Method of controlling current of inverter for optimum setting of switching modes

• US 4,722,042 A
• Filed: 10/03/1986
• Issued: 01/26/1988
• Est. Priority Date: 10/07/1985
• Status: Expired due to Fees

• Current Assignee: Kabushiki Kaisha Toyota Chuo Kenkyusho (Toyota Motor Corporation)
• Original Assignee: Kabushiki Kaisha Toyota Chuo Kenkyusho (Toyota Motor Corporation)
• Inventors: Asano, Katsuhiro, Iwama, Norio
• Primary Examiner(s): Salce, Patrick R.
• Assistant Examiner(s): Hoff, Marc S.
• Application Number:
  US06/915,051
• Time in Patent Office: 480 Days
• Field of Search: 363/17, 363/98, 363/132, 363/136, 363/137, 318/801, 318/802
• US Class Current: 363/98
• CPC Class Codes: H02M 7/53873 with digital control
• CPC Class Codes: H02M 7/53876 based on synthesising a desired voltage vector via the selection of appropriate fundamental voltage vectors, and corresponding dwelling times

Abstract

A method of controlling current of a multi-phase inverter is based on the principle that, when an appropriate switching mode is set, the direction of change of the position of the end of the current deviation vector must converge within a specific range which is determined in accordance with a presently output voltage vector. Accordingly, the direction of change of the position of the end of the current deviation vector and a presently set switching mode are detected during each control period to make a judgement as to whether or not the detected current deviation change direction belongs to a predetermined reference change direction range. When the answer of this judgement is affirmative, the presently set switching mode is found to be appropriate; therefore, this switching mode is maintained, whereas, when the answer of the judgement is negative, the switching mode is changed to a switching mode which has a reference change direction range to which the detected current deviation change direction belongs and which is determined in accordance with the presently output voltage vector. Thus, an appropriate switching mode is continued or newly set, and a voltage vector is selected from among voltage vectors which are allowed to be selected in this set switching mode, said voltage vector being capable of converging the current deviations within a predetermined range including the origin on the complex plane, and the selected voltage vector is employed as a voltage vector for the next control period.

Claims

1. A method of controlling current of a multi-phase inverter in which switching elements of said multi-phase inverter are ON/OFF controlled so that instantaneous values of output currents of said multi-phase inverter are coincident with output current command values, respectively, said method comprising the steps of:

(a) defining a plurality of voltage vectors in accordance with the magntiude and direction of an output voltage of said multi-phase inverter on a complex plane wherein an axis corresponding to each phase in said multi-phase inverter is set based on a phase angle of said each phase, said output voltage being determined in accordance with a magnitude of a DC power supply source in said multi-phase inverter and a combination of ON/OFF states of the switching elements;

(b) defining a plurality of voltage vector groups each comprising a plurality of voltage vectors including at least one voltage vector of magnitude zero, the directions of which are within 180°

with respect to each other, and setting switching modes in correspondence with said voltage vector groups, respectively, each switching mode allowing selection of the voltage vectors within the corresponding group when it is set;

(c) obtaining current deviations of detected output current values from their respective output current command values, and detecting a direction of change of the position of the end of the current deviation vector on a complex plane;

(d) making a judgement as to whether or not said detected direction of change belongs to a reference change direction range which is determined by both a presently output voltage vector and one of said switching modes which is presently set;

(e) maintaining said presently set switching mode when the answer of the judement is affirmative, but changing said presently set switching mode to a switch mode involving a reference change direction range to which said detected change direction belongs and which is determined by the presently selected voltage vector when the answer of the judgement is negative; and

(f) selecting a voltage vector from the voltage vectors which are allowed to be selected in the switching mode which is maintained or newly set, said voltage vector being capable of converging said current deviations within a predetermined range including the origin on said complex plane.

2. A method according to claim 1, wherein in said step (d) a switching mode judging circuit is supplied with a detected current deviation change direction from a current deviation change direction detecting circuit, a presently set switching mode from a switching mode setting circuit, and a presently selected voltage vector from a voltage vector selecting circuit, and in said step (e) said switching mode setting circuit is adapted to select one switching mode from a group of switching modes determined as initial modes in advance and set the selected mode as a present switching mode, and thereafter, said switching mode setting circuit resets a switching mode at any time when it receives a switching mode change signal which is output from said switching mode judging circuit.

