Method and apparatus for driving and controlling synchronous motor using permanent magnets as its field system

• US 5,569,995 A
• Filed: 08/10/1994
• Issued: 10/29/1996
• Est. Priority Date: 08/10/1993
• Status: Expired due to Term

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Yamada, Eiji, Kusaka, Yasushi, Kawabata, Yasutomo
• Primary Examiner(s): Martin, David S.
• Application Number:
  US08/288,031
• Time in Patent Office: 811 Days
• Field of Search: 318/200-724
• US Class Current: 318/717
• CPC Class Codes: B60L 15/025 using field orientation; Vector control; Direct Torque Control [DTC]
• CPC Class Codes: B60L 2220/14 Synchronous machines
• CPC Class Codes: B60L 50/60 using power supplied by batteries in combination with fuel cells B60L50/75
• CPC Class Codes: B60L 58/12 responding to state of charge [SoC]
• CPC Class Codes: H02P 21/22 Current control, e.g. using a current control loop
• CPC Class Codes: H02P 25/03 with brushless excitation
• CPC Class Codes: Y02T 10/64 Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/70 Energy storage systems for electromobility, e.g. batteries

Abstract

A method and an apparatus for driving and controlling a synchronous motor using permanent magnets as its field system are herein disclosed. When a rotational speed of the synchronous motor using the permanent magnets as the field system is more than a base rotational speed, a current condition computing section computes a field weakening reference current in accordance with a battery voltage, a reference torque and a rotational speed. An inverter performs the field weakening control of the the synchronous motor using the permanent magnets as the field system in accordance with the field weakening reference current sent from the current condition computing section to prevent the deterioration of efficiency and the deficiency of output due to the excessive or insufficient field weakening current. The current condition computing section determines optimum reference current by the use of a converged battery voltage, when the battery voltage is converged to a constant value after initial control.

Claims

1. A driving and controlling apparatus for use in a drive unit having a synchronous motor using permanent magnets as its field system which can be excited by a field flux generated by the permanent magnets and a field flux generated by a field current component of a primary current;

a battery as a source of power; and

power conversion means for converting a discharged power of the battery into alternating current, and then feeding the alternating current as the primary current to the synchronous motor;

said apparatus comprising;

current control means for controlling the primary current of the synchronous motor in accordance with a reference current; and

current condition determination means for determining the reference current in accordance with a voltage of the battery so that the reference current is minimized under predetermined conditions and at least partially cancelling the field flux generated by the permanent magnets with the field flux generated by the field current component so that a counter electromotive force of the synchronous motor does not exceed the voltage of the battery and so that the field flux generated by the field current component has an magnitude corresponding to the voltage of the battery.

2. The driving and controlling apparatus according to claim 1 wherein the current condition determination means has:

counter electromotive force judgment means for judging whether or not the counter electromotive force of the synchronous motor exceeds the voltage of the battery in accordance with an output state of the synchronous motor;

means for determining the reference current so that the field flux generated by the field current component is fixed to a certain value, when it has been judged that the counter electromotive force does not exceed the voltage of the battery; and

means for determining the reference current so that the counter electromotive force of the synchronous motor does not exceed the voltage of the battery and so that the field flux generated by the field current component has the magnitude corresponding to the voltage of the battery, when it has been judged that the counter electromotive force exceeds the voltage of the battery.

3. The driving and controlling apparatus according to claim 2 wherein

the output state of the synchronous motor used to judge whether or not the counter electromotive force of the synchronous motor exceeds the voltage of the battery is a rotational speed of the synchronous motor;

and

the current condition determination means judges that the counter electromotive force of the synchronous motor exceeds the voltage of the battery, when the rotational speed of the synchronous motor is higher than a predetermined value, and judges that the counter electromotive force does not exceed the voltage of the battery, when the rotational speed is not higher than the predetermined value.

4. The driving and controlling apparatus according to claim 1 wherein

the reference current includes the reference field current representative of a control target of the field current component of the primary current and the reference torque current representative of a control target of the torque current component of the primary current;

and

the current condition determination means has;

reference field current determination means for determining the reference field current in accordance with at least the voltage of the battery so that the counter electromotive force of the synchronous motor does not exceed the voltage of the battery and so that the field flux generated by the field current component has the magnitude corresponding to the voltage of the battery; and

reference torque current determination means for determining the reference torque current in accordance with at least a reference torque so that torque corresponding to the reference torque is outputted from the synchronous motor.

5. The driving and controlling apparatus according to claim 4 wherein

the reference field current determination means further refers to the reference torque in order to determine the reference field current, and

the reference torque current determination means further refers to the voltage of the battery in order to determine the reference torque current.

