JP6256321B2 - Power control device - Google Patents

Description

  The present invention relates to a technical field of a power supply control device for controlling, for example, a power supply system including a plurality of power storage devices.

  As an example of an apparatus including this type of power supply system, Patent Document 1 discloses a master battery, a slave battery, a master booster circuit that boosts power from the master battery, and a slave side that boosts power from the slave battery. A hybrid vehicle comprising a booster circuit is described. In particular, the hybrid vehicle described in Patent Document 1 includes a magnitude relationship between a target value of power to be exchanged between a master battery and a motor generator and an input limit Win or output limit Wout of the master battery, and a slave battery and a motor. Based on the magnitude relationship between the target value of power to be exchanged with the generator and the input limit Win or output limit Wout of the slave battery, the target value of power to be exchanged between the master battery and the motor generator, and The target value of power to be exchanged between the slave battery and the motor generator is reset.

JP 2010-284019 A

  On the other hand, from the viewpoint of protection of the booster circuit, in the booster circuit, an upper limit value of current that can flow through the booster circuit (so-called current tolerance) is set as a specification. However, the hybrid vehicle described in Patent Document 1 sets a target value of power to be exchanged between the master battery and the slave battery and the motor generator without considering the current tolerance of the booster circuit. ing. For this reason, depending on the set target value of power, the current flowing through the booster circuit exceeds the current withstand capability. As a result, when the state where the current flowing through the booster circuit exceeds the current withstand capability continues, there arises a technical problem that the operation of the booster circuit may become unstable.

  Such a technical problem is not limited to the hybrid vehicle described in Patent Document 1, but includes a plurality of power storage devices and a power converter that performs power conversion between the plurality of power storage devices and the load. The same may occur in the power supply system provided.

  Examples of problems to be solved by the present invention include the above. An object of the present invention is to provide a power supply control device capable of suitably adjusting a current flowing through a power converter in a power supply system including a plurality of power storage devices and a power converter.

  <1>

  According to a first aspect of a power supply control device of the present invention, a first power storage device, a second power storage device, a first power converter that performs power conversion between the first power storage device and a load, and the second power storage device. A power supply control device that controls a power supply system including a second power converter that performs power conversion between a power storage device and the load, and that is to be exchanged between the first power storage device and the load Calculating means for calculating a first power target value indicative of power and a second power target value indicative of power exchanged between the second power storage device and the load; and the first and second power storage devices and the load; A first current indicating a current that should flow through the first power converter in a state in which a first power corresponding to the first power target value and a second power corresponding to the second power target value are respectively exchanged between A current that can flow through the first power converter with a target current value When the first current limit value indicating the upper limit is exceeded, the first current target value does not exceed the first current limit value while the sum of the first and second power target values is maintained. And correction means for correcting the first and second power target values calculated by the calculation means so that the power target value decreases and the second power target value increases.

According to the first aspect of the power supply control device of the present invention, a power supply system including a first power storage device, a second power storage device, a first power converter, and a second power converter can be controlled. Each of the first power storage device and the second power storage device can store electric power. Examples of each of the first power storage device and the second power storage device include a secondary battery and a capacitor. The first power converter performs power conversion between the first power storage device and the load. Therefore, the power output from the first power storage device to the load and / or the power input from the load to the first power storage device is adjusted mainly by the operation of the first power converter. The second power converter performs power conversion between the second power storage device and the load. Accordingly, the power output from the second power storage device to the load and / or the power input from the load to the second power storage device is adjusted mainly by the operation of the second power converter.
In order to control such a power supply system, the power supply control device includes a calculation unit and a correction unit.

  The calculating means calculates the first power target value and the second power target value. The first power target value indicates the power to be exchanged between the first power storage device and the load (that is, the target value of power exchanged between the first power storage device and the load). For example, the first power target value indicates a target value of power output from the first power storage device to the load (that is, power discharged from the first power storage device). Alternatively, for example, the first power target value indicates a target value of power input from the load to the first power storage device (that is, power charged in the first power storage device). The second power target value indicates the power to be exchanged between the second power storage device and the load (that is, the target value of the power exchanged between the second power storage device and the load). For example, the second power target value indicates a target value of power output from the first power storage device to the load (that is, power discharged from the second power storage device). Alternatively, for example, the second power target value indicates a target value of power input from the load to the second power storage device (that is, power charged in the second power storage device).

  As a result, the first power converter operates so that the first power corresponding to the first power target value is exchanged between the first power storage device and the load. For example, the first power converter operates so that the first power corresponding to the first power target value is output from the first power storage device to the load. Alternatively, for example, the first power converter operates so that the first power corresponding to the first power target value is input from the load to the first power storage device.

  Further, the second power converter operates so that the second power corresponding to the second power target value is exchanged between the second power storage device and the load. For example, the second power converter operates so that the second power corresponding to the second power target value is output from the second power storage device to the load. Alternatively, for example, the second power converter operates so that the second power corresponding to the second power target value is input from the load to the second power storage device.

  The correcting means corrects the first power target value and the second power target value calculated by the calculating means. In other words, the correction unit substantially corrects the first power target value and the second power target value calculated by the calculation unit by newly calculating the first power target value and the second power target value. In particular, the correction means corrects the first and second power target values in the correction mode described below when the conditions described below are satisfied. Hereinafter, conditions for the correction unit to correct the first and second power target values and modes in which the correction unit corrects the first and second power target values will be described in order.

  The correcting means corrects the first and second power target values when a condition that the first current target value exceeds the first current limit value is satisfied. In the first current target value, the first power (that is, the first power corresponding to the current first power target value) is exchanged between the first power storage device and the load, and between the second power storage device and the load. In the situation where the second power (that is, the second power corresponding to the current second power target value) is exchanged, the current that should flow through the first power converter (that is, the target of the current that flows through the first power converter) Value). On the other hand, the first current limit value indicates the upper limit (that is, the limit value) of the current that can flow through the first power converter. That is, the first current limit value substantially indicates the current tolerance of the first power converter. For this reason, the correction means that the current flowing through the first power converter, which should follow the first current target value, may exceed the first current limit value or exceed the first current limit value. When the condition is satisfied, the first and second power target values are corrected.

  When a current flowing from the first power storage device toward the load is defined as a positive current and a current flowing from the load toward the first power storage device is defined as a negative current, the current from the first power storage device toward the load Is flowing, the state where the first current target value exceeds the first current limit value is larger than the first current limit value where the first current target value which is a positive value becomes a positive value. Indicates the state. On the other hand, when a current flows from the load toward the first power storage device, a state in which the first current target value exceeds the first current limit value indicates that the first current target value that is a negative value is negative. The state becomes smaller than the first current limit value which becomes the value of. That is, the state where the first current target value exceeds the first current limit value indicates a state where the absolute value of the first current target value is larger than the absolute value of the first current limit value.

  The correcting means corrects the first power target value so that the first power target value decreases. The first power target value matches the value obtained by multiplying the first current target value by the voltage across the terminals of the first power storage device. Then, when the first power target value decreases, the first current target value also decreases. As a result, the first target current value does not exceed the first current limit value. For this reason, the correction means corrects the first power target value so that the first power target value decreases until the first current target value does not exceed the first current limit value.

  On the other hand, when only the first power target value is corrected, the sum of the first and second power target values also varies. Specifically, when only the first power target value decreases, the sum of the first and second power target values also decreases by the amount of decrease in the first power target value. The sum of the first and second power target values indicates the target value of power to be exchanged between the power supply system and the load. Therefore, when the sum of the first and second power target values varies, the power exchanged between the power supply system and the load also varies. Therefore, the correction means increases the second power target value in order to suppress fluctuations in power exchanged between the power supply system and the load (that is, fluctuations in the sum of the first and second power target values). As described above, the second power target value is corrected. In other words, the correction means maintains the power exchanged between the power supply system and the load because the decrease in the first power target value is offset by the increase in the second power target value (that is, the first and first power values). The second power target value is corrected so that the sum of the two power target values is maintained.

  In summary, the correcting means reduces the first power target value and maintains the second power target value until the first current target value does not exceed the first current limit value while the sum of the first and second power target values is maintained. The first and second power target values calculated by the calculation means are corrected so that the value increases.

  As described above, the power supply control device can calculate (in other words, correct) the first and second power target values in consideration of the first current limit value. Therefore, the current flowing through the first power converter is unlikely to exceed the first current limit value. Alternatively, little or no current flowing through the first power converter exceeds the first current limit value. For this reason, the power supply control device can stabilize the operation of the first power converter. That is, the power supply control device can suitably adjust the current flowing through the power converter in a power supply system including a plurality of power storage devices and a power converter.

  In addition, the power supply control device maintains the sum of the first and second power target values even when the first current target value exceeds the first current limit value. Can be corrected. That is, the power supply control device can correct the first and second power target values while maintaining the power exchanged between the power supply system and the load. As a result, technical problems caused by fluctuations in power exchanged between the power supply system and the load (for example, when the power supply system is mounted on a vehicle that runs using the power output from the power supply system, There is little or no impact on the driving performance due to power fluctuations.

