JPH0753006B2 - Electric vehicle controller - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric vehicle controller, and more particularly to an electric vehicle controller suitable for an electric vehicle using a shunt motor.

[Background of the Invention]

Conventionally, electric vehicles use battery power as a power source, and thus have a short running distance, and in order to improve this, it is desired to reduce the loss of each part as much as possible and to provide an efficient system. On the other hand, operability is required to be equal to or higher than that of a gasoline vehicle because it is mixed traffic with a gasoline vehicle. For these reasons, electric vehicle control devices using a shunt winding motor are being studied.

FIG. 1 is an overall block diagram (see Japanese Patent Laid-Open No. 55-94502) exemplifying a conventional electric vehicle controllability device of this type. In FIG. 1, the same reference numerals or symbols indicate the same or corresponding parts throughout the drawings, 1 is an accelerator limiter circuit that limits the conduction ratio αm command value of the armature current control circuit 4, and 2 is an accelerator open circuit. The torque command generating circuit for generating the torque command τc according to the signal of the degree ACC, 3 is the armature current command pattern generating circuit for generating the armature current command Imc according to the torque command τc, and 4 is the armature current command Im.
The armature current control circuit 5 for calculating and commanding the conduction ratio αm command value of the armature chip 5 based on the c value and the armature current detection signal Imf detected by the armature current detector 12 is a conduction ratio αm.
An armature chip that controls the armature current flowing through the armature 10 of the shunt winding motor by a command to drive the shunt winding motor. The above constitutes an armature current control system. Further, 6 is a weak field control circuit that outputs a weak field current pattern command Ifcw for receiving a signal of the accelerator opening ACC to perform high-speed operation of the motor, and 7 is a field by the armature current detection signal Imf and the weak field current pattern command Ifcw. A field current command pattern generation circuit for generating a magnetic current command Ifc, 8 is a conduction ratio αf of the field chip 9 according to the field current command Ifc value and the field current detection signal Iff detected by the field current detector 13. Field current control circuit that calculates and commands the command value,
Reference numeral 9 denotes a field coil which controls a field current flowing through the field winding 11 of the shunt winding motor in accordance with the current flow rate αf command, and the above constitutes a field current control system. Reference numeral 10 is an armature of the shunt winding motor, 11 is a field winding, and 12 is a current flowing through the armature 10 and detects the armature current detection signal Imf from the armature current control circuit 4 of the armature current control system. To the field current command pattern generating circuit 7 of the field current control system, and 13 as a field winding
Is a field current detector that detects a current flowing in the field current detection circuit Iff and outputs the field current detection signal Iff as a feedback signal to the field current control circuit 8 of the field current control system.

Next, FIGS. 2 (a), (b) and (c) show the armature current command Imc for each torque command τc in FIG. 1, the field current command Ifc for the armature current detection signal Imf, and the accelerator opening ACC.
FIG. 6 is a characteristic example diagram of a torque command τc with respect to a motor rotation speed Nm according to FIG. The operation of FIG. 1 will be described with reference to FIGS. 2 (a), (b), and (c). First, in FIG. 1, an accelerator pedal (not shown) such as an accelerator device is depressed. When the accelerator position ACC signal is output,
In response to this, the torque command generation circuit 2 causes the torque command τ
c is generated. Then, in response to this, the armature current command pattern generation circuit 3 generates the armature current command Imc. This armature current command Imc is designed to maximize the efficiency of the motor as illustrated in FIG. 2 (a). Torque command τc
Is a signal that is patterned with respect to the torque command τc obtained from the relationship between the armature current command Imc and the armature current command Imc. Then, the armature current control circuit 4 compares the armature current command Imc value with the armature current detection signal Imf value from the armature current detector 12 that actually flows through the armature 10, and the accelerator limiter circuit 1
In order to make the current value actually flowing through the armature 10 match the armature current command Imf value within the range of the limit value, the on / off control of the armature chip 5 is performed at the required conduction ratio αm.
Controls the current flowing through 10. On the other hand, a field current command Ifc is generated by the field current command pattern generation circuit 7 according to the armature current detection signal Imf actually flowing through the armature 10.
Normally, this field current command Ifc is the armature current detection signal Imf that maximizes the efficiency of the motor as illustrated in FIG. 2 (b).
Is a patterned signal having the normal field current minimum value I _fL with respect to the armature current detection signal Im f obtained from the relationship between the field current command Ifc. Then, the field current control circuit 8 compares the field current Ifc value with the field current detection signal Iff value from the field current detector 13 that actually flows in the field current 11.
The field chopper 9 is required to have a required current flow rate αf so that the current value actually flowing through the field winding 11 matches the field current command Iff value.
ON / OFF control is performed with to control the current flowing through the field winding 11. Further, the weak field control circuit 6 issues a weak field current pattern command Ifcw during high-speed operation of the electric motor. This weak field current pattern command Ifcw is generated by the field current command pattern generation circuit 7 as illustrated in FIG. 2B. Field current command If generated by
The normal field current minimum value I _fL of c is further reduced to the weak field current minimum value Ifw in accordance with the accelerator opening ACC to perform the weak field control and perform speed control in the high speed region of the motor. The torque command τc characteristic for performing the torque control of the electric motor in this way shows the torque command pattern characteristic with respect to the electric motor rotation speed Nm according to the accelerator opening ACC as illustrated in FIG. 2 (c). The motor rotation speed Nm can be measured by, for example, an armature rotation speed detector (not shown) directly connected to the armature 10 axis. That is, in the torque command pattern of FIG. 2 (c), the torque command mode (I) region is the torque operation mode region in which the torque command τc is proportional to the accelerator opening ACC, and the torque command mode (II) region is the accelerator open mode. In the accelerator limiter mode area where the flow rate αm is fixed according to the degree ACC and the torque command mode (III) area, the weak field control is performed according to the accelerator opening ACC in a high speed area above a certain motor speed Nm _1. This is a region of the weak field control mode.

