Electric motor controller capable of performing stable current control during load disturbance and/or a regenerating mode

Claim 2

An electric vehicle controller comprising an alternating current motor for driving a vehicle, an electric power converter for generating electric power supplied to said alternating current motor, a current command value generator for calculating a d-axis current command value and a q-axis current command value which is perpendicular to said d-axis current command value for generating a magnetic field of said alternating current motor, and a current controller for controlling said electric power converter by feeding back a d-axis current value and a q-axis current value which is perpendicular to said d-axis current value of said alternating current motor and calculating a d-axxis voltage command value utilizing a d-axis current difference between said d-axis current command value and said d-axis current value and calculating a q-axis voltage command value utilizing a q-axis current difference between said q-axis current command value and said q-axis current value, respectively, wherein said current controller comprises voltage vector correcting means for correcting said d-axis voltage command value and said q-axis voltage command value by calculating a correct d-axis voltage command value and a correct q-axis voltage command value from said d-axis current difference and said q-axis current difference using a vector phase based on a driven state of said alternating current motor.

Claim 3

An electric vehicle controller according to claim 1, further including means for varying said vector phase based on a primary frequency of said electric power converter.

Claim 4

An electric vehicle controller according to claim 1, wherein an applied voltage and a primary current are divided into d-axis components and q-axis components, respectively, and said vector phase is obtained from multiplication of each of said applied voltage components with each of said primary current components.

Claim 5

An electric vehicle controller according to claim 1, wherein said vector phase is obtained from a phase difference between an applied voltage and a primary current of said alternating current motor.

Claim 6

An electric vehicle controller according to any one of claim 3 and claim 4, wherein said applied voltage is estimated from said d-axis voltage command value and said q-axis voltage command value.

Claim 7

An electric vehicle controller according to any one of claim 3 and claim 4, wherein said primary current is estimated from said d-axis voltage command value and said q-axis voltage command value.

Claim 8

An electric vehicle controller according to claim 1, wherein said correct d-axis voltage command value and said correct q-axis voltage command value are calculated through integration calculation.

Claim 9

An electric vehicle controller according to claim 1, wherein said vector phase is set to a value within the range of 0 degree to 90 degrees.

Claim 10

An electric vehicle controller according to claim 1, which further comprises a non-interference control circuit for calculating a reference q-axis voltage value utilizing said d-axis current command value and a reference d-axis voltage value utilizing said q-axis current command value, and for adding said reference q-axis voltage value to said d-axis current command value and said reference d-axis voltage value to said q-axis current command value.

Claim 11

An electric vehicle controller comprising an alternating current motor for driving a vehicle, an electric power converter for generating electric power supplied to said alternating current motor, a current command value generator for calculating a d-axis current command value and a q-axis current command value which is perpendicular to said d-axis current command value for generating a magnetic field of said alternating current motor, and a current controller for controlling said electric power converter by feeding back a d-axis current value and a q-axis current value which is perpendicular to said d-axis current value of said alternating current motor and calculating a d-axis voltage command value from a d-axis current difference between said d-axis current command value and said d-axis current value and calculating a q-axis voltage command value from a q-axis current difference between said q-axis current command value and said q-axis current value, respectively, wherein said current controller comprises voltage correcting means for calculating a correct q-axis voltage command value utilizing said d-axis current difference and a correct d-axis voltage command value utilizing said q-axis current difference, thereby correcting said q-axis voltage command value and said d-axis voltage command value.

Claim 12

An electric vehicle controller comprising an alternating current motor for driving a vehicle, an electric power converter for generating electric power supplied to said alternating current motor, a current command value generator for calculating a d-axis current command value and a q-axis current command value which is perpendicular to said d-axis current command value for generating a magnetic field of said alternating current motor, and a current controller for controlling said electric power converter by feeding back a d-axis current value and a q-axis current value which is perpendicular to said d-axis current value of said alternating current motor and calculating a d-axis voltage command value from a d-axis current difference between said d-axis current command value and said d-axis current value and calculating a q-axis voltage command value from a q-axis current difference between said q-axis current command value and said q-axis current value, respectively, wherein said current controller comprises voltage correcting means for calculating a correct q-axis voltage command value utilizing said d-axis current difference and a correct d-axis voltage command value utilizing said q-axis current difference, thereby correcting said q-axis voltage command value and said d-axis voltage command value.

