Field weakening control apparatus for permanent magnet motor and electric power steering using same

This application claims the foreign priority benefit under Title 35, United States Code, §119(a)-(d) of Japanese Patent Application No. 2007-114971 filed on Apr. 25, 2007 in the Japan Patent Office, the disclosure of which is herein incorporated by reference in its entirety.

1. Field of the Invention

The present invention relates to a field weakening control apparatus for a permanent magnet motor and electric power steering using the same.

2. Description of the Related Art

As to a conventional technique related to phase control in a weakened field region, in JP 2005-110354A, there is described a method which gives a speed control unit an instruction to lower a current reference based on a voltage phase angle, thereby limiting the current reference to control a voltage phase.

However, in the method of that Publication, variation in power supply voltage, variation in frequency, and variation in inductance are not taken into account, and hence maximum torque (limit torque) that the motor can output cannot be output.

An aspect of the present invention provides a field weakening control apparatus for a permanent magnet synchronous motor that stably drives without going out of order in the weakened field region even if a torque reference specifying torque above the limit torque is input and that can output the limit torque even when the power supply voltage, frequency, and/or inductance vary.

According to the aspect, when a torque reference specifying torque greater than limit torque is input, a limit value for a phase angle that is a deviation between a rotation phase reference of control and a rotation phase value of the motor, or a voltage phase limit value, is varied depending on a predetermined state quantity, and thereby the limit torque can be output.

The object and features of the present invention will become more readily apparent from the following detailed description taken in conjunction with the accompanying drawings in which:

FIG. 1 is a block diagram of a motor control system according to a first embodiment of the present invention;

FIG. 2 is a block diagram of a second phase angle computing unit of FIG. 1 ;

FIG. 3 is a chart showing characteristics of limit torque and a corresponding voltage phase against power supply voltage;

FIGS. 4A and 4B are charts showing output torque and phase angle references for the situation where at point A of FIG. 3 , a torque reference increases in ramp above the limit torque value;

FIG. 5 is a chart showing a characteristic of a voltage phase for which the limit torque is output against the power supply voltage;

FIG. 6 is a block diagram of another second phase angle computing unit in FIG. 1 ;

FIG. 7 is a block diagram of a motor control system according to a second embodiment;

FIG. 8 is a block diagram of a second phase angle computing unit in FIG. 7 ;

FIG. 9 is a chart showing characteristics of limit torque and a corresponding voltage phase against frequency;

FIG. 10 is a chart showing a characteristic of a voltage phase for which limit torque is output, against frequency;

FIG. 11 is a chart showing a characteristic of torque against the voltage phase with the frequency as a parameter;

FIG. 12 is a block diagram of a motor control system according to a third embodiment;

FIG. 13 is a block diagram of a second phase angle computing unit in FIG. 12 ;

FIG. 14 is a chart showing a characteristic of the motor inductance against a motor current;

FIG. 15 is a block diagram of a motor control system according to a fourth embodiment;

FIG. 16 is a block diagram of a phase angle limit correcting unit in FIG. 15 ;

FIG. 17 is a block diagram of a motor control system according to a fifth embodiment;

FIG. 18 is a block diagram of a motor control system according to a sixth embodiment; and

FIG. 19 is a block diagram of an electric power steering using the motor control system including a motor control apparatus according to any of the first to sixth embodiments.

The same or corresponding elements or parts are designated with like references throughout the drawings.

Embodiments of the present invention will be described in detail below with reference to the drawings.

First Embodiment

FIG. 1 shows a motor control system including a motor control apparatus according to a first embodiment of the present invention.

In FIG. 1 , the motor control system includes a DC power supply 1 such as a battery for supplying electric power to an inverter 2 ; the inverter 2 for supplying three-phase AC power to a motor 3 according to three-phase PWM pulses P uvw *; the motor 3 ; a position detector 4 such as an encoder, a resolver, or a magnetic pole position sensor; a current detector 5 to detect a three-phase AC current; and a voltage detector 6 to detect a power supply voltage V dc of the DC power supply 1 and a motor control apparatus.