The correcting means has a second current target value indicating a current that should flow through the second power converter under a situation where the first and second powers are exchanged between the first and second power storage devices and the load. When the second current limit value indicating the upper limit of the current that can flow through the second power converter is exceeded, the second current target value is the second while the sum of the first and second power target values is maintained. The first and second power target values calculated by the calculating means may be corrected so that the second power target value decreases and the first power target value increases until the current limit value is not exceeded.
<2>

  In the second aspect of the power supply control device according to the present invention, the correction means includes the first and second power storage devices and the load while the first current target value exceeds the first current limit value. A second current target value indicating a current that should flow through the second power converter under a situation in which the first and second powers are respectively exchanged between the currents that can flow through the second power converter. When the second current limit value indicating the upper limit is not exceeded, a state in which the sum of the first and second power target values is maintained and the second current target value does not exceed the second current limit value is maintained. However, the first power target value calculated by the calculating means is decreased so that the first power target value decreases and the second power target value increases until the first current target value does not exceed the first current limit value. And the second power target value is corrected.

  According to this aspect, the current flowing through the first power converter does not exceed the first current limit value, and the current flowing through the second power converter does not exceed the second current limit value. Alternatively, there is little or no current flowing through the first power converter exceeding the first current limit value, and current flowing through the second power converter exceeds the second current limit value. Little or no. For this reason, the power supply control device can stabilize the operations of the first and second power converters. That is, the power supply control device can suitably adjust the current flowing through the plurality of power converters in a power supply system including a plurality of power storage devices and a plurality of power converters.

  In particular, according to this aspect, only one of the first and second current target values hardly excessively exceeds either one of the first and second current limit values. For this reason, since the current flowing through the second power converter does not exceed the second current limit value, the current flowing through the first power converter even though there is room to increase the current flowing through the second power converter. Rarely or excessively exceed the first current limit value. As a result, the first power is caused by the fact that the current flowing through the first power converter exceeds the first current limit value in spite of a margin for increasing the current flowing through the second power converter. Little or no transducer operation becomes overly unstable.

The correction means is configured to calculate a sum of the first and second power target values when the first current target value does not exceed the first current limit value and the second current target value exceeds the second current limit value. The second power target value decreases and the first current target value decreases until the second current target value does not exceed the second current limit value while maintaining the state where the first current target value does not exceed the first current limit value. You may correct | amend the 1st and 2nd power target value which the calculation means calculated so that a power target value may increase.
<3>

  In a third aspect of the power supply control device according to the present invention, the correction means includes the first current target value exceeding the first current limit value and between the first and second power storage devices and the load. The second current target value indicating the current that should flow through the second power converter under a situation where the first and second powers are exchanged is an upper limit of the current that can flow through the second power converter. When the second current limit value shown is exceeded, (i) the first current target value is an excess of the sum of the first and second current target values with respect to the sum of the first and second current limit values. It matches the value obtained by adding a part to the first current limit value, and (ii) the second current target value adds another part of the excess to the second current limit value. And (iii) the sum of the first and second power target values is maintained. The way to correct the first and second power target value the calculating means is calculated.

  When the sum of the first and second power target values is relatively large, the first and second power target values are set such that the first power target value decreases and the second power target value increases as described above. Is corrected, the possibility that the first current target value exceeds the first current limit value and the second current target value exceeds the second current limit value is relatively high. If the first power target value is decreased and the second power target value is increased up to this case, only one of the first and second current target values exceeds one of the first and second current limit values. May be exceeded. For example, due to the decrease in the first power target value and the increase in the second power target value, only the second current target value may excessively exceed the second current limit value. For this reason, since the current flowing through the first power converter does not exceed the first current limit value, the current flowing through the second power converter even though there is room to increase the current flowing through the first power converter. May excessively exceed the second current limit value. As a result, the second power is caused by the fact that the current flowing through the second power converter exceeds the second current limit value in spite of a margin for increasing the current flowing through the first power converter. The operation of the transducer can become overly unstable.

  On the other hand, the state where the first current target value exceeds the first current limit value and the second current target value exceeds the second current limit value is easily achieved by a decrease in the sum of the first and second power target values. It can be resolved. However, as described above, the reduction in the sum of the first and second power target values leads to fluctuations in the power exchanged between the power supply system and the load.

Therefore, in this aspect, first, the correction means gives priority to the maintenance of the sum of the first and second power target values, so that the sum of the first and second power target values is maintained. 2 Correct the power target value. On the other hand, the correcting means allows the first and second current target values to temporarily exceed the first and second current limit values, respectively, while the current exceeding the first current limit value is the first. 1st and 2nd power target value so that the burden resulting from flowing into 1 power converter and the current exceeding the 2nd current limit value from the current flowing into 2nd power converter may be reduced correspondingly. Correct. Specifically, the correcting means generates a current corresponding to an excess of the sum of the first and second current target values with respect to the sum of the first and second current limit values in each of the first and second power converters. The first and second power target values are corrected so as to flow. In particular, the correction means corrects the first and second power target values so that the current corresponding to the excess is distributed to each of the first and second power converters at an appropriate sharing rate. As a result, a current corresponding to an excess of the sum of the first and second current target values with respect to the sum of the first and second current limit values hardly flows through only one of the first and second power converters. Or not at all. Therefore, the burden caused by the temporary flow of the current exceeding the first or second current limit value is appropriately shared between the first and second power converters. In other words, there is little or no burden imposed on only one of the first and second power converters due to the temporary flow of current that exceeds the first or second current limit value. Therefore, the power supply control device can suitably adjust the current flowing through the plurality of power converters in a power supply system including a plurality of power storage devices and a plurality of power converters.
<4>

  In a fourth aspect of the power supply control device according to the present invention, the correction means may be configured such that when the first current target value exceeds the first current limit value, the second power target value is the second power storage device. The first and second power target values calculated by the calculation unit are corrected while allowing a second power limit value indicating an upper limit of power that can be exchanged with the load to be exceeded.

  According to this aspect, since the second power target value allows the second power target value to temporarily exceed the second power limit value, priority is given to maintaining the sum of the first and second power target values. The first and second power limit values can be corrected so that the first current target value does not exceed the first current limit value.

The correcting means is a first power indicating an upper limit of power that can be exchanged between the first power storage device and the load when the second current target value exceeds the second current limit value. The first and second power target values calculated by the calculation means may be corrected while allowing the limit value to be exceeded.
<5>

  In a fifth aspect of the power supply control device according to the present invention, the correction means includes a first power limit value indicating an upper limit of power that the first power target value can exchange between the first power storage device and the load. And the second current target value exceeds the second power limit value indicating the upper limit of power that can be exchanged between the second power storage device and the load. The first power limit until the first current target value does not exceed the first current limit value while the sum of the first and second power target values is maintained. The first and second power target values calculated by the calculation means are corrected so that the target value decreases and the second power target value increases.

  According to this aspect, the correction means is configured such that the first current target value exceeds the first current limit value in a situation where the first and second power target values exceed the first and second power limit values, respectively. The first power target value decreases until the first current target value does not exceed the first current limit value while the sum of the first and second power target values is maintained for the first time when the condition is satisfied and The first and second power target values are corrected so that the second power target value increases. As a result, if the magnitude relationship in the same dimension between the first and second power limit values and the first and second current limit values, which will be described in detail later, is taken into consideration, the second power target value is the second value. There is little or no first current target value exceeding the first current limit value even though the power limit value is not exceeded. In other words, the power supply control device first creates a situation in which power corresponding to the first and second power limit values is exchanged, and if the power increase is still requested, the first current target value and The first and second power target values can be corrected in consideration of the magnitude relationship between the first current limit value.

The correcting means is configured such that the second current target value is the second current limit in a situation where the first power target value exceeds the first power limit value and the second power target value exceeds the second power limit value. When the value is exceeded, the second power target value is decreased and the first power target is decreased until the second current target value does not exceed the second current limit value while the sum of the first and second power target values is maintained. You may correct | amend the 1st and 2nd electric power target value which the calculation means calculated so that a value may increase.
<6>

In the sixth aspect of the power supply control device of the present invention, the correcting means further includes a case where the first power target value exceeds the first power limit value while the second power target value does not exceed the second power limit value. The first power target value decreases and the second power target value increases until the first power target value does not exceed the first power limit value while the sum of the first and second power target values is maintained. As described above, the first and second power target values calculated by the calculation means are corrected.
<7>

In the seventh aspect of the power supply control device of the present invention, the correction means further includes the second power target value exceeding the second power limit value while the first power target value does not exceed the first power limit value. If the second power target value does not exceed the second power limit value while maintaining the sum of the first and second power target values, the second power target value decreases and the first power target value is The first and second power target values calculated by the calculation means are corrected so as to increase.
<8>

In the eighth aspect of the power supply control device of the present invention, the correcting means further includes a case where the first power target value exceeds the first power limit value and the second power target value exceeds the second power limit value. (I) The first power target value is obtained by adding a part of the excess of the sum of the first and second power target values to the sum of the first and second power limit values to the first power limit value. (Ii) the second power target value matches the value obtained by adding another part of the excess to the second power limit value, and (iii) the first and The first and second power target values calculated by the calculating means are corrected so that the total sum of the second power target values is maintained.
These effects and other advantages of the present invention will be further clarified from the embodiments described below.

It is a block diagram which shows an example of the whole structure of the vehicle of this embodiment. It is a block diagram which shows the 1st structural example of the power converter of this embodiment. It is a block diagram which shows the 2nd structural example of the power converter of this embodiment. It is a block diagram which shows an example of a structure of ECU of this embodiment. It is a flowchart which shows the whole flow of the control operation (substantially the power conversion control operation in a power converter) of the vehicle of this embodiment. It is a flowchart which shows the flow of calculation operation | movement of the electric power command value in step S1 of FIG. It is a flowchart which shows the flow of calculation operation | movement of the electric current command value in step S2 of FIG. It is a graph which shows the specific example of the electric power output from a battery according to the electric power target value calculated according to the operation | movement shown in FIGS.

