JP4657012B2 - Induction motor control device, vehicle and vehicle system using the same - Google Patents

Description

  The present invention relates to a control device that controls a plurality of induction motors, and more particularly to a control device for an induction motor that estimates the torque of each induction motor to be controlled, a vehicle using the same, and a vehicle system.

As a conventional example, in a control device that controls a plurality of induction motors, a control device that calculates the torque of each induction motor is known (see, for example, Patent Document 1). In the control device disclosed in Patent Document 1, torque is estimated so as to be proportional to the slip of each induction motor. Furthermore, in the control device described in Patent Document 1, when there is an imbalance in the torque of each induction motor estimated inside, the generated torque of the induction motor that generates the maximum torque is excessive by reducing the overall torque command. So that it can be suppressed.
Japanese Patent Laid-Open No. 10-80190

  In a configuration in which a control device for controlling a plurality of induction motors is mounted on a vehicle and different axles are driven by the induction motors, if the wheel diameter varies, the rotation speed of the induction motors becomes unbalanced and the generated torque is unbalanced. Will occur. For this reason, it is necessary to manage the variation of the wheel diameter so as to be within a certain range. However, since the torque estimation method described in Patent Document 1 does not consider voltage drop due to winding resistance or the like, there is an error in the estimated torque. Further, since the estimated torque cannot be output to the outside, the torque imbalance of each axis cannot be observed from the outside, and the wheel diameter cannot be managed.

Accordingly, the present invention provides a control device for controlling a plurality of induction motors, in which the torque of each of the induction motor with high accuracy is an object of the estimated child.

  In order to solve the above-described problems and achieve the object of the present invention, an induction motor control device according to the present invention is an induction motor control device that controls a plurality of induction motors based on a torque command. The torque of the induction motor is controlled based on the total amount of current flowing through the motor, the individual first torque of the induction motor is obtained based on the rotational speed and output voltage of the individual induction motor, and the induction motor's torque is calculated from the first torque and the torque command. The individual second torque is calculated. Accordingly, the second torque is calculated by distributing the high-accuracy torque command based on the first torque for each axis of the induction motor, and the torque of each induction motor can be estimated with high accuracy. .

  The vehicle system of the present invention also provides information between a first vehicle equipped with a control device for an induction motor that controls a plurality of induction motors based on a torque command, a second vehicle equipped with a display device, and the vehicle. In a train composed of transmission means for transmitting, the control device controls the torque of the induction motor based on the total amount of current flowing from the control device to the induction motor and the torque command, and estimates the torque of each induction motor. The estimated torque value transmitted by the transmission means is displayed. Thereby, the torque of each induction motor can be displayed on the display device.

  In addition, the vehicle of the present invention includes a control device for an induction motor that controls an induction motor that drives a plurality of axles based on a torque command, and the control device controls the total amount of current flowing from the control device to the induction motor and the torque. The torque of the induction motor is controlled based on the command, each torque is estimated from the individual rotational speeds of the induction motor, and the variation in the diameters of the plurality of wheels attached to the axle exceeds the allowable amount based on the estimated torque value. Is detected. Thereby, it can be detected that the variation in the wheel diameter exceeds the allowable value by the estimated torque.

  According to the present invention, in a control device that controls a plurality of induction motors, the torque of each induction motor can be estimated with high accuracy. It is also possible to display the torque of each induction motor. Furthermore, it is possible to detect that the variation in the wheel diameter has exceeded the allowable value.

A first embodiment of the present invention will be described with reference to FIG.
In FIG. 1, 1 is an overhead wire, 2 is a track, 3 is a current collector, 4 is a wheel, 100 is a control device, 8a, 8b, 8c and 8d are induction motors, 9a, 9b, 9c and 9d are speed sensors. , 16 are communication paths. The control device 100 converts the DC voltage supplied from the overhead wire 1 and the track 2 through the current collector 3 and the wheel 4 into an AC voltage, and drives the induction motors 8a to 8d. Further, the induction motors 8a to 8d drive different axles. The speed sensors 9a to 9d detect the rotational angular velocities ωm [1] to ωm [4] of the induction motors 8a to 8d, respectively. The control device 100 is provided in the vehicle. In addition, one vehicle is provided with four axles that rotate with the wheels 4 fixed at both ends, and four induction motors 8a to 8d are provided so as to rotationally drive the four axles.

