CN116888881A

CN116888881A - Motor control device

Info

Publication number: CN116888881A
Application number: CN202180094647.3A
Authority: CN
Inventors: 高野祐一; 福村友博
Original assignee: Nidec Corp
Current assignee: Nidec Corp
Priority date: 2021-03-31
Filing date: 2021-06-10
Publication date: 2023-10-13
Also published as: WO2022208908A1

Abstract

A motor control apparatus that drives a motor by current vector control in a dq-axis orthogonal coordinate system, comprising: a means for obtaining a combination of intersections, which is effective as a current command, selected from the intersections of two curves, namely, a dq-axis orthogonal coordinate plane power minimization curve (MP), a current minimization curve (MA), a voltage minimization curve (MV), a current limit circle (LA), a voltage limit curve (LV), a constant torque Curve (CT), a power running power limit curve (LP+), and a regenerative power limit curve (LP-); a unit that sets a combination of these intersections as a current state and a migration destination state, and that is arranged in a row direction and a column direction, respectively, and that creates a state migration table in which migration conditions from the current state to the migration destination state are set; and a means for selecting a current target value for the motor based on a positional relationship on the curve of an intersection point corresponding to the migration destination state when migration is performed from an arbitrary intersection point corresponding to the current state in accordance with the migration condition.

Description

Motor control device

Technical Field

The present invention relates to a motor control device for controlling driving of an electric motor.

Background

A traction motor (traction motor) such as a buried magnet motor (embedded permanent magnet (IPM) (Interior Permanent Magnet)) as a driving source of an electric vehicle, a hybrid vehicle, or the like is a motor using magnetic torque and reluctance torque in combination, and in order to obtain maximum efficiency, torque distribution needs to be adjusted in accordance with an operation condition such as a speed, a restriction on a power supply voltage, or the like.

In general, in motor control, from the viewpoint of operating the motor up to the voltage-current limit, the current target value is generated under conditions that satisfy the voltage, the current limit, and maximize the efficiency within the range thereof.

Patent document 1 discloses the following technique: the points representing the d-axis command current and the q-axis command current are included in two circles, i.e., a power limit circle, which is a current characteristic of the d-axis and the q-axis based on an inner product of the voltage vector and the current vector, and a voltage limit circle, which is a current characteristic of the d-axis and the q-axis based on the angular velocity, on the rotation coordinates of the vector control, whereby the brushless motor (brushless motor) is driven in a state in which the d-axis current does not deviate from the d-axis command current and the q-axis current does not deviate from the q-axis command current.

In the motor control, when the electric power limitation is not considered, there is a possibility that the battery is damaged by the running of power exceeding the battery charge/discharge allowable electric power and the regeneration. For example, patent document 2 discloses the following technique: the motor is caused to consume surplus power generated by a response delay of the battery when a load demand output of a drive motor of a vehicle (fuel cell vehicle) is abruptly reduced, thereby avoiding an excessive charge current to the battery due to the surplus power.

Prior art literature

Patent literature

Patent document 1: japanese patent laid-open No. 2020-54086

Patent document 2: japanese patent No. 6395268

Non-patent literature

Non-patent document 1: reluctance Torque application Motor (society of Electrical/ohm (ohm sha) (2016/1))

Disclosure of Invention

Problems to be solved by the invention

In the conventional motor control, since the iron loss is not considered in the voltage equation used for the control, there is a problem that an error occurs with respect to the actual maximum efficiency point. In addition, heretofore, no control based on a current command in which voltage, current, and power restrictions are compounded has been performed.

As described above, patent document 2 discloses a motor regeneration technique of a fuel cell vehicle, but when the load is suddenly reduced in an instant and the power is excessive, the power consumption of the motor is intentionally utilized to protect the battery. Such control is minimum efficiency control (non-efficiency control) and not maximum efficiency control. In patent document 2, the iron loss Wf is defined as wf= (Vd ² +Vq ² ) Rc (Rc is equivalent core loss resistance), but a specific derivation method of the equivalent core loss resistance is not mentioned.

On the other hand, in order to apply the control method to an actual product (motor), stable operation is required for all cases of voltage and current limitation, but, for example, non-patent document 1 only shows some cases where voltage and current limitation can be generated.

Further, in non-patent document 1, the maximum efficiency control is not illustrated nor described based on the numerical expression, and therefore, it is not always the case that the maximum efficiency control cannot be performed. Further, although non-patent document 1 proposes an optimal ammeter system, there is a problem in that the table generation cost for the current command value is high.

The present application has been made in view of the above-described problems, and an object thereof is to provide a current command method that combines voltage, current, and power limitations, and that can select an optimal motor current target value.

Technical means for solving the problems

In order to achieve the above object, one means for solving the above object is the following structure. That is, an exemplary first application of the present application is a motor control device for driving a motor by current vector control in a dq-axis orthogonal coordinate system, the device characterized by comprising: a means for obtaining a combination of intersections, which is effective as a current command, selected from the intersections of two curves, namely, a dq-axis orthogonal coordinate plane power minimization curve (MP), a current minimization curve (MA), a voltage minimization curve (MV), a current limit circle (LA), a voltage limit curve (LV), a constant torque Curve (CT), a power running power limit curve (LP+), and a regenerative power limit curve (LP-); a unit configured to set a combination of the intersections as a current state and a migration destination state, and to arrange the combination in a row direction and a column direction, respectively, and to create a state migration table in which migration conditions from the current state to the migration destination state are set; and means for selecting a current target value for the motor based on a positional relationship on the curve of an intersection point corresponding to the migration destination state when migration is performed from an arbitrary intersection point corresponding to the current state in accordance with the migration condition.

An exemplary second application of the present application is a motor control method of driving a motor by current vector control in a dq-axis orthogonal coordinate system, the method characterized by comprising the steps of: a step of obtaining a combination of intersections, which is effective as a current command, from among intersections of two curves selected from a dq-axis orthogonal coordinate plane, namely, a power minimization curve (MP), a current minimization curve (MA), a voltage minimization curve (MV), a current limit circle (LA), a voltage limit curve (LV), a constant torque Curve (CT), a power running power limit curve (LP+), and a regenerated power limit curve (LP-); a step of forming a state transition table in which a combination of the intersections is set to a current state and a transition destination state, and the combinations are arranged in a row direction and a column direction, respectively, and in which a transition condition from the current state to the transition destination state is set; and selecting a current target value for the motor based on a positional relationship on the curve of an intersection corresponding to the migration destination state when the migration is performed in accordance with the migration condition from an arbitrary intersection corresponding to the current state.

ADVANTAGEOUS EFFECTS OF INVENTION

The motor control device of the present application uses the state transition table in which the transition conditions are set, and calculates the command value of the current vector by focusing only on the intersection point that is effective as the current target value (current output value) for the motor, thereby reducing the amount of calculation of the current target value, improving the processing speed, and reducing the cost.

Drawings

Fig. 1 is a block diagram showing the overall configuration of a motor control device according to an embodiment of the present invention.

Fig. 2 is a diagram showing an effective combination in the intersection point of two curves selected from eight curves.

Fig. 3 is a diagram showing a positional relationship of a plurality of curves on a dq-axis orthogonal coordinate plane.

Fig. 4 is a diagram showing the limitation of voltage, current, and power during power running.

Fig. 5 is a diagram showing the limitation of voltage, current, and power at the time of regeneration.

Fig. 6 is a state transition table in which transition conditions from the current state to the transition destination state are set.

Fig. 7 is a flowchart showing a process of calculating a current target value of the motor control device according to the present embodiment.

Detailed Description

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Structure of motor control device

Fig. 1 is a block diagram showing the overall configuration of a motor control device according to an embodiment of the present invention. The motor control device 1 shown in fig. 1 includes a motor control unit 10, a motor drive unit 5 that supplies a predetermined drive current to an electric motor 15 to be controlled, and the like. The motor control unit 10 includes, for example, a microprocessor (central processing unit (Central Processing Unit, CPU)) that controls the overall motor control device 1, such as a feedback control (F/B (Feed Back) control) that performs feedback control of the feedback current value so that the current flowing through the electric motor 15 matches the target current.

The current command unit 2 generates a d-axis current command value Id, which is a command current value (target current value) of two phases including a d-axis component and a q-axis component, from the command torque (torque command value) Tq, the rotational speed ω of the electric motor 15, and the like, using a state transition table described later ^* Current command value Iq of q-axis ^* 。

The memory 3 stores a state transition table, a program, and the like necessary for implementing a state transition described later, in addition to a motor control program executed by the motor control unit 10. The Memory 3 is, for example, a Read Only Memory (ROM). The memory 3 may be built in the motor control unit 10 or may be externally provided.

Current command value Iq of subtractor 13a for q-axis ^* The difference from the q-axis current Iq output by the coordinate conversion unit 28 is calculated. In addition, the subtractor 13b outputs a d-axis current command value Id ^* The difference from the d-axis current Id output from the coordinate conversion unit 28 is calculated.

q-axis PI control unit 16a to control Iq ^* PI (Proportional-Integral) control is performed so that the difference from Iq converges to zero, and a q-axis voltage command value Vq, which is a q-axis voltage command value, is calculated ^* . The d-axis PI control unit 16b controls Id ^* PI (proportional plus integral) control is performed so that the difference between Id and d converges to zero, whereby the d-axis voltage command value Vd, which is the d-axis voltage command value, is calculated ^* 。

The coordinate conversion unit 17 converts the voltage command values Vq of the q-axis and d-axis ^* 、Vd ^* The motor applied voltage is calculated from the rotation angle θ of the electric motor 15. That is, the coordinate conversion section 17 having the two-phase/three-phase conversion function is based onRotation angle θ, q-axis voltage command value Vq ^* And d-axis voltage command value Vd ^* Voltage command value Vu converted into voltage command value of each phase of three phases ^* Voltage command value Vv ^* Voltage command value Vw ^* 。

Voltage command value Vu after three-phase conversion ^* Voltage command value Vv ^* Voltage command value Vw ^* Is input to the PWM signal generation section 21. The PWM signal generation unit 21 increases or decreases the duty ratio of a PWM (pulse width modulation ) control signal based on these voltage command values, thereby generating a drive signal for the electric motor 15.

That is, the PWM signal generation unit 21 generates an ON/OFF (ON/OFF) control signal (PWM signal) of a plurality of semiconductor switching elements (field effect transistors (Field Effect Transistor, FETs)) constituting the inverter circuit 23 in accordance with the voltage command value. These semiconductor switching elements correspond to respective phases (u-phase, v-phase, w-phase) of the electric motor 15.

The switching element (FET) is also called a power element, and for example, a switching element such as a Metal-oxide semiconductor field effect transistor (MOSFET-Oxide Semiconductor Field-Effect Transistor) or an insulated gate bipolar transistor (Insulated Gate Bipolar Transistor, IGBT) is used.

