Control system for multiphase rotary machines

• US 8,098,032 B2
• Filed: 12/19/2008
• Issued: 01/17/2012
• Est. Priority Date: 12/19/2007
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Yamada, Takahiro
• Primary Examiner(s): Ro, Bentsu
• Assistant Examiner(s): DINH, THAI T
• Application Number:
  US12/339,829
• Publication Number:
  US 20090160377A1
• Time in Patent Office: 1,124 Days
• Field of Search: 318/700, 318/400.01, 318/400.02, 318/400.14, 318/400.26, 318/400.27, 318/400.28, 318/400.35, 318/722, 318/724, 318/432, 318/479, 318/504
• US Class Current: 318/400.02
• CPC Class Codes: H02M 7/53871 with automatic control of output voltage or current
• 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
• CPC Class Codes: H02P 21/00 Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation

Abstract

A control system is designed to use a plurality of voltage vectors expressing a switching mode for a switching circuit to thereby control a difference between a current actually flowing through a multiphase rotary machine and a command current value therefor within an allowable range. The plurality of voltage vectors include a zero vector that allows line-to-line voltages in the multiphase rotary machine to be all zero, and a plurality of non-zero vectors that allow at least one of line-to-line voltage in the multiphase rotary machine to be nonzero. A drive unit is configured to switch only one phase of the switching element for each shift of the switching mode to thereby shift, in accordance with a preset switching pattern, the switching mode from a specified one of the plurality of non-zero vectors to the specified one of the plurality of non-zero vectors via the zero vector.

Claims

1. A control system for a rotary machine, the control system driving a switching element of a power converter to control a difference between a current actually flowing in the rotary machine and a command value therefor within an allowable range, the control system comprising:

a calculating means that calculate a direction of change in the difference during an operating condition of the power converter being set to a zero vector; and

a drive means comprising a reverse control means that switches, based on the calculated direction of change and the difference as inputs, a switching mode of the power converter phase by phase to drive the switching element in accordance with a switching pattern in which the operating condition of the power converter is shifted from a specified non-zero vector to the specified non-zero vector via the zero vector, thus controlling the difference such that the difference is shifted in a direction opposite to the direction of change in the difference,

wherein a plurality of voltage vectors express the operating condition, the plurality of voltage vectors define a plurality of regions around a point at which the difference is zero, and when a steady-state condition in that;

one voltage vector whose starting point is the point at which the difference is zero defines one boundary of one of the plurality of regions, and the difference is located out of the allowable range is met, the reverse control means;

sets the one voltage vector to a first switching vector, the one voltage vector being the closest to a subtraction of the actually flowing current from the command value in the plurality of voltage vectors, the one of the plurality of regions containing a vector in the direction of change;

sets, to a second switching vector, an alternative one voltage vector in some of the plurality of voltage vectors except for the one voltage vector, the some of the plurality of voltage vectors defining the boundary of the one of the plurality of regions; and

controls the difference based on a switching pattern in which a switching vector is shifted in a order of the first switching vector, the second switching vector, and the first switching vector.

2. The control system according to claim 1, wherein shift from the first switching vector to the second switching vector in the switching pattern is carried out when the difference is shifted from one of the plurality of regions separated by the first and second switching vectors to an outside of the one of the plurality of regions while the difference is not located in one region in the plurality of regions, the one region being located in a direction opposite to the direction of change relative to the point at which the difference is zero.

3. The control system according to claim 2, wherein the shift from the first switching vector to the second switching vector in the switching pattern is carried out when the difference is increased out of the allowable range while the difference is not located in the one region in the plurality of regions, the one region being located in a direction opposite to the direction of change relative to the point at which the difference is zero.

4. The control system according to claim 1, wherein shift from the second switching vector to the first switching vector in the switching pattern is carried out when the difference is located in one of the plurality of regions, the one of the plurality of regions being point symmetrical to a region in which the difference is located at a time of the shift to the second switching vector.

5. The control system according to claim 4, wherein the shift from the second switching vector to the first switching vector in the switching pattern is carried out even if:

the difference is not located in one region in the plurality of regions, the one region being located in a direction opposite to the direction of change relative to the point at which the difference is zero; and

the difference is increased out of the allowable range.

6. The control system according to claim 1, wherein, after shift from the second switching vector to the first switching vector, the drive means shifts the operating condition of the power converter to the zero vector in the switching pattern when the difference crosses a line, the line extending from the point at which the difference is zero in the calculated direction of change and in a direction opposite to the calculated direction of change.

7. The control system according to claim 1, wherein, after shift from the second switching vector to the first switching vector, the drive means shifts the operating condition of the power converter to the zero vector in the switching pattern when:

the difference is located in one region in the plurality of regions, the one region being located in a direction opposite to the direction of change relative to the point at which the difference is zero; and

the difference is increased out of the allowable range.

8. The control system according to claim 1, wherein, under the operating condition of the power converter being set to the second switching vector, the drive means shifts the operating condition of the power converter to the zero vector in the switching pattern when:

the difference is located in one region in the plurality of regions, the one region being located in a direction opposite to the direction of change relative to the point at which the difference is zero; and

the difference is increased out of the allowable range.

