Current control system for inverter

• US 5,038,092 A
• Filed: 02/05/1990
• Issued: 08/06/1991
• Est. Priority Date: 02/16/1989
• 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: Tsunehiro, Yuzuru, Asano, Katsuhiro
• Primary Examiner(s): Shoop, Jr., William M.
• Assistant Examiner(s): Cabeca, John W.
• Application Number:
  US07/475,310
• Time in Patent Office: 547 Days
• Field of Search: 318/799, 318/801, 318/808, 318/809, 318/810, 318/811, 318/805, 318/800, 318/803, 318/806
• US Class Current: 318/811
• CPC Class Codes: H02M 7/53875 with analogue control of three-phase output

Abstract

A current component, in which a phase angle is different by a predetermined reference angle from a magnetic flux occurring in an inductive load, is brought to a q-axis current. The q-axis current is computed on the basis of phase current. A phase angle of the magnetic flux is detected. A q-axis-current control phase and a reference potential phase are determined on the basis of the result of pulse-width-modulation computation and the phase angle. The q-axis-current control phase is controlled in a pulse-width-modulation manner. A potential of the remaining reference potential phase if fixed to a reference potential. Thus, interference among the phases is prevented to reduce current ripple.

Claims

1. A current control system for an inverter having a plurality of series circuits formed by series-connecting electric valves each formed by connecting a semiconductor device and a diode in an inverted parallel relation to each other, each of said series circuits having both its ends connected respectively to a positive side and a negative side of a direct-current power source, wherein an inductive load is connected to the series connecting point of said electric valves, and current flowing through said inductive load is controlled in a pulse-width-modulation manner, said current control system comprising:

current-command computing means for computing a q-axis current command in accordance with an operational command with respect to the load;

current detecting means for detecting an actual q-axis current flowing through the load;

q-axis-current error computing means for computing a q-axis current error which is a difference between said q-axis current command and said q-axis-current detecting value;

q-axis-current control computing means for performing pulse-width-modulation control computation of the q-axis current on the basis of said q-axis current error;

magnetic-flux phase-angle detecting means for detecting or computing a phase angle of a magnetic flux; and

control-phase potential computing means for determining a q-axis-current control phase and a reference potential phase on the basis of a computation result of said q-axis-current control computing means and a magnetic-flux rotational angle, to control a potential in each phase,

wherein, in connection with the above, a direction, in which the phase angle is different by a predetermined reference angle from the magnetic flux occurring in the load, is defined as the q-axis, and a current component in the q-axis direction is defined as the q-axis current.

3. The current control system for the inverter, according to claim 1, wherein,

said q-axis-current control computing means comprises q-axis-voltage polarity computing means for computing a polarity of q-axis-current control voltage on the basis of said q-axis current error, and q-axis-current pulse-width-modulation computing means for computing a pulse-width-modulation control signal of the q-axis current on the basis of said q-axis current error, and

said control-phase potential computing means comprises control-phase computing means for computing the q-axis-current control phase, a polarity of the q-axis-current control phase, the reference potential phase and a polarity of the reference potential phase, on the basis of the polarity of the q-axis-current control voltage and the magnetic-flux phase angle, and output-potential control means for controlling a potential of the q-axis-current control phase on the basis of the q-axis-current pulse-width-modulation control signal and the polarity of the q-axis-current control phase, and for controlling a potential of the reference potential phase on the basis of the polarity of the reference potential phase.

5. The current control system for the inverter, according to claim 1, wherein said control-phase potential computing means comprises:

control-phase computing means wherein

various amounts including voltage, current and a magnetic flux that are amounts of condition expressing an operational condition of the load are treated as vectors on a complex plane.