The motor control apparatus includes a frequency computing unit 7 to compute a frequency value ω 1 from a position detected value θ d (rotational position of a rotor of the motor 3 ) detected by the position detector 4 ; a coordinate converter 8 to convert current values I u , I v , I w detected by the current detector 5 with the position detected value θ d into a d-axis current detected value I dc and a q-axis current detected value I qc ; a torque reference setting unit 9 to set a torque reference τ*; a current reference computing unit 10 to compute a q-axis current reference I q * from the torque reference τ*; a voltage reference computing unit 11 to compute a first voltage reference V 1 *, a first voltage phase reference δ*, and a field weakening control flag V 1 * lmt — flg from a d-axis current reference I d * set by a d-axis current reference setting unit 13 , the q-axis current reference I q *, the d-axis current detected value I dc , the q-axis current detected value I qc , and the computed frequency value ω 1 based on motor constants; a PWM control unit 12 to output the PWM pulses P uvw * based on the first voltage reference V 1 *, the first voltage phase reference δ*, a third phase angle reference Δθ c *** output by a phase angle limit correcting unit 16 , and the position detected value θ d ; a d-axis current reference setting unit 13 to set the d-axis current reference I d * to zero; a first phase angle computing unit 14 to compute a first phase angle reference Δθ c * from the q-axis current reference I q *, the q-axis current detected value I qc , and the field weakening control flag V 1 * lmt — flg ; a second phase angle computing unit 15 to compute a second phase angle reference Δθ c ** from the first voltage phase reference δ* and the power supply voltage V dc detected by the voltage detector 6 ; and a phase angle limit correcting unit 16 to limit the first phase angle reference Δθ c * according to the second phase angle reference Δθ c ** to output the third phase angle reference Δθ c ***.

FIG. 2 shows the second phase angle computing unit 15 in detail.

In FIG. 2 , the second phase angle computing unit 15 includes a table 151 which, when the power supply voltage V dc is input, outputs a voltage phase limit value δ vmax * for which limit torque is output, and a subtracter 152 to subtract the first voltage phase reference δ* from the voltage phase limit value δ vmax * to output the second phase angle reference Δθ c **.

The operation of the field weakening control of the present embodiment will be described.

The voltage reference computing unit 11 comprises a current control unit that effects proportional plus integral control (PI control) of a deviation between the d-axis current reference I d * and the d-axis current detected value I dc , and a deviation between the q-axis current reference I q * and the q-axis current detected value I qc , thereby generating a second d-axis current reference I d ** and a second q-axis current reference I q **; a field oriented control computing unit that computes the first voltage reference V 1 * and the first voltage phase reference δ* from the second d-axis current reference I d **, the second q-axis current reference I q **, the computed frequency value ω 1 , and motor constant set values according to Eq. 1; and a field weakening control flag generator that sets the field weakening control flag V 1 * lmt — flg according to Eq. 2 using the first voltage reference V 1 *.

( V d * V q * ) = ( R * - ω 1 · L q * ω 1 · L d * R * ) ⁢ ( I d ** I q ** ) + ( 0 ω 1 · K e * ) ⁢

⁢ ( V 1 * δ * ) = ( V d * 2 + V q * 2 tan - 1 ( - V d * V q * ) ) ( Eq . ⁢ 1 ) V 1 * lmt — flg =0( V 1 *<V 1max *) V 1 * lmt — flg =1( V 1 *≧V 1max *)  (Eq. 2)

where V d * is a d-axis voltage reference, V q * is a q-axis voltage reference, R* is a motor resistance set value, L d * is a d-axis inductance set value, L q * is a q-axis inductance set value, K e * is an induced voltage constant set value, and V 1max * is a voltage reference limit.

The voltage reference limit V 1max * is a saturation value for the output voltage of the motor or the first voltage reference V 1 *.

When the field weakening control flag V 1 * lmt — flg is at zero, the current control unit performs proportional plus integral computation. In contrast, when the field weakening control flag V 1 * lmt — flg is at one, the current control unit stops the proportional plus integral computation (PI computation).

As shown in Eq. 3, the first phase angle computing unit 14 , when the field weakening control flag V 1 * lmt — flg is at zero, outputs the first phase angle reference Δθ c * at zero and, when the field weakening control flag V 1 * lmt — flg is at one, performs the proportional plus integral computation based on the deviation between the q-axis current reference I q * and the q-axis current detected value I qc to compute the first phase angle reference Δθ c *.

Δθ c * = 0 ( V 1 * ⁢ lmt_flg = 0 ) Δ ⁢ ⁢ θ c * = K p ⁢ s + K i s ⁢ ( I q * - I qc ) ( V 1 * ⁢ lmt_flg = 1 ) ( Eq . ⁢ 3 )

where K p is a proportion gain and K i is an integration gain.