Hereinafter, an embodiment in which the present invention is applied to a vehicle 1 including a motor generator 10 will be described as an example of an embodiment for carrying out the present invention with reference to the drawings. However, the present invention provides an arbitrary power supply system including a plurality of power storage devices and a power converter (particularly, a plurality of power converters corresponding to the plurality of power storage devices) or an arbitrary device including the arbitrary power supply system. It is applicable to.
(1) Configuration of Vehicle 1 First, the configuration of the vehicle 1 of the present embodiment will be described with reference to FIGS. 1 to 4.
(1-1) Overall configuration of vehicle 1

  First, the overall configuration of the vehicle 1 of the present embodiment will be described with reference to FIG. FIG. 1 is a block diagram showing an example of the overall configuration of the vehicle 1 of the present embodiment.

  As illustrated in FIG. 1, the vehicle 1 includes a motor generator 10 that is a specific example of “load”, an axle 21, a wheel 22, a power supply system 30 that is a specific example of “power supply system”, and a “power supply”. ECU40 which is a specific example of a "control apparatus."

The motor generator 10 functions as an electric motor that supplies power (that is, power necessary for traveling of the vehicle 1) to the axle 21 by being driven mainly by using electric power output from the power supply system 30 during power running. Further, the motor generator 10 mainly functions as a generator for charging the batteries 31 and 32 included in the power supply system 30 during regeneration.
The axle 21 is a transmission shaft for transmitting the power output from the motor generator 10 to the wheels 22.

  The wheels 22 are means for transmitting power transmitted via the axle 21 to the road surface. FIG. 1 shows an example in which the vehicle 1 includes one wheel 22 on each side, but actually, each vehicle 22 includes one wheel 22 on each of the front, rear, left, and right sides (that is, a total of four wheels 12). ).

  FIG. 1 illustrates a vehicle 1 including a single motor generator 10. However, the vehicle 1 may include two or more motor generators 10. Furthermore, the vehicle 1 may further include an engine in addition to the motor generator 10. That is, the vehicle 1 of the present embodiment may be an electric vehicle or a hybrid vehicle.

  The power supply system 30 outputs power necessary for the motor generator 10 to function as an electric motor to the motor generator 10 during power running. Furthermore, the electric power generated by the motor generator 10 that functions as a generator is input from the motor generator 10 to the power supply system 30 during regeneration.

  Such a power supply system 30 includes a battery 31 that is a specific example of “first power storage device”, a battery 32 that is a specific example of “second power storage device”, and a specific example of “first power converter”. The power converter 33 which is an example, the power converter 34 which is one specific example of a “second power converter”, a smoothing capacitor 35, and an inverter 36 are provided.

  Each of the batteries 31 and 32 is a storage battery capable of inputting and outputting power (that is, charging and discharging). Examples of each of the batteries 31 and 32 include a lead storage battery, a lithium ion battery, a nickel hydrogen battery, and a fuel cell. However, in place of at least one of the batteries 31 and 32, a capacitor (for example, lithium ion) that can input and output electric power by using a physical action or a chemical action that accumulates electric charges (that is, electric energy). A capacitor, an electric double layer capacitor, etc.) may be used.

  The power converter 33 converts the power output from the battery 31 under the control of the ECU 40 into the required power required by the power supply system 30 (typically, the power that the power supply system 30 should output to the motor generator 10. ). The power converter 33 outputs the converted power to the inverter 36. Furthermore, the power converter 33 is the required power required for the power supply system 30 to receive the power input from the inverter 36 under control of the ECU 40 (that is, at least part of the power generated by regeneration of the motor generator 10). (Typically, it is electric power to be input to the power supply system 30, and substantially electric power to be input to the battery 31). The power converter 33 outputs the converted power to the battery 31. That is, the power converter 33 performs power conversion between the battery 31 and the motor generator 10 (or the inverter 36).

  Similarly, the power converter 34 outputs the power output from the battery 32 under the control of the ECU 40 to the required power required by the power supply system 30 (typically, the power supply system 30 outputs to the motor generator 10. Conversion according to the power to be done. The power converter 34 outputs the converted power to the inverter 36. Further, the power converter 34 is a required power required for the power supply system 30 to receive the power input from the inverter 36 (that is, at least a part of the power generated by the regeneration of the motor generator 10) under the control of the ECU 40. (Typically, it is electric power to be input to the power supply system 30, and substantially electric power to be input to the battery 32). The power converter 34 outputs the converted power to the battery 32.

By such power conversion, the power converters 33 and 34 can substantially control power distribution among the battery 31, the battery 32, and the motor generator 10 (or the inverter 36).
The detailed configuration of the power converters 33 and 34 will be described in detail later with reference to FIGS. 2 and 3.

  The smoothing capacitor 35 changes the power supplied from the power converters 33 and 34 to the inverter 36 during powering (substantially, the voltage in the power supply line PL between the power converters 33 and 34 and the inverter 36). Smoothing). Similarly, during the regeneration, the smoothing capacitor 35 changes the power supplied from the inverter 36 to the power converters 33 and 34 (substantially, the power line between the power converters 33 and 34 and the inverter 36). (Voltage fluctuation in PL) is smoothed.

  The inverter 36 converts power (DC power) output from the power converters 33 and 34 into AC power during powering. Thereafter, the inverter 36 supplies the electric power converted into AC power to the motor generator 10. Furthermore, the inverter 36 converts electric power (AC power) generated by the motor generator 10 into DC power during regeneration. Thereafter, the inverter 36 supplies the power converted into DC power to the power converters 33 and 34.

  The ECU 40 is an electronic control unit configured to be able to control the entire operation of the vehicle 1. The ECU 40 includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like.

  Particularly in the present embodiment, the ECU 40 controls power conversion in the power converters 33 and 34. More specifically, the ECU 40 sets the power command value P1 *, which is the target value of power output from the battery 31 or input to the battery 31, and the target of power output from the battery 32 or input to the battery 32. A power command value P2 *, which is a value, is calculated. In particular, the ECU 40 has a power limit value Win1 that indicates the upper limit of power that can be input to the battery 31, a power limit value Wout1 that indicates the upper limit of power that can be output from the battery 31, and a power limit that indicates the upper limit of power that can be input to the battery 32. Value Win2, power limit value Wout2 indicating the upper limit of power that can be output from the battery 31, current limit value Ilim1 indicating the upper limit of current that can flow through the power converter 33, and current that can flow through the power converter 33 The power command values P1 * and P2 * are calculated based on the current limit value Ilim2 indicating the upper limit. Thereafter, the ECU 40 determines a current command that is a target value of a current flowing through the battery 31 (that is, a current that should flow through the power converter 33, hereinafter referred to as “battery current I1”) based on the power command value P1 *. The value I1 * is calculated. Furthermore, the ECU 40 determines a current command that is a target value of a current flowing through the battery 32 (that is, a current that should flow through the power converter 34, hereinafter referred to as “battery current I2”) based on the power command value P2 *. The value I2 * is calculated. Thereafter, based on the current command value I1 *, the ECU 40 outputs power corresponding to the power command value P1 * from the battery 31 or input to the battery 31 (in other words, a battery corresponding to the current command value I1 *. The power converter 33 is controlled so that the current I1 flows through the battery 31). Further, the ECU 40 outputs power corresponding to the power command value P2 * from the battery 32 or input to the battery 32 based on the current command value I2 * (in other words, a battery corresponding to the current command value I2 *. The power converter 34 is controlled so that the current I2 flows through the battery 32).

  The detailed configuration of the ECU 40 will be described later in detail with reference to FIG. Further, the power conversion control operation in the power converters 33 and 34 performed by the ECU 40 will be described in detail later with reference to FIG.

The power command value P1 * is a specific example of “first power target value”. The power command value P2 * is a specific example of “second power target value”. The current command value I1 * is a specific example of “first current target value”. The current command value I2 * is a specific example of “second current target value”. Each of the power limit values Win1 and Wout1 is a specific example of “first power limit value”. Each of the power limit values Win2 and Wout2 is a specific example of “second power limit value”. The current limit value Ilim1 is a specific example of the “first current limit value” described in the means for solving the above-described problem. The current limit value Ilim2 is a specific example of “second current limit value”.
(1-2) Configuration of power converters 33 and 34

Next, the configuration of the power converters 33 and 34 will be further described with reference to FIGS. Below, the structure of the power converters 33 and 34 is demonstrated using two structural examples called a 1st structural example and a 2nd structural example.
(1-2-1) First configuration example

  First, the power converters 33a and 34a in the first configuration example will be described with reference to FIG. FIG. 2 is a block diagram showing the power converters 33a and 34a in the first configuration example.

  As shown in FIG. 2, the power converter 33a in the first configuration example includes a switching element S1a, a switching element S2a, a diode D1a, a diode D2a, and a reactor L1a.

  Each of the switching elements S1a and S2a can be switched in accordance with a PWM signal output from the ECU 40. That is, each of the switching elements S1a and S2a can switch the switching state from the on state to the off state or from the off state to the on state. As each of such switching elements S1a and S2a, for example, an IGBT (Insulated Gate Bipolar Transistor), a power MOS (Metal Oxide Semiconductor) transistor, or a power bipolar transistor is used.