  The control device 100 includes a reactor 5, a capacitor 6, a power converter 7, current sensors 10u, 10v, 10w, a torque control unit 11, a PWM control unit 12, a first torque calculation unit 13, a second torque calculation unit 14, The communication unit 15 is used. The DC voltage supplied to the control device 100 is supplied to the power converter 7 through a power receiving filter constituted by the reactor 5 and the capacitor 6. The power converter 7 is configured by an inverter, and converts a DC voltage into a three-phase AC voltage based on a gate signal G from the PWM control unit. The set of current sensors 10u, 10v, and 10w detect the three-phase output currents Iu, Iv, and Iw of the power converter 7, which is the total amount of current that flows through the induction motors 8a to 8d. Based on the output currents Iu, Iv, Iw and the rotation angular velocities ωm [1] to ωm [4], the torque control unit 11 outputs torques Tm [1] to Tm [1] to The voltage command V1, the voltage phase angle δ, and the frequency ω1 are manipulated so that Tm [4] matches. The PWM control unit 12 calculates an AC voltage command based on the voltage command V1, the voltage phase angle δ, and the frequency ω1, and outputs a gate signal G obtained by pulse width modulation to the power converter 7.

The first torque calculator 13 calculates first torque estimated values Tm1 [1] to Tm1 [4] based on the voltage command V1, the frequency ω1, and the rotational angular velocities ωm [1] to ωm [4]. The second torque calculation unit 14 calculates the second torque estimation values Tm2 [1] to Tm2 [4] based on the first torque estimation values Tm1 [1] to Tm1 [4] and the torque command T *. To do. The calculated second torque estimated values Tm2 [1] to Tm2 [4] are output from the communication unit 15 to the outside using the communication path 16.
Although the voltage command V1 is used in the present embodiment, the output voltage of the power converter 7 can be detected and used.

  Next, the first torque estimated values Tm1 [1] to Tm1 [4] and the first torque calculated by the first torque calculating unit 13 and the second torque calculating unit 14, which are features of the first embodiment of the present invention, are described. A calculation method of the estimated torque values Tm2 [1] to Tm2 [4] will be described. FIG. 2 is an equivalent circuit for one phase of the induction motor. R1 is a primary resistance, R2 is a secondary resistance, l1 is a primary leakage inductance, l2 is a secondary leakage inductance, and R2m is a resistance corresponding to a machine output. Since the mechanical output Pm of the induction motor is electric power consumed by the voltage resistance Rm for the voltage V1 / √3 for one phase, the mechanical output Pm can be obtained by the following equation (1).

但し、ｓはすべりである。

However, s is a slip.

  Since the product of the rotational angular velocity ωm and the torque Tm is the machine output Pm, the torque Tm1 of the induction motor can be obtained from Equation 2.

但し、ｐは極数である。

However, p is the number of poles.

  In the case of the configuration shown in FIG. 1, since the four induction motors 8a, 8b, 8c, and 8d are connected in parallel, the voltages of the induction motors are the same. Therefore, the voltage command V1 and the frequency ω1 necessary for calculating the first estimated torque value can be used in common. Therefore, the first torque estimated values Tm1 [1] to Tm1 [4] are calculated by Tm1 [k] shown in Formula 4 using the machine output Pm [k] shown in Formula 3.

但し、ｓ［１］〜ｓ［４］は回転角速度ωｍ［１］〜ωｍ［４］にそれぞれ対応するすべりである。ｋは４個の車軸の１軸〜４軸を示す値である。

However, s [1] to s [4] are slips corresponding to the rotational angular velocities ωm [1] to ωm [4], respectively. k is a value indicating one to four axes of four axles.