The PWM signal generation unit 21 may be built in a motor control integrated circuit (predriver) integrated circuit (Integrated Circuit, IC)) that generates a motor drive signal and functions as an FET drive circuit or the like.

The inverter circuit 23 of the motor driving unit 5 is a motor driving circuit that generates ac power for driving the electric motor 15 based on electric power supplied from the battery BT via the power relay 24. The electric motor 15 is a vehicle traction motor such as a surface magnet motor (surface permanent magnet (Surface Permanent Magnet, SPM)), an embedded magnet motor (IPM), or the like, for example. The power relay 24 may be configured to cut off the power from the battery BT, or may be configured as a semiconductor relay.

The motor drive current supplied from the inverter circuit 23 to the electric motor 15 is detected by a current detection unit 25 including a current sensor arranged corresponding to each phase. The current detection unit 25 detects a dc current flowing through a shunt resistor for detecting a motor drive current, for example, using an amplifying circuit including an operational amplifier or the like.

The output signal (current detection signal) from the current detection unit 25 is input to the a/D conversion unit (ADC (Digital to Analog Converter)) 27. Here, the analog current value is converted into a digital value by an analog-to-digital (Analog to Digital, a/D) conversion function of the ADC 27, and the three-phase currents Iu, iv, iw obtained by the conversion are input to the coordinate conversion section 28.

The coordinate conversion unit 28 having a three-phase/two-phase conversion function outputs q-axis current Iq and d-axis current Id based on the rotation angle θ detected by the rotation angle sensor 29 and the three-phase currents Iu, iv, iw. That is, the coordinate conversion unit 28 calculates the d-axis current and the q-axis current based on the actual current (q-axis actual current, d-axis actual current) of the motor.

< selection of Current target value >)

In the motor control of the motor control device according to the present embodiment, in order to select the current target value, the voltage, current, and power restrictions are satisfied as the first condition, the second condition is set as the command torque, and the third condition is set as the power minimization. Here, the power running and the regeneration are clearly distinguished in consideration of the actual use, and for this reason, the power limitation curve (LP) described later is classified into an lp+ curve (power running) and an LP-curve (regeneration) to be subjected to power limitation.

Therefore, on a current dq axis plane (dq axis orthogonal coordinate plane) in which the x-axis is the Iq component, the y-axis is the Id component, and the y-axis positive direction is defined as the weak magnetic field direction, eight curves of a power minimization curve (MP), a current minimization curve (MA), a voltage minimization curve (MV), a current limit circle (LA), a voltage limit curve (LV), a constant torque Curve (CT), a power running power limit curve (lp+), and a regenerative power limit curve (LP-) are defined.

The region surrounded by the eight curves satisfies the first condition. Further, in order to satisfy the second condition and the third condition, a point overlapping with the constant torque curve and the power limit curve or a point closest to the constant torque curve and the power limit curve is selected as the current target value in the region.

The Constant Torque curve (CT (Constant Torque) curve) is a locus of orthogonal coordinates (x, y) satisfying a certain Torque T, and can be expressed by formula (1). The constant torque curve is a hyperbola, and in formula (1), ζ _m The permanent magnet coefficient is 1 in the motor including the permanent magnet, and 0 in the motor not including the permanent magnet. Δη is the motor constant amplitude and is the maximum value η of the dimensionless motor constant η _max And a minimum value eta _min Is a difference between (a) and (b).

[ number 1]

T _e ＝x(ξ _m +Δηy)…(1)

Let the current norm i ₁ A certain (x, y) locus is i ₁ ² ＝x ² +y ² Let the current limiting function be LA (x, y) =x ² +y ² . If the upper current norm limit (upper current limit with respect to the current reference) is set to |i _max I, the current limit circle is radius i centered on the origin _max Circle of I. Therefore, the curve represented by the formula (2) is referred to as a current limit circle (LA) curve.

[ number 2]

x ² +y ² ＝i _max ² …(2)

In the present embodiment, iron loss is also considered in a Voltage limiting function (LV (Limited Voltage) function) and a Voltage norm Minimum function (MV (Minimum Voltage) function). If the upper voltage norm limit (upper voltage limit with respect to the voltage reference) is set to |v _max The voltage limit curve (LV (Limited Voltage) curve) LV (x, y) can be represented by formula (3).

[ number 3]

LV(x，y)＝ν _max ² …(3)

The voltage norm minimum curve (voltage minimum curve, MV (Minimum Voltage) curve) MV (x, y) can be represented by formula (4).

[ number 4]

MV(x，y)＝Δηx[(1+η _max ² K ² (ω)){(1+η _max ² K ² (ω))x-η _min ωy+ξ _m ω}+η _max ω{(1+η _min ² K ² (ω))y+η _max ωx-2ξ _m η _min K ² (ω)}]-(ξ _m +Δηy)[-η _min ω{(1+η _max ² K ² (ω))x-η _min ωy+ξ _m ω}+(1+η _min ² K ² (ω)){(1+η _min ² K ² (ω))y+η _max ωx-2ξ _m η _min K ² (ω)}]…(4)

The current norm minimization curve (current minimization curve, MA (Minimum amp) curve) shown in expression (5) is defined by deriving a current norm minimization condition for a constant torque.

[ number 5]

(ξ _m +Δηy)y-Δηx ² ＝0…(5)

The Power minimization curve (also referred to as MP (Minimum Power) curve) is, for example, derived from analysis or measured data, and is defined as follows using a numerical expression including these, for example. The power minimization curve is also an efficiency maximization curve.

[ number 6]

(ξ _m +Δηy)y-Δηx ² +K ² (ω){-η _max ² Δηx ² +η _min (ξ _m +Δηy)(η _min y-ξ _m )}＝0…(6)

In the formulas (4) and (6), K (ω) is a coefficient for calculating the core loss, and when the hysteresis loss coefficient is K _h Let the eddy-current loss coefficient be k _e In the case of (2), the following definition is possible.

[ number 7]

A Power limiting curve (LP (Limited Power) curve) is defined by deriving a Power balance equation based on the law of conservation of energy in the motor system and a voltage equation including iron loss derived therefrom.

Here, by responding to the target electromagnetic torque T _e Angular frequency ω of motor rotation _M Copper loss W normalized by electric power _cu Iron loss W during driving _{ir_e} Derived AC power P represented by formula (8) _AC LP (Limited Power) function LP (x, y) represented on the left side of equation (9) is defined.

[ number 8]

P _AC ＝T _e ω _M +W _cu +W _{ir_e} …(8)

[ number 9]

LP(x，y)＝{(x-η _min ωy+ξ _m ω)+η _max ² K ² (ω)x}x+[(y+η _max ωx)+{η _min K ² (ω)(η _min y-2ξ _m )}]y＝P _AC …(9)

Then, as a general quadratic curve obtained by deforming the expression (9), an LP curve represented by the expression (10) is obtained.

[ number 10]

(1+η _max ² K ² (ω))x ² +ξ _m ωx+(1+η _min ² k ² (ω))y ² +Δηωxy-2ξ _m η _min K ² (ω)y-P _AC ＝0…(10)

The electric power limiting value is the electric power P limited by the power running _max Not less than 0 and regeneration limiting power P _min Two limiting values defined by +.0, said P _AC Is limited to P _min ≦P _AC ≦P _max Is in the range of (2). LP (x, y) =p _max 、LP(x，y)＝P _min Are all LP curves, but in the case of differentiation between power running and regeneration, LP (x, y) =p _max Described as the lp+ curve, LP (x, y) =p _min Recorded as the LP-curve.

The shape of the LP curve varies according to the eccentricity e shown in the formula (11). In formula (11), a _xx ＝1+η _max ² K ² (ω)、a _yy ＝1+η _min ² K ² (ω)、a _xy ＝Δηω。

[ number 11]

Regarding the LP curve, the eccentricity e is a perfect circle when e=0, a parabola when e=1, a hyperbola when e > 1, and an ellipse when 0 < e < 1. On the other hand, the current minimum curve (MA), the voltage minimum curve (MV), and the power minimum curve (MP) are upward hyperbolas having the y-axis as the main axis.

Next, a method for selecting a current command value (a method for locking a current target value) in the motor control device according to the present embodiment will be described. The target value of the current is the intersection point of two curves selected from the eight curves, and as shown in fig. 2, the intersection point of two curves selected from the eight curves is expressed by four letters (names obtained by connecting these curves).

Fig. 3 shows the positional relationship of the eight curves (MV curve, MP curve, MA curve, LA curve, LV curve, CT curve, lp+ curve, LP-curve) on the dq-axis orthogonal coordinate plane. The horizontal axis in fig. 2 is the iq axis (x axis), the vertical axis is the id axis (y axis), and the relationship of MV curve > MP curve > MA curve is established with respect to the magnitude relation of each curve (the value of y coordinate with respect to the same x coordinate).

As described above, since no intersection exists between MA, MV, and MP, MALV, MVLA, MPLV, MPLA, MACT, MVCT does not provide an effective current output, the combination effective as a current output other than the LP curve is limited to MPCT, LVCT, LACT, MVLV, MALA, LVLA. In addition, six of the six associated LP curves, mplp+, LPCT-, lvlp+, lalp+, LVLP-, LALP-, are effective current outputs.

In fig. 3, the range sandwiched between the two parabolas of the MV curve and the MA curve is an operating point at which the current output is effective. The opening of the range is limited by the lp+ curve and the LP-curve in addition to the LA curve and the LV curve.

Region a of fig. 3 is a range in which the output current is possible, and satisfies the power limitation condition, namely, the P _min ≦P _AC ≦P _max Within the LV curve and within the LA curve (LV (x, y) +.v) _max ² And LA (x, y) +.i _max ² ) The range of (a) is greater than the MA curve and less than the MV curve (MA (x, y) > 0 and MV (x, y) > 0).

In addition, only on the LP-curve, points (thick line portion of fig. 3) that do not satisfy the above-described "MA (x, y) +.0 and MV (x, y) +.0" are also in a range where the output current is possible. When the motor moves on the LP-curve during regeneration, a smaller torque (larger absolute value) can be outputted from the MPLP (in fig. 3, the torque increases, and the motor advances from the MALP in the second quadrant to the LVLP). In this case, the MA curve is a minimum condition of current, and the MV curve is a minimum condition of voltage, and is independent of power, and therefore, is in a range in which current can be output before intersecting the LA curve or the LV curve.

In the power running, when only the electric power limitation is considered, the mplp+ is the maximum torque that can be output, and since it does not move on the lp+ curve, the lpct+ does not become an effective current output.

Can output target electromagnetic torque T _e In the case of (a) including T in the range (also referred to as constraint condition) in which the current can be output based on the voltage, current, and power constraints shown in fig. 3 _e CT curve of (C). In order to minimize the power consumption, the point of intersection with the MP curve or the point closest to the MP curve is set as the current target value.

