Control apparatus for electric motor

• US 6,696,812 B2
• Filed: 09/20/2001
• Issued: 02/24/2004
• Est. Priority Date: 04/11/2001
• Status: Expired due to Term

• Current Assignee: Hitachi, Ltd.
• Original Assignee: Hitachi, Ltd.
• Inventors: Kaneko, Satoru, Masaki, Ryoso, Morooka, Yasuo, Katayama, Hiroshi, Hombu, Mitsuyuki
• Primary Examiner(s): Leykin, Rita
• Application Number:
  US09/956,251
• Publication Number:
  US 20020163319A1
• Time in Patent Office: 887 Days
• Field of Search: 318/700, 318/720, 318/721, 318/722, 318/715, 318/711
• US Class Current: 318/700
• CPC Class Codes: B60L 15/025 using field orientation; Vector control; Direct Torque Control [DTC]
• CPC Class Codes: B60L 2210/20 AC to AC converters
• CPC Class Codes: B60L 2220/14 Synchronous machines
• CPC Class Codes: B60L 50/51 characterised by AC-motors
• CPC Class Codes: H02P 21/04 specially adapted for very low speeds
• CPC Class Codes: H02P 21/18 Estimation of position or speed
• 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
• CPC Class Codes: Y02T 10/72 Electric energy management in electromobility
• CPC Class Codes: Y10S 903/903 having energy storing means, e.g. battery, capacitor
• CPC Class Codes: Y10S 903/916 with plurality of drive axles

Abstract

A control apparatus controls a voltage applied to an AC motor from a power converter with a PWM signal, and has two different magnetic pole position-estimating units which estimate a rotor magnetic pole position of the AC motor, and has a switching unit which selects any one of these two kinds of magnetic pole position-estimating units.

Claims

1. A control apparatus for a motor that controls a voltage applied to an AC motor from a power converter by a PWM signal, wherein the control apparatus for the motor estimates a rotor magnetic pole position of the AC motor with at least two different magnetic pole position-estimating methods, estimates the rotor magnetic pole position of the AC motor with selectively switching the at least two magnetic pole position-estimating methods according to an operating state of the AC motor throughout an operating range of the AC motor,

wherein, when the at least two magnetic pole position-estimating methods are switched, a rotor magnetic pole position of the AC motor is calculated on the basis of an operating state of the AC motor in a predetermined period.

10. An electric vehicle, comprising:

an AC motor which drives wheels;

an on board power source;

a power converter which converts into alternating current power direct current power supplied from said on board power supply and supplies the alternating current power to the AC motor; and

a control apparatus which controls the power converter,

wherein the control apparatus is a control apparatus according to claim 1.

11. An electric vehicle, comprising:

an internal combustion engine which drives either of front or rear wheels;

an AC motor which drives the other wheels;

an on board power supply;

a power converter which converts into alternating current power the direct current power supplied from said on board power supply and supplies the alternating current power to the AC motor; and

a control apparatus which controls the power converter,

wherein the control apparatus is a control apparatus according to claim 1.

2. A control apparatus for a motor that controls a voltage applied to an AC motor from a power converter by a PWM signal, wherein the control apparatus for the motor estimates a rotor magnetic pole position of the AC motor with a magnetic pole position-estimating method based on a detected current value of the AC motor detected with at least synchronizing with a carrier of the PWM signal, and a magnetic vole position-estimating method based on a detected current value of the AC motor detected in an equal potential state of the AC motor, and estimates a rotor magnetic pole position of the AC motor by switching the at least two magnetic pole position-estimating methods according to an operating state of the AC motor throughout an operating range of the AC motor

wherein, when the at least two magnetic pole position-estimating methods are switched, a rotor magnetic pole position of the AC motor is calculated on the basis of an operating state of the AC motor in a predetermined period.

12. An electric vehicle, comprising:

an AC motor which drives wheels;

an on board power source;

a power converter which converts into alternating current power direct current power supplied from said on board power supply and supplies the alternating current power to the AC motor; and

a control apparatus which controls the power converter,

wherein the control apparatus is a control apparatus according to claim 2.

20. An electric vehicle, comprising:

an internal combustion engine which drives either of front or rear wheels;

an AC motor which drives the other wheels;

an on board power supply;

a power converter which converts into alternating current power the direct current power supplied from said on board power supply and supplies the alternating current power to the AC motor; and

a control apparatus which controls the power converter,

wherein the control apparatus is a control apparatus according to claim 2.