The second phase angle computing unit 15 determines a voltage phase δ vmax for which limit torque is output from the table 151 of FIG. 2 according to the power supply voltage V dc and outputs the voltage phase δ vmax as the voltage phase limit value δ vmax *. FIG. 3 shows the characteristics of the limit torque and the corresponding voltage phase δ vmax against the power supply voltage V dc when motor speed is constant. The limit torque varies with the power supply voltage V dc , and the voltage phase δ vmax corresponding to the limit torque also varies with the power supply voltage V dc . The subtracter 152 subtracts the first voltage phase reference δ* from the voltage phase limit value δ vmax * according to Eq. 4 to output the second phase angle reference Δθ c **.

Δθ c **=δ vmax −δ*  (Eq. 4)

The phase angle limit correcting unit 16 limits the first phase angle reference Δθ c * by the second phase angle reference Δθ c ** to output the third phase angle reference Δθ c ***.

The PWM control unit 12 generates a second voltage phase reference δ** from the first voltage phase reference δ* and the third phase angle reference Δθ c *** according to Eq. 5 and outputs the PWM pulses P uvw * proportional to three-phase voltage references V u *, V v *, V w * computed from Eq. 6.

δ**=δ*+Δθ c ***  (Eq. 5)

The three-phase voltage references V u *, V v *, V w * may be generated by obtaining voltage references V α * and V β * in fixed coordinates from the first voltage reference V 1 *, the first voltage phase reference δ*, and the position detected value θ d and advancing them in phase by the third phase angle reference Δθ c *** as shown in Eq. 7.

In order to describe a method of determining the voltage phase limit value δ vmax *, FIG. 3 shows the characteristics of the limit torque and the corresponding voltage phase δ vmax against the power supply voltage V dc . As shown in FIG. 3 , the limit torque varies with the power supply voltage V dc , and the voltage phase δ vmax for which the limit torque is output also varies with the power supply voltage V dc .

Hence, if the torque reference τ* specifies torque above the limit torque, the second voltage phase reference δ** is set equal to the voltage phase limit value δ vmax * according to Eq. 4 and Eq. 5, and thus the limit torque is output. If the torque reference τ* specifies torque at or below the limit torque, then the second voltage phase reference δ** is smaller than the voltage phase limit value δ vmax *, and hence torque as specified by the torque reference τ* can be output.

The advantageous effects of the present invention will be described using FIGS. 4 and 5 .

FIG. 4A shows the torque reference τ* and output torque τ for the situation where at point A of FIG. 3 , the torque reference τ* increases in ramp above the limit torque value with time. FIG. 4B shows the first phase angle reference Δθ c *, the second phase angle reference Δθ c **, and the third phase angle reference Δθ c *** for the same time period. In FIG. 4A , even when the torque reference τ* goes above the limit torque value, the motor can stably drive. At this time, as shown in FIG. 4B , the first phase angle reference Δθ c * (denoted by the broken line) is limited to the second phase angle reference Δθ c ** (the dotted line), and hence the third phase angle reference Δθ c *** (the solid line) can be controlled stably.

FIG. 5 shows the characteristic of the voltage phase δ vmax for which the limit torque is output against the power supply voltage V dc for the case where the ratio of the d-axis inductance L d to the q-axis inductance L q is at 1.2 (a salient pole motor). As seen from FIG. 5 , in the case of the salient pole motor, as the power supply voltage V dc increases, the voltage phase δ vmax for which the limit torque is output increases substantially linearly, and hence the voltage phase limit value δ vmax * may be set to be increased as the power supply voltage V dc becomes higher.

Although in FIG. 1 the voltage detector 6 is depicted to measure the power supply voltage between the ends of the power supply, the voltage between terminals of an electric control module (electric control unit (ECU)) comprising a microcomputer and electronic control components or the voltage between terminals of the motor may be measured, resulting in the same effect.

Furthermore, in the situation where the power supply voltage V dc has dropped to a predetermined value or lower, or the power supply voltage V dc has dropped to near the minimum drive compensation voltage of the inverter because, e.g., the generating capacity of the alternator runs short, the voltage drop between the DC power supply 1 and the motor 3 will increases when the primary current flowing through the motor 3 increases, thus decreasing the motor supply voltage. As a result, the motor supply voltage becomes lower than the minimum drive compensation voltage of the inverter, and thus the system may stop.

In such a case, the phase angle limit correcting unit 16 sets the third phase angle reference Δθ c *** to zero or holds it at the value corresponding to the minimum drive compensation voltage to restrict the amount of the primary current I 1 , and thereby the system can be prevented from stopping.