The voltage used for the calculation may be detected by a voltage sensor.
In this way, the first torque Tm1 of each induction motor can be obtained by the equations 3 and 4. However, since Equation 3 includes a motor constant, if there is an error between the motor constant used in the calculation and the actual motor constant due to an error in setting or a variation in the motor constant due to temperature, the first torque Tm1 is accurately determined It cannot be calculated. On the other hand, since the torque control unit 11 performs independent control on the motor constant based on the detected output currents Iu, Iv, and Iw, an error in the average value of the torque output from the induction motor with respect to the torque command Tm * is small. Therefore, the second torque estimated values Tm2 [1] to Tm2 [4] distribute the torque command Tm * using the formula 5 based on the first torque estimated values Tm1 [1] to Tm1 [4]. To calculate.

  In this embodiment, the command to the controller is the torque command Tm *. However, when the command to the control device is given by the current command or the magnetic flux command, the torque command is obtained from the current command or the magnetic flux command. By calculating and using instead of the torque command Tm *, the second estimated torque values Tm2 [1] to Tm2 [4] can be calculated.

Thereby, the torque of each induction motor can be estimated with high accuracy.
Specifically, the first estimated torque values Tm1 [1] to Tm1 [4] indicate torque information for each axis of the wheel, but there is a change in motor characteristics such as a motor constant depending on usage conditions. And may include errors. On the other hand, the torque command Tm * is highly accurate torque information, but does not indicate torque information for each wheel axis. For this reason, the high-accuracy torque command Tm * and the first torque estimation values Tm1 [1] to Tm1 [4] including the error but indicating the torque information for each axis are used. By distributing * based on the first estimated torque values Tm1 [1] to Tm1 [4] using Equation 5, the torque information for each axis is shown and the highly accurate second estimated torque value Tm2 [1] ~ Tm2 [4] can be obtained.
In addition, although the example of this Embodiment showed the structure which drives four induction motors, if it is a system which drives two or more induction motors, it can apply by the same system.

  Next, a vehicle system in which a plurality of vehicles are connected will be described as a second embodiment of the present invention with reference to FIG. The same components as those of the first embodiment shown in FIG. FIG. 3 shows a train in which five vehicles 200e to 200i are connected. The cab display devices 204e and 204i are mounted on the first vehicle 200e and the fifth vehicle 200i, respectively. A control device 100f, a transmission path 16f, a transmission terminal 203f, and four induction motors 8af to 8df are mounted on the second vehicle 200f. A device similar to the vehicle 200f is mounted on the third vehicle 200g and the fourth vehicle 200h.

  Specifically, a control device 100g, a transmission path 16g, a transmission terminal 203g, and four induction motors 8ag to 8dg are mounted on the third vehicle 200g. A control device 100h, a transmission path 16h, a transmission terminal 203h, and four induction motors 8ah to 8dh are mounted on the fourth vehicle 200h. In addition, since a figure becomes complicated, the code | symbol is not attached | subjected to the induction motor mounted in the vehicle 200g and the vehicle 200h. Further, the cab display devices 204e and 204i and the transmission terminals 203f, 203g and 203h are connected by a transmission path 202.

Hereinafter, transmission of information between the first vehicle 200e and the fifth vehicle 200i and the second vehicle 200f, the third vehicle 200g, or the fourth vehicle 200h will be described.
The control device 100f has the same configuration as the control device 100 described in the first embodiment shown in FIG. 1, and controls the four induction motors 8af to 8df to drive the four axles. In the control device 100f, a second torque estimated value obtained by estimating the torque output from each of the four induction motors 8af to 8df is calculated and sent to the transmission terminal 203f via the communication path 16f. The transmission terminal 203f transmits the second estimated torque value to the cab display device 204e or the cab display device 204i via the transmission path 202.

  As described above, the control device 100g controls the four induction motors 8ag to 8dg and drives the four axles. In the control device 100g, a second estimated torque value obtained by estimating the torque output from each of the four induction motors 8ag to 8dg is calculated and sent to the transmission terminal 203g via the communication path 16g. The transmission terminal 203g transmits the second estimated torque value to the cab display device 204e or the cab display device 204i via the transmission path 202.

  As described above, the control device 100h controls the four induction motors 8ah to 8dh to drive the four axles. In the control device 100h, a second torque estimated value obtained by estimating the torque output by each of the four induction motors 8ah to 8dh is calculated and sent to the transmission terminal 203h via the communication path 16h. The transmission terminal 203h transmits the second estimated torque value to the cab display device 204e or the cab display device 204i via the transmission path 202.