Claim 13

An electric vehicle controller according to claim 10, wherein said correct d-axis voltage command value and said correct q-axis voltage command value are calculated by integrating said d-axis current difference and said q-axis current difference, respectively.

Claim 14

An electric vehicle controller according to claim 11, wherein a gain of said integration varies depending on an applied voltage and a phase difference of the primary current of said alternating current motor.

Claim 15

An electric vehicle controller according to claim 11, wherein said correct q-axis voltage command value and said correct d-axis voltage command value are obtained by integrating said d-axis current difference and said q-axis current difference and multiplying the results of the integration by a primary angular frequency of said electric power converter, respectively.

Claim 16

An electric vehicle controller according to claim 10, wherein a reference q-axis voltage value is calculated using said d-axis current command value and a reference d-axis voltage value is calculated using said q-axis current command value, and said reference q-axis voltage value is added to said d-axis current command value and said reference d-axis voltage value is added to said q-axis current command value.

Claim 17

An electric vehicle controller comprising an alternating current motor for driving a vehicle, an electric power converter for generating electric power supplied to said alternating current motor, a current command value generator for calculating a d-axis current command value and a q-axis current command value which is perpendicular to said d-axis current command value for generating a magnetic field of said alternating current motor, and a current controller for controlling said electric power converter by feeding back a d-axis current value and a q-axis current value which is perpendicular to said d-axis current value of said alternating current motor and calculating a d-axis voltage command value utilizing a d-axis current difference between said d-axis current command value and said d-axis current value and calculating a q-axis voltage command value utilizing a q-axis current difference between said q-axis current command value and said q-axis current value through proportional calculation and integral calculation, respectively, wherein said current controller includes means for switching the integral calculation method to any one of a first calculating method of correcting said d-axis voltage command value by integrating said d-axis current difference value and correcting said q-axis voltage command value by integrating said q-axis current difference and a second calculating method of not performing integration corresponding to an operating state of the alternating current motor.

Claim 18

An electric vehicle controller comprising an alternating current motor for driving a vehicle, an electric power converter for generating electric power supplied to said alternating current motor, a current command value generator for calculating a d-axis current command value and a q-axis current command value which is perpendicular to said d-axis current command value for generating a magnetic field of said alternating current motor, and a current controller for controlling said electric power converter by feeding back a d-axis current value and a q-axis current value which is perpendicular to said d-axis current value of said alternating current motor and calculating a d-axis voltage command value utilizing a d-axis current difference between said d-axis current command value and said d-axis current value and calculating a q-axis voltage command value utilizing a q-axis current difference between said q-axis current command value and said q-axis current value through proportional calculation and integral calculation, respectively, wherein said current controller includes means for switching the integral calculation method to any one of a first calculating method of correcting said d-axis voltage command value by integrating said d-axis current difference value and correcting said q-axis voltage command value by integrating said q-axis current difference and a second calculating method of not performing integration corresponding to an operating state of the alternating current motor.

Claim 19

An electric vehicle controller according to claim 15, wherein said current controller switches the integral calculation method to any one of said first calculating method and said second calculating method when the operating state of the alternating current motor is a regenerative operating state.

Claim 20

An electric vehicle controller according to claim 15, wherein said current controller switches the integral calculation method to any one of said first calculating method and said second calculating method when the operating state of the alternating current motor is a regenerative and high speed operating state.

Claim 21

An electric vehicle controller according to claim 15, wherein said current controller switches the integral calculation method to any one of said first calculating method and said second calculating method when the operating state of the alternating current motor is a regenerative operating state and said d-axis current command value is decreased to perform weak magnetic field control.

