Control system for multiphase rotary machines

• US 20080246426A1
• Filed: 04/04/2008
• Published: 10/09/2008
• Est. Priority Date: 04/05/2007
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Yoshida, Hideji, Aoki, Yasuaki
• Granted Patent: US 8,106,622 B2
• Time in Patent Office: Days
• US Class Current: 318/461
• CPC Class Codes: H02M 7/53873 with digital control
• CPC Class Codes: H02P 23/0004 Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control

Abstract

A control system aims at converting, via a switching circuit, a direct current voltage into an alternating current voltage to be applied to multiphase windings of a multiphase rotary machine to thereby control rotation of the multiphase rotary machine. In the control system, a command voltage determiner determines a command voltage value for an alternating current voltage to be applied to the multiphase windings based on a zero crossing of a line-to-line current and a zero crossing of the amount of change in the line-to-line current. A driving unit drives the switching circuit on and off based on the determined command voltage value to thereby modulate the direct current voltage to the alternating current voltage to be applied to the multiphase windings.

Claims

1. A control system for converting, via a switching circuit, a direct current voltage into an alternating current voltage to be applied to multiphase windings of a multiphase rotary machine to thereby control rotation of the multiphase rotary machine, the control system comprising:

when at least first and second phase windings of the multiphase windings are short-circuited to a predetermined voltage, a first zero crossing detector configured to detect a zero crossing of an alternating line-to-line current in the multiphase rotary machine, the line-to-line phase current representing a difference between a first phase current flowing through the first phase winding and a second phase current flowing through the second phase winding based on the alternating current voltage;

a second zero crossing detector configured to detect a zero crossing of an amount of change in the line-to-line current when the at least first and second phase windings of the multi-phase windings are short-circuited to the predetermined potential;

a command voltage determiner configured to determine a command voltage value for the alternating current voltage to be applied to the multiphase windings based on the detected zero crossing of the line-to-line current and the detected zero crossing of the amount of change in the line-to-line current; and

a driving unit configured to drive the switching circuit on and off based on the determined command voltage value to thereby modulate the direct current voltage to the alternating current voltage to be applied to the multiphase windings.

2. A control system according to claim 1, wherein the command voltage detector is configured to adjust, to a target value, a temporal difference between the zero crossing of the line-to-line current and the zero crossing of the amount of change in the line-to-line current.

3. A control system according to claim 2, wherein the temporal difference between the zero crossing of the line-to-line current and the zero crossing of the amount of change in the line-to-line current is defined as a temporal difference between the zero crossing of the line-to-line current and the zero crossing of polarity inversion of the amount of change in the line-to-line current when the line-to-line current is in phase with the polarity inversion of the amount of change in the line-to-line current.

4. A control system according to claim 2, wherein the second zero crossing detector is configured to detect a plurality of the zero closings of the amount of change in the line-to-line current, further comprising:

a rotation speed calculator configured to calculate a rotation speed of the multiphase rotary electric machine based on a time interval between one of the zero crossings of the amount of change in the line-to-line current and another one thereof; and

a target value determiner configured to determine the target value based on the calculated rotation speed of the multiphase rotary machine.

5. A control system according to claim 2, wherein the command voltage determiner is configured to adjust at least one of an amplitude, a phase, and an electrical angular rate of the command voltage value based on the temporal difference between the zero crossing of the line-to-line current and the zero crossing of the amount of change in the line-to-line current.

6. A control system according to claim 1, further comprising:

a rotation speed calculator configured to calculate a rotation speed of the multiphase rotary electric machine based on a time interval between one of the zero crossings of the amount of change in the line-to-line current and another one thereof; and

a feedback control unit configured to control the command voltage value so as to match the calculated rotation speed fed back from the rotation speed calculator with a request rotation speed for the rotary machine.

7. A control system according to claim 6, wherein the command voltage determiner comprises the feedback control unit and works to determine the command voltage value based on a difference between the calculated rotation speed and the request rotation speed.

