CN110800206A

CN110800206A - Motor control device and motor control method

Info

Publication number: CN110800206A
Application number: CN201880042412.8A
Authority: CN
Inventors: 福田健二; 高田敬梦
Original assignee: Sawafuji Electric Co Ltd
Current assignee: Sawafuji Electric Co Ltd
Priority date: 2017-11-02
Filing date: 2018-10-01
Publication date: 2020-02-14
Also published as: DE112018005734T5; JP6951945B2; WO2019087644A1; JP2019088050A

Abstract

Provided are a motor control device and a motor control method which can perform torque control based on a command value even when a control mode is switched, suppress torque variation at the time of switching, and have excellent responsiveness. When switching from the sine wave control mode to the rectangular wave control mode, the motor control device (100) and the motor control method output the last voltage phase (theta v) in the sine wave control mode to the voltage phase setting unit (502) as the initial voltage phase (theta v1), and continuously increase the transfer voltage command value | Va' | from the last voltage command value | Va | in the sine wave control mode to the rectangular wave forming voltage value | Va1|, while performing torque control based on the voltage phase (theta v). Thus, the generated drive signals (Su, Sv, Sw) can maintain the continuity at the time of switching, and smooth switching of the control mode with little torque variation can be performed.

Description

Motor control device and motor control method

Technical Field

The present invention relates to a motor control device and a motor control method that suppress torque fluctuations during control of a PM motor, particularly when sine wave control and rectangular wave control are switched.

Background

Electric motors are used as a power source for many household or mechanical appliances. Among them, a pm (permanent magnet) motor (permanent magnet motor) in which a permanent magnet is provided on a rotor side, an armature winding is provided on a stator side, and a rotor is rotated by controlling a magnetic field of the armature winding has no excitation loss, and therefore, is low-loss and high-efficiency, and is widely used in large-sized machines with a recent trend toward energy saving. As a method for controlling the PM motor, first, three-phase voltage command values Vu, Vv, Vw are generated based on a torque command value instructed from the outside (a higher-level control unit of the system, etc.) and the current torque T of the PM motor, and the three-phase voltage command values Vu, Vv, Vw are subjected to triangular wave comparison to generate drive signals Su, Sv, Sw. This is generally performed by using 3-phase ac drive currents Iu, Iv, Iw that flow by switching the inverters with the drive signals Su, Sv, Sw. In many cases, the drive signals Su, Sv, and Sw are generated by switching between sine wave control and rectangular wave control according to the operating conditions of the PM motor. In this control method, generally, operation control is performed by sine wave control (PWM control) using a sine wave pattern with high motor efficiency in an operation region of medium/low speed rotation, and operation control is performed by rectangular wave control using a rectangular wave pattern with high output voltage and high output capability in an operation region of high speed rotation and high torque.

Here, the sine wave pattern is a pattern of the drive signals Su, Sv, Sw generated by triangular wave comparison of three-phase voltage command values Vu, Vv, Vw whose peak amplitude does not exceed the magnitude of the apex of the triangular wave. The rectangular wave pattern is a pattern in which the three-phase voltage command values Vu, Vv, Vw intersect the triangular wave 2 times in 1 cycle of the electrical angle, and drive signals Su, Sv, Sw are generated 1 time in each of 1 cycle of the electrical angle in the Hi (high) period and the Low (Low) period, respectively. Further, among the patterns of the drive signals Su, Sv, Sw, there are overmodulation patterns of the drive signals Su, Sv, Sw generated by three-phase voltage command values Vu, Vv, Vw which are larger than the amplitude forming the sine wave pattern and smaller than the amplitude forming the rectangular wave pattern.

However, in the sine wave control and the rectangular wave control, even if the voltage phase is the same, the torque output by the rectangular wave control is larger than that of the sine wave control, and the torque fluctuation occurs even when switching is performed by a simple switching operation, which is not preferable. In regard to this problem, in the following patent document 1, the phase and amplitude of a sine wave at the time of switching are set as switching initial values, the phase of a rectangular wave that outputs a torque equivalent to that at the time of switching is set as a switching target value, and an infinite amplitude is set as a switching target value, and when switching of a control mode is performed, the phase and amplitude of a voltage waveform are simultaneously and continuously changed from the switching initial values to the switching target values. Then, when the voltage wave is formed to switch the target value, the rectangular wave control is switched to suppress torque variation at the time of switching.

Documents of the prior art

Patent document

Patent document 1: japanese unexamined patent publication No. 11-285288

Disclosure of Invention

Problems to be solved by the invention

However, in the invention described in [ patent document 1], torque control based on the command value cannot be performed during the transition period from the switching initial value to the switching target value, and therefore torque variation may occur during the transition period. Further, when the torque command value changes during the transition period, there is a possibility that the torque fluctuation may occur immediately after the switching in response to the change in the torque command value. In addition, even when the power supply voltage of the inverter or the rotation speed of the PM motor changes during the transition period, there is a possibility that torque fluctuation occurs during the transition period because of failure to cope with the changes. Further, there is a problem that the switching cannot be performed again during the transition period, and thus the responsiveness is poor.

The present invention has been made in view of the above circumstances, and an object thereof is to provide a motor control device and a motor control method that can perform torque control based on a command value even when a control mode is switched, suppress torque variation at the time of switching, and have excellent responsiveness.

Means for solving the problems

(1) By providing the motor control apparatus 100 so as to solve the above-described problem,

the motor control device 100 includes: an inverter 20 that causes 3-phase ac drive currents Iu, Iv, and Iw to flow through the PM motor 10; drive

current detection units

12u and 12v that acquire values of the drive currents Iu, Iv, and Iw; an angle detection unit 14 that acquires an electrical angle θ of the PM machine 10; a 3-phase/dq conversion unit 22 that converts the drive currents Iu, Iv, and Iw acquired by the drive

current detection units

12u and 12v into d-axis feedback current values Id and q-axis feedback current values Iq based on the electrical angle θ; a sine wave control part 40 based on an external torque command value T^*Setting a d-axis current command value Id^*Q-axis current command value Iq^*Generating a d-axis voltage command value Vd and a q-axis voltage command value Vq in a sine wave control mode; a rectangular wave control part 50 based on an external torque command value T^*Setting a voltage phase theta v and a voltage command value | Va |, and generating a d-axis voltage command value Vd and a q-axis voltage command value Vq under a rectangular wave control mode; a switching unit 24 for switching generation of the d-axis voltage command value Vd and the q-axis voltage command value Vq between the sine wave control unit 40 and the rectangular wave control unit 50; a dq/3 phase conversion unit 32 for converting the d-axis voltage command values Vd and the q-axis voltage command values Vq into three-phase voltage command values Vu, Vv, and Vw; and a drive signal generation section 36 to be connected toThe three-phase voltage command values Vu, Vv, Vw are compared with a triangular wave of a predetermined period to generate drive signals Su, Sv, Sw for switching the inverter 20, and the motor control device 100 is characterized in that,

further comprises a mode shifting unit 80 which operates when the control mode is switched by the switching unit 24,

the mode shift section 80

The method includes the steps of obtaining a voltage phase θ v and a voltage command value | Va | obtained by polar-coordinate conversion of a d-axis voltage command value Vd ″ and a q-axis voltage command value Vq ″ in a sinusoidal wave control mode as initial values of an initial voltage phase θ v1 and a transition voltage command value | Va ' |, outputting the voltage phase θ v and the voltage command value | Va | to the rectangular wave control unit 50 when switching from the sinusoidal wave control mode to the rectangular wave control mode, obtaining a rectangular wave forming voltage value | 1| in which the driving signals Su, Sv, Sw form a rectangular wave pattern, continuously increasing the transition voltage command value Va | Va ' | from the initial values to a rectangular wave forming voltage value | Va1| and outputting the same to the rectangular wave control unit 50, and causing the rectangular wave control unit 50 to generate the d-axis voltage command values Vd, Va ' |, The q-axis voltage command value Vq.

(2) By providing the motor control apparatus 100 so as to solve the above-described problem,

current detection units

12u and 12v into d-axis feedback current values Id and q-axis feedback current values Iq based on the electrical angle θ; a sine wave control part 40 based on an external torque command value T^*Setting a d-axis current command value Id^*Q-axis current command value Iq^*Generating a d-axis voltage command value Vd and a q-axis voltage command value Vq in a sine wave control mode; a rectangular wave control part 50 based on an external torque command value T^*Setting electricityGenerating a d-axis voltage command value Vd and a q-axis voltage command value Vq under a rectangular wave control mode by using the voltage phase theta v and the voltage command value | Va |; a switching unit 24 for switching generation of the d-axis voltage command value Vd and the q-axis voltage command value Vq between the sine wave control unit 40 and the rectangular wave control unit 50; a dq/3 phase conversion unit 32 for converting the d-axis voltage command values Vd and the q-axis voltage command values Vq into three-phase voltage command values Vu, Vv, and Vw; and a drive signal generation unit 36 for comparing the three-phase voltage command values Vu, Vv, Vw with a triangular wave having a predetermined period to generate drive signals Su, Sv, Sw for switching the inverter 20, wherein the motor control device 100,

the mode shift section 80

In the rectangular wave control mode, the d-axis voltage command value Vd and the q-axis voltage command value Vq outputted from the rectangular wave control unit 50 are outputted to the sine wave control unit 40 as an initial value Vd1 of the d-axis voltage command value and an initial value Vq1 of the q-axis voltage command value, and an initial value Id for calculating the d-axis current command value is calculated based on the d-axis feedback current value Id and the q-axis feedback current value Iq^*Initial values Iq of 1 and q-axis current command values^*1, the transition data Ifb is outputted to the sine wave control unit 40,

immediately after switching from the rectangular wave control mode to the sine wave control mode, the control mode is switched based on an initial value Vd1 of the d-axis voltage command value, an initial value Vq1 of the q-axis voltage command value, and an initial value Id of the d-axis current command value^*1. An initial value Iq of the q-axis current command value^*1 generates a switching d-axis voltage command value Vd and a switching q-axis voltage command value Vq and outputs them to the dq/3 phase conversion unit 32.

(3) The motor control device 100 according to (2) above is provided to solve the above-mentioned problem, and the motor control device 100 is characterized in that,

the mode shift section 80

When switching from the rectangular wave control mode to the sinusoidal wave control mode, the voltage command value | Va | output by the rectangular wave control unit 50 is acquired as an initial value of a transition voltage command value | Va ' |, and the sinusoidal wave mode transition voltage value | Va2| of a sinusoidal wave pattern or an overmodulation pattern of the drive signals Su, Sv, Sw is acquired, and the transition voltage command value | Va ' | is continuously reduced from the initial value to the sinusoidal wave mode transition voltage value | Va2| while continuing the rectangular wave control mode and is output to the rectangular wave control unit 50, so that the rectangular wave control unit 50 generates a d-axis voltage command value Vd and a q-axis voltage command value Vq based on the transition voltage command value | Va ' |, and thereafter, the switching unit 24 switches to the control mode by the sinusoidal wave control unit 40.