6. The driving and controlling apparatus according to claim 5 wherein

the current condition determination means has conversion means for converting the voltage of the battery into a value comparable with a terminal voltage of the synchronous motor;

and

the reference field current determination means and the reference torque current determination means, by using the converted voltage of the battery as the terminal voltage and the reference torque as torque, derive information regarding the field current component and torque current component from a map showing a relationship among the terminal voltage, field current component, torque current component and the torque of the synchronous motor, thereby determining the reference field current and the reference torque current, respectively.

7. The driving and controlling apparatus according to claim 5 wherein

the current condition determination means has conversion means for converting the voltage of the battery into a value comparable with a terminal voltage of the synchronous motor;

and

the reference field current determination means and the reference torque current determination means, by using the converted voltage of the battery as the terminal voltage and the reference torque as torque, derive information regarding the field current component and torque current component from an equation showing a relationship among the terminal voltage, field current component, torque current component and the torque of the synchronous motor, thereby determining the reference field current and the reference torque current, respectively.

8. The driving and controlling apparatus according to claim 7 wherein the conversion means converts the voltage of the battery into the value comparable with the terminal voltage based on a maximum power conversion rate of the power conversion means.

9. The driving and controlling apparatus according to claim 7 wherein the current condition determination means has means for limiting the value of the field current component, when the remaining capacity of the battery is not more than a predetermined value, thereby decreasing said at least partially cancelled part of the field flux generated by the permanent magnets which is cancelled with the field flux generated by the field current component.

10. The driving and controlling apparatus according to claim 9 wherein the current condition determination means has means for prohibiting the limitation of the field current component in response to a mode command representing the efficiency mode.

11. The driving and controlling apparatus according to claim 1 wherein the current condition determination means has:

means for determining an initial reference current in accordance with a reference torque, an output state, and a reference minimum voltage on the assumption that the voltage of the battery is the reference minimum voltage, when either of the reference torque or the output state of the synchronous motor change by as much as a predetermined value or more, and supplying the determined initial reference current to the current control means as the reference current; and

means for determining the reference current in accordance with the constant value voltage of the battery, after the primary current of the synchronous motor has been controlled in accordance with the initial reference current.

12. The driving and controlling apparatus according to claim 11 wherein the current condition determination means has means for determining the reference minimum voltage in accordance with the remaining capacity and voltage of the battery.

13. The driving and controlling apparatus according to claim 11 wherein

an optimum value of the primary current is dependent on the voltage of the battery when the output state of the synchronous motor is in a predetermined region and is independent of the voltage of the battery when the output state of the synchronous motor is not in the predetermined region, the optimum current being representative of the reference current where the reference torque is realized as the torque of the synchronous motor and the efficiency of the synchronous motor substantially becomes a maximum efficiency;

the current condition determination means includes;

means for computing a first optimum reference current by referring to a relationship among the voltage of the battery, the optimum primary current and the output state of the synchronous motor, using the constant value voltage of the battery and the output state of the synchronous motor in a region where the value of the optimum primary current is dependent on the voltage of the battery;

means for determining a second optimum reference current in accordance with the optimum primary current in a region where the optimum primary current is independent of the voltage of the battery;

means for selecting either of the first optimum reference current or the second optimum reference current on the basis of a relationship between the magnitude of the first optimum reference current and that of the second optimum reference current; and

means for determining selected optimum reference current as the reference current.

14. The driving controlling apparatus according to claim 13 wherein the current condition determination means includes:

first storage means for storing a coefficient of a mathematical equation in the output state of the synchronous motor associated therewith, the mathematical equation representing a relationship between the voltage of the battery and the optimum current in the region where the value of the optimum current depends on the voltage of the battery,

second storage means for storing the optimum primary current in the region where the optimum primary current does not depend on the voltage of the battery;

means for reading the coefficient of the mathematical equation in accordance with the output state of the synchronous motor, and computing the first optimum reference current by the use of the coefficient, the constant value voltage of the battery and the mathematical equation; and

means for determining the second optimum reference current by reading the optimum primary current from the region where the optimum primary current does not depend on the voltage of the battery.

15. The driving and controlling apparatus according to claim 14 wherein the mathematical equation is a predetermined linear equation, and the first storage means stores at least one of an intercept or an inclination of the linear equation as a coefficient associated with the motor output state.

16. The driving and controlling apparatus according to claim 15 wherein the intercept of the linear equation is used as the initial reference current.