a unit vector is assumed on the complex plane,

a direction of said unit vector, in which a coordinate value of a specific phase becomes maximum, is brought to a phase direction of a positive polarity of said specific phase,

a direction of said unit vector, in which the coordinate value of the specific phase becomes minimum, is brought to a phase direction of a negative polarity of said specific phase,

a phase direction, which is most approximate to the direction of said q-axis is selected as a phase direction of the q-axis control among the positive phase directions and the negative phase directions of all phases,

a phase corresponding to the phase direction of said q-axis control is brought to a q-axis-current control phase,

a polarity in the phase direction of the q-axis control is brought to a polarity of the q-axis-current control phase,

two sets of phases except for the q-axis-current control phase are brought to reference potential phases, and

the polarity of the q-axis-current control phase and the polarity of the q-axis-current control voltage are multiplied by each other, and a polarity obtained by inversion of a result of the multiplication is brought to the polarity of the reference potential phase; and

output-potential control means, wherein

the q-axis-current pulse-width-modulation control signal and the polarity of the q-axis-current control phase are multiplied by each other to obtain the potential of the q-axis-current control phase, and

the potential of the reference potential phase is obtained on the basis of the polarity of the reference potential phase, to control the potential of each phase.

7. The current control system for the inverter, according to claim 1, wherein said q-axis-current control computing means comprises q-axis-voltage polarity computing means for computing the polarity of the q-axis-current control voltage by application of said q-axis-current error to a hysteresis comparator, and q-axis-current pulse-width-modulation computing means for computing a pulse-width-modulation control signal of the q-axis current by application of said q-axis-current error to a hysteresis comparator smaller in hysteresis width than the first-mentioned hysteresis comparator.

10. The current control system for the inverter, according to claim 1, wherein said q-axis-current control computing means comprises:

q-axis-voltage polarity computing means wherein

said q-axis-current error is computed in a proportional and integral control manner,

a result of the proportional and integral control computation is compared with a positive triangular wave whose minimum value is zero and a negative triangular wave whose maximum value is zero,

in case where the result of the proportional and integral control computation is larger than the positive triangular wave, the polarity of the q-axis-current control voltage is brought to a positive one,

in case where the result of said proportional and integral control computation is smaller than the negative triangular wave, the polarity of the q-axis-current control voltage is brought to a negative one, and

in case where said result of the proportional and integral control computation is at most the positive triangular wave and at least the negative triangular wave, the polarity of the q-axis-current control voltage is maintained at a polarity until now; and

q-axis-current pulse-width-modulation computing means wherein

when the polarity of the q-axis-current control voltage is positive, a comparison result between the result of the proportional and integral control computation and the positive triangular wave is brought to the q-axis-current pulse-width-modulation control signal, and

when the polarity of the q-axis-current voltage is negative, a comparison result between the result of the proportional and integral control computation and the negative triangular wave is brought to the q-axis-current pulse-width-modulation control signal.

13. The current control system for the inverter, according to claim 1, wherein said control-phase potential computing means is provided with output-potential control means in which, when the q-axis-current command is positive and when the polarity of the q-axis-current control phase is positive, a switching element connected to the cathode side of a direct-current power source of the q-axis-current control phase is always turned off, in which, when the q-axis-current command is positive and when the polarity of the q-axis-current control phase is negative, a switching element connected to an anode side of the direct-current power source of the q-axis-current control phase is always turned off, in which, when the q-axis-current command is negative and when the polarity of the q-axis-current control phase is positive, a switching element connected to the anode side of the direct-current power source of the q-axis-current control phase is always turned off, and in which, when the q-axis-current command is negative and when the polarity of the q-axis-current control phase is negative, a switching element connected to the cathode side of the direct current power source of the q-axis-current control phase is always turned off.

15. The current control system for the inverter, according to claim 7, wherein the hysteresis width of the hysteresis comparator in said q-axis-current control computing means varies dependent upon an operational condition.

18. The current control system for the inverter, according to claim 1, wherein said inductive load is an induction motor, and the phase angle of said magnetic flux is an exciting-current rotational angle in vector control of the induction motor.

20. The current control system for the inverter, according to claim 1, wherein said control-phase potential computing means is provided with a dead-time circuit in which, of he semiconductor device on the anode side and the semiconductor device on the cathode side in each phase, dead time is provided with respect to one of the semiconductor devices for a predetermined period of time after a change from turning-on to turning-off of the other semiconductor device, and in which, in case where one of the semiconductor devices is maintained at its OFF condition for a period of time at least the dead time, no dead time is provided for the other semiconductor device.