On the other hand, at T _e When the CT curve is large and the limit condition is satisfied, a point at which the torque is maximized is selected as the current target value within the voltage and current limit range.

The selection range of the current target value in the motor control of the motor control device of the present embodiment will be described based on the correlation of six curves other than the CT curve. The power running time limited by the lp+ curve and the regeneration time limited by the LP-curve will be described, respectively.

Fig. 4 is a diagram summarizing the limitation conditions of voltage, current, and electric power during power running. The case where there is no intersection (NOVA described later) is omitted. In each case of fig. 4, the gray region is a region in which current can be output, and the maximum torque condition in the range is expressed in the frame.

In fig. 4, the horizontal axis represents a division when torque is increased along the MP curve, neglecting saturation of electric power. When (a) the voltage is saturated, the voltage is saturated (marked four-dot in fig. 4) and then shifted to the LV curve, and the maximum torque (∈marked) is reached.

At (b) voltage- > current saturation, after moving to the LV curve in (a), current saturation reaches maximum torque (+) sign. When (c) current- & gt voltage saturation, current saturation (four-point mark) is achieved, then the LV curve is shifted, and the voltage saturation reaches maximum torque (four-point mark). When (d) the current is saturated, the current is saturated (marked as four), and then the current is shifted to the LA curve, and the maximum torque is reached (marked as four).

The vertical axis of fig. 4 is classified according to whether or not each of the four-point mark and ∈ mark is saturated with electric power at the time point. There are three cases where "fourpowers are saturated", "ζpowers are not saturated".

When (a) ", power saturation", "Σpower saturation", the maximum torque is set on the lp+ curve, and therefore the maximum torque condition is set to the mplp+ irrespective of the horizontal axis. When (B) ", power is not saturated", "∈power is saturated", the voltage or current is limited, and power is limited. Lvlp+ (# if the voltage is saturated first, and lalp+ (# if the current is saturated first).

When (D), "is not saturated with electric power", "∈is not saturated with electric power", only voltage and current restrictions are considered, and MVLV, LVLA, MALA is obtained.

Fig. 5 is a diagram summarizing the limit conditions of voltage, current, and power at the time of regeneration. In each case of fig. 5, the gray region is a region in which current can be output, and the maximum torque condition in the above range is expressed in the frame.

The horizontal axis of fig. 5 is the same as in the power running of fig. 4. In fig. 5, the vertical axis is classified according to whether or not each of the four-point marks and the ∈ marks is saturated with electric power. Here, there are four cases where "poweris saturated", "Σpower is not saturated".

As described above, the LP-curve has an ellipse, a parabola, and a hyperbola, and the inside of the ellipse is saturated with electric power, while the side of the parabola and the hyperbola, which does not include the origin, is saturated with electric power. The absolute value of torque at the time of regeneration is expressed as regeneration torque.

When the LP curve is elliptical, there is a MPLP-that is far from the origin, and the regenerative torque is the largest. In fig. 5, the expression of the MPLP- (. DELTA.) label near the origin is appended for all cases.

When (a) ", power is saturated", "∈power is saturated", power is first saturated. Voltage saturation progresses over the LP-curve in the MV direction and current saturation progresses over the LP-curve in the MA direction, the signature being the maximum torque condition. Regarding voltage- > current saturation and current- > voltage saturation, LVLP-or LALP-may be the maximum torque condition.

When (B), "is not saturated with electric power", "∈saturated with electric power", LVLP-or LALP-is the maximum torque condition. The voltage or current saturates, and then the power saturates, but this is not the maximum torque condition. The maximum torque condition (#) is defined as the point farther from the MP curve.

When (C), "is saturated with electric power", "is not saturated with electric power", the maximum torque condition is the Σsign. When the voltage or current is saturated after the power saturation, the power saturation is eliminated.

When (D), "is not saturated with electric power", "∈is not saturated with electric power", only voltage and current restrictions are considered as in the case of power running. As will be described later, the case where the electric power at the intermediate point between the four-point mark and the ∈ mark is saturated is also considered.

Fig. 6 is a state transition table in which combinations of intersections effective as current target values are arranged as current states and transition destination states in the row direction and the column direction for both powering and regenerating, and transition conditions (C1 to C60) from the current states to the transition destination states are set. The current target values total thirteen states.

The transition condition is a determination condition for moving from an arbitrary intersection point to another intersection point, and is a state transition device because the determination condition depends on the current intersection point. The x-mark indicates no migration. The case where there is no range that can be output is defined as NOVA (No cross Voltage and Ampere, no crossover voltage and ampere).

The state transition regularity shown in fig. 6, (1) only one of the two curves related to each state is replaced before and after the state transition, and (2) the transition condition is the relationship between the current target value of the current state and the curve replaced at the transition destination.

For example, in the case of the mpct→lvct transition, (1) the CT curve is directly replaced with the LV curve from the MP curve, (2) the current target value of the MPCT is substituted into the LV function replaced at the transition destination and confirmed, and if the voltage is saturated, the transition is made to the LVCT.

In addition, due toVia MPCT migration, < > on>Via either the MPLP + or LVLA migration,via LVLA migration, there is therefore no direct migration in the state migration table of fig. 6. Since the migration conditions of lvla→lvct and lvla→lact are covered with the CT curve, the migration conditions are separated by the addition of the comparison with the MP curve. Since the torque condition is the trigger condition and the MP condition is the protection condition, the state transition from LVLA to LVCT is expressed as |T ^* |＜|T|[MP≧0]。

MPCT, MALA, MVLV, MPLP + always has intersections, but LACT, LVCT, LVLA, LPCT-, lvlp+, lalp+, LVLP-, LALP-sometimes does not. The state transition can avoid the operation of the intersection point in all cases without the intersection point.

LVCT, LACT, LPCT-, LVLA, lvlp+, LVLP-require that the computation of the intersection point be started after determining the state transition to another state. For example, since the condition that LVCT does not have an intersection is the MVLV migration condition, whether or not the MVLV migration condition is satisfied is confirmed before the intersection of LVCT is found. At this time, since the intersection information of LVCT cannot be used, the torque of MVLV is compared with the command torque.

Next, an output operation of the current target value of the motor control device according to the present embodiment will be described. Fig. 7 is a flowchart showing a process of calculating a current target value of the motor control device according to the present embodiment.

In step S11 of fig. 7, the motor control unit 10 defines the eight conic lines on the dq-axis orthogonal coordinate plane. Specifically, a power minimizing curve (MP), a current minimizing curve (MA), a voltage minimizing curve (MV), a current limiting circle (LA), a voltage limiting curve (LV), a constant torque Curve (CT), a power running power limiting curve (lp+), and a regenerated power limiting curve (LP-) are drawn on the xy plane.

In the subsequent step S13, an intersection point of two curves selected from the eight curves drawn in step S11 is defined. The combinations of intersections here are twelve combinations effective as current targets as described above, and a total of thirteen combinations not having intersections effective as current targets.

In step S15, combinations of intersections that are effective as current targets obtained in step S13 are arranged as current states and migration destination states in the row direction and the column direction, respectively, and a state migration table shown in fig. 6 is made to which migration conditions are added.

In step S17, the motor control unit 10 sets an initial state (for example, from MPCT), and in step S19, determines whether or not a transition condition described later is satisfied. When the transition condition is satisfied, in step S21, state transition from the predetermined intersection to another intersection is performed by setting current saturation, voltage saturation, power saturation, torque saturation, and the like as transition conditions in accordance with the state transition table prepared in step S15. Thus, the transfer target (transfer destination) is locked, and a current target value that is the maximum torque is selected within the voltage, current, and power limit ranges.

As described above, if the initial value (x, y) satisfies the transition condition, the process of the other state transition is repeated (step S19, step S21). When the transition condition is not satisfied (NO in step S19), the motor control unit 10 selects the current target value of the intersection in the current state in step S23.

In step S25, it is determined whether or not the state transition processing is completed, and if not, the processing is returned to step S19, and the state transition processing based on the other transition conditions is performed.

Next, the state transition table shown in fig. 6 is verified. Here, a state transition table associated with each of the power running and regeneration is verified.

[ verification of state transition Table relating to Power running ]

The control scenario of the power running is verified according to the maximum torque condition category classified with reference to fig. 4. Here, the case where the maximum torque condition is changed is also verified in consideration of both the increasing direction and the decreasing direction of the torque. Hereinafter, the description will be given of the positive speed, but the same can be applied to the case of the negative speed. In addition, the torque is described in absolute terms, unless otherwise specifically mentioned.

According to fig. 4, the maximum torque conditions exist for MALA, MVLV, MPLP +, LVLA, lalp+, lvlp+.

< case of maximum Torque Condition MALA >

Fig. 4 (12) shows the relationship between curves in the case where the maximum torque condition is MALA. Fig. 4 (12) shows a case where both the Σand the Σmarks are electrically unsaturated and the current is saturated. MALA (∈tag) is the same as state transition in which power is not saturated, i.e., power limitation is not considered.

The change in state and the transition condition thereof when the torque command starts to increase from 0 and when the torque command starts to decrease from infinity are shown. That is, when the torque command increases, in the state transition table of fig. 6, transition is made such that the electric power minimizing curve and the constant torque curve are made The intersection point coordinate (MPCT) is set to the current state, C of FIG. 6 2 (|i|i+.i) _max : current saturation) is set as a transition condition to the next state, and an intersection point coordinate (LACT) of the current limit circle and the constant torque curve is set as a transition of the transition destination state.

Then, the transition is performed by setting the intersection point coordinate (LACT) to the current state, setting C13 (ma+.0: torque saturation) of fig. 6 to the transition condition, setting the intersection point coordinate (malat) of the current minimum curve and the current limit circle to the transition destination state, and setting the intersection point coordinate (malat) to the maximum torque condition.

When the torque command decreases from infinity, transition is made to C25 (|t) of fig. 6 with the intersection coordinate (MALA) set to the current state ^* | < |T|: torque saturation cancellation) is set as a migration condition, and the intersection coordinates (LACT) are set as migration of the migration destination state. Then, migration is performed with the intersection point coordinate (LACT) set as the current state, C11 (MP > 0: elimination of current saturation) of fig. 6 set as the migration condition, and the intersection point coordinate (MPCT) set as the migration destination state and set as the end point.

< case where maximum Torque Condition is MVLV >

Fig. 4 (9) shows a case where both the ∈ sign and the ∈ sign are electrically unsaturated and the voltage is saturated. In this case, there are three kinds of migration depending on the speed, and when ω+.1, it is necessary to be (9) of FIG. 4When ω > 1, it is possible to be +.>Or->Here, the explanation of ω > 1 is omitted.