Here the predetermined value of the power supply voltage V dc is set to (a) the sum of the inverter drive compensation voltage and the maximum voltage drop across the power supply line for the motor if the ECU terminal voltage or the battery terminal voltage is measured, and (b) the inverter drive compensation voltage if the motor terminal voltage is measured. Because the inverter drive compensation voltage is usually determined by the way that the driver is designed such as the minimum voltage required for the charge pump of the pre-driver circuit, and the selection of components, the inverter drive compensation voltage is set according to those things.

Moreover, it is known that, when the power supply voltage V dc drops, the primary current I 1 increases. Accordingly, the second phase angle computing unit 15 may control such that the primary current does not exceed an upper limit value I 1max using FIG. 6 instead of FIG. 2 when the power supply voltage V dc has dropped. In the table 151 ′ of FIG. 6 , the detected primary current value I 1 is generated using the d-axis current detected value I dc and the q-axis current detected value I qc and compared with the upper limit value I 1max set beforehand in the table. If the primary current value I 1 is smaller than the upper limit value I 1max , the voltage phase δ vmax for which the limit torque is output is output as the voltage phase limit value δ vmax *. In contrast, if the primary current value I 1 exceeds the upper limit value I 1max , a restricted voltage phase δ vmax is output as the voltage phase limit value δ vmax *.

Alternatively, in the table 151 of the second phase angle computing unit 15 , the voltage phase limit value δ vmax * may be corrected linearly. In particular, in the case of a motor having a small salient pole ratio where the deviation between the d-axis inductance and the q-axis inductance is at or below a predetermined value, the voltage phase limit value δ vmax * may be corrected linearly.

In order to prevent the detected value of the power supply voltage V dc from being affected by noise or variation in the power supply voltage to produce variation in torque in this control, a filter may be inserted in the power supply line.

FIG. 19 shows an electric power steering using the motor control system including the motor control apparatus according to the first embodiment.

The electric power steering 200 includes: a torque sensor 201 attached to a steering shaft coupled to a steering wheel for detecting a torque in the steering shaft caused by the rotated steering; an ECU (electronic control unit) 202 or an electric control module including the inverter 2 ; the battery 1 of, for example, a motor vehicle; a motor 203 (for example a salient pole motor) driven by the inverter 2 ; and a coupling gear 204 for transmitting the rotation force to the steering shaft at a predetermined coupling gear ratio to add an assist force to a force applied to the steering shaft by a driver rotating the steering wheel.

The ECU (electronic control unit) 202 ECU includes: for example, a computer 205 ; interface circuits (not shown); and the inverter 2 . The ECU 202 determines the torque reference τ in response to the torque magnitude detected by the torque sensor 201 , sets the d-axis current reference I d * to zero, and generates the three-phase PWM pulses P uvw *. The inverter 2 in the ECU supplied with the three-phase PWM pulses P uvw * and the electric power from the battery 1 supplies three-phase drive signals to the motor 203 .

The assisted steering torque is transmitted to a rack and pinion mechanism 206 to steer wheels of the motor vehicle. FIG. 19 shows a column assist type of electric power steering. However, the motor control system including the motor control apparatus according to the first embodiment is also applicable to, for example, a pinion assist type of electric power steering and a rack assist type of electric power steering. In addition, the motor control system including the motor control apparatus according to the second to the sixth embodiments are also applicable to such electric power steering apparatus in, for example, a motor vehicle.

Second Embodiment

FIG. 7 shows a motor control system including a motor control apparatus according to a second embodiment of the present invention. Description of the blocks 1 to 5 , 7 to 14 , and 16 that are the same as in the first embodiment will be omitted. Although the second phase angle computing unit 15 of the first embodiment computes the second phase angle reference Δθ c ** based on the power supply voltage V dc , the second phase angle computing unit 17 of the present embodiment computes the second phase angle reference Δθ c ** based on the computed frequency value ω 1 .

The configuration and operation of the second phase angle computing unit 17 will be described in detail using FIG. 8 .

The voltage phase limit value δ vmax * is set to the voltage phase δ vmax for which the limit torque is output, corresponding to the computed frequency value ω 1 with use of the table 171 of FIG. 8 . The subtracter 152 subtracts the first voltage phase reference δ* from the voltage phase limit value δ vmax * according to Eq. 4 to output the second phase angle reference Δθ c **.