3. A control apparatus for a motor that controls a voltage applied to an AC motor from a power converter by a PWM signal, wherein the control apparatus for the motor estimates a rotor magnetic pole position of the AC motor with at least two different magnetic pole position-estimating methods, estimates the rotor magnetic role position of the AC motor with selectively switching the at least two magnetic pole position-estimating methods according to an operating state of the AC motor throughout an operating range of the AC motor

wherein, when the at least two magnetic pole position-estimating methods are switched, a variation amount of the rotor magnetic pole position of the AC motor estimated by a magnetic pole position-estimating method after switching on the basis of an operating state of the AC motor in a predetermined period.

13. An electric vehicle, comprising:

an AC motor which drives wheels;

an on board power source;

a power converter which converts into alternating current power direct current power supplied from said on board power supply and supplies the alternating current power to the AC motor; and

a control apparatus which controls the power converter,

wherein the control apparatus is a control apparatus according to claim 3.

21. An electric vehicle, comprising:

an internal combustion engine which drives either of front or rear wheels;

an AC motor which drives the other wheels;

an on board power supply;

a power converter which converts into alternating current power the direct current power supplied from said on board power supply and supplies the alternating current power to the AC motor; and

a control apparatus which controls the power converter,

wherein the control apparatus is a control apparatus according to claim 3.

4. A control apparatus for a motor that controls a voltage applied to an AC motor from a power converter by a PWM signal, wherein the control apparatus for the motor estimates a rotor magnetic pole position of the AC motor with at least two different magnetic pole position-estimating methods, estimates the rotor magnetic pole position of the AC motor with selectively switching the at least two magnetic pole position-estimating methods according to an operating state of the AC motor throughout an operating range of the AC motor

wherein, when the at least two magnetic pole position-estimating methods are switched, a variation amount of the rotor magnetic pole position of the AC motor estimated by a magnetic pole position-estimating method after switching on the basis of an operating state of the AC motor in a predetermined period.

14. An electric vehicle, comprising:

an AC motor which drives wheels;

an on board power source;

a power converter which converts into alternating current power direct current power supplied from said on board power supply and supplies the alternating current power to the AC motor; and

a control apparatus which controls the power converter,

wherein the control apparatus is a control apparatus according to claim 4.

22. An electric vehicle, comprising:

an internal combustion engine which drives either of front or rear wheels;

an AC motor which drives the other wheels;

an on board power supply;

a power converter which converts into alternating current power the direct current power supplied from said on board power supply and supplies the alternating current power to the AC motor; and

a control apparatus which controls the power converter,

wherein the control apparatus is a control apparatus according to claim 4.

5. A control apparatus for a motor that controls a voltage applied to an AC motor from a power converter by a PWM signal, wherein the control apparatus for the motor estimates a rotor magnetic pole position of the AC motor with a magnetic role position-estimating method based on a detected current value of the AC motor detected with at least synchronizing with a carrier of the PWM signal, and a magnetic pole position-estimating method based on a detected current value of the AC motor detected in an equal potential state of the AC motor, and estimates a rotor magnetic pole position of the AC motor by switching the at least two magnetic pole position-estimating methods according to an operating state of the AC motor throughout an operating range of the AC motor

wherein, when the at least two magnetic pole position-estimating methods are switched, current detection timing of the AC motor is changed.

15. An electric vehicle, comprising:

an AC motor which drives wheels;

an on board power source;

a power converter which converts into alternating current power direct current power supplied from said on board power supply and supplies the alternating current power to the AC motor; and

a control apparatus which controls the power converter,

wherein the control apparatus is a control apparatus according to claim 5.

23. An electric vehicle, comprising:

an internal combustion engine which drives either of front or rear wheels;

an AC motor which drives the other wheels;

an on board power supply;

a power converter which converts into alternating current power the direct current power supplied from said on board power supply and supplies the alternating current power to the AC motor; and

a control apparatus which controls the power converter,

wherein the control apparatus is a control apparatus according to claim 5.

6. A control apparatus for a motor that controls a voltage applied to an AC motor from a power converter by a PWM signal, wherein the control apparatus for the motor estimates a rotor magnetic pole position of the AC motor with at least two different magnetic pole position-estimating methods, estimates the rotor magnetic pole position of the AC motor with selectively switching the at least two magnetic pole position-estimating methods according to an operating state of the AC motor throughout an operating range of the AC motor

wherein, when the at least two magnetic pole position-estimating methods are switched, current detection timing of the AC motor is changed.

16. An electric vehicle, comprising:

an AC motor which drives wheels;

an on board power source;

a power converter which converts into alternating current power direct current power supplied from said on board power supply and supplies the alternating current power to the AC motor; and

a control apparatus which controls the power converter,

wherein the control apparatus is a control apparatus according to claim 6.