17. The driving and controlling apparatus according to claim 1 wherein the current condition determination means has:

counter electromotive force judgment means for judging whether or not the counter electromotive force of the synchronous motor exceeds the voltage of the battery in accordance with an output state of the synchronous motor;

means for determining the reference current so that the field flux generated by the field current component is fixed to 0, when it has been judged that the counter electromotive force does not exceed the voltage of the battery; and

means for determining the reference current so that the counter electromotive force of the synchronous motor does not exceed the voltage of the battery and so that the field flux generated by the field current component has the intensity corresponding to the voltage of the battery, when it has been judged that the counter electromotive force exceeds the voltage of the battery.

18. A method for controlling a drive unit having a synchronous motor using permanent magnets as its field system which can be excited by a field flux generated by the permanent magnet and a field flux generated by a field current component in a primary current;

a battery as a source of power; and

power conversion means for converting a discharged power of the battery into alternating current, and then feeding the alternating current as the primary current to the synchronous motor;

said method comprising the steps of;

judging whether or not the counter electromotive force of the synchronous motor exceeds the voltage of the battery in accordance with the output state of the synchronous motor;

determining a reference current so that the field flux generated by the field current component may be fixed to a specific value, when it has been judged that the counter electromotive force does not exceed the voltage of the battery;

minimizing the reference current in accordance with the voltage of the battery so that the counter electromotive force of the synchronous motor does not exceed the voltage of the battery and so that the field flux generated by the field current component has a magnitude corresponding to the voltage of the battery, when it has been judged that the counter electromotive force exceeds the voltage of the battery; and

controlling the primary current of the synchronous motor in accordance with the reference current to at least partially cancel the field flux generated by permanent magnets with the field flux generated by the field current component.

19. A method for controlling a drive unit having a synchronous motor using permanent magnets as its field system which can be excited by a field flux generated by the permanent magnets and a field flux generated by a field current component in a primary current;

a battery as a source of power; and

power conversion means for converting a discharged power of the battery into alternating current, and then feeding the alternating current as the primary current to the synchronous motor;

said method comprising;

a first step of judging whether or not either of a reference torque or an output state of the synchronous motor change by as much as a predetermined value or more;

a second step of determining an initial reference current in accordance with the reference torque, the output state and a reference minimum voltage based on the voltage of the battery being the reference minimum voltage, when either of the reference torque or the output state of the synchronous motor change by as much as a predetermined value or more;

a third step of controlling the primary current of the synchronous motor in accordance with the initial reference current;

a fourth step of determining the reference current in accordance with the constant value voltage of the battery so that the counter electromotive force of the synchronous motor does not exceed the voltage of the battery and so that the field flux generated by the field current component has a magnitude corresponding to the voltage of the battery, when the voltage of the battery reaches a constant value after the primary current of the synchronous motor has been controlled in accordance with the initial reference current; and

a fifth step of controlling the primary current of the synchronous motor in accordance with the reference current to at least partially cancel the field flux generated by permanent magnets with the field flux generated by the field current component.

20. The method according to claim 19 wherein,

an optimum primary current is dependent on the voltage of the battery when the output state of the synchronous motor is in a predetermined region and is independent of the voltage of the battery when the output state of the synchronous motor is not in the predetermined region, the optimum primary current representative of the reference current where the reference torque is realized as the torque of the synchronous motor and the efficiency of the synchronous motor substantially becomes a maximum efficiency;

said fourth step includes;

a sixth step of computing a first optimum reference current by referring to a relationship among the voltage of the battery, the optimum current and the output state of the synchronous motor, using the constant value voltage of the battery and the output state of the synchronous motor in a region where the value of the optimum primary current depends on the voltage of the battery;

a seventh step of determining a second optimum reference current in accordance with the optimum primary current in a region where the optimum primary current does not depend on the voltage of the battery;

an eighth step of selecting either of the first optimum reference current or the second optimum reference current on the basis of a relationship between the magnitude of the first optimum reference current and that of the second optimum reference current; and

a ninth step of determining selected optimum reference current as the reference current.

21. The method according to claim 20 which further comprises the steps of:

storing a coefficient of a mathematical equation in the output state of the synchronous motor associated therewith, the mathematical equation approximately representing a relationship between the voltage of the battery and the optimum current in a region where the value of the optimum current depends on the voltage of the battery; and

storing the optimum primary current in a region where the optimum primary current does not depend on the voltage of the battery; and

wherein

said sixth step further includes a step of reading the coefficient of the equation in accordance with the output state of the synchronous motor, and computing the first optimum reference current by the use of the read coefficient, a constant value voltage of the battery and the mathematical equation; and

said seventh step further includes a step of determining the second optimum reference current by reading the optimum primary current in the region where the optimum primary current does not depend on the voltage of the battery.

22. The method according to claim 21 wherein the mathematical equation is a predetermined linear equation, and the coefficient to be stored is at least one of an intercept or an inclination of the linear equation.