JP2009100548A - Electric vehicle control unit - Google Patents

Electric vehicle control unit Download PDF

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JP2009100548A
JP2009100548A JP2007269402A JP2007269402A JP2009100548A JP 2009100548 A JP2009100548 A JP 2009100548A JP 2007269402 A JP2007269402 A JP 2007269402A JP 2007269402 A JP2007269402 A JP 2007269402A JP 2009100548 A JP2009100548 A JP 2009100548A
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control mode
pulse
inverter
electric vehicle
pulse control
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JP4958718B2 (en
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Makoto Yamada
誠 山田
Hiroshi Ogawara
洋 大河原
Takeshi Ando
安藤　　武
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Hitachi Ltd
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

<P>PROBLEM TO BE SOLVED: To provide an electric vehicle control unit for reducing inverter harmonic current in a specified signal frequency band, by changing a synchronous single-pulse control mode into a multiple-pulse control mode, when the synchronous single-pulse control mode is operated at a high-speed region. <P>SOLUTION: The electric vehicle control unit is provided with an inverter 2 for control driving an electromotor converting DC power 5 into AC power and driving the electric vehicle with power. The control unit selects the multiple-pulse PWM control mode or the synchronous single-pulse control mode as a switching control mode of the inverter 2; the unit has a means 42 for switching the synchronous single-pulse control mode to the multiple-pulse control mode, when an inverter frequency at the synchronous single-pulse control mode is within the specified frequency band. When the inverter frequency lies within the specified frequency band and the electromotor is drive-controlled in the multiple-pulse control mode, current commands are increased. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

本発明は、電気車制御装置に関し、特に直流電力を交流電力に変換しその電力で電気車を駆動する電動機を駆動制御するインバータのスイッチング制御モードとして、低速域ではＰＷＭ制御モードを、それより高速域では同期１パルス制御モードを選択する電気車制御装置において、前記同期１パルス制御モードにおける特定周波数帯域の高調波電流を低減する技術に関する。   The present invention relates to an electric vehicle control device, and in particular, as a switching control mode of an inverter that drives and controls an electric motor that converts DC power into AC power and drives the electric vehicle with the electric power, a PWM control mode is used in a low speed region, and a higher speed than that. The present invention relates to a technique for reducing a harmonic current in a specific frequency band in the synchronous one-pulse control mode in an electric vehicle control device that selects a synchronous one-pulse control mode.

従来、車輪軸に結合された電動機をインバータで駆動制御する電気車において、前記電気車を低速で制御する場合は一例として非同期パルス制御モードおよび同期多パルス制御モード、高速で制御する場合においては電圧を最大限利用するため同期１パルス制御モードを用いたＰＷＭ制御を行っている。低速制御時における同期多パルス制御モードは、最大スイッチング周波数を上回らない範囲内で安定した電動機制御を行うという点で設定している。高速域における同期１パルス制御モードでの駆動制御を行うインバータにおいてインバータ周波数の６倍、１２倍、…といった整数倍の高調波が電源に流れるため、軌道回路や車上子・地上子に用いる微弱な電気信号がインバータ周波数自身およびその高調波成分と干渉した場合には、踏切等の列車検知装置や自動列車停止装置などの誤動作を招く恐れがあった。   Conventionally, in an electric vehicle in which an electric motor coupled to a wheel shaft is driven and controlled by an inverter, when the electric vehicle is controlled at a low speed, as an example, an asynchronous pulse control mode and a synchronous multi-pulse control mode; PWM control using the synchronous 1 pulse control mode is performed. The synchronous multi-pulse control mode during low-speed control is set in that stable motor control is performed within a range that does not exceed the maximum switching frequency. In an inverter that performs drive control in the synchronous 1-pulse control mode in the high-speed range, harmonics that are integral multiples such as 6 times, 12 times, etc. of the inverter frequency flow to the power supply. When a simple electrical signal interferes with the inverter frequency itself and its harmonic components, there is a risk of malfunction of train detection devices such as railroad crossings and automatic train stop devices.