3. A method according to claim 1, wherein the setting of switching modes is effected by:

detecting a quasi-target voltage phase angle which is approximated to a target voltage phase angle;

selecting switching modes which may be a presently optimal switching mode when the detected quasi-target voltage phase angle is supposed to include an error within an allowable range; and

selecting, when a presently set switching mode is to be changed, a switching mode from among said selected switching modes which is coincident with a reference change direction range to which said detected change direction belongs and that is determined by a presently outout voltage vector.

4. A method according to claim 1, wherein the detection of a direction of change of the position of the end of the current deviation vector is effected by:

setting a quantizing map which has a plurality of quantizing regions defined on a complex plane by a plurality of threshold values set for output currents of the various phases;

making comparison between current deviations of the various phases and the corresponding threshold values to obtain a quantizing region on said quantizing map to which the current deviations of all the phases belong mutually; and

detecting a direction which intersects both the obtained quantizing region and a quantizing region obtained during a previous control period as a direction of change of the position of the end of the current deviation vector.

5. A method according to claim 1, wherein in said step (a) eight voltage vectors which are determined in accordance with the combination of ON/OFF states of switching elements for three phases are divided into six voltage vector groups each including two voltage vectors which are adjacent to each other at a phase angle of 60°

and the starting points of which are coincident with the origin on a complex plane and two voltage vectors of magnitude zero which are located at the origin on the complex plane, and switching modes are set in correspondence with said voltage vector groups, respectively, each switching mode allowing selection of the four voltage vectors within the corresponding group when it is set.

6. A method according to claim 1, wherein in said step (d), when the starting point of the direction of change of a current deviation which is defined by the difference between a target voltage value and a presently selected voltage vector in a presently set switching mode is shifted to the origin on the complex plane, a range to which the end point of said current deviation change direction belongs is defined as a reference change direction range.

7. A method according to claim 3, wherein the setting of a switching mode is effected by:

detecting a quasi-target voltage phase angle which is approximated to a target voltage phase angle and which is supposed to include an error within the range of +/-30 degrees with respect to a target voltage phase angle;

selecting two switching modes which may be a presently optimal switching mode in which the voltage vector being closest to said quasi-target voltage are allowed to be selected; and

selecting, when a presently set switching mode is to be changed, a switching mode from among said selected switching modes which is coincident with a reference change direction range to which said detected change direction belongs and that is determined by a presently output voltage vector.

8. A method according to claim 4, wherein the detection of a direction of change of the position of the end of the current deviation vector is effected by:

setting a group of four threshold values for each of the three phases, each group including two maximum threshold values and two minimum threshold values;

setting a quantizing map which has a plurality of quantizing regions defined on a complex plane by these threshold values;

defining a quantizing region to which current deviations of detected output current values from their respective command values of the three phases belong mutually as a quantized current deviation; and

effecting detection such that, when said quantized current deviation is present within a region between a hexagon defined by the maximum threshold values in the threshold value groups for said phases and a hexagon defined by the minimum threshold values in the threshold value groups for said phases, a direction which intersects a region to which a past quantized current deviation belongs and a region to which the present quantized current deviation belongs is detected as a direction of change of the position of the end of the current deviation vector.

9. A method according to claim 4, wherein the detection of a direction of change of the position of the end of the current deviation vector is effected by:

setting a group of three threshold values for each of the three phases, each group including one fixed maximum threshold value and two exchangeable threshold values smaller than said maximum threshold value;

setting a quantizing map which has a plurality of quantizing regions defined on a complex plane by said threshold values;

defining a quantizing region to which current deviations of detected output current values from their respective command values of the three phases belong mutually as a quantized current deviation;

exchanging, when said quantized current deviation is present within a region inside a triangle surrounded by the maximum threshold values in the threshold value groups for said phases, said exchangeable threshold values for the other exchangeable threshold values inside said triangle in accordance with a presently selected voltage vector, a presently set switching mode, and the past conditions of the current deviations; and

detecting a direction which intersects a region to which a past quantized current deviation belongs and a region to which the present quantized current deviation belongs as a direction of change of the position of the end of the current deviation vector.

10. A method according to claim 1, wherein in the selection of a voltage vector which is capable of converging said current deviations within a predetermined range including the origin on said complex plane in said step (f), when said current deviations are going out of said predetermined range, a voltage vector is selected from among a group of voltage vectors which are allowed to be selected in a presently set switching mode, said voltage vector enabling the direction of the central line of a reference change direction range, which is determined by both said voltage vector and the presently set switching mode, to be closest to a direction exactly opposite to the current deviation vector.