(4) The above problem is solved by providing a motor control device 100, and the motor control device 100 includes: an inverter 20 that causes 3-phase ac drive currents Iu, Iv, and Iw to flow through the PM motor 10; drive

current detection units

12u and 12v into d-axis feedback current values Id and q-axis feedback current values Iq based on the electrical angle θ; a sine wave control part 40 based on an external torque command value T^*Setting a d-axis current command value Id^*Q-axis current command value Iq^*Generating a d-axis voltage command value Vd and a q-axis voltage command value Vq in a sine wave control mode; a rectangular wave control part 50 based on an external torque command value T^*Setting a voltage phase theta v and a voltage command value | Va |, and generating a d-axis voltage command value Vd and a q-axis voltage command value Vq under a rectangular wave control mode; a switching unit 24 for switching generation of the d-axis voltage command value Vd and the q-axis voltage command value Vq between the sine wave control unit 40 and the rectangular wave control unit 50; a dq/3 phase conversion unit 32 for converting the d-axis voltage command values Vd and the q-axis voltage command values Vq into three-phase voltage command values Vu, Vv, and Vw; and a drive signal generation unit 36 for comparing the three-phase voltage command values Vu, Vv, Vw with a triangular wave having a predetermined periodIn order to generate the drive signals Su, Sv, Sw for switching the inverter 20, the motor control device 100 is characterized in that,

the mode shift section 80

The method includes the steps of obtaining a voltage phase θ v and a voltage command value | Va | obtained by polar-coordinate conversion of a d-axis voltage command value Vd ″ and a q-axis voltage command value Vq ″ in a sinusoidal wave control mode as initial values of an initial voltage phase θ v1 and a transition voltage command value | Va ' |, outputting the voltage phase θ v and the voltage command value | Va | to the rectangular wave control unit 50 when switching from the sinusoidal wave control mode to the rectangular wave control mode, obtaining a rectangular wave forming voltage value | 1| in which the driving signals Su, Sv, Sw form a rectangular wave pattern, continuously increasing the transition voltage command value Va | Va ' | from the initial values to a rectangular wave forming voltage value | Va1| and outputting the same to the rectangular wave control unit 50, and causing the rectangular wave control unit 50 to generate the d-axis voltage command values Vd, Va ' |, The q-axis voltage command value Vq,

when switching from the rectangular wave control mode to the sine wave control mode, the voltage command value | Va | output by the rectangular wave control unit 50 is acquired as an initial value of a transition voltage command value | Va ' |, and the sine wave mode transition voltage value | Va2| of a sine wave pattern or an overmodulation pattern of the drive signals Su, Sv, Sw is acquired, the transition voltage command value | Va ' | is continuously decreased from the initial value to the sine wave mode transition voltage value | Va2| while continuing the rectangular wave control mode, and is output to the rectangular wave control unit 50, the rectangular wave control unit 50 is caused to generate a d-axis voltage command value Vd and a q-axis voltage command value Vq based on the transition voltage command value | Va ' |, and thereafter, the switching unit 24 switches to the sine wave control mode by the sine wave control unit 40,

immediately after switching to the sine wave control mode, the control mode is switched to the sine wave control mode based on an initial value Vd1 of the d-axis voltage command value, an initial value Vq1 of the q-axis voltage command value, and an initial value Id of the d-axis current command value^*1. An initial value Iq of the q-axis current command value^*1, a switching d-axis voltage command value Vd and a switching q-axis voltage command value Vq are generated and output to the dq/3 phase conversion unit 32.

(5) The motor control device 100 according to any one of the above (1) to (4) is provided to solve the above problem, and the motor control device 100 is characterized in that a center position of a falling edge of the triangular wave intersects a zero point position of a rising edge of the three-phase voltage command values Vu, Vv, Vw, and a frequency of the triangular wave is maintained to be an odd integer multiple of 3 of the frequency of the three-phase voltage command values Vu, Vv, Vw.

(6) The above problem is solved by providing a motor control method of a motor control device 100, the motor control device 100 including: an inverter 20 that causes 3-phase ac drive currents Iu, Iv, and Iw to flow through the PM motor 10; drive

current detection units

12u and 12v into d-axis feedback current values Id and q-axis feedback current values Iq based on the electrical angle θ; a sine wave control part 40 based on an external torque command value T^*Setting a d-axis current command value Id^*Q-axis current command value Iq^*Generating a d-axis voltage command value Vd and a q-axis voltage command value Vq in a sine wave control mode; a rectangular wave control part 50 based on an external torque command value T^*Setting a voltage phase theta v and a voltage command value | Va |, and generating a d-axis voltage command value Vd and a q-axis voltage command value Vq under a rectangular wave control mode; a switching unit 24 for switching generation of the d-axis voltage command value Vd and the q-axis voltage command value Vq between the sine wave control unit 40 and the rectangular wave control unit 50; a dq/3 phase conversion unit 32 for converting the d-axis voltage command values Vd and the q-axis voltage command values Vq into three-phase voltage command values Vu, Vv, and Vw; a drive signal generation unit 36 that compares the three-phase voltage command values Vu, Vv, Vw with a triangular wave having a predetermined period to generate drive signals Su, Sv, Sw for switching the inverter 20; and a mode shifting unit 80 that operates when the control mode is switched by the switching unit 24, the motor control method being characterized in that,

the mode shift section 80 performs

A step of obtaining a voltage phase θ v and a voltage command value | Va | obtained by polar-coordinate conversion of a d-axis voltage command value Vd ″ and a q-axis voltage command value Vq ″ in the sinusoidal wave control mode as initial values of an initial voltage phase θ v1 and a transition voltage command value | Va' |, and

when the sine wave control mode is switched to the rectangular wave control mode, the following steps are carried out:

outputting the initial voltage phase θ v1 and the initial value of the transition voltage command value | Va' | to the rectangular wave control unit 50;

obtaining a rectangular wave forming voltage value | Va1| of the rectangular wave pattern of the driving signals Su, Sv, Sw; and

the transition voltage command value | Va '| is continuously increased from the initial value to a rectangular-wave-shaped voltage value | Va1| and is output to the rectangular-wave control unit 50, and the rectangular-wave control unit 50 generates a d-axis voltage command value Vd and a q-axis voltage command value Vq based on the transition voltage command value | Va' |.

(7) The above problem is solved by providing a motor control method of a motor control device 100, the motor control device 100 including: an inverter 20 for driving 3-phase AC drive currents Iu, Iv and Iw flows through PM machine 10; drive

current detection units

the mode shift unit 80 performs the following steps:

the mode shift section 80 further includesComprises the following steps: immediately after switching from the rectangular wave control unit mode to the sine wave control mode, the control mode is switched based on an initial value Vd1 of the d-axis voltage command value, an initial value Vq1 of the q-axis voltage command value, and an initial value Id of the d-axis current command value^*1. An initial value Iq of the q-axis current command value^*1, a switching d-axis voltage command value Vd and a switching q-axis voltage command value Vq are generated and output to the dq/3 phase conversion unit 32.

(8) The above-mentioned problem is solved by providing the motor control method according to the above (7), characterized in that,

the mode shift unit 80 further includes:

acquiring a voltage command value | Va | output from the rectangular wave control unit 50 as an initial value | Va' | of a transition voltage command value when switching from the rectangular wave control mode to the sine wave control mode;

obtaining a sine wave mode transfer voltage value | Va2| of the driving signals Su, Sv and Sw which are in a sine wave pattern or an overmodulation pattern;

continuously reducing the transition voltage command value | Va '| from the initial value to the sinusoidal mode transition voltage value | Va2| while continuing the rectangular wave control mode, and outputting the reduced transition voltage command value | Va' | to the rectangular wave control unit 50;

causing the rectangular wave control unit 50 to generate a d-axis voltage command value Vd and a q-axis voltage command value Vq based on the transition voltage command value | Va' |; and

the switching unit 24 switches the control mode to the control mode by the sine wave control unit 40.

(9) The above problem is solved by providing a motor control method of a motor control device 100, the motor control device 100 including: an inverter 20 that causes 3-phase ac drive currents Iu, Iv, and Iw to flow through the PM motor 10; drive current detection units 12u and 12v that acquire values of the drive currents Iu, Iv, and Iw; an angle detection unit 14 that acquires an electrical angle θ of the PM machine 10; a 3-phase/dq conversion unit 22 for converting the drive current obtained by the drive current detection units 12u and 12v based on the electrical angle θConverting the driving currents Iu, Iv and Iw into d-axis feedback current values Id and q-axis feedback current values Iq; a sine wave control part 40 based on an external torque command value T^*Setting a d-axis current command value Id^*Q-axis current command value Iq^*Generating a d-axis voltage command value Vd and a q-axis voltage command value Vq in a sine wave control mode; a rectangular wave control part 50 based on an external torque command value T^*Setting a voltage phase theta v and a voltage command value | Va |, and generating a d-axis voltage command value Vd and a q-axis voltage command value Vq under a rectangular wave control mode; a switching unit 24 for switching generation of the d-axis voltage command value Vd and the q-axis voltage command value Vq between the sine wave control unit 40 and the rectangular wave control unit 50; a dq/3 phase conversion unit 32 for converting the d-axis voltage command values Vd and the q-axis voltage command values Vq into three-phase voltage command values Vu, Vv, and Vw; a drive signal generation unit 36 that compares the three-phase voltage command values Vu, Vv, Vw with a triangular wave having a predetermined period to generate drive signals Su, Sv, Sw for switching the inverter 20; and a mode shifting unit 80 that operates when the control mode is switched by the switching unit 24, the motor control method being characterized in that,

the mode shift section 80 performs

the transition voltage command value | Va '| is continuously increased from the initial value to a rectangular-wave-shaped voltage value | Va1| and is output to the rectangular-wave control unit 50, the rectangular-wave control unit 50 generates a d-axis voltage command value Vd and a q-axis voltage command value Vq based on the transition voltage command value | Va' |,

in the rectangular wave control mode, the following steps are carried out: the d-axis voltage command value Vd and the q-axis voltage command value Vq outputted from the rectangular wave control unit 50 are outputted to the sine wave control unit 40 as an initial value Vd1 of the d-axis voltage command value and an initial value Vq1 of the q-axis voltage command value, and an initial value Id for calculating the d-axis current command value is calculated based on the d-axis feedback current value Id and the q-axis feedback current value Iq^*Initial values Iq of 1 and q-axis current command values^*1, the transition data Ifb is outputted to the sine wave control unit 40,

the mode shift unit 80 further includes:

causing the rectangular wave control unit 50 to generate a d-axis voltage command value Vd and a q-axis voltage command value Vq based on the transition voltage command value | Va' |;

the switching unit 24 switches to a sine wave control mode by the sine wave control unit 40; and

immediately after switching to the sine wave control mode, the control mode is switched to the sine wave control mode based on an initial value Vd1 of the d-axis voltage command value, an initial value Vq1 of the q-axis voltage command value, and an initial value Id of the d-axis current command value^*1. An initial value Iq of the q-axis current command value^*1, generates a d-axis voltage command value Vd at the time of switching and a q-axis voltage command value Vq at the time of switching, and outputs them to the dq/3 phase conversion unit 32。

(10) The motor control method according to any one of (6) to (9) above, wherein a center position of a falling edge of the triangular wave intersects a zero point position of a rising edge of the three-phase voltage command values Vu, Vv, Vw, and a frequency of the triangular wave is maintained at an odd integer multiple of 3 of the frequency of the three-phase voltage command values Vu, Vv, Vw, thereby solving the problem.