However, such a conventional electric vehicle control device has the following drawbacks. That is, FIG. 2 (c)
In the accelerator limiter mode in which the flow rate αm is fixed according to the accelerator pedal position ACC in the torque command mode (II) of the torque command characteristic shown in Fig. 5, when the accelerator pedal position ACC is fully opened, the armature chopper 5 flow rate αm. Will be fully opened and will be in an uncontrolled state, and will be greatly affected by the response characteristics of the field current control system. Further, as shown in FIGS. 1 and 2 (b), the method of controlling the field current by following the armature current detection signal Imf is adopted to detect the armature current actually flowing. Since the field current command Ifc is determined according to the armature current detection signal Imf, vibrations occur in both control loops due to the delay in tracking of both control systems including the armature current control system and the field current control system that perform torque control. This results in a phenomenon. Therefore, in order to suppress this vibration phenomenon,
Currently, the response of the field current control system and the armature current control system is slowed down for stabilization. However, if the response of the armature current control system is slowed in this way, the response of the armature current control system cannot follow the rising speed of the induced voltage of the armature during sudden start acceleration of the electric vehicle.
A phenomenon occurs in which only an armature current having a value lower than the value actually flows, that is, an offset phenomenon occurs. For this reason, the electric vehicle driving devices such as the armature chip and the electric motor still have a sufficient capacity, but there are various drawbacks such as the maximum output torque cannot be produced and the acceleration performance is deteriorated.

[Object of the Invention]

An object of the present invention is to eliminate the above-mentioned drawbacks of the prior art and to enable high-speed response of an armature current and field current control system while driving a shunt-wound motor with the highest efficiency to stabilize both control systems. In particular, an electric vehicle that can stabilize both control systems even when the armature tip is fully open and during high-speed weak field control, and that has good operability by making the motor output torque characteristic almost similar to that of a gasoline vehicle. To provide a control device.

[Outline of the Invention] The present invention controls by the maximum value of the armature tip conduction ratio so that the torque instruction value given by the accelerator opening instruction or the like does not exceed the maximum torque that can actually be output when the armature tip actuator is fully opened. This makes the torque command value correspond to the actual output torque, and based on the torque command value, the armature current command and field current command with the highest efficiency are provided to each armature current control circuit and field current control circuit, respectively. Independently controlled and weak field control at full armature and high speed shifts from the basic field current pattern command value during normal operation to the weak field pattern command value in response to changes in armature chip conduction ratio. To provide a field current command to speed up both current control systems including the armature current control system and the field current control system, especially when the armature chipper is fully opened and at high speed weak field control. And an electric vehicle control device using a shunt winding motor and the like.

Example of Invention

An embodiment of the present invention will be described in detail below with reference to FIGS.

FIG. 3 is a block diagram of the entire configuration showing an embodiment of the electric vehicle control device according to the present invention. In FIG. 3, the first
The same reference numerals as those in the figure indicate corresponding parts, 14 is an accelerator opening signal hold circuit, 15 is a torque command generation circuit, 16 is a field current command pattern generation circuit, and 17 is a motor rotation speed detector.

Next, FIGS. 4 (a), (b), and (c) show the motor according to the armature current command Imc for each torque command τc in FIG. 3, the field current command Ifc for the torque command τc, the accelerator opening ACC, etc. It is a characteristic example figure of the torque command τc with respect to the rotation speed Nm. Next, the operation of FIG. 3 will be described with reference to FIGS. 4 (a), (b), and (c). First, in FIG. 3, the accelerator opening signal ACC1 signal from the accelerator device or the like indicates the accelerator opening signal hold circuit. When applied to the accelerator opening signal hold circuit 14, the accelerator opening signal hold circuit 14 outputs the maximum flow rate (maximum open rate) of the maximum flow rate αm command value output from the armature current control circuit 4.
If the commutation rate αm command is not the maximum commutation rate, the accelerator opening ACC1 signal value is output as it is as the accelerator opening ACC2 (ACC) signal value, and the torque command generation circuit 15 outputs. While the accelerator opening ACC2 (ACC) signal input value is used, when the maximum flow rate is reached, the accelerator opening ACC1 signal value captured at that time is held as it is and used as the accelerator opening ACC2 signal value. Then, in the next torque command generation circuit 15, the accelerator opening ACC2 signal and the electric motor speed detector directly connected to the armature 10 axis of the electric motor.
17 Output motor speed Nm signal and input torque command τ
generate c. Therefore, in the armature current command pattern generation circuit 3 of the armature current control system, an electric machine is preliminarily patterned so as to maximize the motor efficiency with respect to the input torque command τc as illustrated in FIG. 4 (a). Generate the child current command Imc. Then, in the armature current control circuit 4, the current flow rate αm is adjusted so that the armature current command Imc value and the value of the feedback signal of the armature current detection signal Imf detected by the armature current detector 12 match. The armature chip 5 is controlled to be turned on / off in response to a command, the average voltage applied to the armature 10 is adjusted, and the acceleration / deceleration torque control of the electric motor is performed. On the other hand, in the field current command pattern generation circuit 16 of the field current control system, when the torque command τc is also given, the armature current command Imc is normally applied to the input torque command τc as illustrated in FIG. 4 (b). armature efficiency is patterned such that the maximum basic field current minimum value I _fL generates a basic field current pattern command Ifcp with normal field current command If
Output as c. Then, in the field current control circuit 8, the field current command Ifc value and the value of the feedback signal of the field current detection signal Iff detected by the field current detector 13 are matched so that the current flow rate αf becomes equal. The field chip 9 is controlled to be turned on / off according to a command to adjust the current flowing through the field winding 11 to control the speed of the electric motor. In this way, according to the torque command τc, the armature current control circuit 4 of the armature current control system
Since the field current control circuit 8 of the field current control system and the field current control circuit 8 of the field current control system are controlled independently of each other, the torque control response of the electric motor becomes faster. The characteristic of the torque command τc, which is a command signal to the armature current control system and the field current control system for controlling the torque of the electric motor in this manner, is shown in FIG. 4 (c).
The torque command pattern characteristic with respect to the electric motor rotation speed Nm is shown according to the accelerator opening ACC as illustrated in FIG.