9. The control system according to claim 1, wherein, under the operating condition of the power converter being set to the first switching vector at a moment when the steady-state condition is met, the drive means shifts the operating condition of the power converter to the zero vector in the switching pattern when:

the difference is located in one region in the plurality of regions; and

the difference crosses a line, the line extending from the point at which the difference is zero in the calculated direction of change and in a direction opposite to the calculated direction of change.

10. The control system according to claim 1, wherein, under the operating condition of the power converter being set to the first switching vector at a moment when the steady-state condition is met, the drive means shifts the operating condition of the power converter to the zero vector in the switching pattern when:

the difference is located in one region in the plurality of regions, the one region being located in a direction opposite to the direction of change relative to the point at which the difference is zero; and

the difference is increased out of the allowable range.

11. The control system according to claim 1, wherein the drive means comprises a transient output means that, under the operating condition of the power converter being set to the first switching vector following the second switching vector, sets the operating condition of the power converter to the one voltage vector being the closest to the subtraction when:

the difference is not located in one region in the plurality of regions, the one region being located in a direction opposite to the direction of change relative to the point at which the difference is zero; and

the difference is increased out of the allowable range.

12. The control system according to claim 11, wherein, during the power converter being operated by the transient output means, the transient output means updates the operating condition of the power converter to the one voltage vector being the closest to the subtraction when:

the one voltage vector being the closest to the subtraction does not define the one boundary of the one of the plurality of regions;

the one of the plurality of regions containing the vector in the direction of change, the difference is not located in one region in the plurality of regions, the one region being located in a direction opposite to the direction of change relative to the point at which the difference is zero; and

the difference is increased out of the allowable range.

13. The control system according to claim 11, wherein, under the power converter being operated by the transient output means, the drive means shifts the operating condition to the zero vector when the difference crosses a line, the line extending from the point at which the difference is zero in the calculated direction of change and in a direction opposite to the calculated direction of change.

14. The control system according to claim 11, wherein, under the power converter being operated by the transient output means, the drive means shifts the operating condition to the zero vector when:

the difference is located in one region in the plurality of regions, the one region being located in a direction opposite to the direction of change relative to the point at which the difference is zero; and

the difference is increased out of the allowable range.

15. The control system according to claim 1, wherein the drive means comprises a transient output means that, under the operating condition of the power converter being set to the zero vector, sets the operating condition of the power converter to the one voltage vector being the closest to the subtraction when:

the one voltage vector being the closest to the subtraction does not define the one boundary of the one of the plurality of regions, the one of the plurality of regions containing the vector in the direction of change; and

the difference is increased out of the allowable range.

16. The control system according to claim 1, wherein the reverse control means comprises a specifying means that specifies the first switching vector based on a magnitude relation between:

an inner product of a vector of the subtraction and one vector in the plurality of voltage vectors that define the plurality of regions, and an inner product of the vector of the subtraction and an alternative vector in the plurality of voltage vectors that define the plurality of regions.

17. The control system according to claim 1, further comprising:

a subtraction existing region determining means that determines an existence region of the subtraction based on a magnitude relation between;

an inner product of a vector of the subtraction and one vector in the plurality of voltage vectors that define the plurality of regions, and an inner product of the vector of the subtraction and an alternative vector in the plurality of voltage vectors that define the plurality of regions.

18. The control system according to claim 1, further comprising:

a change-direction region determining means that determines an existence region of a vector of the direction of change with a starting point at which the difference is zero based on a magnitude relation between;

an inner product of a vector of the subtraction and one vector in the plurality of voltage vectors that define the plurality of regions, and an inner product of the vector of the subtraction and an alternative vector in the plurality of voltage vectors that define the plurality of regions.

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

a specifying means that specifies the first switching vector based on a sign of a component of a vector of the subtraction and a magnitude relation between;

an inner product of the vector of the subtraction and one vector in the plurality of voltage vectors that define the plurality of regions, and an inner product of the vector of the subtraction and an alternative vector in the plurality of voltage vectors that define the plurality of regions;

a subtraction existing region determining means that determines an existence region of the subtraction based on the sign of the component of the vector of the subtraction and a magnitude relation between;

an inner product of the vector of the subtraction and one vector in the plurality of voltage vectors that define the plurality of regions, and an inner product of the vector of the subtraction and an alternative vector in the plurality of voltage vectors that define the plurality of regions; and

a change-direction region determining means that determines an existence region of a vector of the direction of change with a starting point at which the difference is zero based on the sign of the component of the vector of the subtraction and a magnitude relation between;

an inner product of the vector of the subtraction and one vector in the plurality of voltage vectors that define the plurality of regions, and an inner product of the vector of the subtraction and an alternative vector in the plurality of voltage vectors that define the plurality of regions,

wherein each of the specifying means, subtraction existing region determining means, and change-direction region determining means uses a common logic function to switch a corresponding vector as a determination target of the corresponding sing, a corresponding vector as a calculation target of corresponding each inner product, and a corresponding output value.

20. The control system according to claim 1, wherein the calculating means calculates, based on a measured value of the direction of change of the difference during a period of the zero vector, the direction of change during a next period of the zero vector.