Effects of the invention

The motor control device and the motor control method of the present invention continuously change a drive signal between a sine wave pattern (overmodulation pattern) and a rectangular wave pattern while performing torque control in a rectangular wave control mode at the time of switching of the control mode. This enables smooth switching of the control mode with little torque variation. Further, the switching can be performed again even during the transition period, and the responsiveness is high. Further, since the torque control is performed in the rectangular wave control mode during the transition period, even when the torque command value, the power supply voltage, and the rotation speed of the PM motor change during the transition period, these changes can be reflected as needed, and the torque does not fluctuate when the control mode is switched.

Drawings

Fig. 1 is a block diagram of a motor control device of the present invention.

Fig. 2 is a diagram illustrating the switching of the operating conditions and the control modes of the motor.

Fig. 3 is a diagram illustrating a positional relationship between a triangular wave and a three-phase voltage command value Vu in the motor control device of the present invention.

Fig. 4 is a flowchart showing an operation when the motor control method of the present invention shifts to the rectangular wave control mode.

Fig. 5 is a flowchart showing an operation when the motor control method of the present invention shifts to the sine wave control mode.

Fig. 6 is a diagram illustrating a triangular wave of the motor control device and the motor control method according to the present invention.

Detailed Description

The present invention will be explained based on the drawingsEmbodiments of the inventive motor control apparatus 100 and motor control method. Here, fig. 1 is a block diagram of a motor control device 100 of the present invention. First, a motor control device 100 according to the present invention controls an operation of a PM motor (permanent magnet motor) 10, and includes: an inverter 20 that causes 3-phase ac drive currents Iu, Iv, and Iw to flow through the PM motor 10; drive current detection units 12u and 12v for acquiring values of the drive currents Iu, Iv, and Iw; an angle detection unit 14 that acquires an electrical angle θ of the PM motor 10; a 3-phase/dq conversion unit 22 that converts the drive currents Iu, Iv, and Iw acquired by the drive current detection units 12u and 12v into d-axis feedback current values Id and q-axis feedback current values Iq; a sine wave control unit 40 based on a torque command value T instructed from the outside (a higher-level control unit of the system, etc.)^*Setting a d-axis current command value Id^*Q-axis current command value Iq^*Generating a d-axis voltage command value Vd and a q-axis voltage command value Vq in a sine wave control mode; rectangular wave control unit 50 based on torque command value T instructed from the outside in the same manner^*Setting a voltage phase theta v and a voltage command value | Va |, and generating a d-axis voltage command value Vd and a q-axis voltage command value Vq under a rectangular wave control mode; a switching unit 24 that switches control of the PM motor 10 between the sine wave control unit 40 and the rectangular wave control unit 50; a dq/3 phase conversion unit 32 that converts the d-axis voltage command values Vd and q-axis voltage command values Vq output from the sine wave control unit 40 or the rectangular wave control unit 50 into three-phase voltage command values Vu, Vv, Vw for the U-phase, V-phase, and W-phase; a drive signal generation unit 36 that compares the three-phase voltage command values Vu, Vv, Vw with a triangular wave having a predetermined period to generate drive signals Su, Sv, Sw for switching the inverter 20; and a mode transition unit 80 that performs a predetermined operation when the control mode is switched by the switching unit 24.

The inverter 20 constituting the motor control device 100 of the present invention performs a switching operation based on the Hi-Low drive signals Su, Sv, Sw output from the drive signal generation unit 36, converts the dc power from the known dc power supply unit 18 such as a battery into a 3-phase ac voltage based on the drive signals Su, Sv, Sw, and outputs the converted ac voltage. Thus, 3-phase drive currents Iu, Iv, and Iw, which are shifted in phase by 1/3 cycles (2/3 pi (rad)), flow through the armature windings of the PM motor 10.

In the PM machine 10, as described above, the permanent magnet is provided on the rotor side, the 3-phase armature windings are provided on the stator side, and the above-described drive currents Iu, Iv, and Iw are caused to flow through the 3-phase armature windings, so that the magnetic poles and magnetic fluxes of the armature windings are continuously changed to rotate the rotor. As the PM machine 10, an IPM machine (Interior Permanent Magnet machine) in which Permanent magnets are embedded in a rotor is preferably used.

The drive

current detection units

12u and 12v may use known current sensors that can obtain the drive currents Iu, Iv, and Iw flowing through the switching operation of the inverter 20 in a non-contact manner. In this example, 2 drive currents Iu and Iv among the drive currents Iu, Iv and Iw are obtained and converted into d-axis feedback current values Id and q-axis feedback current values Iq.

As the angle detection unit 14, a known angle sensor capable of acquiring the angle of the rotor can be used. It is particularly preferable to use a resolver rotation angle sensor to obtain the electrical angle θ of the PM machine 10. It is preferable that the electric angle θ and the drive currents Iu and Iv be obtained at two timings, i.e., the peak and the trough of the triangular wave, and used by each unit of the motor control device 100 for each half cycle of the triangular wave. The electrical angle θ acquired by the angle detection unit 14 is also output to the angular velocity calculation unit 16, and the angular velocity calculation unit 16 calculates an electrical angular velocity ω (rad/s) from the input electrical angle θ and outputs the electrical angular velocity ω to each unit of the motor control device 100.

The 3-phase/dq converter 22 performs 3-phase 2-phase conversion and rotational coordinate conversion on the values of the drive currents Iu, Iv, and Iw acquired by the drive

current detectors

12u and 12v based on the electrical angle θ (rad) of the PM motor 10 acquired by the angle detector 14, and converts the drive currents Iu, Iv, and Iw into a d-axis current value (magnetic flux portion current value) Id and a q-axis current value (torque portion current value) Iq. These values are output to the switching unit 24 as d-axis feedback current value Id and q-axis feedback current value Iq.

The switching unit 24 is a switching circuit that switches the method of generating the d-axis voltage command value Vd and the q-axis voltage command value Vq according to the operating conditions (torque and rotational speed) of the PM motor 10, and operates the PM motor 10 in a sine wave control mode by the sine wave control unit 40 when the PM motor 10 operates in the area a (sine wave control area a) of fig. 2 of medium/low speed rotation. When the PM motor 10 operates in the region B (rectangular wave control region B) of fig. 2 in which the rotational speed and the torque are high, the control of the PM motor 10 is switched to the rectangular wave control unit 50 and the PM motor is operated in the rectangular wave control mode. The switching values (switching lines C) of the sine wave control region a and the rectangular wave control region B are changed in accordance with the voltage value of the dc power supply unit 18. It is preferable that the switching value for each voltage value of the dc power supply unit 18 is set in advance in a memory unit not shown, and the switching unit 24 appropriately obtains and uses the switching value corresponding to the voltage value of the dc power supply unit 18. When there is no matching voltage value, it is preferable to obtain an appropriate switching value from the switching values of the preceding and following voltages by calculation or the like and use the switching value. When the operating state (torque, rotation speed) of the PM machine 10 exceeds the switching value, the control mode is switched by performing each step described later. Further, it is preferable to provide a hysteresis (hysteresis) width to the switching value when switching from the sine wave control mode to the rectangular wave control mode and the switching value when switching from the rectangular wave control mode to the sine wave control mode, thereby preventing frequent switching operation at the boundary of the switching value.

Next, the configuration and operation of the sine wave control unit 40 will be described. The configuration of the sine wave control unit 40 described below is a preferred example of the present invention, and therefore, the present invention is not limited to the following configuration, and other arbitrary sine wave control means may be used.

First, a torque command value T is output from a control unit or the like of the upper system^*. The torque command value T^*Is the torque of the PM machine 10 as the operation target. The torque command value T^*When sine wave control unit 40 is selected by switching unit 24, the selected value is input to current command value setting unit 402 of sine wave control unit 40. The current torque T of the PM machine 10 is input from the torque calculation unit 404 to the current command value settingAnd a determination unit 402.

Here, the torque calculation unit 404 has an induced voltage constant as a motor parameter of the PM motor 10

d-axis inductance Ld, q-axis inductance Lq, and the like. In addition, induced voltage constant

The d-axis inductance Ld and the q-axis inductance Lq may be fixed values set in advance, or may be appropriate values set in advance according to the temperature and the operating condition of the PM motor 10, as appropriate, for example, from a data table or the like. The torque calculation unit 404 then calculates the torque based on these values and a d-axis feedback current value Id and a q-axis feedback current value Iq, which will be described later, or a d-axis current command value Id output from the current command value generation unit 406^*Q-axis current command value Iq^*And calculates the current torque T of the PM machine 10 based on, for example, the following equation. In this example, the d-axis current command value Id is shown^*Q-axis current command value Iq^*An example of the torque T is calculated.

P: pole pair number of permanent magnet of PM motor

Constant of induced voltage

And Ld: d-axis inductor

And (Lq): q-axis inductor

Current command value setting unit 402 sets torque command value T based on the current command value^*And the current torque T is set so that the torque T becomes the torque command value T^*Such a current command value Ia^*And outputs it to the current command value generation unit 406. Further, the current command value Ia^*It may be calculated by calculation such as integral control and proportional control. In addition, the current command value Ia may be set^*Setting a limiter value, which can also be read from the table dataThe electrical angular velocity ω and the power supply voltage Vdc. In addition, only the maximum value of the limiter may be set and used.