  Switching element S1a and switching element S2a are electrically connected in series between power supply line PL and ground line GL electrically connected to motor generator 10 via inverter 36. Specifically, switching element S1a is electrically connected between power supply line PL and node N1a. Switching element S2a is electrically connected between node N1a and ground line GL.

  The diode D1a is electrically connected in parallel to the switching element S1a. The diode D2a is electrically connected in parallel to the switching element S2a. The diode D1a is connected in a direction having an antiparallel relationship with the switching element S1a. The diode D2a is connected in a direction having an antiparallel relationship with the switching element S2a.

  Reactor L1a is electrically connected between the positive terminal of battery 31 and node N1a. The negative terminal of the battery 31 is electrically connected to the ground line GL.

  The power converter 33 is a chopper circuit in which the switching element S1a serves as an upper arm and the switching element S2b serves as a lower arm. Since the operation of the chopper circuit itself may be the same as a known operation, detailed description thereof is omitted.

Subsequently, the power converter 34a in the first configuration example includes a switching element S3a, a switching element S4a, a diode D3a, a diode D4a, and a reactor L2a. Since the configuration and operation of the power converter 34a are the same as the configuration and operation of the power converter 33a, detailed description thereof is omitted. That is, the description of the above-described power converter 33 includes “switching element S1a”, “switching element S2a”, “diode D1a”, “diode D2a”, “reactor L1a”, “node” in the description of the power converter 33. By replacing “N1a” and “battery 31” with “switching element S3a”, “switching element S4a”, “diode D3a”, “diode D4a”, “reactor L2a”, “node N3a”, and “battery 32”, respectively. This is an explanation for the power converter 34.
(1-2-2) Second configuration example

  Next, the power converters 33b and 34b in the second configuration example will be described with reference to FIG. FIG. 3 is a block diagram showing power converters 33b and 34b in the second configuration example.

  In the first configuration example, the power converters 33a and 34a are physically separated. That is, in the first configuration example, the power converters 33 and 34 do not share circuit elements. On the other hand, in the second configuration example, the power converters 33 and 34 are not physically separated. That is, in the second configuration example, the power converters 33 and 34 share circuit elements.

  Specifically, as shown in FIG. 3, the power converter 33b in the second configuration example includes a switching element S1b, a switching element S2b, a switching element S3b, a switching element S4b, a diode D1b, and a diode D2b. , A diode D3b, a diode D4b, and a reactor L1b. On the other hand, the power converter 34b in the second configuration example includes a switching element S1b, a switching element S2b, a switching element S3b, a switching element S4b, a diode D1b, a diode D2b, a diode D3b, a diode D4b, And reactor L2b. That is, the power converters 33b and 34b share the switching element S1b to the switching element S4b and the diode D1b to the diode D4b (that is, circuit elements excluding the reactors L1b and L2b).

  Each of the switching elements S1b to S4b can be switched in accordance with the PWM signal output from the ECU 40. For example, an IGBT, a power MOS transistor, or a power bipolar transistor is used as each of the switching elements S1b to S4b.

  Switching element S1b, switching element S2b, switching element S3b, and switching element S4b are electrically connected in series between power supply line PL and ground line GL. Specifically, switching element S1b is electrically connected between power supply line PL and node N1b. Switching element S2b is electrically connected between nodes N1b and N2b. Switching element S3b is electrically connected between nodes N2b and N3b. Switching element S4b is electrically connected between node N3b and ground line GL.

  The diode D1b is electrically connected in parallel to the switching element S1b. The diode D2b is electrically connected in parallel to the switching element S2b. The diode D3b is electrically connected in parallel to the switching element S3b. The diode D4b is electrically connected in parallel to the switching element S4b. The diode D1b is connected in a direction having an antiparallel relationship with the switching element S1b. The same applies to the diodes D2b to D4b.

  Reactor L1b is electrically connected between the positive terminal of battery 31 and node N2b. Reactor L2b is electrically connected between the positive terminal of battery 32 and node N1b. The negative terminal of the battery 31 is electrically connected to the ground line GL. The negative terminal of battery 32 is electrically connected to node N3b.

The power converter 33b is a chopper circuit in which the switching elements S1b and S2b are upper arms, and the switching elements S3b and S4b are lower arms. On the other hand, the power converter 34b is a chopper circuit in which the switching elements S4b and S1b are upper arms, while the switching elements S2b and S3b are lower arms. Since the operation of the chopper circuit itself may be the same as a known operation, detailed description thereof is omitted.
(1-3) Configuration of ECU 40 Next, the configuration of the ECU 40 will be described with reference to FIG. FIG. 4 is a block diagram showing an example of the configuration of the ECU 40 of the present embodiment.

  As shown in FIG. 4, the EUC 40 includes a voltage command calculation unit 411, a subtractor 412, a power command as a circuit element physically realized therein or as a processing block logically realized therein. Calculation unit 413, distribution ratio command calculation unit 414, limit value setting unit 415, command distribution unit 420, subtractor 431, duty calculation unit 432, PWM calculation unit 433, subtractor 434, duty calculation A unit 435 and a PWM calculation unit 436.

  The voltage command calculation unit 411 is based on the torque required for the motor generator 10 (hereinafter referred to as “requested torque”) and the rotational speed of the motor generator 10 (hereinafter referred to as “motor rotational speed”). A voltage command value VH * which is a target value of the inter-terminal voltage VH between the PL and the ground line GL is calculated. The required torque is typically calculated by the ECU 40. In addition, the motor rotational speed is detected by, for example, a rotational speed sensor attached to the motor generator 10. A known calculation method is adopted as a method for calculating the voltage command value VH *. An example of a known calculation method is described in paragraph 0070 of Patent Document 1 (Japanese Patent Laid-Open No. 2010-284019).

  The subtractor 412 subtracts the voltage command value VH * calculated by the voltage command calculation unit 411 from the actually detected inter-terminal voltage VH. The inter-terminal voltage VH is detected by, for example, a voltage sensor attached between the power supply line PL and the ground line GL.

  The power command calculation unit 413 is output from the power supply system 30 to the inverter 36 (or the motor generator 10) based on the subtraction result (that is, VH−VH *) in the subtractor 412 or the inverter 36 (or the motor generator). 10), a power command value P * that is a target value of the power input to the power supply system 30 is calculated. For example, the power command calculation unit 413 performs a PI operation on the subtraction result in the subtractor 412, thereby setting the subtraction result in the subtractor 412 to zero (that is, the inter-terminal voltage VH matches the voltage command value VH *). Power command value P * that can be calculated).

  The distribution ratio calculation unit 414 includes the required torque and the motor speed, the battery voltage V1 (that is, the voltage V1 between the terminals of the battery 31), the battery current I1 and the battery temperature T1 (that is, the temperature T1 of the battery 31), and the battery voltage V2. Based on (that is, the voltage V2 between terminals of the battery 32), the battery current I2, and the battery temperature T2 (that is, the temperature T2 of the battery 32), the distribution ratio K * is calculated. The distribution rate K * indicates the ratio of the power output from the battery 31 or input to the battery 31 with respect to the power corresponding to the power command value P *. However, the distribution rate K * may indicate the ratio of the power output from the battery 32 or input to the battery 31 with respect to the power corresponding to the power command value P *. A known calculation method is adopted as a calculation method of the distribution rate K *. An example of a known calculation method is described in paragraph 0058 to paragraph 0060 of Patent Document 1 (Japanese Patent Laid-Open No. 2010-284019).

  The battery voltage V1 is detected by, for example, a voltage sensor connected in parallel to the battery 31. The battery current I1 is detected by, for example, a current sensor connected in series to the battery 31. The battery temperature T1 is detected by a sensor attached to the battery 31, for example. The battery voltage V2 is detected by, for example, a voltage sensor connected in parallel to the battery 32. The battery current I2 is detected by, for example, a current sensor connected in series to the battery 32. The battery temperature T2 is detected by a sensor attached to the battery 32, for example.

  Limit value setting unit 415 sets power limit values Win1 and Wout1 and power limit values Win2 and Wout2 based on battery voltages V1 and V2, battery currents I1 and I2, and battery temperatures T1 and T2. In addition, a well-known setting method is employ | adopted as a setting method of power limiting value Win1 and Wout1 and power limiting value Win2 and Wout2. An example of a known setting method is described in paragraph 0028 of Patent Document 1 (Japanese Patent Laid-Open No. 2010-284019).

The command distribution unit 420 is based on the power command value P *, the distribution rate K *, the power limit value Win1, the power limit value Wout1, the power limit value Win2, the power limit value Wout2, the current limit value Ilim1, and the current limit value Ilim2. Electric power command values P1 * and P2 * are calculated. Furthermore, the command distribution unit 420 calculates current command values I1 * and I2 * based on the power command values P1 * and P2 *.
The subtractor 431 subtracts the current command value I1 * calculated by the command distribution unit 420 from the actually detected battery current I1.

  The duty calculator 432 calculates a duty ratio duty1 used for controlling the power converter 33 by the PWM control method based on the subtraction result (that is, I1-I1 *) in the subtractor 431. Specifically, the duty calculation unit 432 performs PI calculation on the subtraction result in the subtractor 431, thereby setting the subtraction result in the subtractor 431 to zero (that is, the battery current I1 is set to the current command value I1 *). The duty ratio duty1 that can be matched) is calculated.