When the torque command increases, a transition is made to set the intersection point coordinates (MPCT) of the electric power minimizing curve and the constant torque curve to the current state, C of FIG. 6 1 (|v|v) _max : voltage saturation) is set as a migration condition, and an intersection point coordinate (LVCT) of the voltage limit curve and the constant torque curve is set as migration of the migration destination state.

Then, the transition is performed by setting the intersection point coordinate (LVCT) to the current state, setting C7 (mv+.0: torque saturation) of fig. 6 to the transition condition, setting the intersection point coordinate (MVLV) of the voltage minimum curve and the voltage limit curve to the transition destination state, and setting the intersection point coordinate (MVLV) to the maximum torque condition.

When the torque command is reduced, transition is made to set the intersection coordinate (MVLV) to the current state, and C29 (|t) of fig. 6 is performed ^* | < |T|: torque saturation cancellation) is set as a migration condition, and the intersection point coordinate (LVCT) is set as a migration of the migration destination state. Then, migration is performed with the intersection point coordinate (LVCT) set as the current state, C5 (MP < 0: elimination of voltage saturation) of fig. 6 set as the migration condition, and the intersection point coordinate (MPCT) set as the migration destination state and set as the end point.

< case where maximum Torque Condition is MPLP)

Fig. 4 (1) to (4) show the relationship between the ∈ sign and the four-point sign when both are saturated with electric power and the maximum torque condition is mplp+.

When the torque command increases, transition is made by setting the intersection point coordinate (MPCT) of the electric power minimization curve and the constant torque curve to the current state, and C4 (p+p) of fig. 6 _max : electric power saturation), and the intersection point coordinate (mplp+) of the electric power minimization curve and the power running electric power limitation curve, which is the transition of the maximum torque condition, is set as the transition destination state and becomes the end point.

When the torque command is reduced, transition is made to C22 (|t) of fig. 6, in which the intersection coordinate (mplp+) is set to the current state ^* |＜T _pmax : power saturation cancellation) is set as a migration condition, and the intersection point coordinate (MPCT) is set as a migration destination state and set as a migration destination. T (T) _pmax Torque value for mplp+ (power running).

< case of maximum Torque Condition LVLA >

Fig. 4 (10) and (11) show cases where the maximum torque conditions are LVLA, ++and # -marks are both electrically unsaturated. Fig. 4 (10) is a case of saturation in the order of current→voltage, and fig. 4 (11) corresponds to a case of saturation in the order of voltage→current.

In the case of saturation in the order of current-voltage, when the torque command increases, the transition is made such that the intersection point coordinates (MPCT) of the electric power minimizing curve and the constant torque curve are set to the current state, C of FIG. 6 2 (|i|i+.i) _max : current saturation) is set as a migration condition, and an intersection coordinate (LACT) of the current limit circle and the constant torque curve is set as migration of the migration destination state.

Then, the transition is made to set the intersection point coordinate (LACT) to the current state, C of FIG. 6 14 (|v|v) _max : torque saturation), and the intersection point coordinates (LVLA) of the voltage limit curve and the current limit circle are set as the transition destination state and the transition of the end point, and the intersection point coordinates (LVLA) are set as the maximum torque condition.

When the torque command is reduced, transition is made to C34 (|t) of fig. 6, in which the intersection coordinate (LVLA) is set to the current state ^* |＜|T|[MP＜0]: torque saturation is eliminated, and the intersection point coordinate (LVLA) is located on the current minimum curve (MA) side, and the intersection point coordinate (LACT) is set as a transition condition for transition of the transition destination state.

Then, migration is performed with the intersection point coordinate (LACT) set as the current state, C11 (MP > 0: elimination of current saturation) of fig. 6 set as the migration condition, and the intersection point coordinate (MPCT) set as the migration destination state and set as the end point.

In the case of saturation in the order of voltage-current, when the torque command increases, the transition is made such that the intersection point coordinates (MPCT) of the electric power minimizing curve and the constant torque curve are set to the current state, C of FIG. 6 1 (|v|v) _max : voltage saturation) is set as a migration condition, and an intersection point coordinate (LVCT) of the voltage limit curve and the constant torque curve is set as a migration destination stateIs a migration of (a).

Then, by performing migration to set the intersection point coordinate (LVCT) to the current state, C of FIG. 6 8 (|i|i+.i) _max : torque saturation), and the intersection point coordinate (LVLA) of the voltage limit curve and the current limit circle is set as the maximum torque condition, and the transition destination state is set as the end point.

When the torque command is reduced, transition is made to C33 (|t) of fig. 6, in which the intersection coordinate (LVLA) is set to the current state ^* |＜|T|[MP≧0]: torque saturation cancellation, in which the intersection point coordinate (LVLA) is located on the current minimum curve (MA) side, is defined as torque saturation cancellation, in which the intersection point coordinate (LVLA) is located on the voltage minimum curve (MV) side), is set as a migration condition, and the intersection point coordinate (LVCT) is set as a migration destination state.

Then, migration is performed with the intersection point coordinate (LVCT) set as the current state, C5 (MP < 0: elimination of voltage saturation) of fig. 6 set as the migration condition, and the intersection point coordinate (MPCT) set as the migration destination state and set as the end point.

< case where maximum Torque Condition is LALP)

Fig. 4 (7) and (8) show a scenario in which the maximum torque condition is lalp+, and show two cases in which only the ∈ sign is saturated with electric power and the current is saturated first.

When the torque command increases, a transition is made to set the intersection point coordinates (MPCT) of the electric power minimizing curve and the constant torque curve to the current state, C of FIG. 6 2 (|i|i+.i) _max : current saturation) is set as a migration condition, and an intersection coordinate (LACT) of the current limit circle and the constant torque curve is set as migration of the migration destination state.

Then, transition is made such that the intersection coordinate (LACT) is set to the current state, and C15 (p Σp) in fig. 6 _max : electric power saturation), and the intersection point coordinate (lalp+) of the current limit circle and the running electric power limit curve is set as the maximum torque condition, and the transition destination state is set as the end point.

When the torque command is reduced, transition is made to set the intersection coordinate (lalp+) to the current state, and C51 (|t) of fig. 6 is performed ^* | < |T|: torque saturation cancellation) is set as a migration condition, and the intersection coordinates (LACT) are set as migration of the migration destination state. Then, migration is performed with the intersection point coordinate (LACT) set as the current state, C11 (MP > 0: elimination of current saturation) of fig. 6 set as the migration condition, and the intersection point coordinate (MPCT) set as the migration destination state and set as the end point.

< case where maximum Torque Condition is LVLP)

Fig. 4 (5) and (6) show the case where the maximum torque condition is lvlp+, and show two cases where only the ∈ sign is saturated with electric power and the voltage is saturated first.

Then, transition is made such that the intersection point coordinate (LVCT) is set to the current state, and C9 (p Σp) in fig. 6 _max : electric power saturation), and the intersection point coordinates (lvlp+) of the voltage limit curve and the power running electric power limit curve are set as the transition destination state and the transition of the end point, and the intersection point coordinates (lvlp+) are set as the maximum torque condition.

When the torque command is reduced, transition is made to C42 (|t) of fig. 6, in which the intersection coordinate (lvlp+) is set to the current state ^* | < |T|: torque saturation cancellation) is set as a migration condition, and the intersection point coordinate (LVCT) is set as a migration of the migration destination state. Then, migration is performed with the intersection point coordinate (LVCT) set as the current state, C5 (MP < 0: elimination of voltage saturation) of fig. 6 set as the migration condition, and the intersection point coordinate (MPCT) set as the migration destination state and set as the end point.

Next, a transition when the maximum torque condition changes due to a change in speed or the like during power running will be described.

The migration when the maximum torque condition is changed includes the following migration. For example, the intersection point coordinate (MALA) is set to the current state, C of FIG. 6 26 (|v|v) _max : voltage saturation) is set as a migration condition, and an intersection point coordinate (LVLA) is set as a migration destination state; and a transition in which the intersection coordinate (LVLA) is set as the current state, C35 (ma+.0: elimination of voltage saturation) in fig. 6 is set as the transition condition, and the intersection coordinate (MALA) is set as the transition destination state.

The intersection coordinate (MALA) is set to the current state, and C27 (p+.gtp) of FIG. 6 _max : power saturation), and the intersection coordinates (lalp+) are set as migration destination states; and a transition in which the intersection coordinate (LALP+) is set as the current state, C53 (MA+.0: elimination of power saturation) of FIG. 6 is set as the transition condition, and the intersection coordinate (MALA) is set as the transition destination state.

The intersection point coordinates (MVLV) are set to the current state, C of FIG. 6 30 (|i|i+.i) _max : current saturation) is set as a migration condition, and an intersection point coordinate (LVLA) is set as a migration destination state; and a transition in which the intersection point coordinate (LVLA) is set as the current state, C36 (mp+.0: elimination of current saturation) in fig. 6 is set as the transition condition, and the intersection point coordinate (MVLV) is set as the transition destination state.

The intersection coordinate (MVLV) is set to the current state, and C31 (p+.p) in FIG. 6 _max : power saturation), and the intersection point coordinate (lvlp+) is set as a migration destination state; and a transition in which the intersection coordinate (lvlp+) is set as the current state, C44 (MV + 0: cancellation of power saturation) in fig. 6 is set as the transition condition, and the intersection coordinate (MVLV) is set as the transition destination state.

The intersection coordinate (LALP+) is set as the current state, C52 (MP > 0: elimination of voltage saturation) of FIG. 6 is set as the migration condition, and the intersection coordinate (MPLP+) is set as the migration of the migration destination state; the intersection point coordinate (mplp+) is set to the current state, C of FIG. 6 24 (|i|i+.i) _max : current saturation) is set as a migration condition, and the intersection point coordinate (lalp+) is set as a migration destination stateAnd (5) migration of states.

The intersection coordinate (lalp+) is set to the current state, C of FIG. 6 54 (|v|v) _max : voltage saturation) is set as a migration condition, and an intersection point coordinate (LVLA) is set as a migration destination state; and assuming that the intersection coordinate (LVLA) is the current state, C39 (p +.gtp) of FIG. 6 _max [MP＜0]: the power saturation and intersection point coordinates (LVLA) are located on the current minimum curve (MA) side, and the intersection point coordinates (lalp+) are set as migration conditions, and migration is performed in a migration destination state.

The intersection coordinate (LVLP+) is set as the current state, C43 (MP < 0: elimination of voltage saturation) in FIG. 6 is set as the migration condition, and the intersection coordinate (MPLP+) is set as the migration of the migration destination state; and C23 (|v|v > v) of fig. 6, assuming that the intersection coordinate (mplp+) is the current state _max : voltage saturation) is set as a migration condition, and the intersection coordinate (lvlp+) is set as a migration of the migration destination state.