Claim 22

An electric motor controller comprising an alternating current motor for driving a vehicle, an electric power converter for generating electric power supplied to said alternating current motor, a current command value generator for calculating a d-axis current command value and a q-axis current command value which is perpendicular to said d-axis current command value for generating a magnetic field of said alternating current motor, and a current controller for controlling said electric power converter by feeding back a d-axis current value and a q-axis current value which is perpendicular to said d-axis current value of said alternating current motor and calculating a d-axis voltage command value utilizing a d-axis current difference between said d-axis current command value and said d-axis current value and calculating a q-axis voltage command value utilizing a q-axis current difference between said q-axis current command value and said q-axis current value, respectively, wherein said current controller comprises voltage vector correcting means for correcting said d-axis voltage command value and said q-axis voltage command value by calculating a correct d-axis voltage command value and a correct q-axis voltage command value from said d-axis current difference and said q-axis current difference using a vector phase based on a driven state of said alternating current motor.

Claim 23

An electric motor controller comprising an alternating current motor for driving a vehicle, an electric power converter for generating electric power supplied to said alternating current motor, a current command value generator for calculating a d-axis current command value and a q-axis current command value which is perpendicular to said d-axis current command value for generating a magnetic field of said alternating current motor, and a current controller for controlling said electric power converter by feeding back a d-axis current value and a q-axis current value which is perpendicular to said d-axis current value of said alternating current motor and calculating a d-axis voltage command value utilizing a d-axis current difference between said d-axis current command value and said d-axis current value and calculating a q-axis voltage command value utilizing a q-axis current difference between said q-axis current command value and said q-axis current value, respectively, wherein said current controller comprises voltage vector correcting means for correcting said d-axis voltage command value and said q-axis voltage command value by calculating a correct d-axis voltage command value and a correct q-axis voltage command value from said d-axis current difference and said q-axis current difference using a vector phase based on a driven state of said alternating current motor.

Claim 24

An electric motor controller according to claim 19, further including means for varying said vector phase based on a primary frequency of said electric power converter.

Claim 25

An electric motor controller according to claim 19, wherein an applied voltage and a primary current are divided into d-axis components and q-axis components, respectively, and said vector phase is obtained from multiplication of each of said applied voltage components with each of said primary current components.

Claim 26

An electric motor controller according to claim 19, wherein said vector phase is obtained from a phase difference between an applied voltage and a primary current of said alternating current motor.

Claim 27

An electric motor controller according to any one of claim 21 and claim 22, wherein said applied voltage is estimated from said d-axis voltage command value and said q-axis voltage command value.

Claim 28

An electric motor controller according to any one of claim 21 and claim 22, wherein said primary current is estimated from said d-axis voltage command value and said q-axis voltage command value.

Claim 29

An electric motor controller according to claim 19, wherein said correct d-axis voltage command value and said correct q-axis voltage command value are calculated through integration calculation.

Claim 30

An electric motor controller according to claim 19, wherein said vector phase is set to a value within the range of 0 degree to 90 degrees.

Claim 31

An electric motor controller according to claim 19, which further comprises a non-interference control circuit for calculating a reference q-axis voltage value utilizing said d-axis current command value and a reference d-axis voltage value utilizing said q-axis current command value, and for adding said reference q-axis voltage value to said d-axis current command value and said reference d-axis voltage value to said q-axis current command value.

Claim 32

An electric motor controller comprising an alternating current motor for driving a vehicle, an electric power converter for generating electric power supplied to said alternating current motor, a current command value generator for calculating a d-axis current command value and a q-axis current command value which is perpendicular to said d-axis current command value for generating a magnetic field of said alternating current motor, and a current controller for controlling said electric power converter by feeding back a d-axis current value and a q-axis current value which is perpendicular to said d-axis current value of said alternating current motor and calculating a d-axis voltage command value from a d-axis current difference between said d-axis current command value and said d-axis current value and calculating a q-axis voltage command value from a q-axis current difference between said q-axis current command value and said q-axis current value, respectively, wherein said current controller comprises voltage correcting means for calculating a correct q-axis voltage command value utilizing said d-axis current difference and a correct d-axis voltage command value utilizing said q-axis current difference, thereby correcting said q-axis voltage command value and said d-axis voltage command value.