The PWM calculation unit 433 generates a PWM signal for controlling the operation of the power converter 33 based on the predetermined carrier signal and the duty ratio duty 1 calculated by the duty calculation unit 432.
The subtracter 434 subtracts the current command value I2 * calculated by the command distribution unit 420 from the actually detected battery current I2.

  The duty calculator 435 calculates a duty ratio duty2 used for controlling the power converter 34 by the PWM control method based on the subtraction result (that is, I2-I2 *) in the subtractor 434. Specifically, the duty calculation unit 435 performs PI calculation on the subtraction result in the subtracter 434, thereby setting the subtraction result in the subtractor 434 to zero (that is, the battery current I2 is set to the current command value I2 *). The duty ratio duty2 that can be matched) is calculated.

The PWM calculation unit 436 generates a PWM signal for controlling the operation of the power converter 34 based on the predetermined carrier signal and the duty ratio duty2 calculated by the duty calculation unit 435.
(2) Control operation of power converters 33 and 34

Next, a control operation of the vehicle 1 of the present embodiment (substantially, a power conversion control operation in the power converters 33 and 34) will be described with reference to FIGS.
(2-1) Overall flow of control operation

  First, the overall flow of the control operation (substantially, the power conversion control operation in the power converters 33 and 34) of the vehicle 1 of the present embodiment will be described with reference to FIG. FIG. 5 is a flowchart showing an overall flow of the control operation (substantially, the power conversion control operation in the power converters 33 and 34) of the vehicle 1 of the present embodiment.

  As shown in FIG. 5, the power command calculation unit 413 provided in the ECU 40 calculates a power command value P * (step S0). Further, the distribution rate calculation unit 414 included in the ECU 40 calculates the distribution rate K * (step S0). Further, the limit value setting unit 415 included in the ECU 40 sets the power limit value Win1, the power limit value Wout1, the power limit value Win2, and the power limit value Wout2 (step S0).

  Thereafter, the command distribution unit 420 is based on the power command value P *, the distribution rate K *, the power limit value Win1, the power limit value Wout1, the power limit value Win2, the power limit value Wout2, the current limit value Ilim1, and the current limit value Ilim2. Then, power command values P1 * and P2 * are calculated (step S1). The calculation operation of the power command values P1 * and P2 * will be described in detail later with reference to FIG.

  Thereafter, the command distribution unit 420 calculates current command values I1 * and I2 * based on the power command values P1 * and P2 * calculated in step S1 (step S2). The calculation operation of the current command values I1 * and I2 * will be described in detail later with reference to FIG.

  Thereafter, the PMW calculation unit 433 generates a PWM signal for controlling the operation of the power converter 33 based on the current command value I1 * calculated in step S2 (step S3). The PWM signal generated by the PWM calculation unit 433 in step S3 is output to the power converter 33. For this reason, the switching element with which the power converter 33 is provided switches according to the PWM signal which the PWM calculating part 433 produced | generated by step S3. As a result, the power converter is configured such that power corresponding to the power command value P1 * is output from or input to the battery 31, and the battery current I1 corresponding to the current command value I1 * flows through the battery 31. 33 operates.

In addition, the PMW calculation unit 436 generates a PWM signal for controlling the operation of the power converter 34 based on the current command value I2 * calculated in step S2 (step S3). The PWM signal generated by the PWM calculation unit 436 in step S3 is output to the power converter 34. For this reason, the switching element with which the power converter 34 is provided switches according to the PWM signal which the PWM calculating part 436 produced | generated by step S3. As a result, the power converter is configured such that power corresponding to the power command value P2 * is output from or input to the battery 32 and the battery current I2 corresponding to the current command value I2 * flows through the battery 32. 34 operates.
(2-2) Calculation of power command values P1 * and P2 *

  Next, the calculation operation of the power command values P1 * and P2 * in step S1 of FIG. 5 will be described with reference to FIG. FIG. 6 is a flowchart showing a flow of calculation operations of power command values P1 * and P2 * in step S1 of FIG. For convenience of explanation, the calculation operation of the power command values P1 * and P2 * when the vehicle 1 is in a power running state (that is, when power is output from each of the batteries 31 and 32) will be described below.

  As shown in FIG. 6, the command distribution unit 420, which is a specific example of “calculation means”, calculates the power command values P1 * and P2 * based on the power command value P * and the distribution rate K * (Step S1). S11). Specifically, command distribution unit 420 calculates power command value P1 * using a mathematical formula: power command value P1 * = power command value P * × distribution rate K *. Further, the command distribution unit 420 calculates the power command value P2 * using a mathematical formula: power command value P2 * = power command value P * × (1−distribution rate K *).

  Subsequently, command distribution unit 420 determines whether or not power command value P1 * is greater than power limit value Wout1 and power command value P2 * is greater than power limit value Wout2 (step S12).

  As a result of the determination in step S12, when it is determined that the power command value P1 * is greater than the power limit value Wout1 and the power command value P2 * is greater than the power limit value Wout2 (step S12: Yes), “correction” The command distribution unit 420, which is a specific example of “means”, recalculates the power command values P1 * and P2 * based on the power command value P *, the distribution ratio K *, and the power limit values Wout1 and Wout2 (step S13). ). It can be said that the recalculation of the power command values P1 * and P2 * is correction of the power command values P1 * and P2 *.

  Specifically, command distribution unit 420 uses power mathematical formula: power command value P1 * = power limit value Wout1 + (power command value P * −power limit value Wout1−power limit value Wout2) × distribution rate K *. Command value P1 * is calculated. Further, the command distribution unit 420 calculates the power command value P2 * using a mathematical formula of power command value P2 * = power command value P * −power command value P1 *. That is, the power command value P1 * is an excess amount of the sum of the power command value P1 * and the power command value P2 * with respect to the sum of the power limit value Wout1 and the power limit value Wout2 (hereinafter referred to as “power limit excess amount”). ) Is a value obtained by adding a part of the power to the power limit value Wout1. Furthermore, the power command value P2 * is a value obtained by adding another part of the power limit excess amount to the power limit value Wout2.

  When the power command values P1 * and P2 * are calculated again, the calculation operation of the power command values P1 * and P2 * is finished. However, after the power command values P1 * and P2 * are calculated again, the operation of step S12 may be performed again. The same applies to the following steps S15 and S17.

  On the other hand, as a result of the determination in step S12, when it is determined that the power command value P1 * is not greater than the power limit value Wout1 or the power command value P2 * is not greater than the power limit value Wout2 (step S12). : No), the command distribution unit 420 determines whether or not the power command value P1 * is larger than the power limit value Wout1 (step S14).

  As a result of the determination in step S14, when it is determined that the power command value P1 * is larger than the power limit value Wout1 (step S14: Yes), the command distribution unit 420, which is a specific example of “correction means”, Based on the power command value P * and the power limit value Wout1, the power command values P1 * and P2 * are calculated again (step S15). Specifically, the command distribution unit 420 calculates the power command value P1 * using a mathematical formula of power command value P1 * = power limit value Wout1. Further, the command distribution unit 420 calculates the power command value P2 * using a mathematical formula of power command value P2 * = power command value P * −power command value P1 *. That is, the power command value P1 *, which was larger than the power limit value Wout1 before recalculation, becomes smaller until it reaches a value that matches the power limit value Wout1. Furthermore, the power command value P2 * is larger than the power command value P2 * before recalculation because the power command value P1 * is smaller. As a result, even when the power command values P1 * and P2 * are calculated again, the sum of the power command values P1 * and P2 * is maintained (in other words, does not vary).

  On the other hand, as a result of the determination in step S14, when it is determined that the power command value P1 * is not larger than the power limit value Wout1 (step S14: No), the command distributor 420 determines that the power command value P2 * is It is determined whether or not the power limit value Wout2 is greater (step S16).

  As a result of the determination in step S16, when it is determined that the power command value P2 * is larger than the power limit value Wout2 (step S16: Yes), the command distribution unit 420, which is a specific example of “correction means”, Based on the power command value P * and the power limit value Wout2, the power command values P1 * and P2 * are calculated again (step S17). Specifically, command distribution unit 420 calculates power command value P2 * using a mathematical formula that power command value P2 * = power limit value Wout2. Further, the command distribution unit 420 calculates the power command value P1 * using a mathematical formula of power command value P1 * = power command value P * −power command value P2 *. That is, the power command value P2 * that was larger than the power limit value Wout2 before recalculation becomes smaller until it becomes a value that matches the power limit value Wout2. Further, the power command value P1 * becomes larger than the power command value P1 * before recalculation because the power command value P2 * becomes smaller. As a result, even when the power command values P1 * and P2 * are calculated again, the sum of the power command values P1 * and P2 * is maintained.

  On the other hand, as a result of the determination in step S16, when it is determined that the power command value P2 * is not larger than the power limit value Wout2 (step S16: No), the command distribution unit 420 includes the power command value P1 * and the power command value P1 *. Do not calculate P2 * again.