2. A current control system for an inverter having a plurality of series circuits formed by series-connecting electric valves each formed by connecting a semiconductor device and a diode in an inverted parallel relation to each other, each of said series circuits having both its ends connected respectively to a positive side and a negative side of a direct-current power source, wherein an inductive load is connected to the series connecting point of said electric valves, and current flowing through said inductive load is controlled in a pulse-width-modulation manner, said current control system comprising:

current-command computing means for computing a q-axis current command and a d-axis current command in accordance with an operational command with respect to the load;

current detecting means for detecting an actual q-axis current and an actual d-axis current which flow through the load;

q-axis-current error computing means for computing a q-axis current error which is a difference between said q-axis-current command and said q-axis-current detecting value;

d-axis-current error computing means for computing a d-axis current error which is a difference between said d-axis-current command and said d-axis-current detecting value;

q-axis-current control computing means for performing pulse-width-modulation control computation of the q-axis current on the basis of said q-axis current error;

d-axis-current control computing means for performing pulse-width-modulation control computation of d-axis current on the basis of said d-axis current error;

magnetic-flux phase-angle detecting means for detecting or computing a phase angle of a magnetic flux; and

control-phase potential computing means for determining a q-axis-current control phase, a d-axis-current control phase and a reference potential phase on the basis of a computation result of said q-axis-current control computing means, a computation result of said d-axis-current control computing means and a magnetic-flux phase angle, to control a potential in each phase,

wherein, in connection with the above, a direction, in which the phase angle is different by a predetermined reference angle from the magnetic flux occurring in the load, is defined as the q-axis, and a current component in the q-axis direction is defined as the q-axis current, and wherein a direction of the magnetic flux occurring in said load is defined as a d-axis, and a current component in the d-axis direction is defined as the d-axis current.

4. The current control system for the inverter, according to claim 2, wherein,

said q-axis-current control computing means comprises q-axis-voltage polarity computing means for computing a polarity of q-axis-current control voltage on the basis of said q-axis current error, and q-axis-current pulse-width-modulation computing means for computing a pulse-width-modulation control signal of the q-axis current on the basis of said q-axis current error.

said d-axis-current control computing means comprises d-axis-voltage polarity computing means for computing a polarity of d-axis-current control voltage on the basis of said d-axis current error, and d-axis-current pulse-width-modulation computing means for computing a pulse-width-modulation control signal of the d-axis current on the basis of said d-axis current error, and

said control-phase potential computing means comprises control-phase computing means for computing a q-axis-current control phase, a polarity of the q-axis-current control phase, a d-axis-current control phase, the polarity of the d-axis-current control phase, a reference potential phase and a polarity of the reference potential phase, on the basis of the polarity of the q-axis-current control voltage, the polarity of the d-axis-current control voltage and the magnetic-flux phase angle, and output-potential control means for controlling a potential of the q-axis-current control phase on the basis of the q-axis-current pulse-width-modulation control signal and a polarity of the q-axis-current control phase, for controlling a potential of the d-axis-current control phase on the basis of the d-axis-current pulse-width-modulation control signal and the polarity of the d-axis-current control phase, and for controlling a potential of the reference potential phase on the basis of the polarity of the reference potential phase.

6. The current control system for the inverter, according to claim 2, wherein said control-phase potential computing means comprises:

control-phase computing means wherein

various amounts including voltage, current and magnetic flux that are amounts of condition expressing an operational condition of the load are treated as vectors on a complex plane,

a unit vector is assumed on the complex plane,

a direction of said unit vector, in which a coordinate value of a specific phase becomes maximum, is brought to a phase direction of a positive polarity of said specific phase,

a direction of said unit vector, in which the coordinate value of the specific phase becomes minimum, is brought to a phase direction of a negative polarity of said specific phase,

a phase direction, which is most approximate to the direction of said q-axis is selected as a phase direction of the q-axis control among the positive phase directions and the negative phase directions of all phases,

a phase corresponding to the phase direction of said q-axis control is brought to a q-axis-current control phase,

a polarity in the phase direction of the q-axis control is brought to a polarity of the q-axis-current control phase,