8. A control system according to claim 1, wherein the rotary machine is a three-phase rotary machine with three-phase windings including the first phase winding, the second phase winding, and a third phase winding, the switching circuit comprises three-phase higher switching elements connected with one ends of the three-phase windings, respectively, and three-phase lower switching elements connected in series with the three-phase higher switching elements, respectively, the other end of each of the three-phase windings being connected with a connecting point between one of the three-phase higher switching elements and a corresponding one of the lower switching elements, the first zero crossing detector being configured to:

measure a current flowing each phase switching element of one of the three-phase higher switching elements and the three-phase lower switching elements;

detect the zero crossing of the line-to-line current based on the measured current; and

switch, based on an amplitude of the command voltage value, a timing of the detection of the zero crossing between when the first and second phase windings are short-circuited to the predetermined potential and when all of the first, second, and third phase windings are short-circuited to the predetermined potential,

the second zero crossing detector being configured to;

measure the current flowing each phase switching element of one of the three-phase higher switching elements and the three-phase lower switching elements;

detect the zero crossing of the amount of change in the line-to-line current based on the measured current; and

switch, based on the amplitude of the command voltage value, a timing of the detection of the zero crossing between when the first and second phase windings are short-circuited to the predetermined potential and when all of the first, second, and third phase windings are short-circuited to the predetermined potential,

9. A control system according to claim 1, wherein the rotary machine is a three-phase rotary machine with three-phase windings including the first phase winding, the second phase winding, and a third phase winding, the switching circuit comprises three-phase higher switching elements connected with one ends of the three-phase windings, respectively, and three-phase lower switching elements connected in series with the three-phase higher switching elements, respectively, the other end of each of the three-phase windings being connected with a connecting point between one of the three-phase higher switching elements and a corresponding one of the lower switching elements, the first zero crossing detector being configured to:

measure a current flowing each phase switching element of each of the three-phase higher switching elements and the three-phase lower switching elements;

detect the zero crossing of the line-to-line current using any one of the measured current of each phase switching element of the three-phase higher switching elements and that of each phase switching element of the three-phase lower switching elements; and

switch the use of any one of the measured current of each phase switching element of the three-phase higher switching elements and that of each phase switching element of the three-phase lower switching elements according to change in an electrical angular position of the rotation of the three-phase rotary machine,

the second zero crossing detector being configured to;

measure the current flowing each phase switching element of each of the three-phase higher switching elements and the three-phase lower switching elements;

detect the zero crossing of the amount of change in the line-to-line current using any one of the measured current of each phase switching element of the three-phase higher switching elements and that of each phase switching element of the three-phase lower switching elements; and

switch the use of any one of the measured current of each phase switching element of the three-phase higher switching elements and that of each phase switching element of the three-phase lower switching elements according to change in the electrical angular position of the rotation of the three-phase rotary machine.

10. A control system according to claim 9, wherein the command voltage value includes a first command voltage value of the alternating current voltage for the first phase winding, a second command voltage value of the alternating current voltage for the second phase winding, and a third command voltage value of the alternating current voltage for the third phase winding, and the switching circuit comprises a pair of higher and lower input terminals connected with a series connected pair of each of the three-phase higher switching elements and a corresponding one of the three-phase lower switching elements, the higher and lower input terminals of the switching circuit having higher and lower voltages, respectively, further comprising:

a two-phase modulator configured to two-phase modulate the first, second, and third command voltage values by matching any one of the first, second, and third command voltage values with any one of the higher and lower voltages while maintaining a difference in voltage among the first, second, and third command voltage values, a deviation in voltage between any one of the first, second, and third command voltage values and any one of the higher and lower voltages being minimum,

wherein the driving unit is configured to individually drive the three-phase higher switching elements and three-phase lower switching elements on and off to thereby modulate the direct current voltage to be matched with the two-phase modulated first, second, and third command voltage values, and

the two-phase modulator is configured to;

use the higher voltage of the higher input terminal when the first zero crossing detector and the second zero crossing detector use the measured current of each phase switching element of the three-phase higher switching elements; and

use the lower voltage of the lower input terminal when the first zero crossing detector and the second zero crossing detector use the measured current of each phase switching element of the three-phase lower switching elements.

11. A control system according to claim 1, further comprising:

an expanding unit configured to change the command voltage value so as to expand a duration of the at least first and second phase windings being short-circuited,

wherein the driving unit is configured to drive the switching circuit on and off to thereby modulate the direct current voltage to be matched with the changed command voltage value.