The power command values P1 * and P2 * when the vehicle 1 is in the regenerative state (that is, when power is input to each of the batteries 31 and 32) can also be calculated by the calculation operation shown in FIG. . However, in the calculation operation shown in FIG. 6, the power output from each of the batteries 31 and 32 is defined as positive power, and the power input to each of the batteries 31 and 32 is defined as negative power. Is assumed. Accordingly, when the vehicle 1 is in the regenerative state, it is determined in step S12 and step S14 whether or not the power command value P1 * taking a negative value is smaller than the power limit value Win1 taking a negative value. . Similarly, in step S12 and step S16, it is determined whether or not the power command value P2 * taking a negative value is smaller than the power limit value Win2 taking a negative value.
(2-3) Calculation of current command values I1 * and I2 *

  Next, the calculation operation of the current command values I1 * and I2 * in step S2 of FIG. 5 will be described with reference to FIG. FIG. 7 is a flowchart showing the flow of the calculation operation of the current command values I1 * and I2 * in step S2 of FIG. For convenience of explanation, the calculation operation of the current command values I1 * and I2 * when the vehicle 1 is in a power running state (that is, when electric power is output from each of the batteries 31 and 32) will be described below.

  As shown in FIG. 7, the command distribution unit 420 calculates current command values I1 * and I2 * based on the power command values P1 * and P2 * and the battery voltages V1 and V2 calculated in step S1 of FIG. (Step S21). Specifically, command distribution unit 420 calculates current command value I1 * using a mathematical formula: current command value I1 * = power command value P1 * / battery voltage V1. Further, the command distribution unit 420 calculates the current command value I2 * using a mathematical formula: current command value I2 * = power command value P2 * / battery voltage V2.

  Subsequently, the command distribution unit 420 determines whether or not the current command value I1 * is greater than the current limit value Ilim1 and the current command value I2 * is greater than the current limit value Ilim2 (step S22). The current limit values Ilim1 and Ilim2 are limit values determined according to the specifications of the power converters 33 and 34, respectively. Therefore, the ECU 40 may store the current limit values Ilim1 and Ilim2 in advance.

  As a result of the determination in step S22, when it is determined that the current command value I1 * is larger than the current limit value Ilim1 and the current command value I2 * is larger than the current limit value Ilim2 (step S22: Yes), “correction” The command distribution unit 420, which is a specific example of “means”, generates power command values P1 * and P2 * based on the power command value P * and the distribution ratio K *, the current limit values Ilim1 and Ilim2, and the battery voltages V1 and V2. It calculates again (step S23).

  Specifically, command distribution unit 420 determines that power command value P1 * = battery voltage V1 × current limit value Ilim1 + (power command value P * −battery voltage V1 × current limit value Ilim1−battery voltage V2 × current limit value Ilim2). X The electric power command value P1 * is calculated using a mathematical formula of distribution rate K *. Further, the command distribution unit 420 calculates the power command value P2 * using a mathematical formula of power command value P2 * = power command value P * −power command value P1 *. That is, the power command value P1 * is an excess amount of the sum of the power command value P1 * and the power command value P2 * with respect to the sum of the battery voltage V1 × current limit value Ilim1 and the battery voltage V2 × current limit value Ilim2 (hereinafter, This value is obtained by adding a part of “current limit excess amount”) to the power limit value Wout1. Furthermore, power command value P2 * is a value obtained by adding another part of the current limit excess amount to power limit value Wout2. As a result, the current command value I1 * calculated again in step S28 described later is an excess amount of the sum of the current command value I1 * and the current command value I2 * with respect to the sum of the current limit value Ilim1 and the current limit value Ilim2. This value is obtained by adding a part to the current limit value Ilim1. Furthermore, the current command value I2 * calculated again in step S28 described later is an excess of the sum of the current command value I1 * and the current command value I2 * relative to the sum of the current limit value Ilim1 and the current limit value Ilim2. Is obtained by adding a part of the current limit value to the current limit value Ilim2.

  When the power command values P1 * and P2 * are calculated again, an operation in step S28 described later is performed. However, after the power command values P1 * and P2 * are calculated again, the operation in step S22 may be performed again. The same applies to the following steps S25 and S27.

  On the other hand, if it is determined in step S22 that the current command value I1 * is not greater than the current limit value Ilim1 or the current command value I2 * is not greater than the current limit value Ilim2 (step S22). : No), the command distribution unit 420 determines whether or not the current command value I1 * is larger than the current limit value Ilim1 (step S24).

  As a result of the determination in step S24, when it is determined that the current command value I1 * is larger than the current limit value Ilim1 (step S24: Yes), the command distribution unit 420, which is a specific example of “correction means”, Based on the current command value P *, the battery voltage V1, and the current limit value Ilim1, the power command values P1 * and P2 * are calculated again (step S25). Specifically, command distribution unit 420 calculates power command value P1 * using a mathematical formula of power command value P1 * = battery voltage V1 × current limit value Ilim1. Further, the command distribution unit 420 calculates the power command value P2 * using a mathematical formula of power command value P2 * = power command value P * −power command value P1 *. As a result, the current command value I1 * that is larger than the current limit value Ilim1 before the recalculation of the power command values P1 * and P2 * becomes a value that matches the current limit value Ilim1 by recalculation in step S28 described later. Becomes smaller. Further, considering that the current command value I1 * is small due to the recalculation of the power command value P1 *, the power command value P1 * is also smaller than the power command value P1 * before the maximum calculation. It has become. Therefore, the power command value P2 * is larger than the power command value P2 * before recalculation. As a result, even when the power command values P1 * and P2 * are calculated again, the sum of the power command values P1 * and P2 * is maintained (in other words, does not vary).

  On the other hand, as a result of the determination in step S24, when it is determined that the current command value I1 * is not larger than the current limit value Ilim1 (step S24: No), the command distributor 420 determines that the current command value I2 * is It is determined whether or not it is larger than the current limit value Ilim2 (step S26).

  As a result of the determination in step S26, when it is determined that the current command value P2 * is larger than the current limit value Ilim2 (step S26: Yes), the command distribution unit 420, which is a specific example of “correction means”, Based on the current command value P *, the battery voltage V2, and the current limit value Ilim2, the power command values P1 * and P2 * are calculated again (step S27). Specifically, command distribution unit 420 calculates power command value P2 * using a mathematical formula: power command value P2 * = battery voltage V2 × current limit value Ilim2. Further, the command distribution unit 420 calculates the power command value P1 * using a mathematical formula of power command value P1 * = power command value P * −power command value P2 *. As a result, the current command value I2 * that was larger than the current limit value Ilim2 before the recalculation of the power command values P1 * and P2 * becomes a value that matches the current limit value Ilim2 by recalculation in step S28 described later. Becomes smaller. Furthermore, considering that the current command value I2 * is smaller due to the recalculation of the power command value P2 *, the power command value P2 * is also smaller than the power command value P2 * before the maximum calculation. It has become. Therefore, the power command value P1 * is larger than the power command value P1 * before recalculation. As a result, even when the power command values P1 * and P2 * are calculated again, the sum of the power command values P1 * and P2 * is maintained (in other words, does not vary).

  When the power command values P1 * and P2 * are calculated again in step S23, step S25, or step S27, the command distribution unit 420 determines the power command value P1 * calculated again in step S23, step S25, or step S27. And current command values I1 * and I2 * are again calculated based on P2 * (step S28). In addition, the calculation method itself of the current command values I1 * and I2 * is the same as the calculation method in step S21.

  On the other hand, as a result of the determination in step S26, when it is determined that the current command value I2 * is not larger than the current limit value Ilim2 (step S26: No), the command distribution unit 420 determines that the voltage command value P1 * and P2 * and current command values I1 * and I2 * are not calculated again.

The current command values I1 * and I2 * when the vehicle 1 is in the regenerative state (that is, when electric power is input to the batteries 31 and 32) can also be calculated by the calculation operation shown in FIG. . However, in the calculation operation shown in FIG. 7, the currents flowing from the batteries 31 and 32 toward the power converters 33 and 34 are defined as positive currents, and the power converters 33 and 34 are moved toward the batteries 31 and 32, respectively. It is assumed that the flowing current is defined as a negative current. Therefore, when the vehicle 1 is in the regenerative state, it is determined in step S22 and step S24 whether or not the current command value I1 * taking a negative value is smaller than the current limit value Ilim1 taking a negative value. . Similarly, in step S22 and step S26, it is determined whether or not the current command value I2 * taking a negative value is smaller than the current limit value Ilim2 taking a negative value.
(2-4) Specific examples of actual power P1 and P2 corresponding to the power command values P1 * and P2 *

  Next, with reference to FIG. 8, specific examples of the electric powers P1 and P2 output from the batteries 31 and 32 in accordance with the electric power command values P1 * and P2 * calculated according to the operations shown in FIGS. explain. FIG. 8 is a graph showing specific examples of the electric powers P1 and P2 output from the batteries 31 and 32 in accordance with the electric power command values P1 * and P2 * calculated according to the operations shown in FIGS. For convenience of explanation, a specific example of the electric power P1 and P2 when the vehicle 1 is in a power running state (that is, when electric power is output from each of the batteries 31 and 32) will be described below.

  In the graph shown in FIG. 8, the horizontal axis indicates the power P1 output from the battery 31 according to the power command value P1 *, and the vertical axis indicates the power P2 output from the battery 32 according to the power command value P2 *. Indicates.