In order to describe the way to determine the voltage phase limit value δ vmax *, FIG. 9 shows the characteristics of the limit torque and the corresponding voltage phase δ vmax against the computed frequency value ω 1 . If the torque reference τ* specifies torque above the limit torque, the second voltage phase reference δ** is set equal to the voltage phase limit value δ vmax * according to Eq. 4 and Eq. 5, and thus the limit torque is output. If the torque reference τ* specifies torque at or below the limit torque, then the second voltage phase reference δ** is smaller than the voltage phase limit value δ vmax *, and hence torque as specified by the torque reference τ* can be output.

Advantageous effects of the present embodiment will be described using the characteristic of the voltage phase δ vmax for which the limit torque is output, against the frequency shown in FIG. 10 . It is seen from FIG. 10 that as the computed frequency value ω 1 becomes higher, the voltage phase δ vmax for which the limit torque is output increases. Hence, the voltage phase limit value δ vmax * may be set to be increased as the computed frequency value ω 1 becomes higher.

Moreover, in the case of a motor where the ratio of the d-axis inductance L d to the q-axis inductance L q is at a value of 0.8 to 1.2 and of which the reluctance torque is small and the salient-pole property is negligible, the voltage phase limit value δ vmax * can be derived from Eq. 8 instead of the table 171 of the second phase angle computing unit 17 .

The voltage equation for a motor is expressed by Eq. 8.

( V d V q ) = ( R - ω r · L ω r · L R ) ⁢ ( I d I q ) + ( 0 ω r · K e ) ( Eq . ⁢ 8 )

where V d is a d-axis motor voltage, V q is a q-axis motor voltage, ω r is the rotation frequency of the motor, R is the resistance of the motor, L is the inductance of the motor, I d is a d-axis motor current, I q is a q-axis motor current, and K e is an induced voltage constant.

Note that, in the case of the motor of which the salient-pole property is negligible, because d-axis inductance L d and q-axis inductance L q are equal, the inductance L of the motor is used.

Let V 1 * lmt be the maximum voltage that the motor can output. The maximum voltage can be expressed by Eq. 9.

√{square root over ( V d 2 +V q 2 )}= V 1 * lmt   (Eq. 9)

The output torque τ can be expressed by Eq. 10.

τ = 3 ⁢ P m 2 ⁢ K e ⁢ I q ( Eq . ⁢ 10 )

where P m is the number of magnetic pole pairs of the motor.

Further, an output voltage phase δ v satisfies Eq. 11.

FIG. 11 shows the characteristic of the torque against the voltage phase with the frequency as a parameter (3,000 min −1 , 4,000 min −1 , 5,000 min −1 ). The voltage phase limit value δ vmax * is set to the voltage phase δ vmax , for which the limit torque is output as shown in FIG. 11 . Here the voltage phase limit value δ vmax * varies depending on the frequency. The output torque exhibits an upward-curved characteristic against the voltage phase δ v regardless of the frequency. Hence, when differentiating the output torque τ with respect to the voltage phase δ v to obtain the voltage phase value at which the derivative equals zero (=the voltage phase δ vmax , for which the limit torque is output), at that voltage phase value the output torque τ is maximal. By differentiating the output torque τ with respect to the voltage phase δ v and substituting Eq. 11, Eq. 12 is obtained.

Substitution is effected in Eq. 10 with Eq. 8 and Eq. 9, and Eq. 13 is derived from Eq. 12 and Eq. 10.

ⅆ τ ⅆ x = ⅆ ⅆ x ⁢ ( 3 ⁢ P m 2 ⁢ ( R 2 + ω r 2 ⁢ L 2 ) 2 · ( K e ⁢ V 1 * ⁢ lmt x 2 + 1 ⁢ ( - R ⁢ ⁢ x + ω r ⁢ L ) - ω r ⁢ R ⁢ ⁢ K e 2 ) ) = 0 ( Eq . ⁢ 13 )

where x represents V q /V d .

Solving Eq. 13 for x, Eq. 14 is obtained.

Substitution of V q /V d in Eq. 11 with Eq. 14 provides the voltage phase δ vmax , for which the limit torque is output in Eq. 15. Note that the computed frequency value ω 1 may be used instead of the rotation frequency ω r of the motor.

Hence, in the case of a motor having a negligible salient-pole property, in which the ratio of the d-axis inductance L d to the q-axis inductance L q is at a value of 0.8 to 1.2 and thus the reluctance torque is small, the voltage phase limit value δ vmax * may be set to a value calculated from Eq. 15 instead of the table 171 , resulting in the same effect.