Next, the torque command .tau.c characteristic of FIG. 4 (c) generated by the torque command generation circuit 15 will be described in more detail. In the torque command pattern of FIG. 4 (c), the torque command mode region is as described above. In addition to combining the armature current value and field current value that maximizes the efficiency of the electric motor, and making the feeling of the electric vehicle almost the same as that of a gasoline vehicle, the operability is improved, especially when the armature chiyota is fully opened. For the purpose of stabilizing the response characteristic of the control of 1), it is divided into four torque command modes (I) to (IV). That is, the torque command mode (I) region is the torque operation mode region in which the torque command τc is proportional to the accelerator opening ACC, and the torque command mode (II) region is the torque with respect to the motor speed Nm according to the accelerator opening ACC. The torque weakening mode region for weakening the command τc, the torque command mode (III) region is a high-speed region of a certain motor rotation speed Nm ₁ or higher, and the torque weakening mode is weakened for the motor rotation speed Nm according to the high opening accelerator opening ACC. The field of the weak magnetic field control mode that controls from the basic field current command pattern Ifcp to the weak field current command pattern Ifcw according to the change of the armature tip conduction ratio αm along with the control to loosen the inclination which is the rate, the torque command In the mode (IV) region, the field current command Ifc is changed to the normal basic field current command pattern I as shown in FIG. 4 (b) by only the field current when the armature chip is fully opened.
This is an armature chiaper full-open control mode in which continuous control is performed from fcp to the weak field current command pattern Ifcw having a high-speed weak field current minimum value Ifw.

The relational expression between the torque command τc in each of these torque command modes and the accelerator opening ACC and the motor speed Nm can be expressed as follows. That is, the torque command τ _ca in the torque command mode (I) is τ _ca = k ₁ · ACC (1), and the switching point torque command between this mode (I) and the next mode (II) is τ _ca = k ₂ · Nmo ……… It is expressed by (2). The mode (I) and mode (II) switching motor rotation speed Nmo is expressed by the following equation from (1) and (2).

Here, k ₁ = Δτ _ca / ΔACC, k ₂ = τ _camax / Nm ₂ , where Δτ _ca is the variation of τ _ca with respect to _ΔACC , τ _camax is the maximum torque command, ΔACC is the variation of ACC, Nm ₂ Is the switching motor speed Nmo at τ _camax .

The torque command τ _{cb in the} torque command mode (II) is expressed by τ _cb = k ₁ ACC−k ₃ (Nm−Nmo) (4). Where k ₃ = Δτ _cb / ΔNm
Is the motor speed.

The torque command τ _{cc in the} torque command mode (III) is the accelerator opening ACC is ACCH in the high speed region where the motor speed Nm is Nm ₁ or more.
The torque command τc is made stronger than the torque weakening mode of mode (II) according to the accelerator opening ACC in the high opening range of ˜ACC100, and the calculation is performed by the following equation.

Where k ₄ = k ₃ −k ₀ , where k ₀ is the inclination at 100% accelerator opening ACC100 of mode (III), Nm ₁ is the switching motor speed between mode (II) and mode (III), ACCH is the high accelerator opening ACC value that starts changing the torque command mode to mode (III) in the high speed region of the motor speed Nm ₁ or more, and ACC100 is the accelerator opening ACC value of the accelerator opening ACC100%.

The torque command τc _D and the field current command Ifcc in the torque command mode (IV) are calculated as follows. That is, since the torque command τc _D limits the increase in the torque command τc _D by limiting the accelerator opening ACC under the condition of the flow rate αm when the armature chip is fully opened, the flow rate αm of the armature chip αm = αm100 (however, If αm100 is the maximum flow rate of αm100%), hold the accelerator opening ACC1 signal value at that time to set the accelerator opening hold value ACHL, and thereafter, open the armature tip When αm <αm100, the accelerator opening ACC1 signal value at that time is compared with the accelerator opening hold value ACHL, and when ACC1 ≤ ACHL, the accelerator opening ACC2 (ACC) signal value is the accelerator at that time. Opening ACC1 signal value, AC when ACC1> ACHL
HL + ΔACC is calculated, and the calculation result is added at regular intervals until the calculation result becomes equal to ACC1. The calculation result is used as the accelerator opening ACC2 signal value. The field current command Ifcc a high conduction ratio .alpha.m _H for conduction ratio .alpha.m armature Chiyotsupa when armature Chiyotsupa fully opened to start the weak field control from the normal basic field control
If the above is satisfied, the shift according to the conduction ratio αm from the basic field current command pattern Ifcp of the weak field current shift command Ifcc shown in FIG. 4B to the weak field current command pattern Ifcw at high speed. Calculation is performed, and the calculation formula is represented by the following formula.