  First, when the power command value P1 * is equal to or less than the power limit value Wout1 and the power command value P2 * is equal to or less than the power limit value Wout2, the power command values P1 * and P2 * are respectively set in step S11 of FIG. The power command values P1 * and P2 * calculated by In this case, as the power command value P * increases, the power command values P1 * and P2 * increase within a range that is equal to or less than the power limit value Wout1 and equal to or less than the power limit value Wout2. As a result, as the power command value P * increases, the powers P1 and P2 increase within a range that is less than or equal to the power limit value Wout1 and less than or equal to the power limit value Wout2 as indicated by the arrow Z1 in the graph of FIG. To do.

  Subsequently, the increase in power P1 and P2 along the arrow Z1 is realized by an increase in power command values P1 * and P2 *. If the power command values P1 * and P2 * increase as they are, it is determined that the power command value P1 * is larger than the power limit value Wout1 at a certain timing, while the power command value P2 * is not larger than the power limit value Wout2. In this case, the power command values P1 * and P2 * become the power command values P1 * and P2 * calculated again in step S15 in FIG. As a result, power command value P1 * is fixed at power limit value Wout1. Further, when the power command value P * increases under this situation, the power shortage due to the increase of the power command value P * is caused by the increase of the power command value P2 * that is not yet larger than the power limit value Wout2. To be compensated. Therefore, as the power command value P * increases, the power command value P2 * increases while the power command value P1 * matches the power limit value Wout1. As a result, as the power command value P * increases, the power P2 increases while the power P1 matches the power limit value Wout1 as indicated by the arrow Z2 in the graph of FIG. For this reason, even if it is determined that the power command value P1 * is greater than the power limit value Wout1, as long as it is determined that the power command value P2 * is not greater than the power limit value Wout2, the power P1 is It does not become larger than the power limit value Wout1.

  Although not shown for simplification of explanation, when the power command values P1 * and P2 * increase, the power command value P2 * is larger than the power limit value Wout2 at a certain timing while the power command value P1 * It may be determined that the value is not larger than the limit value Wout1. In this case, the power command values P1 * and P2 * become the power command values P1 * and P2 * calculated again in step S17 of FIG. As a result, power command value P2 * is fixed at power limit value Wout2. Further, when the power command value P * increases under this situation, the power shortage due to the increase of the power command value P * is caused by the increase of the power command value P1 * that is not yet larger than the power limit value Wout1. To be compensated. Accordingly, as the power command value P * increases, the power command value P1 * increases while the power command value P2 * matches the power limit value Wout2. As a result, as the power command value P * increases, the power P1 increases while the power P2 matches the power limit value Wout2. Therefore, even if it is determined that the power command value P2 * is greater than the power limit value Wout2, as long as it is determined that the power command value P1 * is not greater than the power limit value Wout1, the power P2 is It does not become larger than the power limit value Wout2.

  Subsequently, the increase in the power P2 along the arrow Z2 is realized by an increase in the power command value P2 *. If the power command value P2 * increases as it is, it is determined that the power command value P1 * is greater than the power limit value Wout1 and the power command value P2 * is greater than the power limit value Wout2 at a certain timing. In this case, the power command values P1 * and P2 * become the power command values P1 * and P2 * calculated again in step S13 of FIG. As a result, the excess amount (power limit excess amount) of the power command value P1 * and the power command value P2 * with respect to the sum of the power limit value Wout1 and the power limit value Wout2 is both the power command values P1 * and P2 *. Compensated by. Therefore, a state where power command value P1 * is greater than power limit value Wout1 is temporarily permitted, and a state where power command value P2 * is greater than power limit value Wout2 is temporarily permitted. Further, when the power command value P * increases under this situation, the power shortage due to the increase of the power command value P * is compensated by the increase of both the power command values P1 * and P2 *. Therefore, as the power command value P * increases, the power command values P1 * and P2 * are larger than the power limit values Wout1 and Wout2 and are equal to or less than the battery voltage V1 × current limit value Ilim1 and battery voltage V2 × current limit value Ilim2. Increases within a certain range. As a result, as the power command value P * increases, the powers P1 and P2 increase within a range larger than the power limit values Wout1 and Wout2, as indicated by an arrow Z3 on the graph of FIG. In addition, due to the specifications of the power supply system 30, the power limit value Wout1 is smaller than the battery voltage V1 × the current limit value Ilim1. Similarly, power limit value Wout2 is smaller than battery voltage V2 × current limit value Ilim2. Therefore, it can be said that the electric powers P1 and P2 increase within a range of battery voltage V1 × current limit value Ilim1 and battery voltage V2 × current limit value Ilim2.

  Subsequently, the increase in power P1 and P2 along the arrow Z3 is realized by an increase in power command values P1 * and P2 *. If the power command values P1 * and P2 * increase as they are, it is determined that the current command value I1 * is greater than the current limit value Ilim1 and the current command value I2 * is not greater than the current limit value Ilim2 at a certain timing. That is, it is determined that power command value P1 * is greater than battery voltage V1 × current limit value Ilim1, while power command value P2 * is not greater than battery voltage V2 × current limit value Ilim2. In this case, the power command values P1 * and P2 * become the power command values P1 * and P2 * calculated again in step S25 of FIG. As a result, power command value P1 * is fixed to battery voltage V1 × current limit value Ilim1. That is, the current command value I1 * is fixed to the current limit value Ilim1. Further, when the power command value P * increases under this condition, the power command value P2 that has not yet become larger than the battery voltage V2 × current limit value Ilim2 due to the increase in the power command value P *. Compensated by an increase in *. Accordingly, as the power command value P * increases, the power command value P2 * increases while the power command value P1 * matches the battery voltage V1 × current limit value Ilim1. As a result, as the power command value P * increases, the power P2 increases while the power P1 matches the battery voltage V1 × current limit value Ilim1, as indicated by the arrow Z4 on the graph of FIG.

  Here, in the comparative example in which the calculation operation of the current command values I1 * and I2 * based on the current limit value Ilim1 is not performed, even when the power command value P1 * is larger than the battery voltage V1 × current limit value Ilim1. The power command values P1 * and P2 * become the power command values P1 * and P2 * calculated again in step S13 in FIG. Therefore, even when the power command value P1 * is larger than the battery voltage V1 × the current limit value Ilim1, both the power command values P1 * and P2 * increase as the power command value P * increases. . That is, as the electric power command value P * increases, the electric power P1 and P2 have the battery voltage V1 as indicated by the arrow Z4 ′ on the graph of FIG. 8 even though there is still room for increasing the electric power P2. X Increases within a range larger than the current limit value Ilim1. As a result, a battery current I1 larger than the current limit value Ilim1 flows to the power converter 33. Therefore, the operation of the power converter 33 may become unstable.

  However, in this embodiment, the calculation operation of the current command values I1 * and I2 * based on the current limit value Ilim1 is performed. For this reason, even if it is determined that power command value P1 * is larger than battery voltage V1 × current limit value Ilim1, it is determined that power command value P2 * is not greater than battery voltage V2 × current limit value Ilim2. As long as it is done, the power P1 does not become larger than the battery voltage V1 × the current limit value Ilim1. That is, the battery current I1 larger than the current limit value Ilim1 does not flow to the power converter 33. Therefore, the power converter 33 can operate suitably.

  Although not shown for simplification of explanation, when the power command values P1 * and P2 * increase, the current command value I2 * is larger than the current limit value Ilim2 at a certain timing while the current command value I1 * It may be determined that the value is not larger than the limit value Ilim1. That is, it may be determined that power command value P2 * is greater than battery voltage V2 × current limit value Ilim2, while power command value P1 * is not greater than battery voltage V1 × current limit value Ilim1. In this case, the power command values P1 * and P2 * become the power command values P1 * and P2 * calculated again in step S27 of FIG. As a result, power command value P2 * is fixed to battery voltage V2 × current limit value Ilim2. That is, current command value I2 * is fixed to current limit value Ilim2. Further, when the power command value P * increases under this condition, the power command value P1 that is not yet greater than the battery voltage V1 × the current limit value Ilim1 due to the increase in the power command value P *. Compensated by an increase in *. Therefore, as the power command value P * increases, the power command value P1 * increases while the power command value P2 * matches the battery voltage V2 × current limit value Ilim2. As a result, with the increase of the power command value P *, the power P1 increases while the power P2 matches the battery voltage V2 × the current limit value Ilim2. Therefore, even if it is determined that power command value P2 * is larger than battery voltage V2 × current limit value Ilim2, it is determined that power command value P1 * is not larger than battery voltage V1 × current limit value Ilim1. As long as it is done, the electric power P2 never becomes larger than the battery voltage V2 × the current limit value Ilim2. In other words, battery current I2 larger than current limit value Ilim2 does not flow to power converter 34. Therefore, the power converter 34 can operate suitably.