12. A control system according to claim 1, wherein the rotary machine is a three-phase rotary machine with three-phase windings including the first phase winding, the second phase winding, and a third phase winding, the switching circuit comprises three-phase higher switching elements connected with one ends of the three-phase windings, respectively, and three-phase lower switching elements connected in series with the three-phase higher switching elements, respectively, the other end of each of the three-phase windings being connected with a connecting point between one of the three-phase higher switching elements and a corresponding one of the lower switching elements, further comprising:

a two-phase modulator configured to two-phase modulate the first, second, and third command voltage values by matching any one of the first, second, and third command voltage values with any one of the higher and lower voltages while maintaining a difference in voltage among the first, second, and third command voltage values, a deviation in voltage between any one of the first, second, and third command voltage values and any one of the higher and lower voltages being minimum,

the driving unit working to individually drive the three-phase higher switching elements and three-phase lower switching elements on and off to thereby modulate the direct current voltage to be matched with the two-phase modulated first, second, and third command voltage values.

13. A control system according to claim 1, further comprising:

a corrector configured to correct the command voltage value based on an amplitude of a current component created in at least one of the first and second phase currents, the current component having a frequency higher than an electrical angular rate of the rotation of the rotary machine.

14. A control system according to claim 1, wherein the second zero crossing detector is configured to execute the detection of the zero crossing based on at least one of:

a difference between two different sampling values of the line-to-line current;

a derivate of the line-to-line current; and

a deviation between an integrated value of the line-to-line current over a predetermined time interval and a product of the predetermined time interval and a value of the line-to-line current at one of a start timing of the predetermined time interval and an end timing thereof.

15. A control system according to claim 1, wherein the switching circuit comprises multiphase higher switching elements connected with one ends of the multiphase windings, respectively, and multiphase lower switching elements connected in series with the multiphase higher switching elements, respectively, the other end of each of the multiphase windings being connected with a connecting point between one of the multiphase higher switching elements and a corresponding one of the multiphase lower switching elements, the switching circuit comprising a pair of higher and lower input terminals connected with a series connected pair of each of the multiphase higher switching elements and a corresponding one of the multiphase lower switching elements, the higher and lower input terminals of the switching circuit having higher and lower voltages, respectively, further comprising:

a shunt resistor connected at least one of between each of the three-phase higher switching elements and the higher input terminal and between each of the three-phase lower switching elements and the lower input terminal, the first zero crossing detector being configured to;

measure an amount of voltage drop across the shunt resistor; and

detect the zero crossing of the line-to-line current based on the measured amount of voltage drop across the shunt resistor, the second zero crossing detector being configured to;

measure the amount of voltage drop across the shunt resistor; and

detect the zero crossing of the amount of change in the alternating line-to-line current based on the measured amount of voltage drop across the shunt resistor.

16. A control system according to claim 1, wherein the switching circuit comprises multiphase higher switching elements connected with one ends of the multiphase windings, respectively, and multiphase lower switching elements connected in series with the multiphase higher switching elements, respectively, the other end of each of the multiphase windings being connected with a connecting point between one of the multiphase higher switching elements and a corresponding one of the multiphase lower switching elements, the switching circuit comprising a pair of higher and lower input terminals connected with a series connected pair of each of the multiphase higher switching elements and a corresponding one of the multiphase lower switching elements, the higher and lower input terminals of the switching circuit having higher and lower voltages, respectively, the first zero crossing detector being configured to:

measure an amount of voltage drop across at least one of each of the multiphase higher switching elements and each of the multiphase lower switching elements; and

detect the zero crossing of the line-to-line current based on the measured amount of voltage drop across at least one of each of the multiphase higher switching elements and each of the multiphase lower switching elements, the second zero crossing detector being configured to;

measure the amount of voltage drop across at least one of each of the multiphase higher switching elements and each of the multiphase lower switching elements; and

detect the zero crossing of the amount of change in the alternating line-to-line current based on the measured amount of voltage drop across at least one of each of the multiphase higher switching elements and each of the multiphase lower switching elements.

17. A control system according to claim 1, wherein the rotary machine is a three-phase rotary machine with three-phase windings including the first and second phase windings, the first zero crossing detector is configured to detect the zero crossing of the line-to-line current when all of the three-phase windings are short-circuited to the predetermined voltage, and the second zero crossing detector is configured to detect the zero crossing of the amount of change in the line-to-line current when all of the three-phase windings are short-circuited to the predetermined voltage.