The current command value generation unit 406 obtains the current command value Ia input from the current command value setting unit 402 from, for example, table data^*Based on these current command values Ia^*Calculating a d-axis current command value Id from the sum current phase angle θ i^*Q-axis current command value Iq^*This is output to the voltage command value generation unit 416 of the sine wave control unit 40. At this time, the motor parameters are calculated based on the known arithmetic expression and the above-mentioned motor parameters (b)

Ld, Lq) and electrical angular velocity ω, d-axis current command value Id^*Q-axis current command value Iq^*Calculating motor voltage, and adjusting d-axis current command value Id^*Q-axis current command value Iq^*The motor voltage is not more than the value of K multiplied by Vdc (K: voltage utilization rate set value), so that an overmodulation control region or a flux weakening control region can be set between a sine wave control region and a rectangular wave control region, and the output in a medium-high speed operation region can be improved. In addition, by changing the voltage utilization rate K, the d-axis current command value Id can be set at an arbitrary voltage utilization rate^*Q-axis current command value Iq^*. Furthermore, preferably by using the motor parameters (A), (B) based on the above

Ld, Lq), the electrical angular velocity ω from the angular velocity calculation unit 16, the power supply voltage Vdc from the dc power supply unit 18, and the like, and performs a d-axis current command value Id using the voltage utilization rate K by known voltage control, proportional control, integral control, and the like^*Q-axis current command value Iq^*And (4) adjusting. The current phase angle θ i may be calculated by an operation such as integral control or proportional control. Further, the d-axis current command value Id may be set as needed^*Q-axis current command value Iq^*A current limiter is provided.

Here, the voltage command value generation unit 416 will be describedOne example is preferable. First, the d-axis current command value Id input to the voltage command value generation unit 416^*Q-axis current command value Iq^*The branch is divided into two parts, and one of them is inputted to the non-interference control section 414. Then, the non-interference control unit 414 calculates the d-axis current command value Id^*Q-axis current command value Iq^*The speed electromotive force components that cause interference therebetween are output to the current control unit 410 as the d-axis voltage command value Vd 'and the q-axis voltage command value Vq'. In addition, the d-axis current command value Id^*Q-axis current command value Iq^*The other of the d-axis feedback current value Id and the q-axis feedback current value Iq is subtracted by the subtraction unit 412 to become fluctuation components Δ Id and Δ Iq, and then input to the current control unit 410.

The current control unit 410 includes, for example, a current integration control unit 410a and a current proportion control unit 410b, and the fluctuation components Δ Id and Δ Iq input to the current control unit 410 are branched into two and input to the current integration control unit 410a and the current proportion control unit 410b, respectively. The current integration control unit 410a performs known current integration control. In addition, the current ratio control unit 410b performs known current ratio control. Then, the d-axis voltage command value Vd and the q-axis voltage command value Vq' from the non-interference control unit 414 are added to the output of the current integration control unit 410a, and the output from the current ratio control unit 410b is added to generate the d-axis voltage command value Vd and the q-axis voltage command value Vq. The d-axis voltage command value Vd and the q-axis voltage command value Vq are output to the control signal generator 30 via the switching unit 24.

It is preferable that the current control unit 410 be provided with a limiter unit that limits the three-phase voltage command values Vu, Vv, Vw based on the d-axis voltage command value Vd and the q-axis voltage command value Vq so that the three-phase voltage command values Vu, Vv, Vw do not reach the vicinity of the maximum voltage (voltage of a rectangular wave voltage of 1 pulse) that becomes the output limit of the inverter 20. The limiter unit is preferably provided at a stage before the output from the current ratio control unit 410b is added. The limit voltage of the limiter unit is preferably set according to the number of synchronizations of the triangular wave set by the synchronization control unit 420, which will be described later.

The d-axis voltage command value Vd ″ and the q-axis voltage command value Vq ″ before the output of the current ratio control unit 410b are output to the polar coordinate conversion unit 418 of the sine wave control unit 40, and the polar coordinate conversion is applied to the polar coordinate conversion unit 418 to obtain the voltage phase θ v and the voltage command value | Va |. Then, the polar coordinate conversion section 418 outputs the voltage phase θ v to the synchronization control section 420 and the mode shift section 80. The voltage command value | Va | is output to the linear correction unit 38 and the mode shift unit 80.

The synchronization control unit 420 of the sine wave control unit 40 generates carrier setting information Sc of a triangular wave, which will be described later, based on the voltage phase θ v, the electrical angular velocity ω, and the electrical angle θ obtained by the polar coordinate conversion unit 418, and outputs the generated carrier setting information Sc to the triangular wave generation unit 34. The carrier setting information Sc is described later.

Next, the configuration and operation of the rectangular wave control unit 50 will be described. The configuration of the rectangular wave control unit 50 described below is a preferred example of the present invention, and therefore, the present invention is not limited to the configuration described below, and other arbitrary rectangular wave control means may be used.

First, when the PM motor 10 exceeds the switching value (switching line C) of fig. 2 and enters an operating state in the operating region B of high rotational speed and high torque, the switching unit 24 switches the control of the PM motor 10 from the sine wave control unit 40 to the rectangular wave control unit 50. The switching operation at this time will be described later. Thus, the torque command value T^*The voltage phase setting unit 502 is input to the rectangular wave control unit 50. The d-axis feedback current value Id and the q-axis feedback current value Iq are input to the torque calculation unit 504 of the rectangular wave control unit 50. Further, the torque calculation unit 504 has motor parameters in the same manner as the torque calculation unit 404 of the sine wave control unit 40, calculates the current torque T of the PM motor 10 from these motor parameters, the d-axis feedback current value Id, and the q-axis feedback current value Iq, and outputs the current torque T to the voltage phase setting unit 502. Then, voltage phase setting unit 502 sets torque command value T based on the torque command value T^*And a torque T, and a voltage phase θ v is generated by integral control, proportional control, or the like so that the PM machine 10 operates at the target torque. And then outputs it to the rectangular wave control part 50Voltage command value generation unit 516 and synchronization control unit 520.

The synchronization control unit 520 generates carrier setting information Sc for setting a triangular wave from the voltage phase θ v, the electrical angular velocity ω, and the electrical angle θ. The carrier setting information Sc is described later. The synchronization control unit 520 obtains a voltage command value | Va | such that the triangular wave and the three-phase voltage command values Vu, Vv, Vw intersect 2 times in a period of 1 cycle of the three-phase voltage command values Vu, Vv, Vw, that is, the drive signals Su, Sv, Sw generated by the triangular wave comparison are 1 pulse rectangular wave, and outputs the voltage command value | Va | to the voltage command value generation unit 516. Preferably, the voltage command value | Va | is set by the synchronization control unit 520 by setting the value of the voltage command value | Va | in advance in a data table for each synchronization number of the triangular wave, and the synchronization control unit 520 selects and sets the voltage command value | Va | corresponding to the synchronization number while determining the synchronization number of the triangular wave. Then, the synchronization control unit 520 outputs the voltage command value | Va | to the voltage command value generation unit 516 and the linear correction unit 38. It is preferable that the voltage command value | Va | for forming the rectangular wave is also used as a rectangular wave forming voltage value | Va1| to be described later.

Further, the voltage command value generation unit 516 generates the d-axis voltage command value Vd and the q-axis voltage command value Vq based on the voltage phase θ v input from the voltage phase setting unit 502 and the voltage command value | Va | input from the synchronization control unit 520.

The rectangular wave control unit 50 may also include a correction unit 70 that corrects a fluctuation component due to offset or the like. Here, an example of the correction unit 70 is shown below. The configuration of the correction unit 70 described below is a preferred example of the present invention, and is not limited to the following configuration.

The correction unit 70 shown in this example includes a smoothing unit 72, a correction current generation unit 74, a correction voltage generation unit 76, and a voltage command value correction unit 78. The smoothing unit 72 of the correction unit 70 performs, for example, moving average processing or smoothing processing on the d-axis feedback current value Id and the q-axis feedback current value Iq input via the switching unit 24, and smoothes the values. The smoothing processing here is processing for smoothing the input signals (d-axis feedback current value Id and q-axis feedback current value Iq) by performing processing of the following expression (1) at arbitrary intervals.

C＝B(1-K)+K×A····(1)

Where a is an input value (d-axis feedback current value Id, q-axis feedback current value Iq), B is an output value after smoothing in the immediately preceding cycle, K is a smoothing constant, and C is an output value (estimated d-axis current command value Id)^*And estimating a q-axis current command value Iq^*)。

By this smoothing process, a pseudo estimated d-axis current command value Id is generated in which the fluctuation component due to the offset or the amplitude imbalance of the drive currents Iu, Iv, Iw is smoothed^*And estimating a q-axis current command value Iq^*. Then, these estimated d-axis current command values Id^*Q-axis current command value Iq^*And outputs the result to the correction current generation unit 74.

The d-axis feedback current value Id and the q-axis feedback current value Iq are input to the correction current generation unit 74, and the correction current generation unit 74 generates the estimated d-axis current command value Id from the smoothing unit 72^*And estimating a q-axis current command value Iq^*The d-axis feedback current value Id and the q-axis feedback current value Iq are subtracted, respectively. Thereby, d-axis correction current Δ Id and q-axis correction current Δ Iq as fluctuation components are generated. Then, the d-axis correction current Δ Id and the q-axis correction current Δ Iq are output to the correction voltage generation unit 76. The d-axis correction current Δ Id and the q-axis correction current Δ Iq are estimated d-axis current command values Id smoothed from a component of offset or amplitude imbalance (fluctuation component)^*Q-axis current command value Iq^*The d-axis feedback current value Id and the q-axis feedback current value Iq each having a component (fluctuation component) of offset or amplitude imbalance subtracted therefrom are basically in opposite phase to the fluctuation component.

The correction voltage generator 76 generates a d-axis correction voltage Δ Vd and a q-axis correction voltage Δ Vq from the d-axis correction current Δ Id and the q-axis correction current Δ Iq input from the correction current generator 74 by proportional control based on predetermined correction gains (Kd, Kq), for example, and outputs the generated voltages to the voltage command value corrector 78.

The voltage command value correction unit 78 adds the d-axis correction voltage Δ Vd and the q-axis correction voltage Δ Vq input from the correction voltage generation unit 76 to the d-axis voltage command value Vd and the q-axis voltage command value Vq output from the voltage command value generation unit 516, respectively. Therefore, the opposite voltages (d-axis correction voltage Δ Vd and q-axis correction voltage Δ Vq) generated by the offset or amplitude imbalance components of the drive currents Iu, Iv and Iw are added to the d-axis voltage command value Vd and the q-axis voltage command value Vq thus generated. Then, the d-axis voltage command value Vd and the q-axis voltage command value Vq are input to the control signal generating unit 30 via the switching unit 24. Further, the d-axis voltage command value Vd and the q-axis voltage command value Vq corrected by the correction unit 70 have opposite voltages of offset and amplitude imbalance components added thereto as described above, so that the offset and the like of the PM motor 10 driven thereby are corrected and eliminated.