11. A method according to claim 1, wherein in the selection of a voltage vector which is capable of converging said current deviations within a predetermined range including the origin on said complex plane in said step (f), when said current deviations are going out of said predetermined range, a voltage vector is selected from among a group of voltage vectors which are allowed to be selected in a presently set switching mode and to which a presently set voltage vector can be changed by effecting commutation for only one phase, said voltage vector enabling the direction of the central line of a reference change direction range, which is determined by both said voltage vector and the presently set switching mode, to be closest to a direction exactly opposite to the current deviation vector.

12. A method according to claim 1, wherein in the selection of a voltage vector which is capable of converging said current deviations within a predetermined range including the origin on said complex plane in said step (f), when the current deviations are completely out of said predetermined range, the outside of said range is divided into two kinds of regions including first regions the centers of which are respectively defined by the prolongations of various voltage vectors, and second regions each defined between the prolongations of each pair of adjacent voltage vectors and other than said first regions, whereby, when the current deviations are present in said first region, the voltage vector which is present on the central line of this region is unconditionally selected, whereas, when the current deviations are present in said second region, either one of the adjacent voltage vectors which involves a smaller number of phases that need commutation is selected.

13. A method according to claim 1, wherein in the selection of a voltage vector which is capable of converging said current deviations within a predetermined range including the origin on said complex plane in said step (f), when the current deviations are completely out of said predetermined range, the outside of said range is divided into regions the center of which are respectively defined by the prolongations of various voltage vectors, whereby, when the current deviations are present in one of said regions, the voltage vector which is present on the central line of this region is unconditionally selected, whereas, when the current deviations have moved to a region the center of which is defined by the prolongation of another voltage vector, a presently set voltage vector is changed to the voltage vector which is present on the central line of that region when a predetermined period of time has elapsed after the current deviations have moved to said region.

14. A method according to claim 1, wherein in the selection of a voltage vector which is capable of converging said current deviations within a predetermined range including the origin on said complex plane in said step (f), when a point of time when the current deviations are going out of said predetermined range is judged in order to determine a point of time when voltage vectors are to be changed from one to another, a plurality of kinds of said predetermined range are prepared, and said plurality of predetermined ranges and current deviations are compared with each other to recognize a plurality of points of time for changing voltage vectors, and the points of time for changing voltage vectors are changed in accordance with a presently set switching mode, a presently selected voltage vector and the past conditions of the current deviations.

15. A method according to claim 1, wherein in the selection of a voltage vector which is capable of converging said current deviations within a predetermined range including the origin on said complex plane in said step (f), when a point of time when the current deviations are going out of said predetermined range is judged in order to determine a point of time when voltage vectors are to be changed from one to another, said predetermined range is changed in accordance with a presently set switching mode, a presently selected voltage vector and the past conditions of the current deviations, thereby changing the points of time for changing voltage vectors.

16. A method according to claim 3, wherein said quasi-target voltage phase angle is obtained in such a manner that the output voltage of said multi-phase inverter is directly detected and passed through a low-pass filter to extract the fundamental wave, and the phase angle thereof is obtained.

17. A method according to claim 3, wherein, when the impedance of a load is known in some measure, said quasi-target voltage phase angle is obtained by detecting the phase difference between voltage and current and adding this phase difference to the phase angle of a current command value.

18. A method according to claim 3, wherein, when an AC motor is vector-controlled, said quasi-target voltage phase angle is obtained by utilizing the phase of voltage which is recognized in a vector control circuit.

19. A method of controlling current of a multi-phase inverter in which switching elements of said multi-phase inverter are ON/OFF controlled so that instantaneous values of output currents of said multi-phase inverter are coincident with output current command values, respectively, said method comprising the steps of:

(a) dividing eight voltage vectors which are determined in accordance with the combination of ON/OFF states of the switching elements for three phases into six voltage vector groups each including two voltage vectors which are adjacent to each other at a phase angle of 60° and

the starting points of which are coincident with the origin on a complex plane and two voltage vectors of magnitude zero which are located at the origin on the complex plane, and setting switching modes in correspondence with said voltage vector groups, respectively, each switching mode allowing selection of the four voltage vectors within the corresponding group when it is set;

(b) defining a reference change direction range in such a manner that the starting point of the direction of change of a current deviation, which is defined by the difference between a target voltage and a presently selected voltage vector in a presently set switching mode, is shifted to the origin on the complex plane, and a range to which the end point of said current deviation change direction belongs is defined as a reference change direction range, and

setting a group of four threshold values which includes two maximum threshold values and two minimum threshold values for each of the three phases to define a plurality of quantizing regions on a complex plane by these threshold values, and defining a quantizing region to which current deviations of detected output current values from their respective command values of the three phases belong mutually as a quantized current deviation;