Claim 33

An electric motor controller comprising an alternating current motor for driving a vehicle, an electric power converter for generating electric power supplied to said alternating current motor, a current command value generator for calculating a d-axis current command value and a q-axis current command value which is perpendicular to said d-axis current command value for generating a magnetic field of said alternating current motor, and a current controller for controlling said electric power converter by feeding back a d-axis current value and a q-axis current value which is perpendicular to said d-axis current value of said alternating current motor and calculating a d-axis voltage command value from a d-axis current difference between said d-axis current command value and said d-axis current value and calculating a q-axis voltage command value from a q-axis current difference between said q-axis current command value and said q-axis current value, respectively, wherein said current controller comprises voltage correcting means for calculating a correct q-axis voltage command value utilizing said d-axis current difference and a correct d-axis voltage command value utilizing said q-axis current difference, thereby correcting said q-axis voltage command value and said d-axis voltage command value.

Claim 34

An electric motor controller according to claim 28, wherein said correct d-axis voltage command value and said correct q-axis voltage command value are calculated by integrating said d-axis current difference and said q-axis current difference, respectively.

Claim 35

An electric motor controller according to claim 29, wherein a gain of said integration varies depending on an applied voltage and a phase difference of the primary current of said alternating current motor.

Claim 36

An electric motor controller according to claim 29, wherein said correct q-axis voltage command value and said correct d-axis voltage command value are obtained by integrating said d-axis current difference and said q-axis current difference and multiplying the results of the integration by a primary angular frequency of said electric power converter, respectively.

Claim 37

An electric motor controller according to claim 28, wherein a reference q-axis voltage value is calculated using said d-axis current command value and a reference d-axis voltage value is calculated using said q-axis current command value, and said reference q-axis voltage value is added to said d-axis current command value and said reference d-axis voltage value is added to said q-axis current command value.

Claim 38

An electric motor controller comprising an alternating current motor for driving a vehicle, an electric power converter for generating electric power supplied to said alternating current motor, a current command value generator for calculating a d-axis current command value and a q-axis current command value which is perpendicular to said d-axis current command value for generating a magnetic field of said alternating current motor, and a current controller for controlling said electric power converter by feeding back a d-axis current value and a q-axis current value which is perpendicular to said d-axis current value of said alternating current motor and calculating a d-axis voltage command value utilizing a d-axis current difference between said d-axis current command value and said d-axis current value and calculating a q-axis voltage command value utilizing a q-axis current difference between said q-axis current command value and said q-axis current value through proportional calculation and integral calculation, respectively, wherein said current controller includes means for switching the integral calculation method to any one of a first calculating method of correcting said d-axis voltage command value by integrating said d-axis current difference value and correcting said q-axis voltage command value by integrating said q-axis current difference and a second calculating method of not performing integration corresponding to an operating state of the alternating current motor.

Claim 39

An electric motor controller comprising an alternating current motor for driving a vehicle, an electric power converter for generating electric power supplied to said alternating current motor, a current command value generator for calculating a d-axis current command value and a q-axis current command value which is perpendicular to said d-axis current command value for generating a magnetic field of said alternating current motor, and a current controller for controlling said electric power converter by feeding back a d-axis current value and a q-axis current value which is perpendicular to said d-axis current value of said alternating current motor and calculating a d-axis voltage command value utilizing a d-axis current difference between said d-axis current command value and said d-axis current value and calculating a q-axis voltage command value utilizing a q-axis current difference between said q-axis current command value and said q-axis current value through proportional calculation and integral calculation, respectively, wherein said current controller includes means for switching the integral calculation method to any one of a first calculating method of correcting said d-axis voltage command value by integrating said d-axis current difference value and correcting said q-axis voltage command value by integrating said q-axis current difference and a second calculating method of not performing integration corresponding to an operating state of the alternating current motor.

Claim 40

An electric motor controller according to claim 33, wherein said current controller switches the integral calculation method to any one of said first calculating method and said second calculating method when the operating state of the alternating current motor is a regenerative operating state.

Claim 41

An electric motor controller according to claim 33, wherein said current controller switches the integral calculation method to any one of said first calculating method and said second calculating method when the operating state of the alternating current motor is a regenerative and high speed operating state.

Claim 42

An electric motor controller according to claim 33, wherein said current controller switches the integral calculation method to any one of said first calculating method and said second calculating method when the operating state of the alternating current motor is a regenerative operating state and said d-axis current command value is decreased to perform weak magnetic field control.