そこで従来ではインバータのスイッチング周波数による信号機器への干渉を防ぐために、スイッチング周波数のうち信号機器の使用周波数と干渉する成分を除去するフィルタ回路を設けることや、特許文献１に記載されるように、インバータのスイッチング周波数を信号機器に使用される周波数の整数倍または整数分の１以外の周波数に設定することにより対策をとっていた。
特開平７−３９００５号公報 Therefore, conventionally, in order to prevent interference with the signal equipment due to the switching frequency of the inverter, a filter circuit for removing a component that interferes with the use frequency of the signal equipment out of the switching frequency, or as described in Patent Document 1, Measures have been taken by setting the switching frequency of the inverter to a frequency other than an integer multiple or a fraction of an integer used for signal equipment.
JP 7-39005 A

特許文献１によれば、信号機器の信号伝送に使用される周波数に応じてインバータのスイッチング周波数を切り替えることにより、低速域におけるＰＷＭ制御モードに対しては効果が得られるものと考える。しかしながら、特許文献１には高速域における同期１パルス制御モードにおいて強制的に多パルス制御モードに切り替えることについての記載は一切されておらずその示唆もない。そのため、高速域における同期１パルス制御モードで運転時には、インバータ周波数の整数倍の高調波電流が軌道回路に流れ、インバータから出力される高調波電流が信号機器の信号周波数と一致する場合には信号機器からの信号に干渉する恐れがある。仮に、特許文献１の構成をそのまま高速域におけるパルス制御モード切換に用いた場合には、高速域における同期多パルス制御モードへの切換のために起きる変調率の低下に伴い、モータ電圧によるモータトルクが低下するという課題がある。   According to Patent Document 1, it is considered that an effect can be obtained for the PWM control mode in the low speed region by switching the switching frequency of the inverter according to the frequency used for signal transmission of the signal device. However, Patent Document 1 does not describe or suggest any forced switching to the multi-pulse control mode in the synchronous one-pulse control mode in the high-speed region. Therefore, when operating in the synchronous one-pulse control mode in the high-speed range, a harmonic current that is an integral multiple of the inverter frequency flows through the track circuit, and the harmonic current output from the inverter matches the signal frequency of the signal equipment. There is a risk of interference with the signal from the device. If the configuration of Patent Document 1 is used for switching the pulse control mode in the high speed region as it is, the motor torque due to the motor voltage is reduced due to a decrease in the modulation factor that occurs for switching to the synchronous multi-pulse control mode in the high speed region. There is a problem that decreases.

本発明の目的は、高速域における同期１パルス制御モードで運転時に、同期１パルス制御モードから多パルス制御モードに変更することにより、特定の信号周波数帯におけるインバータ高調波電流の低減を図ることができる電気車制御装置を提供することにある。   An object of the present invention is to reduce the inverter harmonic current in a specific signal frequency band by changing from the synchronous 1-pulse control mode to the multi-pulse control mode during operation in the synchronous 1-pulse control mode in the high speed range. An object of the present invention is to provide an electric vehicle control device that can be used.

上記目的を達成するために、本発明は従来の低速域における同期パルス制御モードの選定方法に加えて、高速域における同期１パルス制御モードでの運転時にスイッチング周波数およびその整数倍の周波数成分が信号機器の信号周波数に干渉しない多パルス制御モードへ変更する。また、高速域における同期１パルス制御モードから多パルス制御モードへの切換に伴うモータトルクの低下防止のために、多パルス制御モード時には電流指令を増加させ、さらに信号機器の周波数に干渉しない領域では同期１パルス制御モードを保つ。   In order to achieve the above object, in addition to the conventional method for selecting the synchronous pulse control mode in the low speed region, the present invention provides the switching frequency and an integral multiple of the frequency component when operating in the synchronous single pulse control mode in the high speed region. Change to the multi-pulse control mode that does not interfere with the signal frequency of the device. Also, in order to prevent the motor torque from being lowered due to switching from the synchronous 1-pulse control mode to the multi-pulse control mode in the high-speed region, the current command is increased in the multi-pulse control mode, and further, in the region that does not interfere with the frequency of the signal equipment. Keep synchronous 1 pulse control mode.