Further, as seen from Eq. 15, the voltage phase limit value δ vmax * varies with the magnitude of the resistance R of the motor, and hence the resistance R in Eq. 15 may be corrected according to the measured temperature of the motor.

Yet further, in the condition where for the computed frequency value ω 1 of the motor, the required torque is at or below the limit torque of the motor, the phase angle limit correcting unit 16 may control the third phase angle reference Δθ c *** to be fixed at zero in view of the motor efficiency.

Also, in the condition where for the computed frequency value ω 1 of the motor, the required torque is at or above the limit torque of the motor, the third phase angle reference Δθ c *** may be reduced to become such a phase correction value as to produce good torque efficiency in view of the motor output efficiency.

Further in the electric power steering using the motor control system including the motor control apparatus according to the second embodiment, the frequency of the output shaft of the motor providing steering assistive power and the steering speed of the steering mechanism are detected, and a value of the detected frequency multiplied by the coupling gear ratio between the steering mechanism and the motor can be used instead of the computed frequency value ω 1 computed in the frequency computing unit 7 , resulting in the same effect. Or, a frequency estimate value ω 1c estimated from the first voltage reference V 1 *, the first voltage phase reference δ*, the d-axis current detected value I dc , and the q-axis current detected value I qc may be used instead of the computed frequency value ω 1 , resulting in the same effect. Or, a frequency reference given by an upper level may be input to the second phase angle computing unit 17 , resulting in the same effect.

Third Embodiment

FIG. 12 shows a motor control system including a motor control apparatus according to a third embodiment of the present invention. Description of the blocks 1 to 5 , 7 to 14 , and 16 that are the same as in the first embodiment will be omitted. Although the second phase angle computing unit 15 of the first embodiment computes the second phase angle reference Δθ c ** based on the power supply voltage V dc from the voltage detector 6 detecting the voltage of the DC power supply 1 , the second phase angle computing unit 18 of the present embodiment computes the second phase angle reference Δθ c ** based on the d-axis current detected value I dc and the q-axis current detected value I qc .

The detailed block diagram of the second phase angle computing unit 18 is shown in FIG. 13 . The table 181 obtains the voltage phase limit value δ vmax * based on the d-axis current detected value I dc and the q-axis current detected value I qc . The subtracter 152 subtracts the first voltage phase reference δ* from the voltage phase limit value δ vmax * according to Eq. 4 to output the second phase angle reference Δθ c **.

An advantageous effect of the present embodiment will be described using FIG. 14 . FIG. 14 shows the characteristic of the motor inductance against the motor current. As shown in FIG. 14 , it is known that as the motor current increases, the q-axis inductance decreases. If the d-axis inductance and/or the q-axis inductance vary, the output voltage varies according to Eq. 16.

( V d V q ) = ( R - ω r · L d ^ ω r · L d ^ R ) ⁢ ( I d I q ) ⁢ ( 0 ω r · K e ) ( Eq . ⁢ 16 )

where L d ^ is an estimated value of the d-axis inductance having varied with the motor current, and L q ^ is an estimated value of the q-axis inductance having varied with the motor current.

When the output voltage varies, the voltage phase δ vmax , for which the limit torque is output, also varies according to Eq. 16, and hence a table 181 is supplied with the d-axis current detected value I dc and the q-axis current detected value I qc and estimates the inductance values and corrects the voltage phase limit value δ vmax * according to the estimated inductance values.

Also the configuration of the present embodiment can output the limit torque because, if the torque reference τ* specifies torque above the limit torque, the second voltage phase reference δ** is set equal to the voltage phase limit value δ vmax * according to Eq. 4 and Eq. 5, and thus the limit torque is output. If the torque reference τ* specifies torque at or below the limit torque, then the second voltage phase reference δ** is smaller than the voltage phase limit value δ vmax *, and hence the configuration of the present embodiment can output the torque as specified by the torque reference τ*.

Moreover, in the table 181 the d-axis current reference I d *, the q-axis current reference I q *, and the third phase angle reference Δθ c *** may be used for correction instead of the d-axis current detected value I dc and the q-axis current detected value I qc , resulting in the same effect.

Note that the first to third embodiments can be used in any combination thereof.

Fourth Embodiment

FIG. 15 shows a motor control system including a motor control apparatus according to a fourth embodiment of the present invention. The motor control system includes the DC power supply 1 , the inverter 2 , the motor 3 , the position detector 4 , the current detector 5 , the voltage detector 6 , the frequency computing unit 7 , the coordinate converter 8 , and the torque reference setting unit 9 , which are the same as in the first embodiment, and of which description will be omitted.

