Control apparatus for rotating electric machine

• US 9,899,944 B2
• Filed: 05/12/2017
• Issued: 02/20/2018
• Est. Priority Date: 05/13/2016
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Irie, Koji
• Primary Examiner(s): DUDA, RINA I
• Application Number:
  US15/593,720
• Publication Number:
  US 20170331403A1
• Time in Patent Office: 284 Days
• Field of Search: 318434, 318432, 318727, 318609, 318610, 31840002
• CPC Class Codes: H02P 21/0003 Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
• CPC Class Codes: H02P 21/05 specially adapted for damping motor oscillations, e.g. for reducing hunting
• CPC Class Codes: H02P 27/06 using dc to ac converters or inverters H02P27/05 takes precedence
• CPC Class Codes: H02P 6/085 in a bridge configuration
• CPC Class Codes: H02P 6/15 Controlling commutation time

Abstract

In a control apparatus for a rotating electric machine, a phase feedback gain is set such that first and second conditions are met. The first condition is that gain margin and phase margin in frequency characteristics of a first loop transfer function are ensured. The second condition is that a gain intersection angular frequency in frequency characteristics of the first loop transfer function is lower than respective resonance angular frequency in frequency characteristics of first and second transfer functions. An amplitude feedback gain is set such that third and fourth conditions are met. The third condition is that gain margin and phase margin in frequency characteristics of a second loop transfer function are ensured. The fourth condition is that a gain intersection angular frequency in frequency characteristics of a second loop transfer function is lower than respective resonance angular frequency in frequency characteristics of third and fourth transfer functions.

Claims

1. A control apparatus for a rotating electric machine that is electrically connected to an inverter, the control apparatus comprising:

a phase calculating unit that calculates a voltage phase that is a phase of a voltage vector of a voltage applied to the rotating electric machine, as a manipulated variable for performing feedback control to control a torque of the rotating electric machine to a command torque;

an amplitude calculating unit that calculates a voltage amplitude that is a magnitude of the voltage vector, as a manipulated variable for performing feedback control to control a current flowing to the rotating electric machine to a command current corresponding to the command torque;

a control unit that controls the torque to the command torque by operating the inverter based on the voltage phase and the voltage amplitude;

a phase gain setting unit that sets a phase feedback gain used for feedback control of the phase calculating unit such that a first condition and a second condition are met, the first condition being that a gain margin and a phase margin in frequency characteristics of a first loop transfer function are ensured, the second condition being that a gain intersection angular frequency in frequency characteristics of the first loop transfer function is lower than respective resonance angular frequency in frequency characteristics of a first transfer function and a second transfer function,

the first loop transfer function being a loop transfer function of which an input is the voltage phase and an output is the torque or a value obtained by a high frequency component being removed from the torque, the loop transfer function including a transfer function for feedback control of the phase calculating unit and a phase-side transfer function,

the phase-side transfer function being a transfer function that expresses frequency characteristics of the rotating electric machine of which an input is the voltage phase and an output is the torque, the transfer function including the first transfer function and the second transfer function,

the first transfer function being a transfer function that expresses frequency characteristics of the rotating electric machine of which an input is the voltage phase and an output is the torque,

the second transfer function being a transfer function that expresses frequency characteristics of the rotating electric machine of which an input is the voltage amplitude and an output is the torque; and

an amplitude gain setting unit that sets an amplitude feedback gain used for feedback control of the amplitude calculating unit such that a third condition and a fourth condition are met, the third condition being that a gain margin and a phase margin in frequency characteristics of a second loop transfer function are ensured, the fourth condition being that a gain intersection angular frequency in frequency characteristics of a second loop transfer function is lower than respective resonance angular frequency in frequency characteristics of a third transfer function and a fourth transfer function,

the second loop transfer function being a loop transfer function of which an input is the voltage amplitude and an output is the command current or a value obtained by a high frequency component being removed from the command current, the loop transfer function including a transfer function for feedback control of the amplitude calculating unit and an amplitude-side transfer function,

the amplitude-side transfer function being a transfer function that expresses frequency characteristics of the rotating electric machine of which an input is the phase amplitude and an output is the command current, the transfer function including the third transfer function and the fourth transfer function,

the third transfer function being a transfer function that expresses frequency characteristics of the rotating electric machine of which an input is the voltage phase and an output is the command current,

the fourth transfer function being a transfer function that expresses frequency characteristics of the rotating electric machine of which an input is the voltage amplitude and an output is the command current.

2. The control apparatus for a rotating electric machine according to claim 1, wherein:

the phase-side transfer function includes the first transfer function and the second transfer function in a steady state; and

the amplitude-side transfer function includes the third transfer function and the fourth transfer function in the steady state.

3. The control apparatus for a rotating electric machine according to claim 1, wherein:

the second transfer function in the phase-side transfer function is multiplied by a value obtained by a change amount of the voltage amplitude being divided by a change amount of the voltage phase;

the control apparatus further comprises a determining unit (30) that determines whether or not the voltage amplitude is fixed during operation of the inverter based on the voltage phase; and

the phase gain setting unit uses the first loop transfer function that includes the phase-side transfer function from which the second transfer function is removed to set the phase feedback gain, when the determining unit determines that the voltage amplitude is fixed.