(c) effecting selection of a voltage vector in such a manner that, in the case that said quantized current deviation is present outside a maximum hexagon defined by the maximum threshold values in the threshold value groups for said phases and the outside of said maximum hexagon is divided into two kinds of regions including first regions the centers of which are respectively defined by the prolongation of various voltage vectors and second regions each defined between the prolongations of each pair of adjacent voltage vectors and other than said first regions, whereby, when the current deviations are present in said first region, the voltage vector which is present on the central line of this region is unconditionally selected, whereas, when the current deviations are present in said second region, either one of the adjacent voltage vectors which involves a smaller number of phases that need commutation is selected; and

(d) further effecting selection of a voltage vector in such a manner that, when said quantized current deviation is present inside a minimum hexagon, defined by the minimum threshold values in the threshold value groups for said phases, no change of voltage vectors is effected,

whereas, when said quantized current deviation is present within a region between said maximum and minimum hexagons in the threshold voltage groups for said three phases, a direction which intersects a region to which a past quantized current deviation belongs is detected as a direction of change of the position of the end of the current deviation vector,

when said detected change direction is coincident with said reference change direction range when the starting point of said detected change direction is shifted to the origin on said complex plane, a presently set switching mode is maintained, whereas, when said detected change direction is not coincident with said reference change direction range, said switching mode is changed to another switching mode which has the same reference change direction, and

selecting a voltage vector which enables said quantized current deviation to be decreased effectively and which involves a smaller number of times of switchng in said switching mode which is maintained or newly set.

20. A method controlling current of a multi-phase inverter in which switching elements of said multi-phase inverter are ON/OFF controlled so that instantaneous values of output currents of said multi-phase inverter are coincident with output current command values, respectively, said method comprising the steps of:

(a) dividing eight voltage vectors which are determined in accordance with the combination of ON/OFF states of the switching elements for three phase into six voltage vector groups each including two voltage vectors which are adjacent to each other at a phase angle of 60° and

the starting points of which are coincident with the origin on a complex plane and two voltage vectors of magnitude zero which are located at the origin on the complex plane, and setting switching modes in correspondence with said voltage vector groups, respectively, each switching mode allowing selection of the four voltage vectors within the corresponding group when it is set;

(b) detecting a quasi-target voltage phase angle which is approximated to a target voltage phase angle and which includes an error within the range of +/-30 degrees with respect to a target voltage phase angle;

selecting two switching modes which may be a presently optimal switching mode in which the voltage vector being closest to said quasi-target voltage are allowed to be selected;

(c) defining a reference change direction range in such a manner that the starting point of the direction of change of a current deviation, which is defined by the difference between a target voltage value and a presently selected voltage vector in a presently set switching mode, is shifted to the origin on the complex plane, and a range to which the end point of said current deviation change direction belongs is defined as a reference change direction range, and

setting a group of three threshold values for each of the three phases, said group including one fixed maximum threshold value and two exchangeable threshold values smaller than said maximum threshold value,

defining a quantizing map which has a plurality of quantizing regions defined on a complex plane by said threshold values, and

defining a quantizing region to which current deviations of detected output current values from their respective command values of the three phases belong mutually as a quantized current deviation;

(d) unconditionally selecting one of the voltage vectors which are set in correspondence with the quantizing regions outside a triangle surrounded by said fixed maximum threshold values for said three phases, when said quantized current deviation is present in one of said quantizing regions outside said triangle;

(e) inhibiting the change of voltage vectors for a predetermined period of time after said quantized current deviation has passed a boundary between a pair of adjacent quantizing regions; and

(f) exchanging said exchangeable threshold values inside said triangle in correspondence with a presently set voltage vector, a presently set switching mode, and the past conditions of the current deviations when said quantized current deviation is present inside said triangle,

detecting a direction which intersects both a region to which a past quantized current deviation belongs and a region to which a present quantized current deviation belongs as a direction of change of the position of the end of the current deviation vector,

changing switching modes in such a manner that, when said detected change direction is coincident with said reference change direction range when the starting point of said detected change direction is shifted to the origin on the complex plane, a presently set switching mode is maintained, whereas, when said detected change direction is not coincident with said reference change direction range, the switching mode is changed to another switching mode which has the same reference change direction range, and

selecting a voltage vector which enables said quantized current deviation to be decreased effectively and which involves a smaller number of times of switching in said switching mode which is maintained or newly set.