The motor control system further includes a current reference computing unit 19 to compute a d-axis current reference I d * and a q-axis current reference I q * from the torque reference τ*, a first voltage reference V 1 *, and the power supply voltage V dc ; a voltage reference computing unit 20 to compute the first voltage reference V 1 * and a first voltage phase reference δ* from the d-axis current reference I d *, the q-axis current reference I q *, the d-axis current detected value I dc , the q-axis current detected value I qc , and the computed frequency value ω 1 based on motor constants; a phase angle limit correcting unit 21 to compute a second voltage phase reference δ** from the first voltage phase reference δ* and the power supply voltage V dc ; and a PWM control unit 22 to output the PWM pulses P uvw * based on the first voltage reference V 1 *, the second voltage phase reference δ**, and the position detected value θ d .

The current reference computing unit 19 computes the q-axis current reference I q * based on the torque reference τ* and, in normal control, outputs the d-axis current reference I d * at zero and, in field weakening control, computes such a value of the d-axis current reference I d * that the first voltage reference V 1 * equals the voltage reference limit V 1max *.

The voltage reference computing unit 20 comprises a current control unit that effects the proportional plus integral controls (PI controls) for a deviation between the d-axis current reference I d * and the d-axis current detected value I dc , and a deviation between the q-axis current reference I q * and the q-axis current detected value I qc , thereby generating a second d-axis current reference I d ** and a second q-axis current reference I q **; and a field oriented control computing unit that computes the first voltage reference V 1 * and the first voltage phase reference δ* from the second d-axis current reference I d **, the second q-axis current reference I q **, the computed frequency value ω 1 , and motor constant set values according to Eq. 1.

The detailed block diagram of the phase angle limit correcting unit 21 is shown in FIG. 16 .

The phase angle limit correcting unit 21 comprises the table 151 of FIG. 2 in the first embodiment and a voltage phase angle limiting unit 211 that outputs the second voltage phase reference δ** from the first voltage phase reference δ* and the voltage phase limit value δ vmax *.

The voltage phase angle limiting unit 211 limits the first voltage phase reference δ* by the voltage phase limit value δ vmax * to output the second voltage phase reference δ**.

The PWM control unit 22 computes three-phase voltage references V u *, V v *, V w * based on the first voltage reference V 1 *, the second voltage phase reference δ**, and the position detected value θ d according to Eq. 6 and outputs the PWM pulses P uvw *.

Although the present embodiment is provided with taking into account the power supply voltage V dc . However, the embodiment can be provided with taking into account one or more of the power supply voltage V dc , the computed frequency value ω 1 , and the d-axis current detected value I dc and the q-axis current detected value I qc .

Also with the configuration of the present embodiment, if the torque reference τ* specifies torque above the limit torque, the second voltage phase reference δ** is set equal to the voltage phase limit value δ vmax * according to Eq. 4 and Eq. 5, and thus the limit torque is output. If the torque reference τ* specifies torque at or below the limit torque, then the second voltage phase reference δ** is smaller than the voltage phase limit value δ vmax *, and hence torque as specified by the torque reference τ* can be output.

Hence, the fourth embodiment can provides the same effect as the first to third embodiment.

Fifth Embodiment

FIG. 17 shows the entire configuration of a fifth embodiment. The motor control system includes the DC power supply 1 , the inverter 2 , the motor 3 , the position detector 4 , the current detector 5 , the voltage detector 6 , the frequency computing unit 7 , the coordinate converter 8 , and the torque reference setting unit 9 , the voltage reference computing unit 20 , the phase angle limit correcting unit 21 , and the PWM control unit 22 , which are the same as in the fourth embodiment, and of which description will be omitted.

The motor control system further includes a supply voltage limiting unit 23 which limits the first voltage reference V 1 * based on the power supply voltage V dc that is supplied to the motor to output a second voltage reference V 1 ** and the current reference computing unit 24 .

Although the current reference computing unit 19 of the fourth embodiment has the first voltage reference V 1 * inputted thereto, the current reference computing unit 24 of the present embodiment is supplied with the second voltage reference V 1 ** limited based on the power supply voltage V dc . By this means, overshoot in a transient state is suppressed, and hence the voltage reference limit V 1max * can be set to a large value even where the power supply voltage V dc abruptly changes.

Although the present embodiment is configured taking into account the power supply voltage V dc , the embodiment can be provided with taking account one or more of the power supply voltage V dc , the computed frequency value ω 1 , and the d-axis current detected value I dc and the q-axis current detected value I qc .