4. The control apparatus for a rotating electric machine according to claim 1, wherein:

the second transfer function in the phase-side transfer function is multiplied by a value obtained by a change amount of the voltage amplitude being divided by a change amount of the voltage phase; and

the phase gain setting unit calculates the phase-side transfer function used to set the phase feedback gain based on the respective change amounts of the voltage amplitude and the voltage phase when the inverter is operated based on the voltage phase and the voltage amplitude.

5. The control apparatus for a rotating electric machine according to claim 4, wherein:

the command current is a value calculated based maximum torque per ampere control; and

the change amount of the voltage amplitude and the change amount of the voltage phase are defined as change amounts when the command current for actualizing maximum torque per ampere control is minutely changed.

6. The control apparatus for a rotating electric machine according to claim 1, further comprising:

an information acquiring unit that acquires operation point information of the rotating electric machine that includes at least one of electrical angular frequency information of the rotating electric machine, torque information of the rotating electric machine, and power supply voltage information of the inverter;

a phase storage unit that stores therein the phase feedback gain that is associated with the operation point information and meets the first condition and the second condition; and

an amplitude storage unit that stores therein the amplitude feedback gain that is associated with the operation information and meets the third condition and the fourth condition, wherein;

the phase gain setting unit sets the phase feedback gain based on the operation point information acquired by the information acquiring unit and the stored information of the storage unit; and

the amplitude gain setting unit sets the amplitude feedback gain based on the operation point information acquired by the information acquiring unit and the stored information of the storage unit.

7. The control apparatus for a rotating electric machine according to claim 1, further comprising:

an information acquiring unit that acquires operation point information of the rotating electric machine that includes at least electrical angular frequency information of the rotating electric machine, and power supply voltage information of the inverter;

a phase storage unit that stores therein the phase feedback gain that is associated with ratio information that is information on a ratio of the electrical angular frequency to the power supply voltage and meets the first condition and the second condition; and

an amplitude storage unit that stores therein the amplitude feedback gain that is associated with the ratio information and meets the third condition and the fourth condition, wherein;

the phase gain setting unit sets the phase feedback gain based on the operation point information acquired by the information acquiring unit and the stored information of the storage unit; and

the amplitude gain setting unit sets the amplitude feedback gain based on the operation point information acquired by the information acquiring unit and the stored information of the storage unit.

8. The control apparatus for a rotating electric machine according to claim 1, wherein:

the first loop transfer function and the second loop transfer function each include a dead time element of a control system that performs feedback control to control the torque to the command torque.

9. The control apparatus for a rotating electric machine according to claim 1, wherein:

the feedback control of the phase calculating unit and the amplitude calculating unit is proportional-integral control;

the phase gain setting unit sets a first proportional gain and a first integral gain as the phase feedback gain such that the first condition and the second condition are met and an integral time of the integral control is the shortest; and

the amplitude gain setting unit sets a second proportional gain and a second integral gain as the amplitude feedback gain such that the third condition and the fourth condition are met and an integral time of the integral control is the shortest.

10. The control apparatus for a rotating electric machine according to claim 1, wherein:

the first transfer function, the second transfer function, the third transfer function, and the fourth transfer function are each transfer functions prescribed by an operation point of the rotating electric machine;

the control apparatus further comprises an information acquiring unit that acquires operation point information of the rotating electric machine;

the phase gain setting unit sets the phase feedback gain based on the operation point information acquired by the information acquiring unit; and

the amplitude gain setting unit sets the amplitude feedback gain based on the operation point information acquired by the information acquiring unit.

11. The control apparatus for a rotating electric machine according to claim 1, wherein;

the command current is a current that is a component of the current vector in a non-interfering axis direction, the non-interfering axis being a coordinate axis in a direction in which change in a current vector of a current flowing to the rotating electric machine is zero when the voltage phase minutely changes, in a rotary coordinate system of the rotating electric machine.

12. The control apparatus for a rotating electric machine according to claim 2, wherein:

the second transfer function in the phase-side transfer function is multiplied by a value obtained by a change amount of the voltage amplitude being divided by a change amount of the voltage phase;

the control apparatus further comprises a determining unit that determines whether or not the voltage amplitude is fixed during operation of the inverter based on the voltage phase; and

the phase gain setting unit uses the first loop transfer function that includes the phase-side transfer function from which the second transfer function is removed to set the phase feedback gain, when the determining unit determines that the voltage amplitude is fixed.

13. The control apparatus for a rotating electric machine according to claim 2, wherein:

the second transfer function in the phase-side transfer function is multiplied by a value obtained by a change amount of the voltage amplitude being divided by a change amount of the voltage phase; and

the phase gain setting unit calculates the phase-side transfer function used to set the phase feedback gain based on the respective change amounts of the voltage amplitude and the voltage phase when the inverter is operated based on the voltage phase and the voltage amplitude.