Where k ₅ is a shift gain (k ₅ ≦ 1), α m _H is a weak field control start conduction value, Ifcp is a basic field current command pattern value, If
cw is the weak field current command pattern value.

FIG. 5 is a specific detailed circuit of the torque command generation circuit 15 of FIG. 3 for determining the torque command τc value by judging the operating conditions such as the accelerator opening ACC2 (ACC) and the motor speed Nm. It is a block diagram of a configuration example. In FIG. 5, 15
b, 15d, 15h, 15l, 15m are multipliers for multiplying two input values, 15c, 15g, 15k, 15e are subtracters for subtracting one input value from the other, 15i is a multiplier 15l Output the constant k
Divider divided by _ACC , 15i is an adder that adds two input values, 15n and 15p are comparators that compare two input values and output an output signal "1" or "0", 15f is a comparison Bowl 15n, 15p
Output signal of torque command mode (I), (II),
It is a signal switching circuit for switching (III). Note that FIG. 6 is an operation waveform example diagram for explaining the operation of the signal switching circuit 15f in FIG. 5, and the signal A is the output signal of the comparator 15n, and the mode (I ), (II) mode switching signal, signal B is comparator 15p
Is a mode switching signal for switching between modes (II) and (III) in accordance with signals "0" and "1", and these mode switching signals A and B are used to switch between modes (I) and (II). ), (III) torque commands τ _ca , τ _cb , τ
_The signal switching circuit 15f is configured to output the torque command τc whose _cc values are switched.

To explain the circuit operation of this configuration in FIG. 5, first, when an accelerator opening signal ACC2 (same as ACC) signal is input from the accelerator opening signal hold circuit 14 to the multiplier 15b, the multiplier 15b outputs the equation (1). Based on this, the accelerator opening ACC is multiplied by a constant k ₁ to obtain a torque command τ _ca value in mode (I) proportional to the accelerator opening ACC. Next, when the accelerator opening ACC2 signal is input to the multiplier 15m, the multiplier 15m multiplies the accelerator opening ACC and the constant k ₁ / k ₂ based on the equation (3) in modes (I) and (II). Switching of motor rotation speed
Get Nm ₀ . Then, the subtracter 15c subtracts the switching motor rotation speed Nm ₀ of the modes (I) and (II) obtained by the multiplier 15m from the motor rotation speed Nm input based on the equation (4), and the next multiplier 15d multiplies this subtraction result by a constant k ₃ , and then the subtractor 15e subtracts the multiplication result of the multiplier 15d from the torque command τ _ca value of the mode (I) obtained by the multiplier 15b to obtain the mode (II). _Calculate the torque command τ _cb value of. Further input the motor speed Nm is setting mode (II), (II
I) Subtractor if the switching motor speed is greater than Nm ₁ .
15k is based on the formula (5) and can be changed from the motor speed Nm to the mode (I
I), (III) switching The motor speed Nm ₁ is subtracted, the next multiplier 15l multiplies this subtraction result by the constant wave k ₄ , while the subtracter 15g sets the set torque from the input accelerator opening ACC2 signal value. The command mode change start accelerator opening ACCH is subtracted, the next multiplier 15h multiplies this subtraction result by the multiplication result of the multiplier 15l, and the divider 15i then divides this multiplication result by a constant k.
_After dividing by _ACC = ACC100-ACCH, the adder 15j further calculates the result of this division and the mode (II) obtained by the subtractor 15e.
The torque command τ _cc of mode (III) is calculated by adding the torque command τ _cb value of. Therefore, each mode (I), (I
In parallel with the calculation of the torque commands τ _ca , τ _cb and τ _cc values of I) and (III), the comparator 15n then drives the motor speed Nm and the mode (I), (II) switching motor speed Nm. ₀ is compared, and depending on the value Nm ≦ Nm ₀ or Nm> Nm ₀ , the mode (I) in which the output signal is “1” or “0” as illustrated in FIG. 6,
(II) The switching signal A is output, and the comparator 15p compares the motor rotation speed Nm with the setting mode (II), (III) switching rotation speed Nm ₁ , and the value is Nm ≦ Nm ₁ or Nm> Nm ₁ . In response to this, a mode (II) or (III) switching signal B having an output signal "1" or "0" as shown in FIG. 6 is output. Thus, the signal switching circuit 15f outputs the mode (I) or (II). ) Switching signal A and mode (II), (III) switching signal B
As illustrated in FIG. 6, the torque commands τ _ca , τ _cb , and τ _cc of the above calculation results of the modes (I), (II), and (III) are output as the switching torque command τc in accordance with the condition of (4). As a result, the torque command τc characteristics in the torque command modes (I), (II), and (III) having the torque command pattern shown in FIG. 4C can be obtained. Note that although the region of the armature Chiyotsupa full open control mode of the torque command mode (IV), which performs the control by the torque command tau _cd and field current command IFCC, the torque command tau _cd of thereof the accelerator opening of FIG. 3 When the armature chip 5 is fully opened by the signal hold circuit 14, the accelerator opening ACC2 (ACC) signal which is the input of the torque command generating circuit 15 is increased even if the input accelerator opening ACC1 signal further increases. The limiter function is added so as to prevent the torque command τ _cd from increasing.