The intersection point coordinate (lvlp+) is set to the current state, C of FIG. 6 45 (|i|i+.i) _max : current saturation) is set as a migration condition, and an intersection point coordinate (LVLA) is set as a migration destination state; and assuming that the intersection coordinate (LVLA) is the current state, C37 (p ≡p) of FIG. 6 _max [MP≧0]: the power saturation and intersection point coordinates (LVLA) are located on the voltage minimum curve (MV) side, and the intersection point coordinates (lvlp+) are set as migration conditions, and migration is performed in a migration destination state.

Further, the NOVA migration speed ω in the state migration table of fig. 6 _NOVA The velocities (approximately, the velocities at which y-slices of the LA curve exist on the LV curve) set to have triple points for the LA curve, the LV curve, and the LP curve. From LVLA, lvlp+, lalp+ to NOVA, and from NOVA to LVLA only.

[ verification of state transition Table relating to retrograde ]

The regenerated control scenario is verified according to the maximum torque condition category classified with reference to fig. 5. In the retrograde state, MPLP-is not the maximum torque condition, so the scenario increases compared to the power running state.

< case of maximum Torque Condition MALA >

Fig. 5 (12) and (16) show the relationship between the curves in the case where the maximum torque condition is MALA. Since fig. 5 (16) is not affected by the limitation of electric power, the maximum torque condition at the time of the power running is the same as that in the case of MALA.

Fig. 5 (12) is a case where power is saturated before current and power saturation is eliminated halfway. In this case, when the torque command increases, transition is made such that the intersection point coordinate (MPCT) of the electric power minimizing curve and the constant torque curve is set to the current state, and C3 (p++.p) of fig. 6 is set _min : power saturation) is set as a migration condition, and the intersection coordinates (LPCT-) of the regenerated power limit curve and the constant torque curve are set as migration of the migration destination state.

Then, the transition is made such that the intersection point coordinate (LPCT-) is set to the current state, C of FIG. 6 19 (|i|i+.i) _max [ MA > 0 and MP < 0]: the elimination of the power saturation) is set as a migration condition, and the intersection point coordinates (LACT) of the current limit circle and the constant torque curve are set as migration of the migration destination state.

Further, the intersection point coordinate (LACT) is set as the current state, the transition condition is set as C13 (MA+.0: torque saturation) in FIG. 6, and the transition destination state is set as the intersection point coordinate (MALA) of the current minimum curve and the current limit circle, thereby setting the intersection point coordinate (MALA) as the maximum torque condition.

When the torque command is reduced, transition is made such that the intersection coordinate (MALA) is set to the current state, and C25 (|t) of fig. 6 is set to ^* | < |T|: torque saturation cancellation) is set as a migration condition, and the intersection coordinates (LACT) are set as migration of the migration destination state. Then, transition is made such that the intersection coordinate (LACT) is set to the current state, and C12 (p+.p) in fig. 6 is set _min : power saturation) is set as a migration condition, and the intersection coordinates (LPCT-) are set as migration of the migration destination state.

Further, transition is made such that the intersection coordinate (LPCT-) is set to the current state, and C17 (|T) in FIG. 6 is set to _{pmin_l} |＜|T ^* |＜|T _{pmin_h} I (L): elimination of power saturation) Migration conditions are set, and the intersection coordinates (MPCT) are set as migration destination states and as destination points. T (T) _{pmin_l} For MALA (regeneration: near origin) torque value, T _{pmin_h} Is the MALA (regeneration: far from origin) torque value.

Although not shown in fig. 5, there are cases where the maximum torque condition is MALA and the electric power is saturated in the middle of LACT. In that case, when the torque command increases, the transition is made such that the intersection point coordinates (MPCT) of the electric power minimizing curve and the constant torque curve are set to the current state, C of FIG. 6 2 (|i|i+.i) _max : current saturation) is set as a migration condition, and an intersection coordinate (LACT) of the current limit circle and the constant torque curve is set as migration of the migration destination state.

Then, transition is made such that the intersection coordinate (LACT) is set to the current state, and C12 (p+.p) in fig. 6 is set _min : power saturation) is set as a migration condition, and the intersection coordinates (LPCT-) of the regenerated power limit curve and the constant torque curve are set as migration of the migration destination state. Further, the transition is made such that the intersection point coordinate (LPCT-) is set to the current state, C of FIG. 6 19 (|i|i+.i) _max [ MA > 0 and MP < 0]: the elimination of the power saturation) is set as a migration condition, and the intersection coordinates (LACT) are set as migration of the migration destination state.

When the torque command is reduced, transition is made such that the intersection coordinate (MALA) is set to the current state, and C25 (|t) of fig. 6 is set to ^* | < |T|: torque saturation cancellation) is set as a migration condition, and the intersection coordinates (LACT) are set as migration of the migration destination state. Then, transition is made such that the intersection coordinate (LACT) is set to the current state, and C12 (p+.p) in fig. 6 is set _min : power saturation) is set as a migration condition, and intersection coordinates (LPCT-) are set as migration destinationsAnd (3) migration of states.

Further, transition is made such that the intersection point coordinate (LPCT-) is set to the current state, C of FIG. 6 19 (|i|i+.i) _max : power saturation cancellation) is set as a migration condition, and an intersection coordinate (LACT) is set as a migration destination state; next, migration is performed with the intersection point coordinate (LACT) set as the current state, C11 (MP > 0: elimination of current saturation) of fig. 6 set as the migration condition, and the intersection point coordinate (MPCT) set as the migration destination state and set as the end point.

< case where maximum Torque Condition is MVLV >

The case (13) of fig. 5 is not affected by the limitation of electric power, and therefore is the same as the case where the maximum torque condition at the time of the power running is MVLV.

The case shown in (9) of fig. 5 is a case where the power is saturated before the voltage and the power saturation is eliminated halfway. In this case, when the torque command increases, transition is made such that the intersection point coordinate (MPCT) of the electric power minimizing curve and the constant torque curve is set to the current state, and C3 (p++.p) of fig. 6 is set _min : power saturation) is set as a migration condition, and the intersection coordinates (LPCT-) of the regenerated power limit curve and the constant torque curve are set as migration of the migration destination state.

Then, the transition is made such that the intersection point coordinate (LPCT-) is set to the current state, C of FIG. 6 18 (|v|v) _max [ MV < 0 and MP > 0]: the elimination of the power saturation) is set as a migration condition, and the intersection point coordinates (LVCT) of the voltage limit curve and the constant torque curve are set as migration of the migration destination state.

Further, the transition is performed such that the intersection point coordinate (LVCT) is set to the current state, C7 (mv+.0: torque saturation) in fig. 6 is set to the transition condition, and the intersection point coordinate (MVLV) of the voltage minimum curve and the voltage limit curve is set to the transition destination state and is set to the end point, thereby setting the intersection point coordinate (MVLV) to the maximum torque condition.

When the torque command is reduced, transition is made to set the intersection coordinate (MVLV) to the current state, and C29 (|t) of fig. 6 is performed ^* | < |T|: torque saturation cancellation) is set as a migration condition, and the intersection point coordinate (LVCT) is set as a migration of the migration destination state. Then, transition is made such that the intersection point coordinate (LVCT) is set to the current state, and C6 (p+.p _min : voltage saturation), and the intersection point coordinate (LPCT-) is set as the migration of the migration destination state; then, transition is made to set the intersection coordinate (LPCT-) to the current state, and C17 (|T) in FIG. 6 is performed _{pmin_l} |＜|T ^* |＜|T _{pmin_h} I (L): the elimination of voltage saturation) is set as a migration condition, and the intersection point coordinate (MPCT) is set as a migration destination state and set as a migration of an end point.

Although not shown in fig. 5, the maximum torque condition is MVLV and the electric power may be saturated in the middle of LVCT. In this case, when the torque command increases, transition is made such that the intersection point coordinate (MPCT) of the electric power minimizing curve and the constant torque curve is set to the current state, and C1 (|v|v Σv) in fig. 6 is set to the current state _max : voltage saturation) is set as a migration condition, and an intersection point coordinate (LVCT) of the voltage limit curve and the constant torque curve is set as migration of the migration destination state.

Then, transition is made such that the intersection point coordinate (LVCT) is set to the current state, and C6 (p+.p _min : power saturation) is set as a migration condition, and the intersection coordinates (LPCT-) of the regenerated power limit curve and the constant torque curve are set as migration of the migration destination state. Then, the transition is made to set the intersection point coordinate (LPCT-) to the current state, C of FIG. 6 18 (|v|v) _max [ MV < 0 and MP > 0]: power saturation cancellation) is set as a migration condition, and the intersection coordinates (LVCT) are set as migration of the migration destination state.

When the torque command is reducedThe transition is made by setting the intersection coordinate (MVLV) to the current state, and C29 (|t) in fig. 6 ^* | < |T|: torque saturation cancellation) is set as a migration condition, and the intersection point coordinate (LVCT) is set as a migration of the migration destination state.

Further, transition is made such that the intersection point coordinate (LVCT) is set to the current state, and C6 (p+.p _min : power saturation), and the intersection point coordinate (LPCT-) is set as the migration destination state; then, the transition is performed such that the intersection point coordinate (LPCT-) is set to the current state, C of FIG. 6 18 (|v|v) _max : power saturation cancellation) is set as a migration condition, and the intersection coordinates (LVCT) are set as migration of the migration destination state.

< case of maximum Torque Condition LVLA >

Fig. 5 (11) and (15) show the case where the current is saturated first, and the case where no electric power is saturated ((15) of fig. 5) is the same as the case where the maximum torque condition at the time of the power running is LVLA.

In the case shown in fig. 5 (11), when the torque command increases, transition is made such that the intersection point coordinate (MPCT) of the electric power minimizing curve and the constant torque curve is set to the current state, and C3 (p+.p _min : power saturation) is set as a migration condition, and the intersection coordinates (LPCT-) of the regenerated power limit curve and the constant torque curve are set as migration of the migration destination state.

Then, the transition is made to set the intersection point coordinate (LPCT-) to the current state, C of FIG. 6 19 (|i|i+.i) _max [ MA > 0 and MP < 0]: the elimination of the power saturation) is set as a migration condition, and the intersection point coordinates (LACT) of the current limit circle and the constant torque curve are set as migration of the migration destination state.

Then, transition is made to set the intersection coordinate (LACT) to the current state and to set the graph of FIG. 6C14(|v|≧v _max : torque saturation), and the intersection point coordinate (LVLA) is set as a maximum torque condition.

Then, transition is made such that the intersection coordinate (LACT) is set to the current state, and C12 (p+.p) in fig. 6 is set _min : power saturation), and the intersection point coordinate (LPCT-) is set as the migration destination state; further, transition is made such that the intersection coordinate (LPCT-) is set to the current state, and C17 (|T) in FIG. 6 is set to _{pmin_l} |＜|T ^* |＜|T _{pmin_h} I (L): the elimination of current saturation) is set as a migration condition, and the intersection point coordinate (MPCT) is set as a migration destination state and set as a migration of an end point.