Next, carrier setting information Sc output from the

synchronization control units

420 and 520 will be described. First, the carrier setting information Sc is used to maintain the frequency of the triangular wave generated by the triangular wave generator 34 in an appropriate state. Here, the triangular wave set in the carrier setting information Sc is such that, as shown by the point a in fig. 3, the center position of the falling edge of the triangular wave intersects the zero point position of the rising edge of the three-phase voltage command values Vu, Vv, Vw, and the frequency of the triangular wave becomes an odd integer multiple of 3, that is, 9, 15, 21, 27 times, etc., of the frequency of the three-phase voltage command values Vu, Vv, Vw (hereinafter, this multiple is referred to as the synchronization count). The number of synchronizations of the triangular wave is set according to the electrical angular velocity ω. The reason why the frequency of the triangular wave is an odd integer multiple of 3 of the frequency of the three-phase voltage command values Vu, Vv, Vw will be described later.

In the present example, as the voltage phase θ v used for generating the carrier setting information Sc, a voltage phase θ v obtained from the d-axis and q-axis voltage command values Vd ″ and Vq "(before the output of the current ratio control unit 410b is added) or a voltage phase θ v branched before the correction unit 70 (which performs ratio control) is used. Here, when the voltage phase θ v includes a proportional control component that is a short-term vibration component, the period of the triangular wave (carrier setting information Sc) also vibrates in a short term in accordance with the proportional control component. This causes the drive signals Su, Sv, Sw generated by the triangular wave comparison to fluctuate, and becomes an important factor of fluctuation of the output voltage, current, and torque. However, in this example, since the carrier setting information Sc is set using the voltage phase θ v that does not include the proportional control component (short-term vibration component) as described above, the triangular wave and the drive signals Su, Sv, Sw are stabilized, and the output voltage, current, and torque can be stabilized. Further, by using the voltage phase θ v not including the proportional control component, the control gains of the

synchronization control units

420 and 520, the voltage phase setting unit 502, and the like can be increased, and the responsiveness thereof can be improved.

Based on the voltage phase θ v and the electrical angle θ, the

synchronization control units

420 and 520 set the following period of the triangular wave: the center position of the triangular wave intersects the zero point position of the three-phase voltage command value Vu (Vv, Vw), and the frequency of the triangular wave becomes the set synchronization number (odd integer multiple of 3 of the frequency of the three-phase voltage command values Vu, Vv, Vw). The

synchronization control units

420 and 520 change the period setting information in conjunction with the change in the electrical angular velocity ω, and cause the triangular wave to follow and maintain the above state. When the electrical angular velocity ω exceeds a predetermined value set in advance, the

synchronization control units

420 and 520 set the number of synchronizations to 1 step and output the carrier setting information Sc. When the electrical angular velocity ω is lower than a predetermined value set in advance, the carrier setting information Sc is set by increasing the number of synchronizations by 1 step and output. It is preferable that the value of the electrical angular velocity ω for changing the number of synchronizations is stored in advance in a data table or the like for each number of synchronizations, and the

synchronization control units

420 and 520 acquire the corresponding number of synchronizations from the data table based on the input electrical angular velocity ω and set the number of synchronizations. In this case, it is preferable that the electrical angular velocity ω for increasing or decreasing the number of synchronizations has a hysteresis width. In conjunction with the change in the period of the triangular wave, the correction gains (Kd, Kq) of the correction voltage generation unit 76, the time constant of the smoothing unit 72, the gains of the respective controls, and the like are adjusted and reset.

Next, a preferred example of the control signal generating unit 30 will be described. The configuration of the control signal generating unit 30 described below is a preferred example of the present invention, and therefore, the present invention is not limited to the configuration described below, and other arbitrary control signal generating means may be used.

First, the d-axis voltage command value Vd and the q-axis voltage command value Vq output from the sine wave control unit 40 or the rectangular wave control unit 50 are input to the dq/3 phase conversion unit 32 of the control signal generation unit 30. The control signal generating unit 30 may further include a linearity correcting unit 38 at a stage preceding the dq/3 phase converting unit 32, the linearity correcting unit 38 correcting the nonlinearity between the d-axis voltage command value Vd, the q-axis voltage command value Vq, and the voltage command value | Va | and the fundamental wave component of the inverter output voltage during the rectangular wave control and the overmodulation control. The correction value used by the linear correction unit 38 is preferably set in accordance with, for example, the modulation factor or the voltage command value | Va |.

In the present example, the voltage command value | Va | input to the linear correction unit 38 is obtained from the d-axis voltage command value Vd "(before the output of the current proportional control unit 410b is added) and the q-axis voltage command value Vq ″, or the voltage command value | Va | (or | Va' |) output from the synchronous control unit 520 at a stage before the correction unit 70 (which performs proportional control) (which does not include the short-term vibration components of the d-axis correction voltage Δ Vd and the q-axis correction voltage Δ Vq of the correction unit 70). Here, when the voltage command value | Va | includes a proportional control component that is a short-term vibration component, the correction value fluctuates due to the influence of the vibration component. Accordingly, the three-phase voltage command values Vu, Vv, Vw and the drive signals Su, Sv, Sw of the subsequent stage also fluctuate, and become important factors of fluctuations in the output voltage, current, and torque. However, in this example, since the correction value is set based on the comparatively stable voltage command value | Va | containing no proportional control component as described above, stable three-phase voltage command values Vu, Vv, Vw and drive signals Su, Sv, Sw can be generated, and the output voltage, current, and torque can be stabilized. Further, by setting the correction value based on the voltage command value | Va | not including the proportional control component, the gains of the current proportional control unit 410b and the correction voltage generation unit 76 can be increased, and the responsiveness thereof can be improved.

The electrical angle θ from the angle detection unit 14 and the electrical angular velocity ω from the angular velocity calculation unit 16 are input to the dq/3 phase conversion unit 32, and the dq/3 phase conversion unit 32 calculates a predicted electrical angle θ 'at a new timing at which the inverter 20 performs a switching operation based on the electrical angle θ and the electrical angular velocity ω, converts the d-axis voltage command value Vd and the q-axis voltage command value Vq into three-phase voltage command values Vu, Vv, Vw based on the predicted electrical angle θ', and outputs the three-phase voltage command values Vu, Vv, Vw to the drive signal generation unit 36.

The drive signal generator 36 includes a triangular wave generator 34, and the carrier setting information Sc is input to the triangular wave generator 34, and the triangular wave generator 34 generates a periodic triangular wave based on the carrier setting information Sc. The triangular wave at this time is a triangular wave as follows based on the carrier setting information Sc from the synchronization control units 420 and 520: the center position of the falling edge of the triangular wave intersects the zero point positions of the rising edges of the three-phase voltage command values Vu, Vv, Vw, and the frequency is an odd integer multiple of 3 of the three-phase voltage command values Vu, Vv, Vw.

Then, the drive signal generation unit 36 compares the triangular wave with the three-phase voltage command values Vu, Vv, Vw, respectively. At this time, the amplitude of the triangular wave increases or decreases according to the carrier setting information Sc. Therefore, the three-phase voltage command values Vu, Vv, Vw are adjusted by a conversion factor proportional to the amplitude of the triangular wave, and triangular wave comparison is performed using the adjusted three-phase voltage command values Vu, Vv, Vw. Thus, the driving signals Su, Sv, Sw of Hi-Low are generated.

The inverter 20 turns on and off internal switching elements in accordance with the drive signals Su, Sv, and Sw output from the drive signal generation unit 36, converts the dc power from the dc power supply unit 18 into ac voltage based on the drive signals Su, Sv, and Sw, and outputs the ac voltage. Thus, ac drive currents Iu, Iv, and Iw, which are shifted in phase by 1/3 cycles (2/3 pi (rad)), respectively, flow through the armature winding of the PM motor 10. Accordingly, the PM machine 10 responds to the torque command value T^*The corresponding torque performs a rotational motion.

Next, the operation of the mode shift section 80, which is a characteristic part of the motor control device 100 and the motor control method of the present invention, will be described. Here, fig. 4 is an operation flowchart when switching from the sine wave control mode to the rectangular wave pattern control mode. Fig. 5 is an operation flowchart when switching from the rectangular wave control mode to the sine wave control mode.

First, an operation when switching from the rectangular wave control mode to the sine wave control mode as the 1 st aspect of the motor control device 100 and the motor control method according to the present invention will be described. First, in the sine wave control mode, the sine wave control unit 40 generates the torque command value T based on the torque command value T^*The driving signals Su, Sv, Sw are generated based on the d-axis voltage command value Vd and the q-axis voltage command value Vq. When the sinusoidal wave control unit 40 can perform the overmodulation control or the flux weakening control, the drive signals Su, Sv, and Sw at this time are sinusoidal wave patterns or overmodulation patterns. In addition, when the sinusoidal wave control unit 40 does not have the modulation control function or the flux weakening control function, it is a sinusoidal wave pattern. Then, the PM motor 10 is controlled in operation by the drive signals Su, Sv, Sw of these sine wave patterns or overmodulation patterns (step S102).

At this time, the polar coordinate conversion unit 418 of the sine wave control unit 40 performs polar coordinate conversion on the d-axis voltage command value Vd ″ and the q-axis voltage command value Vq ″ before the current ratio control component of the current control unit 410 is added, as described above, to calculate the voltage phase θ v and the voltage command value | Va |. Then, the mode shift unit 80 acquires the voltage phase θ v and the voltage command value | Va | (step S104), and sets them as initial values of the initial voltage phase θ v1 and the shift voltage command value | Va' | (step S105). Further, the voltage phase θ v and the voltage command value | Va | vary as needed, and accordingly, the initial values of the initial voltage phase θ v1 and the transition voltage command value | Va' | also vary. Further, as described above, the initial voltage phase θ v1 and the initial value of the transition voltage command value | Va' | are obtained from the d-axis voltage command value Vd ″ and the q-axis voltage command value Vq ″ which do not include the proportional control component, so that short-term fluctuations are small, and the output during the transition period described later can be stabilized.