The details of the cab display device 204e provided in the first vehicle 200e shown in FIG. 3 will be described with reference to FIG. Here, only the cab display device 204e will be described, but the cab display device 204i provided in the fifth vehicle 200i is similarly configured.
The cab display device 204e includes a transmission unit 301, a wheel diameter error detection unit 302, a display unit 303, and an operation unit 304. The transmission unit 301 receives the second estimated torque value transmitted from the second vehicle 200f, the third vehicle 200g, or the fourth vehicle 200h shown in FIG. The second estimated torque value received by the transmission unit 301 is output to the display unit 303 and the wheel diameter error detection unit 302.

  The wheel diameter error detection unit 302 detects a variation in the wheel diameter based on the second estimated torque value, and if the variation exceeds a predetermined allowable value, an alarm is generated and the vehicle in which the alarm is generated Is output to the display unit 303 as an alarm signal ALM. The display unit 303 is connected to an operation unit 304 for an operator to input operation information to the cab display device 204e. When the operation unit 304 is selected to display a torque monitor, the display unit 303 displays the second estimated torque value output from the transmission unit 301. Further, when the wheel diameter error detection unit 302 outputs the alarm signal ALM, the display unit 303 displays the wheel diameter error excessive information and the vehicle in which the alarm has occurred. Further, the second estimated torque value is displayed as the output torque of each induction motor of the vehicle in which the alarm has occurred.

  Next, details of the operation of the wheel diameter error detection unit 302 shown in FIG. 4 will be described using the flowchart of FIG. If there is a large difference in the wheel diameter in the vehicle, the rotational angular velocity of the induction motor varies, and therefore the output torque varies. For this reason, it is necessary to manage the wheel diameter so that the variation in torque falls within a necessary range. The wheel diameter error detection unit 302 uses the second estimated torque value to detect that the wheel diameter error has increased beyond a predetermined allowable value, and outputs an alarm signal ALM. FIG. 5 shows specific processing executed by the wheel diameter error detection unit 302 every second.

  In FIG. 5, first, the wheel diameter error detection unit 302 checks whether the control device 100 shown in FIG. 1 is activated (step S401). If the control device 100 is not activated in step S401, the process is terminated without performing the process. If the control device 100 is activated in step S401, the process of each vehicle from step 1 to step S403 is performed (step S402). ). First, the wheel diameter error detection unit 302 reads out the second estimated torque value of each induction motor in the vehicle (step S403). Next, the wheel diameter error detection unit 302 obtains the maximum value and the minimum value of the second torque estimation value in the vehicle, and determines whether or not the difference between the maximum value and the minimum value exceeds the allowable value (step S404). .

  If the difference between the maximum value and the minimum value exceeds the allowable value in the determination in step S404, the wheel diameter error detection unit 302 executes the processing from step S405 onward, and the difference between the maximum value and the minimum value is allowable in the determination in step S404. If it is less than or equal to the value, this vehicle check is terminated, and the process branches to step S408 to determine whether all vehicles have been checked (step S408). For example, 50% of the torque that can be output is set as the allowable value for the determination in step S404.

  When the difference between the maximum value and the minimum value exceeds the allowable value in the determination in step S404, the wheel diameter error detection unit 302 adds 1 to the alarm counter of the vehicle (step S405). Next, the wheel diameter error detection unit 302 checks whether the value of the alarm counter exceeds a predetermined value, for example, 400 (step S406). If the alarm counter value exceeds 400 in step S406, the wheel diameter error detection unit 302 executes step S407. If the alarm counter value is 400 or less in step S406, the process branches to step S408. . When the value of the alarm counter exceeds 400 in step S406, the wheel diameter error detector 302 outputs an alarm signal ALM (step S407). That is, when the total time during which the torque variation of each induction motor in the vehicle exceeds the allowable value exceeds 400 seconds, the wheel diameter error detection unit 302 outputs the alarm signal ALM.