the polarity of the q-axis-current control phase and the polarity of the q-axis-current control voltage are multiplied, and a polarity obtained by inversion of a result of the multiplication is brought to a polarity of the reference potential phase,

a phase, in which, of two phases except for the q-axis-current control phase, the positive phase direction is more approximate to the positive direction of the magnetic flux, is brought to a phase in which the polarity of the d-axis current is positive, and the remaining one phase is brought to a phase in which the polarity of the d-axis current is negative,

in case where a result of multiplication between the polarity of the d-axis-current control voltage and the polarity of the reference potential phase is positive, a phase, in which the polarity of the d-axis current is positive is brought to a reference potential phase, and the remaining one phase is brought to the d-axis-current control phase.

in case where a result of multiplication between the polarity of the d-axis-current control voltage and the polarity of the reference potential phase is negative, a phase, in which the polarity of the d-axis current is positive, is brought to the d-axis-current control phase, and the remaining one phase is brought to the reference potential phase, and

the polarity of the d-axis current in the d-axis current control phase is brought to the polarity of the d-axis-current control phase; and

output-potential control means wherein

the q-axis-current pulse-width-modulation control signal and the polarity of the q-axis-current control phase are multiplied by each other to obtain the potential of the q-axis-current control phase,

the d-axis-current pulse-width-modulation control signal and the polarity of the d-axis-current control phase are multiplied by each other to obtain the potential of the d-axis-current control phase, and

the potential of the reference potential phase is obtained on the basis of the polarity of the reference potential phase, to control the potential of each phase.

8. The current control system for the inverter, according to claim 2, wherein said d-axis-current control computing means comprises d-axis-voltage polarity computing means for computing the polarity of the d-axis-current control voltage by application of said d-axis-current error to a hysteresis comparator, and d-axis-current pulse-width-modulation computing means for computing a pulse-width-modulation control signal of the d-axis current by application of said d-axis-current error to a hysteresis comparator smaller in hysteresis width than the first-mentioned hysteresis comparator.

9. The current control system for the inverter, according to claim 8, wherein said q-axis-current control computing means comprises q-axis-voltage polarity computing means for computing the polarity of the q-axis-current control voltage by application of said q-axis-current error to a hysteresis comparator, and q-axis-current pulse-width-modulation computing means for computing a pulse-width-modulation control signal of the q-axis current by application of said q-axis-current error to a hysteresis comparator smaller in hysteresis width than the first-mentioned hysteresis comparator.

11. The current control system for the inverter, according to claim 2, wherein said d-axis-current control computing means comprises:

d-axis-voltage polarity computing means wherein

said d-axis-current error is computed in a proportional and integral control manner,

a result of the proportional and integral control computation is compared with a positive triangular wave whose minimum value is zero and a negative triangular wave whose maximum value is zero,

in case where the result of the proportional and integral control computation is larger than the positive triangular wave, the polarity of the d-axis-current control voltage is brought to a positive one,

in case where the result of the proportional and integral control computation is smaller than the negative triangular wave, the polarity of the d-axis-current control voltage is brought to a negative one, and

in case where said result of the proportional and integral control computation is at most the positive triangular wave and at least the negative triangular wave, the polarity of the d-axis-current control voltage is maintained at a polarity until now; and

d-axis-current pulse-width-modulation computing means wherein

when the polarity of the d-axis-current control voltage is positive, a comparison result between the result of the proportional and integral control computation and the positive triangular wave is brought to the d-axis-current pulse-width-modulation control signal, and

when the polarity of the d-axis-current voltage is negative, a comparison result between the result of the proportional and integral control computation and the negative triangular wave is brought to the d-axis-current pulse-width-modulation control signal.