FIG. 7 shows the accelerator opening signal hold of FIG. 3 which has a function of limiting the accelerator opening when the armature chip is fully opened and has an effect of suppressing the increase of the torque command τ _{cd in} mode (IV). 3 is a block diagram showing a specific detailed circuit configuration example of the circuit 14. FIG. In FIG. 7, 14h is a comparison between the armature chiyotsupa flow rate αm and the flow rate αm100% (maximum flow rate) αm100, and αm = αm100 or αm <αm1.
Comparator that outputs a gate signal G4 or a gate signal G3 according to 00, 14i is an accelerator opening from an accelerator device that is input only when a gate signal G4 that is generated when the conduction ratio αm matches αm100 is input Accelerator opening initial value hold circuit that holds the ACC1 signal as the initial value and outputs it as the accelerator opening hold initial value ACHL1 signal. 14g compares the subsequent accelerator opening ACC1 signal value with the accelerator opening hold initial value ACHL1 and αm <ACC1 only when the gate signal G3 generated under the condition of αm100 is input> ACHL1 or ACC1 ≦ A
A comparator that outputs a gate signal G5 or a gate signal G2 according to the condition of CHL1, 14c is a clock generator, 14e is a time setter, and 14d is a clock generator 14c that counts clocks generated at regular intervals and outputs the time. A counter that outputs a gate signal G1 for each constant time width Δt set by the setter 14e, 14a indicates the accelerator opening constant width value ΔACC of the setting input, and a gate signal G1 output from the counter 14d indicates a constant time width Δt.
A gate circuit that outputs only when inputting every time, 14b is an accelerator opening of a set constant that is input every fixed time width Δt with the accelerator opening hold initial value ACHL1 when the flow rate αm reaches αm100 as the initial value This is an integrator that performs an integral calculation that adds the constant width value ΔACC one after another. The first calculation is expressed by the following formula: ACHL1 + ΔACC → ACHL2 ……… (7), and the second and subsequent calculations are calculated by the following formula: ACHL2 + ΔACC → ACHL2 ……… (8) In addition, 14f is a gate circuit that gives the output value of the integrator 14b as the input value of the integrator 14b every time the gate signal G1 is input, and the accelerator opening hold addition of the calculation result after the second time of the above (8) equation is added. The value ACHL2 is added as an input value each time the gate signal G1 is input through the gate circuit 14f with the output value added last time, with a constant time width Δt. Next, 14j compares the accelerator opening hold addition value ACHL2 of the output signal of the integrator 14b with the input accelerator opening ACC1 signal value, and under the condition of ACC1 ≦ ACHL1, the gate signal G2 under the condition of ACC1 ≦ ACH2 is input. While outputting the gate signal G6, input ACC1 when AC5> ACHL1
> ACHL2 or ACC1 ≦ ACH2 Comparator that outputs gate signal G7 or G6 according to the condition, 14k input accelerator opening ACC1, accelerator opening hold adder ACHL2,
Accelerator opening hold initial value ACHL1 signal is gate signal G
6, G7, G8 is a signal switching circuit that outputs a switching accelerator opening ACC2 (ACC) signal. Note that FIG. 8 is an operation waveform example diagram of the accelerator opening hold addition value ACHL2 of the integrator 14b output for explaining the integration operation of the integrator 14b in FIG.
Is the accelerator opening hold initial value ACHL1 as an initial value, and the accelerator opening constant width value ΔACC is added for each fixed time width Δt, and when the addition result reaches the accelerator opening ACC1, the comparator 14j judges this and the signal switching circuit It is configured to stop the integration operation by switching signals at 14k.

Explaining the circuit operation of this configuration in FIG. 7, basically, the fully open state in which the armature tip chopping rate αm reaches the maximum conduction rate of 100% of the conduction rate αm is detected, and the accelerator at that time is detected. The opening ACC1 signal command value is held and the accelerator opening hold initial value ACHL1 is set as the accelerator opening ACC2 signal value that gives the torque command τc in the fully open state, and then the conduction ratio αm is passed. When the accelerator opening hold initial value ACHL1 is released when the rate αm falls below 100% and the accelerator opening ACC1 signal command value input at that time is larger than the accelerator opening hold initial value ACHL1, it is shown in Fig. 8. As described above, control is performed so as to gradually return to the accelerator opening ACC1 signal command value, and if the accelerator opening ACC1 signal command value is smaller than the accelerator opening hold initial value ACHL1, the torque command τc is given as is. The degree ACC2 signal value. That is, the accelerator opening signal hold circuit 14
The operating state of is divided into the following three operating modes on the condition of the flow rate αm of the armature tip 5 and the signal value of the accelerator opening ACC1.