Also with the configuration of the present embodiment, if the torque reference τ* specifies torque above the limit torque, the second voltage phase reference δ** is set equal to the voltage phase limit value δ vmax * according to Eq. 4 and Eq. 5, and thus the limit torque is output. If the torque reference τ* specifies torque at or below the limit torque, then the second voltage phase reference δ** is smaller than the voltage phase limit value δ vmax *, and hence torque as specified by the torque reference τ* can be output.

Hence, the same effect as with the first to third embodiments can be obtained.

Sixth Embodiment

FIG. 18 shows the entire configuration of a sixth embodiment. The motor control system of the sixth embodiment includes the DC power supply 1 , the inverter 2 , the motor 3 , the current detector 5 , the voltage detector 6 , the coordinate converter 8 , the torque reference setting unit 9 , the current reference computing unit 10 , the voltage reference computing unit 11 , the d-axis current reference setting unit 13 , the first phase angle computing unit 14 , the second phase angle computing unit 15 , and the phase angle limit correcting unit 16 , which are the same as in the first embodiment, and of which description will be omitted.

The motor control system of the sixth embodiment further includes an axis error computing unit 25 to compute an axis error Δθ c that is a deviation between the rotation phase value of the motor and the rotation phase reference of control from the first voltage reference V 1 *, the first voltage phase reference δ*, the d-axis current detected value I dc , the q-axis current detected value I qc , and a frequency estimate value ω 1c output from a frequency estimating unit 27 ; a subtracter 26 to subtract the axis error Δθ c from the third phase angle reference Δθ c ***; the frequency estimating unit 27 to estimate the frequency estimate value ω 1c from the output of the subtracter 26 ; a position estimating unit 28 to estimate a position estimate value θ dc from the frequency estimate value ω 1c by integration; and a PWM control unit 29 to output the PWM pulses based on the first voltage reference V 1 *, the first voltage phase reference δ*, and the position estimate value θ dc .

The axis error computing unit 25 computes the axis error Δθ c , which is a deviation between the rotation phase value of the motor and the rotation phase reference of control, from the first voltage reference V 1 *, the first voltage phase reference δ*, the d-axis current detected value I dc , the q-axis current detected value I qc , and the frequency estimate value ω 1c output from the frequency estimating unit 27 according to Eq. 17.

The PWM control unit 29 computes three-phase voltage references V u *, V v *, V w * based on the first voltage reference V 1 *, the first voltage phase reference ε*, and the position estimate value θ dc for the motor and outputs the PWM pulses P uvw *.

Although the present embodiment is provided with taking into account the power supply voltage V dc , the embodiment can be provided with taking into account one or more of the power supply voltage V dc , the frequency estimate value ω 1c , and the d-axis current detected value I dc and the q-axis current detected value I qc .

Also in the present embodiment, if the torque reference τ* specifies torque above the limit torque, the second voltage phase reference δ** is set equal to the voltage phase limit value δ vmax * according to Eq. 4 and Eq. 5, and thus the limit torque is output. If the torque reference τ* specifies torque at or below the limit torque, then the second voltage phase reference δ** is smaller than the voltage phase limit value δ vmax *, and hence torque as specified by the torque reference τ* can be output.

In the first to fifth embodiments, the axis error Δθ c may be computed based on the first voltage reference V 1 *, the first voltage phase reference δ*, the d-axis current detected value I dc , the q-axis current detected value I qc , and the frequency estimate value ω 1c , and the frequency estimate value ω 1c estimated such that the axis error Δθ c becomes zero and the position estimate value θ dc for the motor may be used instead of the position detected value θ d detected by the position detector and the computed frequency value ω 1 , resulting in the same effect with the position detector being unwarranted.

Further, in the first to sixth, a DC shunt resistor usually provided in between the DC power supply 1 and the inverter 2 to detect the breaking of the power supply line may be used to detect the three-phase current values I u , I v , I w with the current detector 5 being omitted, resulting in the same effect.

In electric power steerings and in-vehicle devices using the present invention, the torque up to the limit torque can be output in field weakening control, and hence the body of the motor can be made smaller than in the prior art.

In the embodiments described above, the motor may be a non-salient-pole motor, or the motor has the proportion of reluctance torque to the total torque of the motor is at or below a predetermined value, and the second phase angle reference may be obtained by subtracting the resistance of the motor divided by the product of the inductance and frequency of the motor from π/2 [rad]. Further the second phase angle reference may be varied according to the temperature of the motor.