すなわち、本発明は、直流電力を交流電力に変換しその電力で電気車を駆動する電動機を駆動制御するインバータを備え、前記インバータのスイッチング制御モードとして、多パルスＰＷＭ制御モード、又は同期１パルス制御モードを選択する電気車制御装置において、前記同期１パルス制御モードにおけるインバータ周波数が特定周波数帯域内にあるときに、前記同期１パルス制御モードから多パルス制御モードに切り替える手段を有する電気車制御装置である。   That is, the present invention includes an inverter that controls driving of an electric motor that converts DC power into AC power and drives an electric vehicle using the power, and the switching control mode of the inverter is a multi-pulse PWM control mode or a synchronous one-pulse control. In the electric vehicle control device for selecting a mode, the electric vehicle control device having means for switching from the synchronous one-pulse control mode to the multi-pulse control mode when the inverter frequency in the synchronous one-pulse control mode is within a specific frequency band. is there.

また、本発明は、インバータ周波数が前記特定周波数帯域内にあり多パルス制御モードにて駆動制御する時に電流指令を増やす電気車制御装置である。   In addition, the present invention is an electric vehicle control device that increases a current command when the inverter frequency is within the specific frequency band and drive control is performed in a multi-pulse control mode.

本発明によれば、高速域におけるＰＷＭインバータ制御時のパルス制御モード設定によりインバータ周波数の整数倍高調波電流の低減を図ることができ、その結果、特定の周波数における高調波電流を低減でき、他の信号機器への干渉を防ぐことができる電気車制御装置を提供することができる。   According to the present invention, it is possible to reduce the harmonic current at an integer multiple of the inverter frequency by setting the pulse control mode at the time of PWM inverter control in the high-speed region, and as a result, the harmonic current at a specific frequency can be reduced. It is possible to provide an electric vehicle control apparatus that can prevent interference with other signal equipment.

本発明を実施するための最良の形態を説明する。
本発明の電気車制御装置の実施例について、図面を参照し詳細に説明する。 The best mode for carrying out the present invention will be described.
An embodiment of an electric vehicle control device of the present invention will be described in detail with reference to the drawings.

実施例１を説明する。図１は本発明の第一の実施例である電気車の駆動システムの構成図、図２はＰＷＭ制御モードの切換周波数帯およびパルスパターンの例を示すものである。図１で示す電気車の駆動システムの概要は、直流電源５から可変電流可変周波数の交流に変換するＶＶＶＦインバータ２に接続され、該インバータ２の出力は電気車を駆動する誘導電動機３に接続される。インバータ２の直流側両端にはフィルタコンデンサ１が接続される。インバータ２はパルスモード演算部４から出力されるゲートパルスに基づき誘導電動機３を動作させる。   Example 1 will be described. FIG. 1 is a configuration diagram of an electric vehicle drive system according to a first embodiment of the present invention, and FIG. 2 shows an example of a switching frequency band and a pulse pattern in a PWM control mode. The outline of the electric vehicle drive system shown in FIG. 1 is connected from a DC power source 5 to a VVVF inverter 2 that converts variable current to variable frequency AC, and the output of the inverter 2 is connected to an induction motor 3 that drives the electric vehicle. The A filter capacitor 1 is connected to both ends of the inverter 2 on the DC side. The inverter 2 operates the induction motor 3 based on the gate pulse output from the pulse mode calculation unit 4.