When αm = αm100 as the operation mode (1), ACHL1 → ACC2 As operation mode (2), when αm <αm100, ACC1
> ACHL1, ACHL2 + ΔACC → ACC2 Operation mode (3), if αm <αm100, ACC1
If ≦ ACHL1, then ACC1 → ACC2. Next, each operation will be described step by step. First, for the operation mode (1), the current flow rate αm of the armature chip 5 will be changed from a small value to the current flow rate αm.
When the maximum flow rate reaches 100%, the comparator 14h
Judges that αm = αm100 and outputs, for example, the gate signal G4 of the signal “1”. At this time, the gate signal G3 is the signal “0”.
Is the state of. Then, the accelerator opening initial value hold circuit
14i holds the accelerator opening ACC1 signal value at the time of receiving the gate signal G4 of the signal "1" and outputs it as the accelerator opening hold initial value ACHL1 signal, but after that, the gate signal G4
Even if the signal goes to the signal "0", the state is maintained. Then, the accelerator opening hold initial value ACHL1 is input to the signal switching circuit 14k. At this time, since the gate signal G3 is the signal “0”, the gate signals G2 and G5 output from the comparator 14g are output.
Are both in the signal "0" state, the gate signals G6 and G7 of the output of the comparator 14j are also in the signal "0" state, and only the gate signal G4 is input in the signal "1" state. Therefore, from the signal switching circuit 14k, the accelerator opening hold initial value ACHL1
The signal indicates the accelerator opening ACC2 (AC2
C) Output as a signal. Next, in the operation mode (2), when the commutation rate αm subsequently becomes lower than the commutation rate αm100%, the comparator 14h outputs, for example, the gate signal G3 of the signal “1” because αm <αm100. However, the gate signal G4 is in the state of the signal "0". Then, the comparator 14g compares the input accelerator opening ACC1 signal value with the accelerator opening hold initial value ACHL1 and outputs the gate signal G5 of the signal “1” if the condition of ACC1> ACHL1 is satisfied, The gate signal G2 is in the state of signal "0". Then, since the gate signal G5 of the signal "1" is input to the integrator 14b, the addition operation of the first accelerator opening hold initial value ACHL1 by the equation (7) and the set accelerator opening constant width value ΔACC Via the gate circuit 14a in accordance with the operation timing of the output gate signal G1 of the counter 14d and outputs the addition result as the accelerator opening hold addition value ACHL2. Then, the addition operation of the previous accelerator opening hold addition value and the accelerator opening constant width value ΔACC after the second time is output, and the previous accelerator opening hold addition value ACHL2 is output to the operation timing of the gate signal G1 via the gate circuit 14f. The addition result is also returned to the input, and while continuing this addition operation, the addition result is continuously output as the accelerator opening hold addition value ACHL2, and the accelerator opening hold addition value ACHL2 signal from this integrator 14b is compared with the signal switching circuit 14k and comparison. Input to device 14j. Then comparator 14j is AC before
Gate signal G of signal "1" when the condition of C1> ACHL1 is satisfied
Since 5 is input, the signal “1” is stored in ACC1> ACHL2.
Since the gate signal G7 is output from the signal switching circuit 14k, the accelerator opening hold addition value ACHL2 signal is output as the accelerator opening ACC2 signal, and this operation is judged by the comparator 14j that ACC1 ≦ ACHL2. After that, the gate signal G7 becomes the state of the signal “0” after that determination time, and at the same time, the gate signal G6 of the signal “1” is output under the condition of ACC1 ≦ ACHL2. The input accelerator opening ACC1 signal is directly output as the accelerator opening ACC2 signal. Finally, for operation mode (3), if the conduction ratio αm is also αm <αm100, and if the condition of ACC1 ≦ ACHL1 is satisfied, then input the gate signal G3 of signal “1”. The comparator 14g outputs the gate signal G2 of the signal "1" and simultaneously outputs the gate signal G5.
As a result, the comparator 14j outputs the gate signal G6 of the signal "1" and at the same time the gate signal G7 becomes the state of the signal "0". Therefore, the signal switching circuit 14k outputs The input accelerator opening ACC1 signal is directly output to the torque command generating circuit 15 as an accelerator opening ACC2 signal. As described above, in the maximum torque characteristic of the electric vehicle, the accelerator opening ACC2 (ACC) input to the torque command generation circuit 15 in the operation region where the armature tip 5 is fully opened.
Since it is possible to match the correspondence between the signal and the characteristic of the torque command τc generated thereby, it is possible to increase the torque command τc by the increase of the accelerator opening ACC1 signal from the accelerator device as in the conventional case. The drawbacks such as the lack of output torque to actually drive the electric motor is solved, and the feeling of the electric vehicle is improved. The seventh
It is also possible to convert the hardware of the circuit configuration example shown in the figure into software using, for example, a microcomputer.