14. The control apparatus for a rotating electric machine according to claim 3, wherein:

the second transfer function in the phase-side transfer function is multiplied by a value obtained by a change amount of the voltage amplitude being divided by a change amount of the voltage phase; and

the phase gain setting unit calculates the phase-side transfer function used to set the phase feedback gain based on the respective change amounts of the voltage amplitude and the voltage phase when the inverter is operated based on the voltage phase and the voltage amplitude.

15. The control apparatus for a rotating electric machine according to claim 2, further comprising:

an information acquiring unit that acquires operation point information of the rotating electric machine that includes at least one of electrical angular frequency information of the rotating electric machine, torque information of the rotating electric machine, and power supply voltage information of the inverter;

a phase storage unit that stores therein the phase feedback gain that is associated with the operation point information and meets the first condition and the second condition; and

an amplitude storage unit that stores therein the amplitude feedback gain that is associated with the operation information and meets the third condition and the fourth condition, wherein;

the phase gain setting unit sets the phase feedback gain based on the operation point information acquired by the information acquiring unit and the stored information of the storage unit; and

the amplitude gain setting unit sets the amplitude feedback gain based on the operation point information acquired by the information acquiring unit and the stored information of the storage unit.

16. The control apparatus for a rotating electric machine according to claim 2, further comprising:

an information acquiring unit that acquires operation point information of the rotating electric machine that includes at least electrical angular frequency information of the rotating electric machine, and power supply voltage information of the inverter;

a phase storage unit that stores therein the phase feedback gain that is associated with ratio information that is information on a ratio of the electrical angular frequency to the power supply voltage and meets the first condition and the second condition; and

an amplitude storage unit that stores therein the amplitude feedback gain that is associated with the ratio information and meets the third condition and the fourth condition, wherein;

the phase gain setting unit sets the phase feedback gain based on the operation point information acquired by the information acquiring unit and the stored information of the storage unit; and

the amplitude gain setting unit sets the amplitude feedback gain based on the operation point information acquired by the information acquiring unit and the stored information of the storage unit.

17. A control method for a rotating electric machine that is electrically connected to an inverter, the control method comprising:

calculating, by a control apparatus provided in the rotating machine, a voltage phase that is a phase of a voltage vector of a voltage applied to the rotating electric machine, as a manipulated variable for performing feedback control to control a torque of the rotating electric machine to a command torque;

calculating, by the control apparatus, a voltage amplitude that is a magnitude of the voltage vector, as a manipulated variable for performing feedback control to control a current flowing to the rotating electric machine to a command current corresponding to the command torque;

controlling, by the control apparatus, the torque to the command torque by operating the inverter based on the voltage phase and the voltage amplitude;

setting, by the control apparatus, a phase feedback gain such that a first condition and a second condition are met, the first condition being that a gain margin and a phase margin in frequency characteristics of a first loop transfer function are ensured, the second condition being that a gain intersection angular frequency in frequency characteristics of the first loop transfer function is lower than respective resonance angular frequency in frequency characteristics of a first transfer function and a second transfer function,

the first loop transfer function being a loop transfer function of which an input is the voltage phase and an output is the torque or a value obtained by a high frequency component being removed from the torque, the loop transfer function including a transfer function for feedback control of the phase calculating unit and a phase-side transfer function,

the phase-side transfer function being a transfer function that expresses frequency characteristics of the rotating electric machine of which an input is the voltage phase and an output is the torque, the transfer function including the first transfer function and the second transfer function,

the first transfer function being a transfer function that expresses frequency characteristics of the rotating electric machine of which an input is the voltage phase and an output is the torque,

the second transfer function being a transfer function that expresses frequency characteristics of the rotating electric machine of which an input is the voltage amplitude and an output is the torque; and

setting, by the control apparatus, an amplitude feedback gain such that a third condition and a fourth condition are met, the third condition being that a gain margin and a phase margin in frequency characteristics of a second loop transfer function are ensured, the fourth condition being that a gain intersection angular frequency in frequency characteristics of a second loop transfer function is lower than respective resonance angular frequency in frequency characteristics of a third transfer function and a fourth transfer function,

the second loop transfer function being a loop transfer function of which an input is the voltage amplitude and an output is the command current or a value obtained by a high frequency component being removed from the command current, the loop transfer function including a transfer function for feedback control of the amplitude calculating unit and an amplitude-side transfer function,

the amplitude-side transfer function being a transfer function that expresses frequency characteristics of the rotating electric machine of which an input is the phase amplitude and an output is the command current, the transfer function including the third transfer function and the fourth transfer function,

the third transfer function being a transfer function that expresses frequency characteristics of the rotating electric machine of which an input is the voltage phase and an output is the command current,

the fourth transfer function being a transfer function that expresses frequency characteristics of the rotating electric machine of which an input is the voltage amplitude and an output is the command current.