次に本実施例におけるパルスモード演算部４の構成について説明する。パルスモード演算部４は、電気車制御装置の一部で、インバータ周波数演算部４１、パルスモード切替制御部４２、ゲートパルス発生部４３から構成され、フィルタコンデンサ１の電圧Ｅｃｆが信号として与えられる。該パルスモード演算部４では、インバータ周波数発生部４１によって運転台からのノッチ指令、モータの回転速度などを元としてインバータ周波数ｆｉｎｖが生成される。前記フィルタコンデンサ電圧Ｅｃｆおよびインバータ周波数ｆｉｎｖはパルスモード切替制御部４２に入力され切り替えのタイミングが演算される。そしてパルスモード切替制御部４２にてパルス制御モードおよびモータの電圧指令に相当する変調率をゲートパルス発生部４３へと出力し、ゲートパルス発生部４３はインバータのオンオフパターンデータを発生しＶＶＶＦインバータ２に誘導電動機３を動作させるためのゲートパルスを出力する。   Next, the configuration of the pulse mode calculation unit 4 in this embodiment will be described. The pulse mode calculation unit 4 is a part of the electric vehicle control device, and includes an inverter frequency calculation unit 41, a pulse mode switching control unit 42, and a gate pulse generation unit 43. The voltage Ecf of the filter capacitor 1 is given as a signal. In the pulse mode calculation unit 4, the inverter frequency generation unit 41 generates an inverter frequency finv based on a notch command from the cab, the rotation speed of the motor, and the like. The filter capacitor voltage Ecf and the inverter frequency finv are input to the pulse mode switching control unit 42, and the switching timing is calculated. The pulse mode switching control unit 42 outputs a modulation rate corresponding to the pulse control mode and the motor voltage command to the gate pulse generation unit 43. The gate pulse generation unit 43 generates on / off pattern data of the inverter to generate the VVVF inverter 2 A gate pulse for operating the induction motor 3 is output.

インバータ周波数ｆｉｎｖに対するパルス制御モードの選択システムの一例を図２に示す。低速域における非同期パルス領域（１）、低速域における同期パルス領域（２）、高速域における同期１パルス領域（３）および高速域における多パルス領域（４）から構成される。この例では、パルスモード切替制御部４２により、インバータ周波数ｆ１（Ｈｚ）以下では（１）低速域非同期多パルス制御モード、ｆ１以上ｆ２以下では（２）低速域同期多パルス制御モード、ｆ２以上ｆ３以下では（３）高速域同期１パルス制御モード、ｆ３以上ｆ４以下では（４）高速域同期多パルス制御モード、ｆ４以上では（３）高速域同期１パルス制御モードが選択される。また図２の関係に基づき、変調率が出力される。   An example of a pulse control mode selection system for the inverter frequency finv is shown in FIG. An asynchronous pulse region (1) in the low speed region, a synchronous pulse region (2) in the low speed region, a synchronous one pulse region (3) in the high speed region, and a multi-pulse region (4) in the high speed region. In this example, the pulse mode switching control unit 42 causes the inverter frequency f1 (Hz) or less to be (1) the low-speed asynchronous multi-pulse control mode, and f1 to f2 (2) the low-speed synchronous multipulse control mode, f2 to f3. In the following, (3) the high-speed region synchronization single pulse control mode is selected, in the range from f3 to f4, the (4) high-speed region synchronization multi-pulse control mode is selected. Further, the modulation rate is output based on the relationship of FIG.

低速域における非同期パルス領域（１）では、バイポーラスイッチングにより０Ｈｚからｆ１（Ｈｚ）まで（１）低速非同期多パルス制御モードで動作させる。   In the asynchronous pulse region (1) in the low speed region, (1) the low speed asynchronous multi-pulse control mode is operated from 0 Hz to f1 (Hz) by bipolar switching.