FIG. 9 is a detailed flow chart illustrating the software processing of the accelerator opening signal hold circuit 14 of FIG. 7 using such a micro computer. In Fig. 9, INT FLAG is initialized before the processing of step S0.
(Integral flag) and REST FLAG (reset flag) are reset. The program then runs as follows. First, in the operation mode (1), the conduction ratio αm of the armature chip 5 is determined in step S0, and αm = α
In case of m100, check INT FLAG with step S12,
Since INT FLAG was set to “0” at the beginning, step S13
Hold the initial value of the accelerator opening ACC1 signal to set the accelerator opening hold initial value ACHL1. Then step S14
To set INT FLAG, step S15 to set REST FLAG, and step S16 to output the accelerator opening hold initial value ACHL1 previously held as the accelerator opening ACC2 signal to the torque command generator circuit 15. RE
TURN and return to the beginning. Next, the flow rate αm is determined in step S0, and if αm = αm100 as in the previous case, step S1
Jump from step 2 to step S14, then proceed to step S15 and step S16, and the same accelerator opening hold initial value A as before
CHL1 is output as the accelerator opening ACC2 signal, and the processing operation in operation mode (1) is completed. For the next operation mode (2), the flow rate αm is determined at step S0, and if αm <αm100, the REST FLAG is performed at step S1.
Since it has been reset at the beginning, at step S2 the accelerator opening hold initial value ACHL1 of the accelerator opening ACC1 signal is set, and at step S3 the REST FLAG is set. Then check INT FLAG with step S4,
Since it was set to "1" in step S14, the accelerator opening ACC1 signal value is compared with the accelerator opening hold initial value ACHL1 in step S5, and if ACC1> ACHL1 the constant in step S6 After waiting until the time width Δt elapses, in the next step S7, the first addition, ACHL1 + ΔACC → ACHL2 ... (9), is performed. Then, in step S8, the first accelerator opening hold addition value ACHL2 is compared with the accelerator opening ACC1 signal value, and under the condition of ACC1> ACHL2, the accelerator opening hold addition value ACHL2 is output in step S9. , Where the program returns to the top step S0. Then, if αm> αm100 is determined in step S0,
Check the REST FLAG again with step S1 and this is "1"
Since it has been set up, jump to step S4 and IN
Check T FLAG, which is set to "1", so compare the accelerator opening ACC1 signal value with the accelerator opening hold initial value ACHL1 at step S5. If ACC1> ACHL1, step S6 gives a fixed time width. After waiting for Δt to elapse, at the next step S7, the second addition, ACHL2 + ΔACC → ACHL2 ... (10) is performed, and at step S8, this second accelerator opening hold addition value ACHL2 and accelerator opening Compare ACC1 and ACC1
Under the condition of> ACHL2, the accelerator opening hold addition value ACHL2 is output as the accelerator opening ACC2 signal in step S9, and then the process returns to the beginning. Thereafter, the same program processing operation is repeatedly executed under the condition of αm <αm100 and ACC1> ACHL1 until the processing result of step S8 satisfies the condition of ACC1 ≦ ACHL2. In this way, if the result of the integration calculation by addition of step S7 satisfies the condition of ACC1 ≦ ACHL2, step S10
Reset the INT FLAG with and press the accelerator opening A with step S11.
The CC1 signal is output as it is, and the accelerator opening ACC2 signal is output, and the operation mode (2) is ended and the next operation mode (3)
Switch to. Next, in the operation mode (3), it is determined that the conduction ratio αm <αm100 at step S0, and the jump from the processing of step S1 to step S4 is performed, and if INT FLAG is set, the accelerator opening is performed at step S5. ACC1 signal value and accelerator opening hold initial value ACHL1 are compared, and ACC1
If the condition is ≦ ACHL1, the process proceeds to step S11, the accelerator opening ACC1 signal is output as it is as the accelerator opening ACC2 signal, and the above program processing operation is repeated thereafter. In addition,
In step S1, REST FLAG is set to "1".
Even in the normal case where INT FLAG is reset in 4, the next step S11 continues to output the accelerator opening ACC1 signal as it is as the accelerator opening ACC2 signal. In this way, the accelerator opening signal hold circuit 14 shown in FIG. 7 can be constructed by software processing.

Next, FIG. 10 shows the characteristic of the weak field control of the embodiment according to the present invention. As illustrated in FIG. 4 (b), the motor efficiency with respect to the torque command τc in the range of the conduction ratio αm _H or more when the armature tip is fully opened. Basic field current command pattern Ifcp
To the motor speed at full armature armature opening and high speed
A specific detailed circuit configuration of the field current command pattern generating circuit 16 of FIG. 3 having a function of continuously switching the field current command Ifc to the weak field current command pattern Ifcw in the region of Nm ₁ or more. It is an example block diagram. In FIG. 10, 16a
Is the basic field current command pattern If for torque command τc
Basic field current command pattern generation circuit for generating cp, 16b
Is also a weak field current command pattern generation circuit that generates a weak field current command pattern Ifcw, 16c is a subtractor that calculates the difference between these basic field current command pattern Ifcp values and weak field current command pattern Ifcw values. 16j compares the conduction ratio αm of the armature tip 5 with the set weak field control start conduction ratio 2m _H ,
When αm> αm _H , the output signal of signal “1” is output to the signal switching circuit 16f. 16g is a subtracter for subtracting the weak field control start conduction ratio αm _H from the conduction ratio αm, 16h and 16d are multipliers, 16i
Is a divider and 16e is the basic field current command pattern Ifcp
Subtract the output of the multiplier 16d from
Subtractor that outputs fcc, 16f selects either weak field current shift command Ifcc including input basic field current command pattern Ifcp or weak field current command pattern Ifcw and outputs as switching field current command Ifc It is a signal switching circuit.

With this configuration, the torque command τ from the torque command generation circuit 15
When c is given, the basic field current command pattern generation circuit
The basic field current command pattern Ifcp shown in FIG. 4 (b) is generated from 16a, and since the conduction ratio αm ≦ αm _H is normal, the signal switching circuit 16f causes the basic field current command pattern Ifc.
p is given as a field current command Ifc to the field current control circuit 8 to control the field current. Next, armature chiyotsupa 5
In the case of the torque command mode (IV) in FIG. 4 (c) in which the flow rate αm exceeds the above-mentioned flow rate αm _H in the fully opened state (the same applies in the case of the torque command mode III). First, the comparator 16j judges that the state of the conduction ratio αm is αm> αm _H and gives the output signal of the signal “1” to the signal switching circuit 16f, so that the signal switching circuit 16f causes the weak field current command pattern Ifcw. The field current command Ifc is selected and switched including the field current command Ifc and is output as the field current command Ifc. At the same time, the subtracter 16j is based on the equation (6) (αm-α
m _H ), and then the constant k ₅
Multiply by (k ₅ ≦ 1), and then the divider 16 j divides this multiplication result by a constant k ₆ = (αm100−αm _H ). At the same time, the weak field current command pattern generation circuit 16b generates the weak field current command pattern Ifcw shown in FIG. 4 (b), and the next subtracter 16c generates the weak field current command pattern Ifcp from the basic field current command pattern Ifcp. The field current command pattern Ifcw is subtracted. So the multiplier
In 16d subtracter 16c of the subtraction result (Ifcp-Ifcw) operations were caught in the former divider 16i result _{(k 5 / k 6) ×} (αm-α
m _H ), and then the subtracter 16e subtracts the multiplication result from the basic field current command pattern Ifcp to obtain the weak field current shift command Ifcc of equation (6). Therefore, since the signal switching circuit 16j is in the state of selecting and switching the weak field current shift command Ifcc as described above and outputting it as the field current command, the basic field current command pattern Ifcp changes the weak field current A weak field current shift command Ifcc, which continuously changes in proportion to (αm−αm _H ), is output to the field current control circuit 8 according to the conduction ratio αm of the armature checker 5 up to the command pattern Ifcw. In the torque command mode (III), when the motor speed is Nm ₁ or more at high speed, the weak field current command pattern Ifcw is output, and the weak field current control is performed continuously when the armature chip is fully opened and at high speed. Be done. In the torque command mode (III), when the motor speed is Nm ₁ or more at high speed, the comparator determines Nm> Nm ₁ as in FIG. 5, and the signal switching circuit 16f in FIG. It is also possible to switch to the magnetic current command pattern Ifcw.