Is connected withThen, the torque command value T is set to be equal to or smaller than the torque command value T from the outside^*When the operating state (torque, rotation speed) of the PM machine 10 exceeds the switching value (switching line C) due to an increase or the like and becomes the rectangular wave control region B (step S106: yes), the switching unit 24 immediately switches the generation units of the d-axis voltage command value Vd and the q-axis voltage command value Vq from the sinusoidal wave control unit 40 to the rectangular wave control unit 50 (step S108). When the motor control device 100 is provided with the second aspect 2 described later, the control unit switches to the rectangular wave control unit 50, performs the steps S203 and S204 described later, outputs the d-axis voltage command value Vd and the q-axis voltage command value Vq output by the rectangular wave control unit 50 to the sine wave control unit 40 as the initial value Vd1 of the d-axis voltage command value and the initial value Vq1 of the q-axis voltage command value, and calculates the transition data Ifb based on the d-axis feedback current value Id and the q-axis feedback current value Iq.

At this time, the mode shift unit 80 outputs the initial voltage phase θ v1 to the voltage phase setting unit 502 of the rectangular wave control unit 50, and outputs the initial value of the shift voltage command value | Va' | (| Va |) to the synchronization control unit 520 (step S110).

Next, the mode shift unit 80 obtains a rectangular wave forming voltage value | Va1| such that the drive signals Su, Sv, Sw are in a rectangular wave pattern of 1 pulse from the synchronization control unit 520 (step S112).

Next, the mode transition unit 80 continuously increases the transition voltage command value | Va' | from the initial value (═ Va |) to the rectangular-waveform formed voltage value | Va1| based on, for example, a predetermined time constant set in advance, and outputs the result to the synchronization control unit 520 (step S114 to step S116).

Further, when the transition voltage command value | Va' | is input from the mode transition unit 80, the synchronization control unit 520 matches the torque command value T^*The transition voltage command value | Va' | is output to the voltage command value generation unit 516 and the switching unit 24 independently. However, the initial voltage phase θ v1 is output only when the control unit is switched to the rectangular wave control unit 50, and thereafter becomes equal to the torque command value T^*The corresponding voltage phase thetav. Therefore, the d-axis voltage command value Vd and the q-axis voltage command value Vq in the transition period from step S114 to step S116 are based onThe voltage phase θ v and the transfer voltage command value | Va' | are generated. Since the initial value of the transition voltage command value | Va '| is the voltage command value | Va | forming the sinusoidal wave pattern (or the overmodulation pattern) used in the sinusoidal wave control unit 40 and the rectangular wave forming voltage value | Va1| which is the final value of the transition voltage command value | Va' | is the voltage command value forming the rectangular wave pattern, the drive signals Su, Sv, Sw continuously change from the sinusoidal wave pattern or the overmodulation pattern to the rectangular wave pattern while torque control is performed by the voltage phase θ v during the transition period.

When the transition voltage command value | Va '| is equal to or greater than the rectangular-wave forming voltage value | Va1| (yes in step S116), the mode transition unit 80 stops the output of the transition voltage command value | Va' |, and completely transitions to the rectangular-wave control mode by the rectangular-wave control unit 50 (step S118). Thus, rectangular wave control unit 50 responds to torque command value T^*The corresponding voltage phase θ v and rectangular waveform form a voltage value | Va1|, a d-axis voltage command value Vd and a q-axis voltage command value Vq are generated and output to the control signal generating unit 30. Accordingly, the PM motor 10 is operation-controlled by the drive signals Su, Sv, Sw of the rectangular wave pattern.

As described above, in the motor control device 100 and the motor control method according to the present invention, when switching from the sine wave control mode to the rectangular wave control mode, the drive signals Su, Sv, and Sw are continuously changed from the sine wave pattern (or the overmodulation pattern) to the rectangular wave pattern while performing the torque control based on the voltage phase θ v. Therefore, smooth switching of the control mode with less torque variation can be performed.

Next, an operation when switching from the rectangular wave control mode to the sine wave control mode as the 2 nd aspect of the motor control device 100 and the motor control method according to the present invention will be described. First, in the rectangular wave control mode, rectangular wave control unit 50 generates torque command value T based on the torque command value^*The driving signals Su, Sv, Sw are generated based on the d-axis voltage command value Vd and the q-axis voltage command value Vq. The drive signals Su, Sv, Sw at this time are substantially 1 pulse as described aboveA punched rectangular wave pattern. Then, the PM motor 10 is operation-controlled by the drive signals Su, Sv, Sw of the rectangular wave pattern (step S202).

When the rectangular wave control unit 50 performs control, the d-axis voltage command value Vd and the q-axis voltage command value Vq output by the rectangular wave control unit 50 are output to the voltage command value generation unit 416 of the sine wave control unit 40 as the initial value Vd1 of the d-axis voltage command value and the initial value Vq1 of the q-axis voltage command value directly or via the pattern transition unit 80 (step S203). Then, the input initial value Vd1 of the d-axis voltage command value and the input initial value Vq1 of the q-axis voltage command value are subtracted by interference components (d-axis voltage command value Vd 'and q-axis voltage command value Vq') between the d-axis and the q-axis of the non-interference control unit 414, respectively, and then input to the current integration control unit 410a to become the integrated value of the current control unit 410. However, in the rectangular wave control mode, the integrated value and the like of the current control portion 410 do not participate in the control of the PM motor 10. The initial values Vd1 and Vq1 change as needed in accordance with the fluctuations in the d-axis voltage command value Vd and the q-axis voltage command value Vq output from the rectangular wave control unit 50.

At this time, the mode shift unit 80 obtains the d-axis feedback current value Id and the q-axis feedback current value Iq from the 3-phase/dq conversion unit 22. Then, the transition data Ifb for calculating the initial value Id of the d-axis current command value is calculated^*1. Initial value Iq of q-axis current command value^*1 (step S204). The transition data Ifb is, for example, an integrated value of an integral control unit inside the current command value setting unit 402 and inside the current command value generation unit 406, which are obtained by calculation using the d-axis feedback current value Id and the q-axis feedback current value Iq, and is used to supplement data that cannot be obtained by the current command value setting unit 402 and the current command value generation unit 406 immediately after switching from the rectangular wave control unit 50 to the sinusoidal wave control unit 40. In the transition period described later, the transition data Ifb is similarly acquired.

Then, the torque command value T is set to be equal to or smaller than the torque command value T from the outside^*When the operating state (torque, rotation speed) of the PM motor 10 exceeds the switching value (switching line C) and becomes the sine wave control range a due to reduction or the like (step S206:yes), the mode shift unit 80 obtains the voltage command value | Va | output by the synchronization control unit 520 at this time. Then, the voltage command value | Va | is set to an initial value of the transition voltage command value | Va' | (step S208). The mode transition unit 80 acquires a sinusoidal mode transition voltage value | Va2| such that the drive signals Su, Sv, Sw are in a sinusoidal pattern (or overmodulation pattern) (step S210). It is preferable that the sine-wave mode shift voltage value | Va2| is a fixed value set in advance, for example, an upper limit value of the voltage command value | Va | in the sine-wave control mode (a limiter value of a limiter unit of the current control unit 410).

Next, the mode shift unit 80 continuously decreases the shift voltage command value | Va' | from the initial value (═ Va |) to the sinusoidal mode shift voltage value | Va2| based on, for example, a predetermined time constant set in advance, and outputs the value to the synchronization control unit 520 (step S212 to step S216). In the transition period, the initial values Vd1 and Vq1 output from the rectangular wave controller 50 are also continuously output to the sine wave controller 40 (step S214), and the transition data Ifb is updated as needed (step S215).

Further, the synchronization control unit 520 compares the shift voltage command value | Va '| with the torque command value T when the shift voltage command value | Va' | is input from the mode shift unit 80 as described above^*The transition voltage command value | Va' | is output to the voltage command value generation unit 516 and the switching unit 24 independently. Therefore, the d-axis voltage command value Vd and the q-axis voltage command value Vq during the transition period from step S212 to step S216 are generated based on the voltage phase θ v and the transition voltage command value | Va' | as described above. Further, since the initial value (═ Va |) of the transition voltage command value | Va '| is a voltage command value at the time of rectangular wave control and the sinusoidal mode transition voltage value | Va2| as the final value of the transition voltage command value | Va' | is a voltage command value for forming a sinusoidal wave pattern or an overmodulation pattern, the drive signals Su, Sv and Sw are continuously changed from the rectangular wave pattern to the overmodulation pattern or the sinusoidal wave pattern while torque control is performed by the voltage phase θ v during the transition period. In addition, the torque command value T is set during the transition period^*Or when the power supply voltage Vdc and the electrical angular velocity ω are changed,these changes are also reflected in the torque control and shift data Ifb at any time.

When the transition voltage command value | Va '| is equal to or less than the sine wave mode transition voltage value | Va2| (yes in step S216), the mode transition unit 80 stops the output of the transition voltage command value | Va' |, and the switching unit 24 switches the generation units of the d-axis voltage command value Vd and the q-axis voltage command value Vq from the rectangular wave control unit 50 to the sine wave control unit 40 (step S218). At this time, the mode transition unit 80 outputs the transition data Ifb to the current command value setting unit 402 and the current command value generation unit 406 of the sine wave control unit 40 (step S220). Thus, the current command value setting unit 402 and the current command value generating unit 406 calculate the initial value Id of the d-axis current command value based on the transition data Ifb^*1. Initial value Iq of q-axis current command value^*1, and outputs it to the voltage command value generation unit 416.

Further, since the initial value Vd1 of the d-axis voltage command value and the initial value Vq1 of the q-axis voltage command value are input to the voltage command value generation unit 416 and become the integral values of the d-axis and q-axis current integral control, immediately after switching to the sine wave control unit 40, the initial value Vd1 of the d-axis voltage command value, the initial value Vq1 of the q-axis voltage command value, and the initial value Id of the d-axis current command value are based on these values^*1. Initial value Iq of q-axis current command value^*1 generates a switching d-axis voltage command value Vd and a switching q-axis voltage command value Vq, and outputs them to the control signal generating unit 30 (step S222). Thus, immediately after switching to the sine wave control unit 40, the PM motor 10 is controlled by the drive signals Su, Sv, Sw based on the switching-time d-axis voltage command value Vd and the switching-time q-axis voltage command value Vq.

Thereafter, the motor control device 100 completely shifts to the sine wave control mode by the sine wave control unit 40 (step S224). Thereby, sine wave control unit 40 responds to torque command value T^*Corresponding d-axis current command value Id^*Q-axis current command value Iq^*The d-axis voltage command value Vd and the q-axis voltage command value Vq are generated and output to the control signal generating unit 30. Accordingly, the PM motor 10 is driven by the drive signals Su, S of the sine wave pattern or the overmodulation patternv, Sw controls the operation.