Although not shown, when the power is saturated in the middle of LACT, the power shifts as follows. That is, when the torque command increases, transition is made to set the intersection point coordinates (MPCT) of the electric power minimizing curve and the constant torque curve to the current state, C of FIG. 6 2 (|i|i+.i) _max : current saturation) is set as a migration condition, and an intersection coordinate (LACT) of the current limit circle and the constant torque curve is set as migration of the migration destination state.

Then, transition is made such that the intersection coordinate (LACT) is set to the current state, and C12 (p+.p) in fig. 6 is set _min : power saturation) is set as a migration condition, and the intersection coordinates (LPCT-) of the regenerated power limit curve and the constant torque curve are set as migration of the migration destination state.

Further, transition is made such that the intersection point coordinate (LPCT-) is set to the current state, C of FIG. 6 19 (|i|i+.i) _max [ MA > 0 and MP < 0]: elimination of power saturation) is set as a migration condition and the current limit circle is set to a constant torque curveThe intersection coordinates (LACT) are set as transitions of the transition destination state.

Thereafter, transition is made such that the intersection coordinate (LACT) is set to the current state, and C14 (v+v) of fig. 6 _max : torque saturation) is set as a migration condition, and the post-migration intersection point coordinate (LVLA) having the intersection point coordinate (LVLA) as a migration destination state and an end point is set as a maximum torque condition.

Next, transition is made such that the intersection coordinate (LACT) is set to the current state, and C12 (p+.p _min : power saturation), and the intersection point coordinate (LPCT-) is set as the migration destination state; then, the transition is made such that the intersection point coordinate (LPCT-) is set to the current state, C of FIG. 6 19 (|i|i+.i) _max : the elimination of the power saturation) is set as a migration condition, and the intersection coordinates (LACT) are set as migration of the migration destination state.

Further, migration is performed with the intersection point coordinate (LACT) set as the current state, C11 (MP > 0: elimination of current saturation) of fig. 6 set as the migration condition, and the intersection point coordinate (MPCT) set as the migration destination state and set as the end point.

Fig. 5 (10) and (14) are the cases where the voltage is saturated first, and the case where no electric power is saturated ((14) of fig. 5) is the same as the case where the maximum torque condition at the time of the power running is LVLA.

In the case shown in fig. 5 (10), when the torque command increases, transition is made such that the intersection point coordinate (MPCT) of the electric power minimizing curve and the constant torque curve is set to the current state, and C3 (p+.p _min : power saturation) is set as a migration condition, and the intersection coordinates (LPCT-) of the regenerated power limit curve and the constant torque curve are set as migration of the migration destination state.

Thereafter, transition is performed such that the intersection point coordinate (LVCT) is set to the current state, C of FIG. 6 8 (|i|i+.i) _max : torque saturation), and the intersection point coordinates (LVLA) of the voltage limit curve and the current limit circle are set as the transition destination state and the transition of the end point, and the intersection point coordinates (LVLA) are set as the maximum torque condition.

When the torque command is reduced, transition is made to C33 (|t) of fig. 6, in which the intersection coordinate (LVLA) is set to the current state ^* |＜|T|[MP≧0]: torque saturation is eliminated, and the intersection point coordinate (LVLA) is located on the voltage minimum curve (MV) side, and the transition is performed with the intersection point coordinate (LVCT) as the transition destination state.

Next, transition is made such that the intersection point coordinate (LVCT) is set to the current state, and C6 (p+.p _min : power saturation), and the intersection point coordinate (LPCT-) is set as the migration destination state; then, transition is made such that the intersection coordinate (LPCT-) is set to the current state, and C17 (|T) in FIG. 6 is set _{pmin_l} |＜|T ^* |＜|T _{pmin_h} I (L): the elimination of voltage saturation) is set as a migration condition, and the intersection point coordinate (MPCT) is set as a migration destination state and set as a migration of an end point.

Although not shown, when power is saturated in the middle of LVCT, the power shifts as follows. That is, when the torque command increases, transition is made to set the intersection point coordinates (MPCT) of the electric power minimizing curve and the constant torque curve to the current state, C of FIG. 6 1 (|v|v) _max : voltage saturation) is set as a migration condition, and an intersection point coordinate (LVCT) of the voltage limit curve and the constant torque curve is set as migration of the migration destination state.

Then, migration is performed by converting the intersection point coordinates (LVCT) is set to the current state, C6 (p+.p) of fig. 6 _min : power saturation) is set as a migration condition, and the intersection coordinates (LPCT-) of the regenerated power limit curve and the constant torque curve are set as migration of the migration destination state. Then, the transition is made to set the intersection point coordinate (LPCT-) to the current state, C of FIG. 6 18 (|v|v) _max [ MV < 0 and MP > 0]: power saturation cancellation) is set as a migration condition, and the intersection coordinates (LVCT) are set as migration of the migration destination state.

Further, transition is made to set the intersection point coordinate (LVCT) to the current state, C of FIG. 6 8 (|i|i+.i) _max : torque saturation), and the intersection point coordinates (LVLA) of the voltage limit curve and the current limit circle are set as the transition destination state and the transition of the end point, and the intersection point coordinates (LVLA) are set as the maximum torque condition.

When the torque command is reduced, transition is made to C33 (|t) of fig. 6, in which the intersection coordinate (LVLA) is set to the current state ^* |＜|T|[MP＞0]: torque saturation is eliminated, and the intersection point coordinate (LVLA) is located on the voltage minimum curve (MV) side, and the transition is performed with the intersection point coordinate (LVCT) as the transition destination state.

Then, transition is made such that the intersection point coordinate (LVCT) is set to the current state, and C6 (p+.p _min : power saturation), and the intersection point coordinate (LPCT-) is set as the migration destination state; further, transition is made such that the intersection point coordinate (LPCT-) is set to the current state, C of FIG. 6 18 (|v|v) _max : power saturation cancellation) is set as a migration condition, and the intersection coordinates (LVCT) are set as migration of the migration destination state.

< case where maximum Torque Condition is LALP)

The case where the maximum torque condition is LALP-can be classified into three of (4), (6) and (8) of FIG. 5. First, the case of fig. 5 (8) where only the MALA (∈mark) is saturated with electric power will be described. In this case, since the torque is larger at the point farthest from the MP curve, the LALP-closer to the MP curve is not the maximum torque condition, and the LALP-farther from the MP curve is the maximum torque condition (% sign).

When the torque command increases, a transition is made to set the intersection point coordinates (MPCT) of the electric power minimizing curve and the constant torque curve to the current state, C of FIG. 6 2 (|i|i+.i) _max : current saturation) is set as a migration condition, and an intersection coordinate (LACT) of the current limit circle and the constant torque curve is set as migration of the migration destination state. Then, transition is made such that the intersection coordinate (LACT) is set to the current state, and C12 (p+.p) in fig. 6 is set _min : power saturation) is set as a migration condition, and the intersection coordinates (LPCT-) of the regenerated power limit curve and the constant torque curve are set as migration of the migration destination state.

Further, transition is made such that the intersection point coordinate (LPCT-) is set to the current state, C of FIG. 6 21 (|i|i+.i) _max [ MA ]]: torque saturation) is set as a transition condition, and the intersection point coordinate (LALP-) of the current limit circle and the regenerated electric power limit curve is set as a transition destination state and set as a transition of the end point, and the intersection point coordinate (LALP-) is set as a maximum torque condition.

When the torque command is reduced, transition is made such that the intersection coordinate (LALP-) is set to the current state, and C56 (|t) of fig. 6 is set to ^* | < |T|: torque saturation cancellation) is set as a migration condition, and the intersection coordinates (LPCT-) are set as migration of the migration destination state.

Then, the transition is made such that the intersection point coordinate (LPCT-) is set to the current state, C of FIG. 6 19 (|i|i+.i) _max : power saturation cancellation) is set as a migration condition, and an intersection coordinate (LACT) is set as a migration destination state; then, migration is performed with the intersection point coordinate (LACT) set as the current state, C11 (MP > 0: elimination of current saturation) of fig. 6 set as the migration condition, and the intersection point coordinate (MPCT) set as the migration destination state and set as the end point.

In the case of fig. 5 (4), both MALA (+_signature) and MPLA (+_signature) are electrically saturated, and progress toward the MA curve side on the side where the torque of LALP-must be greater when mptt (Δ signature) is electrically saturated.

In this case, when the torque command increases, transition is made such that the intersection point coordinate (MPCT) of the electric power minimizing curve and the constant torque curve is set to the current state, and C3 (p++.p) of fig. 6 is set _min : power saturation) is set as a migration condition, and the intersection coordinates (LPCT-) of the regenerated power limit curve and the constant torque curve are set as migration of the migration destination state.

Then, the transition is made such that the intersection point coordinate (LPCT-) is set to the current state, C of FIG. 6 21 (|i|i+.i) _max [ MA ]]: torque saturation) is set as a transition condition, and the intersection point coordinate (LALP-) of the current limit circle and the regenerated electric power limit curve is set as a transition destination state and set as a transition of the end point, and the intersection point coordinate (LALP-) is set as a maximum torque condition.

When the torque command is reduced, transition is made such that the intersection coordinate (LALP-) is set to the current state, and C56 (|t) of fig. 6 is set to ^* | < |T|: torque saturation cancellation) is set as a migration condition, and the intersection point coordinate (LPCT-) is set as a migration of the migration destination state; then, transition is made to set the intersection coordinate (LPCT-) to the current state, and C17 (|T) in FIG. 6 is performed _{pmin_l} |＜|T ^* |＜|T _{pmin_h} I (L): power saturation cancellation) is set as a migration condition, and the intersection point coordinate (MPCT) is set as a migration destination state and set as a migration destination.

FIG. 5 (6) is according to voltage limitationElectric power limitation->The sequence of current limiting is limited. The LALP furthest from the MP curve is the maximum torque condition (% sign). In this case, when the torque command increases, migration is performed to minimize electric powerThe intersection point coordinates (MPCT) of the curve and the constant torque curve are set to the current state, C of FIG. 6 1 (|v|v) _max : voltage saturation) is set as a migration condition, and an intersection point coordinate (LVCT) of the current limit curve and the constant torque curve is set as migration of the migration destination state.

Then, transition is made such that the intersection point coordinate (LVCT) is set to the current state, and C6 (p+.p _min : power saturation) is set as a migration condition, and the intersection coordinates (LPCT-) of the regenerated power limit curve and the constant torque curve are set as migration of the migration destination state.