  Thus, the processing of each vehicle is completed, and the wheel diameter error detection unit 302 determines whether all vehicles have been checked in step S408. If the processing of all vehicles has not been completed, the next vehicle is checked. After executing the process of S409, the process returns to step S403, and the processes after step S403 are repeated. When all the vehicles are checked in step S408, wheel diameter error detection unit 302 updates the timer (step S410). Next, the wheel diameter error detection unit 302 checks whether the timer has exceeded a predetermined value, for example, 600 seconds (step S411). If the timer does not exceed 600 seconds in step S411, the wheel diameter error detection unit 302 finishes the process, and if the timer does not exceed 600 seconds in step S411, executes the process in step S412 and subsequent steps. When the timer does not exceed 600 seconds in step S411, the wheel diameter error detection unit 302 clears the timer (step S412), and then clears all vehicle alarm counters (step S413).

That is, for example, the alarm counters of all vehicles are cleared at intervals of 600 seconds. Therefore, for example, when the variation of the second torque command exceeds the allowable value over 400 seconds in 600 seconds, the wheel diameter error detection unit 302 outputs an alarm signal ALM. As a result, the alarm signal ALM is not output for variations in torque output by the induction motor that are temporarily generated due to wheel slipping, etc., but only for steady torque variations due to wheel diameter errors. Can be output.
With the above configuration, the torque of each induction motor can be displayed, and it can be detected that the variation in wheel diameter has exceeded the allowable value.

The configuration of the second embodiment described above shows a case where the wheel diameter error detection unit 302 is mounted on the cab display device 204e shown in FIG. The structure which mounts the wheel diameter error detection part 302 may be sufficient.
FIG. 6 shows a configuration example of a control device in which the wheel diameter error detection unit 302 is mounted. Instead of the control device 100 of FIG. 1, a control device 100j is used in FIG. The second torque estimated values Tm2 [1] to Tm2 [4] are input from the second torque calculating unit 14 to the wheel diameter error detecting unit 302 of the control device 100j, and the second torque estimated value Tm2 [1]. ] To Tm2 [4], the alarm signal ALM is output to the communication unit 15. Since the configuration of the control device 100j other than the above is the same as that of the control device 100, description thereof is omitted.

Next, the operation of the wheel diameter error detection unit 302j shown in FIG. 6 will be described using the flowchart of FIG. The difference between the wheel diameter error detection unit 302j shown in FIG. 6 and the processing of the wheel diameter error detection unit 302 shown in FIG. 5 is that only one vehicle is checked in FIG. The process of checking the first vehicle in step S402, the process of determining whether all the vehicles in step S408 have been checked, and the process of checking the next vehicle in step S409 are omitted. Further, in FIG. 6, since the alarm counter also has only the vehicle, the processing of step S413j that clears only the vehicle counter is used instead of the processing of clearing the alarm counter of all vehicles in step S413 shown in FIG. 5. Different. The other processes are the same as the processes shown in FIG.
Even with the above configuration, it is possible to detect that the variation in the wheel diameter exceeds the allowable value.

  The above-described embodiment of the present invention may be applied to railways, but is not limited to this, and can also be applied to other mobile objects such as automobiles and go-karts included in the concept of vehicles.

It is a block diagram which shows the structure of the control apparatus of the induction motor provided in the vehicle. It is a figure which shows the equivalent circuit of an induction motor. It is a figure which shows the train which transmits the information of the control apparatus of an induction motor between vehicles. It is a block diagram which shows the structure of a structure of a cab display apparatus. It is a flowchart which shows the process of a wheel diameter error detection part. It is a block diagram which shows the structure of the control apparatus of the other induction motor provided in the vehicle. It is a flowchart which shows the process of another wheel diameter error detection part.

Explanation of symbols

T * ... torque command, 8a, 8b, 8c, 8d, 8af, 8bf, 8cf, 8df ... induction motor, 4 ... wheel, 100, 100j ... control device, 10u, 10v, 10w ... current sensor, 11 ... torque control unit , 9a, 9b, 9c, 9d ... speed sensor, 13 ... first torque calculator, Tm1 [1] ... Tm1 [4] ... first torque, 14 ... second torque calculator, Tm2 [1 ] Tm2 [4] ... Second torque, 200e, 200f, 200g, 200H, 200i ... Vehicle, 204e, 204i ... Driver's cab display device, 202 ... Transmission path, 303 ... Indicator, 302, 302j ... Wheel Diameter error detector