24. An electric vehicle, comprising:

an internal combustion engine which drives either of front or rear wheels;

an AC motor which drives the other wheels;

an on board power supply;

a power converter which converts into alternating current power the direct current power supplied from said on board power supply and supplies the alternating current power to the AC motor; and

a control apparatus which controls the power converter,

wherein the control apparatus is a control apparatus according to claim 6.

7. A control apparatus for a motor that controls a voltage applied to an AC motor from a power converter by a PWM signal, comprising:

carrier synchronization type position-estimating means for estimating a rotor magnetic pole position of the AC motor on the basis of a detected current value of the AC motor detected by synchronizing with a carrier of the PWM signal;

equal potential type position-estimating means for estimating a rotor magnetic pole position of the AC motor on the basis of a detected current value of the AC motor detected in an equal potential state of the AC motor; and

means for switching magnetic pole position-estimating means from between the carrier synchronization type position-estimating means and equal potential type position-estimating means throughout an operating range of the AC motor according to an operating state of the AC motor,

wherein the switching means calculates a rotor magnetic pole position of the AC motor on the basis of an operating state of the AC motor in a predetermined period.

17. An electric vehicle, comprising:

an AC motor which drives wheels;

an on board power source;

a power converter which converts into alternating current power direct current power supplied from said on board power supply and supplies the alternating current power to the AC motor; and

a control apparatus which controls the power converter,

wherein the control apparatus is a control apparatus according to claim 7.

25. An electric vehicle, comprising:

an internal combustion engine which drives either of front or rear wheels;

an AC motor which drives the other wheels;

an on board power supply;

a power converter which converts into alternating current power the direct current power supplied from said on board power supply and supplies the alternating current power to the AC motor; and

a control apparatus which controls the power converter,

wherein the control apparatus is a control apparatus according to claim 7.

8. A control apparatus for a motor that controls a voltage applied to an AC motor from a power converter by a PWM signal, comprising:

carrier synchronization type position-estimating means for estimating a rotor magnetic pole position of the AC motor on the basis of a detected current value of the AC motor detected by synchronizing with a carrier of the PWM signal;

equal potential type position-estimating means for estimating a rotor magnetic role position of the AC motor on the basis of a detected current value of the AC motor detected in an equal potential state of the AC motor; and

means for switching magnetic pole position-estimating means from between the carrier synchronization type position-estimating means and equal potential type position-estimating means throughout an operating range of the AC motor according to an operating state of the AC motor,

wherein the switching means restricts a variation amount of a rotor magnetic pole position of the AC motor, which is estimated by magnetic pole position-estimating means after switching, on the basis of an operating state of the AC motor in a predetermined period.

18. An electric vehicle, comprising:

an AC motor which drives wheels;

an on board power source;

a power converter which converts into alternating current power direct current power supplied from said on board power supply and supplies the alternating current power to the AC motor; and

a control apparatus which controls the power converter,

wherein the control apparatus is a control apparatus according to claim 8.

26. An electric vehicle, comprising:

an internal combustion engine which drives either of front or rear wheels;

an AC motor which drives the other wheels;

an on board power supply;

a power converter which converts into alternating current power the direct current power supplied from said on board power supply and supplies the alternating current power to the AC motor; and

a control apparatus which controls the power converter,

wherein the control apparatus is a control apparatus according to claim 8.

9. A control apparatus for a motor that controls a voltage applied to an AC motor from a power converter by a PWM signal, comprising:

carrier synchronization type position-estimating means for estimating a rotor magnetic role position of the AC motor on the basis of a detected current value of the AC motor detected by synchronizing with a carrier of the PWM signal;

equal potential type position-estimating means for estimating a rotor magnetic pole position of the AC motor on the basis of a detected current value of the AC motor detected in an equal potential state of the AC motor; and

means for switching magnetic pole position-estimating means from between the carrier synchronization type position-estimating means and equal potential type position-estimating means throughout an operating range of the AC motor according to an operating state of the AC motor,

wherein the switching means changes current detection timing of the AC motor at the time of switching the magnetic pole position-estimating means.

19. An electric vehicle, comprising:

an AC motor which drives wheels;

an on board power source;

a power converter which converts into alternating current power direct current power supplied from said on board power supply and supplies the alternating current power to the AC motor; and

a control apparatus which controls the power converter,

wherein the control apparatus is a control apparatus according to claim 9.

27. An electric vehicle, comprising:

an internal combustion engine which drives either of front or rear wheels;

an AC motor which drives the other wheels;

an on board power supply;

a power converter which converts into alternating current power the direct current power supplied from said on board power supply and supplies the alternating current power to the AC motor; and

a control apparatus which controls the power converter,

wherein the control apparatus is a control apparatus according to claim 9.