When the torque command is reduced, transition is made such that the intersection coordinate (LALP-) is set to the current state, and C56 (|t) of fig. 6 is set to ^* | < |T|: torque saturation cancellation) is set as a migration condition, and the intersection point coordinate (LPCT-) is set as a migration of the migration destination state; then, the transition is performed such that the intersection point coordinate (LPCT-) is set to the current state, C of FIG. 6 18 (|v|v) _max : power saturation cancellation) is set as a migration condition, and the intersection coordinates (LVCT) are set as migration of the migration destination state.

Further, migration is performed with the intersection point coordinate (LVCT) set as the current state, C5 (MP < 0: elimination of voltage saturation) of fig. 6 set as the migration condition, and the intersection point coordinate (MPCT) set as the migration destination state and set as the end point.

< case where maximum Torque Condition is LVLP)

The case where the maximum torque condition is LVLP-can be classified into three of (1), (5) and (7) of fig. 5. In the case of fig. 5 (5), only MVLV (+_flag) is saturated in power and the torque is larger at the point farthest from the MP curve, so LVLP-closer to the MP curve is not the maximum torque condition and LVLP-farther from the MP curve is the maximum torque condition (+_flag).

In the case of fig. 5 (5), when the torque command increases, transition is made such that the intersection point coordinate (MPCT) of the electric power minimizing curve and the constant torque curve is set to the current state, and C3 (p+.p _min : power saturation) is set as a migration condition, and the intersection coordinates (LPCT-) of the regenerated power limit curve and the constant torque curve are set as migration of the migration destination state.

Then, the transition is made such that the intersection point coordinate (LPCT-) is set to the current state, C of FIG. 6 20 (|v|v) _max [ MV ]]: torque saturation), and the intersection point coordinates (LVLP-) of the voltage limit curve and the regenerated electric power limit curve are set as the transition destination state and the transition of the end point, and the intersection point coordinates (LVLP-) are set as the maximum torque condition.

When the torque command is reduced, transition is made such that the intersection coordinate (LVLP-) is set to the current state, and C47 (|t) of fig. 6 is set ^* | < |T|: torque saturation cancellation) is set as a migration condition, and the intersection coordinates (LPCT-) are set as migration of the migration destination state. Then, transition is made such that the intersection coordinate (LPCT-) is set to the current state, and C17 (|T) in FIG. 6 is set _{pmin_l} |＜|T ^* |＜|T _{pmin_h} I (L): the elimination of voltage saturation) is set as a migration condition, and the intersection point coordinate (MPCT) is set as a migration destination state and set as a migration of an end point.

In the case of fig. 5 (1), the vehicle advances toward the MV curve on the side where the torque of the LVLP becomes larger when the MPCT (delta sign) power is saturated. In this case, when the torque command increases, transition is made such that the intersection point coordinate (MPCT) of the electric power minimizing curve and the constant torque curve is set to the current state, and C1 (|v|v Σv) in fig. 6 is set to the current state _max : voltage saturation) is set as a migration condition, and an intersection point coordinate (LVCT) of the voltage limit curve and the constant torque curve is set as migration of the migration destination state.

Then, transition is made such that the intersection point coordinate (LVCT) is set to the current state, and C6 (p+.p _min : power saturation) is set as a migration conditionAnd the intersection point coordinates (LPCT-) of the regenerated electric power limit curve and the constant torque curve are set as the migration of the migration destination state.

Further, transition is made such that the intersection point coordinate (LPCT-) is set to the current state, C of FIG. 6 20 (|v|v) _max [ MV ]]: torque saturation), and the intersection point coordinates (LVLP-) of the voltage limit curve and the regenerated electric power limit curve are set as the transition destination state and the transition of the end point, and the intersection point coordinates (LVLP-) are set as the maximum torque condition.

When the torque command is reduced, transition is made such that the intersection coordinate (LVLP-) is set to the current state, and C47 (|t) of fig. 6 is set ^* | < |T|: torque saturation cancellation) is set as a migration condition, and the intersection coordinates (LPCT-) are set as migration of the migration destination state. Then, the transition is made such that the intersection point coordinate (LPCT-) is set to the current state, C of FIG. 6 18 (|v|v) _max : power saturation cancellation) is set as a migration condition, and the intersection coordinates (LVCT) are set as migration of the migration destination state.

FIG. 5 (7) is according to voltage limitationElectric power limitation->The sequence of current limiting is limited. Here, the point LVLP- (+ marked) furthest from the MP curve is the maximum torque condition. In that case, when the torque command increases, the transition is made such that the intersection point coordinates (MPCT) of the electric power minimizing curve and the constant torque curve are set to the current state, C of FIG. 6 2 (|i|i+.i) _max : current saturation) is set as a migration condition, and an intersection point coordinate (LACT) of the current limit circle and the constant torque curve is set as a migration destination stateAnd (5) migration.

Further, transition is made such that the intersection point coordinate (LPCT-) is set to the current state, C of FIG. 6 20 (|v|v) _max [ MV ]]: torque saturation) is set as a transition condition, and the intersection point coordinate (LVLP-) of the voltage limit curve and the regenerated electric power limit curve is set as a transition destination state and set as a transition of the end point, and the intersection point coordinate (LVLP-) is set as a maximum torque condition.

When the torque command is reduced, transition is made such that the intersection coordinate (LVLP-) is set to the current state, and C47 (|t) of fig. 6 is set ^* | < |T|: torque saturation cancellation) is set as a migration condition, and the intersection coordinates (LPCT-) are set as migration of the migration destination state. Then, the transition is made to set the intersection point coordinate (LPCT-) to the current state, C of FIG. 6 19 (|i|i+.i) _max : the elimination of the power saturation) is set as a migration condition, and the intersection coordinates (LACT) are set as migration of the migration destination state.

< case where maximum torque condition is uncertain >

Fig. 5 (2) and (3) are cases where it is not determined which of the maximum torque conditions LVLP-and LALP-. If the torque of LALP-is greater, the following migration is followed.

When the torque command increases, transition is made such that the intersection point coordinate (MPCT) of the electric power minimization curve and the constant torque curve is set to the current state, and C3 (p+.p) of fig. 6 is set _min : power saturation) is set as a migration condition, and an intersection point coordinate (LPCT-) of the regenerated power limit curve and the constant torque curve is set as a migration destination stateIs a migration of (a).

When the torque command is reduced, transition is made such that the intersection coordinate (LALP-) is set to the current state, and C56 (|t) of fig. 6 is set to ^* | < |T|: torque saturation cancellation) is set as a migration condition, and the intersection point coordinate (LPCT-) is set as a migration of the migration destination state; then, transition is made such that the intersection coordinate (LPCT-) is set to the current state, and C17 (|T) in FIG. 6 is set _{pmin_l} |＜|T ^* |＜|T _{pmin_h} I (L): power saturation cancellation) is set as a migration condition, and the intersection point coordinate (MPCT) is set as a migration destination state and set as a migration destination.

On the other hand, if the torque of the LVLP-is larger, the following migration is performed. That is, when the torque command increases, transition is made such that the intersection point coordinate (MPCT) of the electric power minimizing curve and the constant torque curve is set to the current state, and C3 (p++.p) of fig. 6 is set _min : power saturation) is set as a migration condition, and the intersection coordinates (LPCT-) of the regenerated power limit curve and the constant torque curve are set as migration of the migration destination state.

Then, the transition is made such that the intersection point coordinate (LPCT-) is set to the current state, C of FIG. 6 20 (|v|v) _max [ MV ]]: torque saturation) is set as a transition condition, and the intersection point coordinate (LVLP-) of the voltage limit curve and the regenerated electric power limit curve is set as a transition destination state and set as a transition of the end point, and the intersection point coordinate (LVLP-) is set as a maximum torque condition.

When the torque command is reduced, transition is made such that the intersection coordinate (LALP-) is set to the current state, and C47 (|t) of fig. 6 is set ^* | < |T|: torque saturation cancellation) is set as a migration condition, and the intersection coordinates (LPCT-) are set as migration of the migration destination state.

Thereafter, transition is made such that the intersection coordinate (LPCT-) is set to the current state, and C17 (|T) in FIG. 6 is set _{pmin_l} |＜|T ^* |＜|T _{pmin_h} I (L): power saturation cancellation) is set as a migration condition, and the intersection point coordinate (MPCT) is set as a migration destination state and set as a migration destination.

In addition, when the maximum torque condition is not determined as described above, if the torque of the LALP-is the same as that of the LVLP-, one having a better efficiency is selected.

Next, migration when the maximum torque condition changes during regeneration will be described. The migration when the maximum torque condition is changed includes the following six kinds of migration.

The intersection point coordinates (MALA) are set to the current state, C of FIG. 6 26 (|v|v) _max : voltage saturation) is set as a migration condition, and an intersection point coordinate (LVLA) is set as a migration destination state; and a transition in which the intersection coordinate (LVLA) is set as the current state, C35 (ma+.0: elimination of voltage saturation) in fig. 6 is set as the transition condition, and the intersection coordinate (MALA) is set as the transition destination state.

The intersection coordinate (MALA) is set to the current state, and C28 (p+.p) _min : power saturation), and the intersection point coordinate (LALP-) is set as the migration of the migration destination state; and a transition in which the intersection coordinate (LALP-) is set as the current state, C57 (MA+.0: elimination of power saturation) of FIG. 6 is set as the transition condition, and the intersection coordinate (MALA) is set as the transition destination state.

The intersection point coordinates (MVLV) are set to the current state, C of FIG. 6 30 (|i|i+.i) _max : current saturation) is set as a migration condition, and an intersection point coordinate (LVLA) is set as a migration destination state; and a transition in which the intersection coordinate (LVLA) is set as the current state, C36 (MV + 0: elimination of current saturation) in fig. 6 is set as the transition condition, and the intersection coordinate (MVLV) is set as the transition destination state.

The intersection point coordinate (MVLV) is set as the current state, and C32 (p+.p) in FIG. 6 _min : power saturation) is set as a migration condition, and the intersection point coordinate (LVLP-) is set as a migration destination stateThe method comprises the steps of carrying out a first treatment on the surface of the And a transition in which the intersection coordinate (LVLP-) is set as the current state, C48 (MV. Gtoreq.0: elimination of current saturation) in FIG. 6 is set as the transition condition, and the intersection coordinate (MVLV) is set as the transition destination state.

The intersection point coordinate (LALP-) is set to the current state, C of FIG. 6 58 (|v|v) _max : voltage saturation) is set as a migration condition, and an intersection point coordinate (LVLA) is set as a migration destination state; and setting the intersection coordinate (LVLA) as the current state, and setting C40 (p+.p) of FIG. 6 _min [MP＜0]: the power saturation and intersection point coordinates (LVLA) are located on the side of the current minimum curve (MA) as migration conditions, and the intersection point coordinates (LALP-) are set as migration of the migration destination state.