18. A control system according to claim 1, wherein the rotary machine is a three-phase rotary machine with three-phase windings including the first phase winding, the second phase winding, and a third phase winding, the first zero crossing detector is configured to detect the zero crossing of the line-to-line current during:

a first period for which all of the three-phase windings have been short-circuited to the predetermined voltage;

a second period for which any two of the three-phase windings have been short-circuited to the predetermined voltage, the second period being temporally just before the first period; and

a third period for which any two of the three-phase windings have been short-circuited to the predetermined voltage, the third period being temporally just after the first period.

19. A control system according to claim 1, further comprising:

a control mode determiner configured to determine whether the control system is operating in any one of power running control mode for the rotary machine and regenerative control mode therefor, wherein the command voltage determiner is configured to determine the command voltage value for the alternating current voltage to be applied to the multiphase windings based on the detected zero crossing of the line-to-line current, the detected zero crossing of the amount of change in the line-to-line current, and the determination of the control mode determiner.

20. A control system according to claim 19, wherein the command voltage determiner is configured to:

adjust at least one of an amplitude, a phase, and an electrical angular rate of the command voltage value based on the temporal difference between the zero crossing of the line-to-line current and the zero crossing of the amount of change in the line-to-line current so as to match the temporal difference therebetween with a target value; and

invert a direction of the adjustment of the at least one of the amplitude, phase, and electrical angular rate of the command voltage value between when it is determined that the control system is operating in the power running control mode and when it is determined that the control system is operating in the regenerative control mode.

21. A control system according to claim 20, wherein the command voltage determiner is configured to:

adjust the phase of the command voltage value based on the temporal difference between the zero crossing of the line-to-line current and the zero crossing of the amount of change in the line-to-line current so as to match the temporal difference therebetween with the target value;

advance the phase of the command voltage value with delay in the temporal difference with respect to the target value when it is determined that the control system is operating in the power running control mode; and

delay the phase of the command voltage value with delay in the temporal difference with respect to the target value when it is determined that the control system is operating in the regenerative control mode.

22. A control system according to claim 20, wherein the command voltage determiner is configured to:

adjust the amplitude of the command voltage value based on the temporal difference between the zero crossing of the line-to-line current and the zero crossing of the amount of change in the line-to-line current so as to match the temporal difference therebetween with the target value;

increase the amplitude of the command voltage value with delay in the temporal difference with respect to the target value when it is determined that the control system is operating in the power running control mode; and

reduce the phase of the command voltage value with delay in the temporal difference with respect to the target value when it is determined that the control system is operating in the regenerative control mode.

23. A control system according to claim 20, wherein the command voltage determiner is configured to:

adjust the electrical angular rate of the command voltage value based on the temporal difference between the zero crossing of the line-to-line current and the zero crossing of the amount of change in the line-to-line current so as to match the temporal difference therebetween with the target value;

increase the electrical angular rate of the command voltage value with delay in the temporal difference with respect to the target value when it is determined that the control system is operating in the power running control mode; and

reduce the electrical angular rate of the command voltage value with delay in the temporal difference with respect to the target value when it is determined that the control system is operating in the regenerative control mode.

24. A control system according to claim 20, wherein the rotary machine is a three-phase rotary machine with three-phase windings including the first phase winding, the second phase winding, and a third phase winding, and the control mode determiner is configured to determine whether the control system is operating in any one of power running control mode for the rotary machine and regenerative control mode therefor based on a polarity of the amount of change in the line-to-line current and a polarity of a phase current flowing through the third phase winding based on the alternating current voltage.

25. A control system according to claim 24, wherein the control mode determiner is configured to determine whether the control system is operating in any one of power running control mode for the rotary machine and regenerative control mode therefor based on a polarity of the line-to-line current at the zero crossing of the amount of change in the line-to-line current and the polarity of the phase current flowing through the third phase winding based on the alternating current voltage.