高速域の信号機器の信号周波数と一致する周波数領域（４）において、インバータ２から出力される高調波電流が信号機器の信号周波数に干渉しないように（４）高速域多パルス制御モードを選択する。高速域同期多パルス領域（４）としては例えば同期３パルス、同期５パルス、非同期過変調などが用いられる。これらのパルス制御モードを選択することによって、高速域同期１パルス制御モードで発生する６倍、１２倍といった周波数成分の電流を低減させることができる。例えば、信号機器が周波数３６０Ｈｚ〜４２０Ｈｚの信号を利用している場合、インバータ周波数ｆｉｎｖが６０〜７０Ｈｚで高速域同期１パルス制御モードとなる時、３６０〜４２０Ｈｚの６倍高調波成分が発生する。この時、ｆ３＝６０Ｈｚまたはそれより若干低い周波数からｆ４＝７０Ｈｚまたはそれより若干高い周波数まで同期５パルス制御モードとすることにより、同期１パルスを用いる場合に比べ６倍高調波成分をおよそ７０％低減することができる。   (4) Select the high-speed multi-pulse control mode so that the harmonic current output from the inverter 2 does not interfere with the signal frequency of the signal device in the frequency region (4) that matches the signal frequency of the high-speed signal device. . As the high speed region synchronous multi-pulse region (4), for example, three synchronous pulses, five synchronous pulses, asynchronous overmodulation, or the like is used. By selecting these pulse control modes, it is possible to reduce the current of frequency components such as 6 times and 12 times generated in the high-speed region synchronization 1 pulse control mode. For example, when the signal device uses a signal having a frequency of 360 Hz to 420 Hz, a 6th harmonic component of 360 to 420 Hz is generated when the inverter frequency finv is 60 to 70 Hz and the high frequency region synchronous single pulse control mode is set. At this time, by setting the synchronous 5-pulse control mode from f3 = 60 Hz or slightly lower frequency to f4 = 70 Hz or slightly higher frequency, the 6th harmonic component is approximately 70% compared to the case where one synchronous pulse is used. Can be reduced.

実施例２を説明する。本実施例は、高速域同期多パルス領域（４）において、同期１パルス制御から多パルス制御への移行に伴いモータ電圧の低下となりパワーダウンとなるため、高速域における同期多パルス制御モードにおいては電流指令を増加させることによりパワーダウンとなることを回避させる。図３に変調率（電圧指令）に対する電流指令の例を示す。   A second embodiment will be described. In this embodiment, in the high-speed synchronous multi-pulse control mode (4), the motor voltage is lowered and the power is reduced with the shift from the synchronous single-pulse control to the multi-pulse control. The power down is avoided by increasing the current command. FIG. 3 shows an example of a current command with respect to the modulation rate (voltage command).

図４に高速域同期多パルス制御時において電流指令を増やす実施例２の電気車制御装置の構成を示す。図４で示す電気車の駆動システムは、直流電源５が可変電流可変周波数の交流に変換するＶＶＶＦインバータ２に接続され、該インバータ２の出力は電気車を駆動する誘導電動機３に接続される。ＶＶＶＦインバータ２の直流側両端にはフィルタコンデンサ１が接続され、該フィルタコンデンサ１の電圧Ｅｃｆはパルスモード演算部４においてパルス制御モードの演算に用いられる。ＶＶＶＦインバータ２はパルスモード演算部４から出力されるゲートパルスに基づき誘導電動機３を動作させる。   FIG. 4 shows the configuration of the electric vehicle control apparatus according to the second embodiment that increases the current command during the high-speed synchronous multi-pulse control. The electric vehicle drive system shown in FIG. 4 is connected to a VVVF inverter 2 in which a direct current power source 5 converts it into alternating current of variable current and variable frequency, and the output of the inverter 2 is connected to an induction motor 3 that drives the electric vehicle. A filter capacitor 1 is connected to both ends of the DC side of the VVVF inverter 2, and the voltage Ecf of the filter capacitor 1 is used in the pulse control mode calculation in the pulse mode calculation unit 4. The VVVF inverter 2 operates the induction motor 3 based on the gate pulse output from the pulse mode calculation unit 4.