12. The current control system for the inverter, according to claim 11, wherein said q-axis-current control computing means comprises:

q-axis-voltage polarity computing means wherein

said q-axis-current error is computed in a proportional and integral control manner,

a result of the proportional and integral control computation is compared with a positive triangular wave whose minimum value is zero and a negative triangular wave whose maximum value is zero,

in case where the result of the proportional and integral control computation is larger than the positive triangular wave, the polarity of the q-axis-current control voltage is brought to a positive one,

in case where the result of the proportional and integral control computation is smaller than the negative triangular wave, the polarity of the q-axis-current control voltage is brought to a negative one, and

in case where said result of the proportional and integral control computation is at most the positive triangular wave and at least the negative triangular wave, the polarity of the q-axis-current control voltage is maintained at a polarity until now; and

q-axis-current pulse-width-modulation computing means wherein

when the polarity of the q-axis-current control voltage is positive, a comparison result between the result of the proportional and integral control computation and the positive triangular wave is brought to the q-axis-current pulse-width-modulation control signal, and

when the polarity of the q-axis-current voltage is negative, a comparison result between the result of the proportional and integral control computation and the negative triangular wave is brought to the q-axis-current pulse-width-modulation control signal.

14. The current control system for the inverter, according to claim 2, wherein said control-phase potential computing means is provided with output-potential control means in which, when the q-axis-current command is positive and when the polarity of the q-axis-current control phase is positive, a switching element connected to an anode side of a direct-current power source of the reference potential phase and the d-axis-current control phase is always turned off, in which, when the q-axis-current command is positive and when the polarity of the q-axis-current control phase is negative, a switching element connected to a cathode side of the direct-current power source of the reference potential phase and the d-axis-current control phase is always turned off, in which, when the q-axis-current command is negative and when the polarity of the q-axis-current control phase is positive, a switching element connected to the cathode side of the direct-current power source of the reference potential phase and the d-axis-current control phase is always turned off, and in which, when the q-axis-current command is negative and when the polarity of the q-axis-current control phase is negative, a switching element connected to the anode side of the direct-current power source of the reference potential phase and the d-axis-current control phase is always turned off.

16. The current control system for the inverter, according to claim 8, wherein the hysteresis width of the hysteresis comparator in said d-axis-current control computing means varies dependent upon an operational condition.

17. The current control system for the inverter, according to claim 9, wherein the hysteresis width of the hysteresis comparator in each of said q-axis-current control computing means and said d-axis-current control computing means varies dependent upon the operational condition.

19. The current control system for the inverter, according to claim 2, wherein said inductive load is an induction motor, and the phase angle of said magnetic flux is an exciting-current rotational angle in vector control of the induction motor.

21. The current control system for the inverter, according to claim 2, wherein said control-phase potential computing means is provided with a dead-time circuit in which, of the semiconductor device on the anode side and the semiconductor device on the cathode side in each phase, dead time is provided with respect to one of the semiconductor devices for a predetermined period of time after a change from turning-on to turning-off of the other semiconductor device, and in which, in case where one of the semiconductor devices is maintained at its OFF condition for a period of time at least the dead time, no dead time is provided for the other semiconductor device.

22. The current control system for the inverter, according to claim 2, wherein said control-phase potential computing means determines the q-axis-current control phase, the d-axis-current control phase and the reference potential phase such that, when the output potential of the q-axis-current control phase is in agreement with the potential of the reference potential phase, the output potential of the d-axis-current control phase is also in agreement with the potential of the reference potential phase, to control the potential in each phase.

23. A current control system for an inverter having a plurality of series circuits formed by series connecting electric valves each formed by connecting a semiconductor device and a diode in an inverted parallel relation to each other, each of said series circuits having both its ends connected respectively to a positive side and a negative side of a direct-current power source, wherein an alternating-current motor is connected to the series connecting point of said electric valves, and current flowing through said alternating-current motor is controlled in a pulse-width-modulation manner, said current control system comprising:

current-command computing means for computing a torque-current command;

current detecting means for detecting a torque current;

torque-current error computing means for computing a torque-current error between said torque-current command and said torque current;

torque-current control computing means for computing, in a pulse-width-modulation manner, the torque current on the basis of said torque-current error;

magnetic-flux rotational-angle detecting means for detecting a rotational angle of a magnetic flux; and

control-phase potential computing means for determining the torque-current control phase and the reference potential phase on the basis of a result of the torque-current control computation and the magnetic-flux rotational angle, to control a potential in each phase.