26. A control system for converting, via a switching circuit, a direct current voltage into an alternating current voltage to be applied to multiphase windings of a multiphase rotary machine to thereby control rotation of the multiphase rotary machine, the control system comprising:

a control mode determiner configured to determine whether the control system is operating in any one of power running control mode for the rotary machine and regenerative control mode therefor;

a command voltage determiner configured to determine a command voltage value for the alternating current voltage to be applied to the multiphase windings based on;

a zero crossing of a first current parameter associated with an alternating phase current, the alternating phase current flowing through at least one of a first phase winding and a second phase winding of the multiphase windings based on the alternating current voltage, the zero crossing appearing when the at least first and second phase windings are short-circuited to a predetermined voltage; and

a zero crossing of a second current parameter associated with an amount of change in the phase current when the at least first and second phase windings are short-circuited to the predetermined potential; and

a driving unit configured to drive the switching circuit on and off based on the determined command voltage value to thereby modulate the direct current voltage to the alternating current voltage to be applied to the multiphase windings.

27. A control system according to claim 26, further comprising:

a first zero crossing detector configured to detect the zero crossing of the alternating phase current flowing through the at least one of the first phase winding and the second phase winding based on the alternating current voltage; and

a second zero crossing detector configured to detect the zero crossing of the amount of change in the phase current when the at least first and second phase windings of the multi-phase windings are short-circuited to the predetermined potential,

wherein the command voltage determiner is configured to use;

the zero crossing detected by the first zero crossing detector as the zero crossing of the first current parameter; and

the zero crossing detected by the second zero crossing detector as the zero crossing of the second current parameter.

28. A control system according to claim 27, wherein the command voltage determiner is configured to:

adjust at least one of an amplitude, a phase, and an electrical angular rate of the command voltage value based on the temporal difference between the zero crossing of the line-to-line current and the zero crossing of the amount of change in the line-to-line current so as to match the temporal difference therebetween with a target value; and

invert a direction of the adjustment of the at least one of the amplitude, phase, and electrical angular rate of the command voltage value between when it is determined that the control system is operating in the power running control mode and when it is determined that the control system is operating in the regenerative control mode.

29. A control system according to claim 28, wherein the command voltage determiner is configured to:

adjust the phase of the command voltage value based on the temporal difference between the zero crossing of the line-to-line current and the zero crossing of the amount of change in the line-to-line current so as to match the temporal difference therebetween with the target value;

advance the phase of the command voltage value with delay in the temporal difference with respect to the target value when it is determined that the control system is operating in the power running control mode; and

delay the phase of the command voltage value with delay in the temporal difference with respect to the target value when it is determined that the control system is operating in the regenerative control mode.

30. A control system according to claim 28, wherein the command voltage determiner is configured to:

adjust the amplitude of the command voltage value based on the temporal difference between the zero crossing of the line-to-line current and the zero crossing of the amount of change in the line-to-line current so as to match the temporal difference therebetween with the target value;

increase the amplitude of the command voltage value with delay in the temporal difference with respect to the target value when it is determined that the control system is operating in the power running control mode; and

reduce the phase of the command voltage value with delay in the temporal difference with respect to the target value when it is determined that the control system is operating in the regenerative control mode.

31. A control system according to claim 28, wherein the command voltage determiner is configured to:

adjust the electrical angular rate of the command voltage value based on the temporal difference between the zero crossing of the line-to-line current and the zero crossing of the amount of change in the line-to-line current so as to match the temporal difference therebetween with the target value;

increase the electrical angular rate of the command voltage value with delay in the temporal difference with respect to the target value when it is determined that the control system is operating in the power running control mode; and

reduce the electrical angular rate of the command voltage value with delay in the temporal difference with respect to the target value when it is determined that the control system is operating in the regenerative control mode.

32. A control system according to claim 28, wherein the rotary machine is a three-phase rotary machine with three-phase windings including the first phase winding, the second phase winding, and a third phase winding, and the control mode determiner is configured to determine whether the control system is operating in any one of power running control mode for the rotary machine and regenerative control mode therefor based on a polarity of the amount of change in the line-to-line current and a polarity of a phase current flowing through the third phase winding based on the alternating current voltage.

33. A control system according to claim 32, wherein the control mode determiner is configured to determine whether the control system is operating in any one of power running control mode for the rotary machine and regenerative control mode therefor based on a polarity of the line-to-line current at the zero crossing of the amount of change in the line-to-line current and the polarity of the phase current flowing through the third phase winding based on the alternating current voltage.