As described above, in the motor control device 100 and the motor control method according to the present invention, when switching from the rectangular wave control mode to the sine wave control mode, the drive signals Su, Sv, and Sw are continuously changed from the rectangular wave pattern to the sine wave pattern (or the overmodulation pattern) while performing the torque control based on the voltage phase θ v, and when the drive signals Su, Sv, and Sw become the sine wave pattern (or the overmodulation pattern), switching to the sine wave control mode is performed. Immediately after switching to the sine wave control mode, the mode is switched to the last value (initial value Vd1 of d-axis voltage command value, initial value Vq1 of q-axis voltage command value, and initial value Id of d-axis current command value) at the time of mode transition^*1. Initial value Iq of q-axis current command value^*1) The d-axis voltage command value Vd and the q-axis voltage command value Vq at the time of switching are generated, and the operation of the PM motor 10 is controlled. Therefore, the control mode can be smoothly switched with the control value being continuous and the torque fluctuation being small before and after the control unit is switched.

In the motor control device 100 and the motor control method according to the present invention, the rectangular wave control unit 50 performs control based on the transition voltage command value | Va' | during the transition period when the mode is switched. Therefore, even when the operation state of the PM machine 10 changes during the transition period and the switching operation needs to be performed again, the transition can be made directly to the switching operation. In particular, in the motor control device 100 including both the 1 st and 2 nd aspects, for example, when the switching operation from the sine wave control mode to the rectangular wave control mode is repeated, the process can be directly shifted to step S208 to step S216, and after the shift operation by the rectangular wave control unit 50 is performed, the switching operation to the sine wave control mode can be performed in step S218 to step S224. In addition, when the rectangular wave control mode is switched again during the switching operation from the rectangular wave control mode to the sine wave control mode, the control in the rectangular wave control mode can be continued by the rectangular wave control unit 50 after the transition directly to step S110 to step S116. Thus, in the motor control device 100 and the motor control method of the present invention, except in the rotating fieldIn addition to the control mode being able to be switched again during the transition period, the torque command value T can be used^*The voltage phase θ v of (a) performs torque control, and therefore operation control with excellent responsiveness can be performed.

In addition, when the sinusoidal wave control unit 40 of the motor control device 100 supports overmodulation control or flux-weakening control and can output a voltage of the rectangular wave forming voltage value | Va1| equivalent to that of the rectangular wave control unit 50 in the control region of the overmodulation pattern, that is, when the sinusoidal wave mode transition voltage value | Va2| is substantially equal to the rectangular wave forming voltage value | Va1|, the control of steps S208 to S216 may be omitted. In this case, immediately after switching from the rectangular wave control mode to the sine wave control mode, the switching d-axis voltage command value Vd and the switching q-axis voltage command value Vq are generated, and smooth switching of the control mode with little torque fluctuation is possible.

Next, a triangular wave of the motor control device 100 and the motor control method of the present invention will be described. The triangular wave used in the present invention is, as described above, the following triangular wave: the center position of the falling edge of the triangular wave intersects the zero point position of the rising edge of the three-phase voltage command values Vu, Vv, Vw, and the frequency thereof is an odd integer multiple of 3 of the frequency of the three-phase voltage command values Vu, Vv, Vw. First, when the frequency of the triangular wave is not an integral multiple of 3 of the frequency of the three-phase voltage command values Vu, Vv, Vw, the waveforms of the drive signals Su, Sv, Sw are different in the U-phase, V-phase, and W-phase, respectively, and the PM motor 10 cannot be controlled smoothly. Therefore, the frequency of the triangular wave is an integral multiple of 3 of the frequency of the three-phase voltage command values Vu, Vv, Vw.

Next, the reason why the integer multiples of odd numbers of 3 are set will be described. Fig. 6 (a1) shows a schematic diagram of a triangular wave comparison with the three-phase voltage command values Vu and Vv when the frequency of the triangular wave is 6 times (an even integer multiple of 3) the three-phase voltage command value Vu (Vv and Vw). Fig. 6 (a2) and (a3) show drive signals Su and Sv generated by the triangular wave comparison. Further, the output line-to-line voltage Vuv between the U-phase and V-phase at this time is shown in (a4) of fig. 6. Fig. 6 (b1) shows a schematic diagram of triangular wave comparison with the three-phase voltage command values Vu and Vv when the frequency of the triangular wave is 9 times (an odd integer multiple of 3) the three-phase voltage command value Vu (Vv and Vw). Fig. 6 (b2) and (b3) show drive signals Su and Sv generated by the triangular wave comparison. Further, the output line-to-line voltage Vuv between the U-phase and the V-phase at this time is shown in (b4) of fig. 6.

First, when the frequency of the triangular wave is an even integer multiple of 3 of the three-phase voltage command values Vu, Vv, Vw, the zero point position of the three-phase voltage command value Vu and the center position of the triangular wave intersect in a region where both fall edges at the portion indicated by the one-dot chain line in fig. 6 (a 1). In this case, the three-phase voltage command values Vu, Vv, Vw may be partially approximated (overlapped) with the slopes of the triangular waves depending on the amplitudes of the three-phase voltage command values Vu, Vv, Vw. In this case, when the drive signals Su, Sv, Sw change from a sine wave pattern (overmodulation pattern) to a rectangular wave pattern, there is a possibility that the change may be discontinuous or abrupt, which may cause torque variation.

However, when the frequency of the triangular wave is an odd integer multiple of 3 of the three-phase voltage command values Vu, Vv, Vw, the zero point position in the falling edge region of the three-phase voltage command value Vu intersects at the center position of the rising edge of the triangular wave, as shown by the one-dot chain line in fig. 6 (b 1). That is, in the case of an odd integer multiple of 3, basically, the zero point positions in the falling edge regions of the three-phase voltage command values Vu, Vv, Vw intersect in the rising edge region of the triangular wave, and the zero point positions in the rising edge regions of the three-phase voltage command values Vu, Vv, Vw intersect in the falling edge region of the triangular wave. Therefore, the continuity of the drive signals Su, Sv, Sw can be maintained well, and stable drive signals Su, Sv, Sw can be generated.

When the frequency of the triangular wave is an even integer multiple of 3 of the three-phase voltage command values Vu, Vv, Vw, the waveform of the output line-to-line voltage Vuv is vertically asymmetric in fig. 6 (a4), for example. If the symmetry of the waveform of the output line-to-line voltage cannot be ensured in this way, an offset component or distortion may occur in the drive currents Iu, Iv, and Iw, which is undesirable as a control signal for the PM motor 10.

However, when the frequency of the triangular wave is an odd integer multiple of 3 of the three-phase voltage command values Vu, Vv, Vw, the waveform of the output line-to-line voltage Vuv is symmetrical in the vertical and horizontal directions as shown in fig. 6 (b 4). Similarly, the output line voltages Vvw, Vwu have symmetry, and the PM motor 10 can be stably controlled.

As described above, in the motor control device 100 and the motor control method according to the present invention, when switching from the sine wave control mode to the rectangular wave control mode, the last voltage phase θ v in the sine wave control mode is output to the voltage phase setting unit 502 as the initial voltage phase θ v1, and the transition voltage command value | Va' | is continuously increased from the last voltage command value | Va | in the sine wave control mode to the rectangular wave forming voltage value | Va1|, while performing torque control based on the voltage phase θ v. Thus, the generated drive signals Su, Sv, Sw continuously change from the sine wave pattern (or the overmodulation pattern) to the rectangular wave pattern while maintaining the continuity at the time of switching. Therefore, smooth switching of the control mode with less torque variation can be performed.

Further, when switching from the rectangular wave control mode to the sine wave control mode, immediately after the switching, switching d-axis voltage command values Vd and switching q-axis voltage command values Vq based on the last d-axis voltage command value Vd, the last q-axis voltage command value Vq, the last d-axis feedback current value Id, and the last q-axis feedback current value Iq in the rectangular wave control mode are generated and output to the control signal generating unit 30. This allows the generated drive signals Su, Sv, and Sw to be switched smoothly with little torque variation while maintaining the continuity at the time of switching.

In a configuration in which the transition voltage command value | Va' | is continuously reduced from the last voltage command value | Va | in the rectangular wave control mode to the sinusoidal wave mode transition voltage value | Va2| and output when switching from the rectangular wave control mode to the sinusoidal wave control mode, the drive signals Su, Sv, and Sw are continuously changed from the rectangular wave pattern to the sinusoidal wave pattern (or the overmodulation pattern), and the control unit switches to the sinusoidal wave control unit 40 when the transition to the sinusoidal wave pattern (or the overmodulation pattern) is completed. Immediately after the switching, the switching d-axis voltage command value Vd and the switching q-axis voltage command value Vq are output, and thereafter, the control mode completely shifts to the sine wave control mode. Accordingly, even when the sinusoidal wave control unit 40 does not have the overmodulation control function, the switching of the control mode can be performed smoothly with little torque variation while maintaining the continuity of the drive signals Su, Sv, Sw at the time of switching.

In addition, the motor control device 100 and the motor control method according to the present invention are based on the torque command value T even during the transition period when switching is performed^*The voltage phase θ v of (a) is subjected to torque control. Thus, the torque command value T is transferred during the transfer period^*Or, when the power supply voltage Vdc and the electrical angular velocity ω change, these changes are reflected to the torque control as needed, and the operation control with less torque variation and excellent responsiveness can be performed. Further, since the control during the transition period is performed by the rectangular wave control unit 50, the control can be directly transferred to the re-switching operation even when the control mode needs to be switched again during the transition period.

In the motor control device 100 and the motor control method of the present invention, the following triangular waves are used as the triangular waves: the center position of the falling edge intersects the zero point position of the rising edge of the three-phase voltage command values Vu, Vv, Vw, and the frequency is an odd integer multiple of 3 of the frequency of the three-phase voltage command values Vu, Vv, Vw. In this configuration, the zero point positions of the falling edge regions of the three-phase voltage command values Vu, Vv, Vw intersect in the rising edge region of the triangular wave, and the zero point positions of the rising edge regions of the three-phase voltage command values Vu, Vv, Vw intersect in the falling edge region of the triangular wave. Therefore, the continuity when the drive signals Su, Sv, Sw change from the sine wave pattern (overmodulation pattern) to the rectangular wave pattern is maintained well, and stable drive signals Su, Sv, Sw can be generated. The output line voltages Vuv, Vvw, Vwu have symmetry, and the PM motor 10 can be stably controlled.

The motor control device 100 and the motor control method shown in this example are examples, and the configuration, operation, configuration of each step, and the like of each unit such as the control signal generation unit 30, the sine wave control unit 40, and the rectangular wave control unit 50 can be modified and implemented without departing from the scope of the present invention.