Claims (12)

In an induction motor control device that controls a plurality of induction motors based on a torque command,
Current detection means for detecting the total amount of current flowing from the control device to the induction motor;
Torque control means for controlling the torque of the induction motor based on the torque command and the total amount of the current;
First torque calculation means for obtaining individual first torques of the induction motor based on individual rotation speeds of the plurality of induction motors and output voltage of the torque control means or output voltage of the control device;
A control device for an induction motor, comprising: second torque calculation means for calculating each second torque of the induction motor based on the first torque and the torque command. In the control apparatus of the induction motor according to claim 1,
The control device for an induction motor, wherein the second torque calculation means calculates the second torque by distributing the torque command based on the first torque for each axis of the induction motor. . In the control apparatus of the induction motor according to claim 1,
A control device for an induction motor comprising transmission means for transmitting the second torque to the outside. In a vehicle having a control device for an induction motor that controls a plurality of induction motors based on a torque command, and driving a plurality of axles using the plurality of induction motors,
The controller is
Current detection means for detecting the total amount of current flowing from the control device to the induction motor;
Torque control means for controlling the torque of the induction motor based on the torque command and the total amount of the current;
First torque calculation means for obtaining individual first torques of the induction motor based on individual rotation speeds of the plurality of induction motors and output voltage of the torque control means or output voltage of the control device;
And a second torque calculating means for calculating each second torque of the induction motor based on the first torque and the torque command. Transmission means for transmitting information on the control device between a vehicle equipped with a control device for an induction motor for controlling a plurality of induction motors respectively driving a plurality of axles based on a torque command and another vehicle equipped with a display means In vehicle systems that transmit via
The controller is
Current detection means for detecting the total amount of current flowing from the control device to the induction motor;
Torque control means for controlling the torque of the induction motor based on the torque command and the total amount of the current;
A torque estimated value calculating means for calculating a torque estimated value by estimating each torque of the induction motor;
The vehicle system, wherein the transmission means transmits the estimated torque value to another vehicle and displays the estimated torque value on the display means of the other vehicle. The vehicle system according to claim 5, wherein
The display device includes detection means for detecting that a variation in the diameters of a plurality of wheels respectively attached to the plurality of axles exceeds an allowable value, and the plurality of wheel diameters detected by the detection means. The vehicle system characterized by displaying the variation and the estimated torque value on the display device. The vehicle system according to claim 5, wherein
The torque estimated value calculation means includes:
First torque calculation means for obtaining individual first torques of the induction motor based on individual rotation speeds of the plurality of induction motors and output voltage of the torque control means or output voltage of the control device;
Second torque calculating means for calculating each second torque of the induction motor based on the first torque and the torque command;
A vehicle system that outputs the second torque as the estimated torque value. The vehicle system according to claim 7, wherein
The vehicle system characterized in that the second torque calculation means calculates the second torque by distributing the torque command based on the first torque for each axis of the induction motor. In a vehicle including a control device for an induction motor that controls a plurality of induction motors that respectively drive a plurality of axles based on a torque command,
Current detection means for detecting the total amount of current flowing from the control device to the induction motor;
Torque control means for controlling the torque of the induction motor based on the torque command and the total amount of the current;
A torque estimated value calculating means for estimating the torque of each induction motor and calculating a torque estimated value;
A vehicle comprising: detecting means for detecting, based on the estimated torque value, that a variation in diameters of a plurality of wheels respectively attached to the plurality of axles exceeds an allowable amount. The vehicle according to claim 9, wherein
The torque estimated value calculation means includes:
First torque calculation means for obtaining individual first torques of the induction motor based on individual rotation speeds of the plurality of induction motors and output voltage of the torque control means or output voltage of the control device;
Second torque calculating means for calculating each second torque of the induction motor based on the first torque and the torque command;
The vehicle that outputs the second torque as the estimated torque value. The vehicle according to claim 10, wherein
The vehicle, wherein the second torque calculation means calculates the second torque by distributing the torque command based on the first torque for each axis of the induction motor. The vehicle according to claim 9, wherein
A vehicle comprising transmission means for transmitting a variation in the diameters of a plurality of wheels detected by the detection means and the estimated torque value to the outside.

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