As described above, according to the present embodiment, the weak field current command at the time of fully opening the armature cutter and at the time of high speed can be generated with respect to the torque command independently of the armature current command, and the basic field of high efficiency at the normal time can be generated. Since the magnetic current command can be continuously and smoothly switched to the weak field current command when the armature chip is fully opened and at high speed, the stability, high speed and operability of torque control when the armature chip is fully opened and at high speed can be achieved. Can be improved.

〔The invention's effect〕

As is apparent from the above description, according to the electric vehicle control device of the present invention, by limiting the torque command value in the armature chip fully open state so as not to be larger than the actual output torque, the armature chip fully opened. Since the field current command value can be prevented from increasing, the control system is stabilized, and the armature current command value and the field current command value are given independently based on the accelerator opening signal value. In this case, stability can be expected to be improved only by controlling the field current even when the armature chip is fully open, and the field current command value when the armature chip is fully open and at high speed is used as a normal high-efficiency basic field current command. The stability and response of the control system can be improved by continuously switching from the pattern to the weak field current command pattern.

[Brief description of drawings]

FIG. 1 is a block diagram showing the overall configuration of a conventional electric vehicle controller, and FIGS. 2 (a), (b), and (c) are the armature current commands, field current commands, and torque commands of FIG. Characteristic diagram,
FIG. 3 is an overall configuration block diagram showing an embodiment of an electric vehicle control device according to the present invention, and FIGS. 4 (a), (b),
(C) is an example of each armature current command, field current command, torque command characteristic diagram of FIG. 3, FIG. 5 is a detailed circuit configuration example block diagram of the torque command generation circuit 15 of FIG. 3, and FIG. FIG. 5 is an operation waveform example diagram of the signal switching circuit 15f, FIG. 7 is a detailed circuit configuration example block diagram of the accelerator opening signal hold circuit 14 of FIG. 3, and FIG. 8 is operation of the integrator 14b of FIG. Waveform example, 9th
The figure shows the software processing example of Fig. 7 Flow chart, 10
FIG. 3 is a block diagram showing a detailed circuit configuration example of the field current command pattern generation circuit 16 shown in FIG. 3 ... Armature current command pattern generation circuit, 4 ... Armature current control circuit, 5 ... Armature chip, 8 ... Field current control circuit, 9 ... Field chip, 10 ... Motor armature, 11 ... Field winding Wire, 12 ... Armature current detector, 13 ... Field current detector, 14
… Accelerator position signal hold circuit, 15… Torque command generation circuit, 16… Field current command pattern generation circuit.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (56) Reference JP-A-56-133904 (JP, A) JP-A-48-46009 (JP, A) JP-A-57-9283 (JP, A) JP-B-56- 29472 (JP, B2)

Claims (4)

[Claims] (A) A motor output torque command is output according to an input accelerator opening signal and a motor speed, and the motor output torque command is restricted so as not to be larger than an actual output when the armature chopper is fully opened. And (b) an armature current command pattern generation circuit that generates a motor armature current command pattern according to the output of the torque command generation circuit, and (c) the armature current command pattern generation circuit. An armature current control circuit for controlling the motor armature chopper conduction ratio for supplying the motor armature current according to the output, (d) the output of the torque command generation circuit, and whether the motor speed is equal to or higher than a predetermined high speed speed. Depending on whether or not the motor field current command pattern is generated, the motor field current command pattern is set to the weak field when the armature chopper current flow rate is equal to or higher than a predetermined high current flow rate. An electric vehicle control device comprising a field current command pattern generation circuit for shifting to a pattern, and (e) a field current control circuit for controlling a motor field current according to the output of the field current command pattern generation circuit. . 2. The torque command generating circuit detects the armature chopper conduction ratio, and when the armature chopper conduction ratio is maximized, a torque command value corresponding to the input accelerator opening signal value at that time is output. It has a function to hold as a torque command hold value to perform the above-mentioned limitation and to return to the normal torque command according to the input accelerator opening signal after that time when the armature chopper conduction ratio falls below the maximum. The electric vehicle control device according to claim 1, wherein: 3. The electric vehicle controller according to claim 2, wherein the torque command generating circuit has a function of gradually returning from the torque command hold value to a normal torque command. . 4. The field current command pattern generation circuit is generated when the basic field current command pattern generated when the armature chopper is operable and the armature chopper conduction ratio is in a high speed rotation region where the conduction ratio is high. When the armature chopper conduction ratio is equal to or higher than a predetermined high conduction ratio, the basic field current instruction pattern is shifted from the basic field current instruction pattern to the weak field current instruction. The electric vehicle control device according to claim 1, which has a function of generating a field current command pattern.