Description of the reference numerals

10: PM motor

12u, 12 v: drive current detection unit

14: angle detecting unit

20: inverter with a voltage regulator

22: 3-phase/dq conversion unit

24: switching part

32: dq/3 phase conversion unit

36: drive signal generation unit

40: sine wave control unit

50: rectangular wave control unit

80: mode transfer unit

100: motor control device

θ: electric angle

θ v: phase of voltage

θ v 1: initial voltage phase

Id: d-axis feedback current value

Iq: q-axis feedback current value

Id^*: d-axis current command value

Iq^*: q-axis current command value

Iu, Iv, Iw: drive current

Ifb: transferring data

L Va |: voltage command value

L Va1 l: rectangular wave forming voltage value

L Va2 l: sine wave mode transition voltage value

L Va' |: transfer voltage command value

Vd: d-axis voltage command value

And Vq: q-axis voltage command value

Vu, Vv, Vw: voltage instruction value (3 phase)

T^*: torque command value

Su, Sv, Sw: a drive signal.

Claims

1. A motor control device has:

an inverter that causes a 3-phase alternating drive current to flow through the PM motor;

a drive current detection unit that obtains a value of the drive current;

an angle detection unit that acquires an electrical angle of the PM motor;

a 3-phase/dq conversion unit that converts the drive current acquired by the drive current detection unit into a d-axis feedback current value and a q-axis feedback current value based on the electrical angle;

a sine wave control unit that sets a d-axis current command value and a q-axis current command value based on an external torque command value and generates a d-axis voltage command value and a q-axis voltage command value in a sine wave control mode;

a rectangular wave control unit that sets a voltage phase and a voltage command value based on an external torque command value and generates a d-axis voltage command value and a q-axis voltage command value in a rectangular wave control mode;

a switching unit that switches generation of the d-axis voltage command value and the q-axis voltage command value between the sinusoidal wave control unit and the rectangular wave control unit;

a dq/3 phase conversion unit that converts the d-axis voltage command value and the q-axis voltage command value into three-phase voltage command values; and

a drive signal generating unit that generates a drive signal for switching the inverter by comparing the three-phase voltage command value with a triangular wave having a predetermined period,

further comprises a mode shifting unit which operates when the control mode is switched by the switching unit,

the mode shift section

The method includes the steps of obtaining a voltage phase and a voltage command value obtained by polar-coordinate conversion of a d-axis voltage command value and a q-axis voltage command value in a sine wave control mode as initial values of an initial voltage phase and a transition voltage command value, outputting the voltage phase and the voltage command value to the rectangular wave control unit when switching from the sine wave control mode to a rectangular wave control mode, obtaining a rectangular wave forming voltage value in which the drive signal has a rectangular wave pattern, increasing the transition voltage command value continuously from the initial value to the rectangular wave forming voltage value, and outputting the increased rectangular wave forming voltage value to the rectangular wave control unit, and causing the rectangular wave control unit to generate the d-axis voltage command value and the q-axis voltage command value based on the transition voltage command value.

2. A motor control device has:

a drive current detection unit that obtains a value of the drive current;

an angle detection unit that acquires an electrical angle of the PM motor;

the mode shift section

In the rectangular wave control mode, the d-axis voltage command value and the q-axis voltage command value outputted from the rectangular wave control unit are outputted to the sine wave control unit as an initial value of the d-axis voltage command value and an initial value of the q-axis voltage command value, and transition data for calculating the initial value of the d-axis current command value and the initial value of the q-axis current command value is calculated based on the d-axis feedback current value and the q-axis feedback current value and outputted to the sine wave control unit,

immediately after switching from the rectangular wave control mode to the sine wave control mode, a switching-time d-axis voltage command value and a switching-time q-axis voltage command value are generated based on the initial value of the d-axis voltage command value, the initial value of the q-axis voltage command value, the initial value of the d-axis current command value, and the initial value of the q-axis current command value, and output to the dq/3 phase conversion unit.

3. The motor control apparatus according to claim 2,

the mode shift section

When switching from the rectangular wave control mode to the sinusoidal wave control mode, the voltage command value output by the rectangular wave control unit is acquired as an initial value of a transition voltage command value, and a sinusoidal wave mode transition voltage value at which the drive signal becomes a sinusoidal wave pattern or an overmodulation pattern is acquired, the transition voltage command value is continuously reduced from the initial value to the sinusoidal wave mode transition voltage value while continuing the rectangular wave control mode and is output to the rectangular wave control unit, the rectangular wave control unit is caused to generate a d-axis voltage command value and a q-axis voltage command value based on the transition voltage command value, and thereafter, the switching unit switches to the control mode by the sinusoidal wave control unit.

4. A motor control device has:

a drive current detection unit that obtains a value of the drive current;

an angle detection unit that acquires an electrical angle of the PM motor;

the mode shift section

Acquiring a voltage phase and a voltage command value obtained by polar-coordinate conversion of a d-axis voltage command value and a q-axis voltage command value in a sine wave control mode as initial values of an initial voltage phase and a transition voltage command value, outputting the voltage phase and the voltage command value to the rectangular wave control unit when switching from the sine wave control mode to a rectangular wave control mode, acquiring a rectangular wave forming voltage value in which the drive signal has a rectangular wave pattern, continuously increasing the transition voltage command value from the initial value to the rectangular wave forming voltage value, and outputting the increased transition voltage command value to the rectangular wave control unit, and causing the rectangular wave control unit to generate a d-axis voltage command value and a q-axis voltage command value based on the transition voltage command value,

when switching from the rectangular wave control mode to the sinusoidal wave control mode, acquiring a voltage command value output by the rectangular wave control unit as an initial value of a transition voltage command value, and acquiring a sinusoidal wave mode transition voltage value at which the drive signal becomes a sinusoidal wave pattern or an overmodulation pattern, continuously decreasing the transition voltage command value from the initial value to the sinusoidal wave mode transition voltage value while continuing the rectangular wave control mode, and outputting the decreased transition voltage command value to the rectangular wave control unit, causing the rectangular wave control unit to generate a d-axis voltage command value and a q-axis voltage command value based on the transition voltage command value, and thereafter, causing the switching unit to switch to the sinusoidal wave control mode by the sinusoidal wave control unit,

immediately after switching to the sinusoidal wave control mode, a switching-time d-axis voltage command value and a switching-time q-axis voltage command value are generated based on the initial value of the d-axis voltage command value, the initial value of the q-axis voltage command value, the initial value of the d-axis current command value, and the initial value of the q-axis current command value, and are output to the dq/3 phase conversion unit.

5. The motor control apparatus according to any one of claims 1 to 4,

the center position of the falling edge of the triangular wave intersects the zero point position of the rising edge of the three-phase voltage command value,

and maintaining the frequency of the triangular wave as an odd integer multiple of 3 of the frequency of the three-phase voltage command value.

6. A motor control method is a motor control method of a motor control device, the motor control device includes:

a drive current detection unit that obtains a value of the drive current;

an angle detection unit that acquires an electrical angle of the PM motor;

a dq/3 phase conversion unit that converts the d-axis voltage command value and the q-axis voltage command value into three-phase voltage command values;

a drive signal generation unit that compares the three-phase voltage command value with a triangular wave having a predetermined period to generate a drive signal for switching the inverter; and

a mode switching unit that operates when the control mode is switched by the switching unit, wherein the motor control method is characterized in that,

the mode shift section performs

A step of obtaining a voltage phase and a voltage command value obtained by polar-coordinate conversion of a d-axis voltage command value and a q-axis voltage command value in the sine wave control mode as initial values of an initial voltage phase and a transition voltage command value, and

outputting the initial voltage phase and the initial value of the transition voltage command value to the rectangular wave control unit;

obtaining a rectangular wave forming voltage value at which the driving signal is a rectangular wave pattern; and

the transfer voltage command value is continuously increased from the initial value to a rectangular-wave-shaped voltage value and is output to the rectangular-wave control unit, and the rectangular-wave control unit generates a d-axis voltage command value and a q-axis voltage command value based on the transfer voltage command value.

7. A motor control method is a motor control method of a motor control device, the motor control device includes:

a drive current detection unit that obtains a value of the drive current;

an angle detection unit that acquires an electrical angle of the PM motor;

the mode shift unit performs the following steps:

the mode shift unit further includes: immediately after switching from the rectangular wave control unit mode to the sine wave control mode, a switching-time d-axis voltage command value and a switching-time q-axis voltage command value are generated based on the initial value of the d-axis voltage command value, the initial value of the q-axis voltage command value, the initial value of the d-axis current command value, and the initial value of the q-axis current command value, and output to the dq/3 phase conversion unit.

8. The motor control method according to claim 7,

the mode shift unit further includes:

acquiring a voltage command value output by the rectangular wave control unit as an initial value of a transition voltage command value when switching from a rectangular wave control mode to a sine wave control mode;

acquiring a sine wave pattern transfer voltage value of the driving signal which becomes a sine wave pattern or an overmodulation pattern;

continuously reducing the transition voltage command value from the initial value to the sine wave mode transition voltage value while continuing the rectangular wave control mode, and outputting the reduced transition voltage command value to the rectangular wave control unit;

causing the rectangular wave control unit to generate a d-axis voltage command value and a q-axis voltage command value based on the transition voltage command value; and

the switching unit switches to a control mode by the sine wave control unit.

9. A motor control method is a motor control method of a motor control device, the motor control device includes:

a drive current detection unit that obtains a value of the drive current;

an angle detection unit that acquires an electrical angle of the PM motor;

the mode shift section performs

continuously increasing the transition voltage command value from the initial value to a rectangular-wave-shaped voltage value and outputting the increased value to the rectangular-wave control unit, and causing the rectangular-wave control unit to generate a d-axis voltage command value and a q-axis voltage command value based on the transition voltage command value,

in the rectangular wave control mode, the following steps are carried out: outputting the d-axis voltage command value and the q-axis voltage command value outputted from the rectangular wave control unit to the sine wave control unit as an initial value of the d-axis voltage command value and an initial value of the q-axis voltage command value, calculating transition data for calculating the initial value of the d-axis current command value and the initial value of the q-axis current command value based on the d-axis feedback current value and the q-axis feedback current value, and outputting the transition data to the sine wave control unit,

the mode shift unit further includes:

causing the rectangular wave control unit to generate a d-axis voltage command value and a q-axis voltage command value based on the transition voltage command value;

the switching unit switches to a sine wave control mode by the sine wave control unit; and

10. The motor control method according to any one of claims 6 to 9,