パルスモード演算部４は、電気車におけるインバータ制御装置の一部で、インバータ周波数演算部４１、パルスモード切替制御部４２、ゲートパルス発生部４３、電流指令演算部４４、電流指令切替制御部４５から構成され、フィルタコンデンサ１の電圧Ｅｃｆが入力として与えられることを特徴としている。 該パルスモード演算部４では、インバータ周波数発生部４１によって運転台からのノッチ指令、モータの回転速度などを元としてインバータ周波数ｆｉｎｖが演算される。前記フィルタコンデンサ電圧Ｅｃｆおよびインバータ周波数ｆｉｎｖはパルスモード切替制御部４２に入力されパルス制御モードの切り替えのタイミングが演算される。また、電流指令演算部４４にて演算された電流指令値およびパルスモード切替制御部４２にて演算されたパルス制御モードの切替タイミングを元に、電流指令切替制御部４５は最終的な電流指令値を決定する。そしてパルスモード切替制御部４２からはパルス制御モードおよびモータの電圧指令に相当する変調率をゲートパルス発生部４３へ出力し、電流指令切替制御部４５からは電流指令値をゲートパルス発生部４３へ出力する。ゲートパルス発生部４３はインバータのオンオフパターンデータを発生しＶＶＶＦインバータ２に誘導電動機３を動作させるためのゲートパルスを出力する。   The pulse mode calculation unit 4 is a part of an inverter control device in an electric vehicle, and includes an inverter frequency calculation unit 41, a pulse mode switching control unit 42, a gate pulse generation unit 43, a current command calculation unit 44, and a current command switching control unit 45. The voltage Ecf of the filter capacitor 1 is provided as an input. In the pulse mode calculation unit 4, the inverter frequency generation unit 41 calculates the inverter frequency finv based on the notch command from the cab, the rotation speed of the motor, and the like. The filter capacitor voltage Ecf and the inverter frequency finv are input to the pulse mode switching control unit 42, and the timing for switching the pulse control mode is calculated. Further, based on the current command value calculated by the current command calculation unit 44 and the switching timing of the pulse control mode calculated by the pulse mode switching control unit 42, the current command switching control unit 45 determines the final current command value. To decide. The pulse mode switching control unit 42 outputs a modulation rate corresponding to the pulse control mode and the motor voltage command to the gate pulse generating unit 43, and the current command switching control unit 45 sends the current command value to the gate pulse generating unit 43. Output. The gate pulse generator 43 generates inverter on / off pattern data and outputs a gate pulse for operating the induction motor 3 to the VVVF inverter 2.

実施例１の電気車制御装置を示す構成図。1 is a configuration diagram showing an electric vehicle control device of Embodiment 1. FIG. 実施例１におけるパルス制御モード・変調率切換図。FIG. 3 is a pulse control mode / modulation rate switching diagram according to the first embodiment. 実施例２における電流指令値増加制御のパルス制御モード・変調率切替図。FIG. 6 is a pulse control mode / modulation rate switching diagram of current command value increase control in the second embodiment. 実施例２の電気車制御装置を示す構成図。The block diagram which shows the electric vehicle control apparatus of Example 2. FIG.

符号の説明Explanation of symbols

１・・・フィルタコンデンサ
２・・・ＶＶＶＦインバータ
３・・・誘導電動機、
４・・・パルスパターン制御部
５・・・直流電源 DESCRIPTION OF SYMBOLS 1 ... Filter capacitor 2 ... VVVF inverter 3 ... Induction motor,
4 ... Pulse pattern controller 5 ... DC power supply

Claims (2)

直流電力を交流電力に変換しその電力で電気車を駆動する電動機を駆動制御するインバータを備え、前記インバータのスイッチング制御モードとして、多パルスＰＷＭ制御モード、又は同期１パルス制御モードを選択する電気車制御装置において、
前記同期１パルス制御モードにおけるインバータ周波数が特定周波数帯域内にあるときに、前記同期１パルス制御モードから多パルス制御モードに切り替える手段を有することを特徴とする電気車制御装置。 An electric vehicle that includes an inverter that drives and controls an electric motor that converts DC power into AC power and drives the electric vehicle using the electric power, and selects a multi-pulse PWM control mode or a synchronous one-pulse control mode as a switching control mode of the inverter In the control device,
An electric vehicle control device comprising means for switching from the synchronous one-pulse control mode to the multi-pulse control mode when the inverter frequency in the synchronous one-pulse control mode is within a specific frequency band. 請求項１記載の電気車制御装置において、
インバータ周波数が前記特定周波数帯域内にあり多パルス制御モードにて駆動制御する時に電流指令を増やすことを特徴とする電気車制御装置。 The electric vehicle control device according to claim 1,
An electric vehicle control device characterized in that the current command is increased when the inverter frequency is within the specific frequency band and drive control is performed in the multi-pulse control mode.
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