  Subsequently, the increase in the power P2 along the arrow Z4 is realized by an increase in the power command value P2 *. If the power command value P2 * increases as it is, it is determined that the current command value I1 * is greater than the current limit value Ilim1 and the current command value I2 * is greater than the current limit value Ilim2 at a certain timing. That is, it is determined that power command value P1 * is greater than battery voltage V1 × current limit value Ilim1 and power command value P2 * is greater than battery voltage V2 × current limit value Ilim2. In this case, the power command values P1 * and P2 * become the power command values P1 * and P2 * calculated again in step S23 of FIG. As a result, the excess of the sum of the power command value P1 * and the power command value P2 * with respect to the sum of battery voltage V1 × current limit value Ilim1 and battery voltage V2 × current limit value Ilim2 is the power command. Complemented by both values P1 * and P2 *. Therefore, a state where power command value P1 * is larger than battery voltage V1 × current limit value Ilim1 is temporarily allowed, and a state where power command value P2 * is larger than battery voltage V2 × current limit value Ilim2 is temporarily set. Is acceptable. That is, a state where the current command value I1 * is larger than the current limit value Ilim1 is temporarily allowed, and a state where the current command value I2 * is larger than the current limit value Ilim2 is temporarily allowed. Further, when the power command value P * increases under this situation, the power shortage due to the increase of the power command value P * is compensated by the increase of both the power command values P1 * and P2 *. Accordingly, as the power command value P * increases, the power command values P1 * and P2 * increase within a range larger than battery voltage V1 × current limit value Ilim1 and battery voltage V2 × current limit value Ilim2. As a result, as the power command value P * increases, as indicated by an arrow Z5 on the graph of FIG. 8, the powers P1 and P2 are expressed by battery voltage V1 × current limit value Ilim1 and battery voltage V2 × current limit value Ilim2. Also increases within a large range.

  As described above, the ECU 40 of the present embodiment can calculate the power command values P1 * and P2 * while considering the current limit values Ilim1 and Ilim2. Therefore, as long as the sum of the current command values I1 * and I2 * does not exceed the sum of the current limit values Ilim1 and Ilim2, the battery current I1 does not exceed the current limit value Ilim1, and the battery current I2 The current limit value Ilim2 is never exceeded. In other words, as long as the sum of the current command values I1 * and I2 * does not exceed the sum of the current limit values Ilim1 and Ilim2, the battery current I1 is the current limit value even though there is room to increase the battery current I2. Little or no operation of the power converter 33 becomes excessively unstable due to excessively exceeding Ilim1. Alternatively, as long as the sum of the current command values I1 * and I2 * does not exceed the sum of the current limit values Ilim1 and Ilim2, the battery current I2 is not limited to the current limit value Ilim2 even though there is room to increase the battery current I1. There is little or no operation of the power converter 34 due to excessive excess. For this reason, the ECU 40 can stabilize the operation of the power converters 33 and 34. That is, ECU 40 can suitably adjust battery currents I1 and I2 in power supply system 30 including batteries 31 and 32 and power converters 33 and 34.

  In the comparative example in which the calculation operation of the current command values I1 * and I2 * based on the current limit value Ilim1 is not performed, the total sum of the current command values I1 * and I2 * is as described above with reference to FIG. Even when the sum of the current limit values Ilim1 and Ilim2 is not exceeded, there is a possibility that the battery current I1 exceeds the current limit value Ilim1 or the battery current I2 exceeds the current limit value Ilim2. is there. As a result, there arises a technical problem that the operation of the power converter 33 or 34 may become unstable. However, the ECU 40 of the present embodiment has an advantageous effect compared to the comparative example in that it does not cause such technical problems.

  Further, in the present embodiment, the ECU 40 determines that the current command values I1 * and I2 only when the current command value I1 exceeds the current limit value Ilim1 and the current command value I2 exceeds the current limit value Ilim2. * Allows the current limit values Ilim1 and Ilim2 to be temporarily exceeded, respectively. Further, when the current command value I1 exceeds the current limit value Ilim1 and the current command value I2 exceeds the current limit value Ilim2, the current command values I1 * and I2 with respect to the sum of the current limit values Ilim1 and Ilim2 The excess of the sum of * is compensated by both current command values I1 * and I2 *. In other words, an excess amount (current limit excess amount) of the sum of the power command value P1 * and the power command value P2 * with respect to the sum of battery voltage V1 × current limit value Ilim1 and battery voltage V2 × current limit value Ilim2 is the power command. Complemented by both values P1 * and P2 *. As a result, even if the sum of the current command values I1 * and I2 * exceeds the sum of the current limit values Ilim1 and Ilim2, the battery current I1 is increased despite the allowance for increasing the battery current I2. There is little or no operation of the power converter 33 due to excessively exceeding the current limit value Ilim1. Alternatively, even if the sum of the current command values I1 * and I2 * exceeds the sum of the current limit values Ilim1 and Ilim2, the battery current I2 is the current even though there is room to increase the battery current I1. There is little or no operation of the power converter 34 due to excessively exceeding the limit value Ilim2. For this reason, the burden caused by the temporary flow of the battery currents I1 and I2 that respectively exceed the current limit values Ilim1 and Ilim2 is appropriately shared between the power converters 33 and 34. Thus, the ECU 40 is caused by the load caused by the battery current I1 exceeding the current limit value Ilim1 flowing to the power converter 33 and the battery current I2 exceeding the current limit value Ilim2 flowing by the power converter 34. Can be reduced accordingly.

  Further, in the present embodiment, even when the ECU 40 calculates the power command values P1 * and P2 * while considering the current limit values Ilim1 and Ilim2, the sum of the power command values P1 * and P2 * (that is, The power command value P *) can be maintained. That is, the power supply control device sets the power command values P1 * and P2 * so that the power exchanged between the power supply system 30 and the motor generator 10 does not fluctuate greatly by recalculating the power command values P1 * and P2 *. Can be calculated. As a result, there is little or no adverse effect on the running performance of the vehicle 1 due to unintentional fluctuations in the electric power input to the motor generator 10 or output from the motor generator 10. .

  On the other hand, the burden caused by the battery current I1 exceeding the current limit value Ilim1 flowing to the power converter 33 and the burden caused by the battery current I2 exceeding the current limit value Ilim2 flowing to the power converter 34 can be performed. If it says from the point of paying as much as possible, ECU40 may calculate electric power command value P * again so that electric power command value P * may become small (typically the output of motor generator 10 becomes small). As a result, since at least one of the current command values I1 * and I2 * also decreases as the power command value P * decreases, a situation where the battery currents I1 and I2 do not exceed the current limit values Ilim1 and Ilim2 is relatively low. Produced easily.

  In the above description, the power supply system 30 includes the two batteries 31 and 32. However, the power supply system 30 may include three or more batteries that are electrically connected in parallel. In this case, the power supply system 30 may include three or more power converters respectively corresponding to three or more batteries. Even in this case, the above-described various effects can be suitably enjoyed by controlling three or more power converters in the above-described manner.

  It should be noted that the present invention can be appropriately changed without departing from the gist or concept of the invention that can be read from the claims and the entire specification, and a power supply control device that includes such a change is also included in the technical concept of the present invention. included.

DESCRIPTION OF SYMBOLS 1 Vehicle 10 Motor generator 21 Axle 22 Wheel 30 Power supply system 31, 32 Battery 33, 34 Power converter 40 ECU
413 Power command calculation unit 414 Distribution rate calculation unit 415 Limit value setting unit 420 Command distribution unit

Claims (5)

A first power storage device, a second power storage device, a first power converter that performs power conversion between the first power storage device and a load, and a power conversion between the second power storage device and the load A power supply control device for controlling a power supply system comprising a second power converter,
A first power target value indicating the power to be exchanged between the first power storage device and the load, and a second power target value indicating the power exchanged between the second power storage device and the load are calculated. Calculating means for
The first power corresponding to the first power target value and the second power corresponding to the second power target value are respectively exchanged between the first and second power storage devices and the load. When the first current target value indicating the current that should flow through one power converter exceeds the first current limit value indicating the upper limit of the current that can flow through the first power converter, the first and second The first power target value decreases and the second power target value increases until the first current target value does not exceed the first current limit value while the sum of the two power target values is maintained. A power supply control device comprising: correction means for correcting the first and second power target values calculated by the calculation means. In the correction means, the first current target value exceeds the first current limit value, and the first and second powers are exchanged between the first and second power storage devices and the load, respectively. When the second current target value indicating the current that should flow through the second power converter does not exceed the second current limit value indicating the upper limit of the current that can flow through the second power converter The first current target value is set to the first current limit while the sum of the first and second power target values is maintained and the second current target value is not exceeded the second current limit value. Correcting the first and second power target values calculated by the calculating means so that the first power target value decreases and the second power target value increases until the value does not exceed the value. The power supply control device according to claim 1. The correction means is configured such that the first current target value exceeds the first current limit value and the first and second electric power are exchanged between the first and second power storage devices and the load. A second current target value indicating a current to flow through the second power converter below a second current limit value indicating an upper limit of a current that can flow through the second power converter; i) The first current target value adds a part of an excess of the sum of the first and second current target values to the sum of the first and second current limit values to the first current limit value. (Ii) the second current target value matches the value obtained by adding another part of the excess to the second current limit value, and (iii) Before the calculation means calculates so that the sum of the first and second power target values is maintained Power control device according to claim 1 or 2, characterized in that to correct the first and second power target value. The correcting means sets an upper limit of power that the second power target value can exchange between the second power storage device and the load when the first current target value exceeds the first current limit value. 4. The first power target value and the second power target value calculated by the calculation unit are corrected while allowing the second power limit value to be exceeded to be exceeded. 5. Power supply control device. The correcting means exceeds the first power limit value indicating the upper limit of power that can be exchanged between the first power storage device and the load, and the second power target value is the first power target value. 2 When the first current target value exceeds the first current limit value in a situation where a second power limit value indicating an upper limit of power that can be exchanged between the power storage device and the load is exceeded, The first power target value is decreased and the second power target value is reduced until the first current target value does not exceed the first current limit value while the sum of the first and second power target values is maintained. The power supply control device according to any one of claims 1 to 4, wherein the first and second power target values calculated by the calculation unit are corrected so as to increase.

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