic unit
35. 120d, 120q PI control unit
36. 160 PWM control unit
37. 161 inverter
130. 240, 2613 AC/dq axis conversion unit
200. 200A, 200B, 200C, 200D dead time compensation unit
201 current control delay model
202 compensating symbol estimation unit
210 phase adjustment unit
220 inverter applied voltage induction gain unit
230U, 230V, 230W angle-dead time compensation value function unit
250 current command value induction gain unit
270 compensation value adjusting unit
280-axis current factor phase correction arithmetic unit
284 dq-axis current ratio operation unit
286 variable angle arithmetic unit
300 space vector modulation unit
3012 phase/3 phase conversion unit
302 third harmonic wave superposition unit
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