The intersection point coordinate (LVLP-) is set to the current state, C of FIG. 6 49 (|i|i+.i) _max : current saturation) is set as a migration condition, and an intersection point coordinate (LVLA) is set as a migration destination state; and setting the intersection coordinate (LVLA) as the current state, and setting C38 (p+.p) of FIG. 6 _min [MP＜0]: the power saturation and intersection point coordinates (LVLA) are located on the voltage minimum curve (MV) side, and the intersection point coordinates (LVLP-) are set as migration conditions, and the migration destination state is set.

As described above, the migration destination can be determined based on the positional relationship of the curve defined on the dq-axis orthogonal coordinate plane (current vector plane) on the plane using the state migration table in which the migration condition from the current state to the migration destination state is set. In this case, by calculating the command value of the current vector focusing on the intersection of two curves effective as the current target value (current output value) for the motor, the amount of calculation of the current target value can be reduced, the processing speed can be increased, and the cost can be reduced.

Further, by taking the iron loss as the energy loss, the accuracy of maximum efficiency control can be improved, and by taking the electric power limitation into consideration, it is possible to avoid the damage to the battery due to the running and regeneration of the power exceeding the battery charge/discharge allowable power. That is, by taking into consideration not only copper loss but also iron loss, and taking into consideration power limitations, the accuracy of maximum efficiency control of the motor can be improved.

By incorporating a state in which there is no range that can be output (both the current condition and the voltage condition are not satisfied) in the state transition table, unnecessary computation under the condition that there is no solution can be avoided, and failure in computation of the intersection coordinates for the current command can be prevented, thereby achieving stabilization of control.

Description of symbols

1: motor control device

2: central control unit (CPU)

3: memory device

4: voltage command unit

5: motor driving part

10: motor control unit

15: electric motor

16a: q-axis PI control unit

16b: d-axis PI control unit

17. 28: coordinate conversion unit

21: PWM signal generating unit

23: inverter circuit

24: power relay

25: current detecting unit

27: A/D converter (ADC)

29: rotation angle sensor

BT: external battery

Claims

1. A motor control apparatus characterized by driving a motor by current vector control in a dq-axis orthogonal coordinate system, comprising:

a means for obtaining a combination of intersections, which is effective as a current command, selected from the intersections of two curves, namely, a dq-axis orthogonal coordinate plane power minimization curve (MP), a current minimization curve (MA), a voltage minimization curve (MV), a current limit circle (LA), a voltage limit curve (LV), a constant torque Curve (CT), a power running power limit curve (LP+), and a regenerative power limit curve (LP-);

A unit configured to set a combination of the intersections as a current state and a migration destination state, and to arrange the combination in a row direction and a column direction, respectively, and to create a state migration table in which migration conditions from the current state to the migration destination state are set; and

and a means for selecting a current target value for the motor based on a positional relationship on the curve of an intersection point corresponding to the migration destination state when migration is performed from an arbitrary intersection point corresponding to the current state in accordance with the migration condition.

2. The motor control device according to claim 1, wherein the state transition table includes a state that does not have a valid intersection point with respect to the curve as the current state and the transition destination state.

3. The motor control device according to claim 1, wherein the state transition table includes a first transition as a state transition in powering operation when the torque command increases,

the first migration includes: setting an intersection coordinate (MPCT) of the electric power minimization curve and the constant torque curve as the current state, setting a prescribed current saturation as the migration condition, and setting an intersection coordinate (LACT) of the current limit circle and the constant torque curve as the migration of the migration destination state; and

The intersection point coordinate (LACT) is set as the current state, the predetermined torque saturation is set as the transition condition, the intersection point coordinate (MALA) of the current minimum curve and the current limit circle is set as the transition destination state and is set as the transition of the end point, the intersection point coordinate (MALA) is set as the maximum torque condition,

the state transition table includes a second transition as a state transition in powering operation when the torque command is reduced,

the second migration includes: a transition in which the intersection point coordinate (MALA) is set to the current state, the elimination of predetermined torque saturation is set to the transition condition, and the intersection point coordinate (LACT) is set to the transition destination state; and

and a transition in which the intersection coordinate (LACT) is set as the current state, the predetermined current saturation is eliminated as the transition condition, and the intersection coordinate (MPCT) is set as the transition destination state and is set as the end point.

4. The motor control device according to claim 1, wherein the state transition table includes a third transition as a state transition in powering operation when the torque command increases,

the third migration includes: setting an intersection coordinate (MPCT) of the electric power minimization curve and the constant torque curve as the current state, setting a prescribed voltage saturation as the migration condition, and setting an intersection coordinate (LVCT) of the voltage limit curve and the constant torque curve as the migration of the migration destination state; and

The present state is defined as the intersection point coordinate (LVCT), the transition condition is defined as the predetermined torque saturation, the transition destination state is defined as the transition destination point coordinate (MVLV) of the voltage minimum curve and the voltage limit curve is defined as the transition destination point coordinate (MVLV), the maximum torque condition is defined as the intersection point coordinate (MVLV),

the state transition table includes a fourth transition as a state transition in powering operation when the torque command is reduced,

the fourth migration includes: a transition in which the intersection point coordinate (MVLV) is set as the current state, the elimination of predetermined torque saturation is set as the transition condition, and the intersection point coordinate (LVCT) is set as the transition destination state; and

and a transition in which the intersection point coordinate (LVCT) is set as a current state, the predetermined voltage saturation cancellation is set as the transition condition, and the intersection point coordinate (MPCT) is set as the transition destination state and is set as an end point.

5. The motor control device according to claim 1, wherein the state transition table includes a fifth transition as a state transition in powering operation when the torque command is increased,

the fifth transition is configured to set an intersection coordinate (MPCT) of the electric power minimizing curve and the constant torque curve to the current state, to set a predetermined electric power saturation to the transition condition, to set an intersection coordinate (mplp+) of the electric power minimizing curve and the powering electric power limiting curve to the transition destination state and to set an end point, and to set the intersection coordinate (mplp+) to the maximum torque condition,

The state transition table includes a sixth transition as a state transition in powering operation when the torque command is reduced,

the sixth migration is performed with the intersection coordinate (mplp+) set as the current state, with the predetermined elimination of power saturation set as the migration condition, and with the intersection coordinate (MPCT) set as the migration destination state and set as the end point.

6. The motor control device according to claim 1, wherein the state transition table includes a seventh transition as a state transition in powering operation when the torque command is increased,

the seventh migration includes: setting an intersection coordinate (MPCT) of the electric power minimization curve and the constant torque curve as the current state, setting a prescribed current saturation as the migration condition, and setting an intersection coordinate (LACT) of the current limit circle and the constant torque curve as the migration of the migration destination state; and

the intersection point coordinate (LACT) is set as the current state, the predetermined torque saturation is set as the transition condition, the intersection point coordinate (LVLA) of the voltage limit curve and the current limit circle is set as the transition destination state and is set as the transition of the end point, the intersection point coordinate (LVLA) is set as the maximum torque condition,

The state transition table includes an eighth transition as a state transition in powering operation when the torque command is reduced,

the eighth migration comprises: setting the intersection point coordinate (LVLA) to the current state, setting the transition condition to the transition condition that the predetermined torque saturation is eliminated and the intersection point coordinate (LVLA) is located on the current minimum curve (MA) side, and setting the intersection point coordinate (LACT) to the transition destination state; and

7. The motor control device according to claim 1, wherein the state transition table includes a ninth transition as a state transition in powering operation when the torque command is increased,

the ninth migration includes: setting an intersection coordinate (MPCT) of the electric power minimization curve and the constant torque curve as the current state, setting a prescribed voltage saturation as the migration condition, and setting an intersection coordinate (LVCT) of the voltage limit curve and the constant torque curve as the migration of the migration destination state; and

The intersection point coordinate (LVCT) is set as the current state, the predetermined torque saturation is set as the transition condition, the intersection point coordinate (LVLA) of the voltage limiting curve and the current limiting circle is set as the transition destination state and is set as the transition of the end point, the intersection point coordinate (LVLA) is set as the maximum torque condition,

the state transition table includes a tenth transition as a state transition in powering operation when the torque command is reduced,

the tenth migration includes: setting the intersection point coordinate (LVLA) to the current state, setting the transition condition to the state where the predetermined torque saturation is eliminated and the intersection point coordinate (LVLA) is located on the voltage minimum curve (MV) side, and setting the intersection point coordinate (LVCT) to the transition destination state; and

and a transition in which the intersection point coordinate (LVCT) is set as the current state, the predetermined voltage saturation cancellation is set as the transition condition, and the intersection point coordinate (MPCT) is set as the transition destination state and is set as the end point.

8. The motor control device according to claim 1, wherein the state transition table includes an eleventh transition as a state transition in powering operation when the torque command increases,

The eleventh migration comprises: setting an intersection coordinate (MPCT) of the electric power minimization curve and the constant torque curve as the current state, setting a prescribed current saturation as the migration condition, and setting an intersection coordinate (LACT) of the current limit circle and the constant torque curve as the migration of the migration destination state; and

the intersection coordinate (LACT) is set as the current state, the prescribed power saturation is set as the transition condition, the intersection coordinate (LALP+) of the current limit circle and the power running power limit curve is set as the transition destination state and is set as the transition of the end point, the intersection coordinate (LALP+) is set as the maximum torque condition,

the state transition table includes a twelfth transition as a state transition in powering operation when the torque command is reduced,

the twelfth migration includes: setting the intersection coordinate (lalp+) to the current state, setting the elimination of predetermined torque saturation to the migration condition, and setting the intersection coordinate (LACT) to the migration destination state; and

9. The motor control device according to claim 1, wherein the state transition table includes a thirteenth transition as a state transition in powering operation when the torque command is increased,

the thirteenth migration includes: setting an intersection coordinate (MPCT) of the electric power minimization curve and the constant torque curve as the current state, setting a prescribed voltage saturation as the migration condition, and setting an intersection coordinate (LVCT) of the voltage limit curve and the constant torque curve as the migration of the migration destination state; and

the intersection point coordinate (LVCT) is set as the current state, the prescribed power saturation is set as the transition condition, the intersection point coordinate (LVLP+) of the voltage limit curve and the power running power limit curve is set as the transition destination state and is set as the transition of the end point, the intersection point coordinate (LVLP+) is set as the maximum torque condition,

the state transition table includes a fourteenth transition as a state transition in powering operation when the torque command is reduced,

the fourteenth migration includes: setting the intersection point coordinate (lvlp+) to the current state, setting the elimination of the predetermined torque saturation to the migration condition, and setting the intersection point coordinate (LVCT) to the migration destination state; and

10. The motor control device according to any one of claims 3 to 9, wherein the state transition table includes a fifteenth transition, a sixteenth transition, a seventeenth transition, an eighteenth transition, a nineteenth transition, a twentieth transition, a twenty first transition, and a twenty second transition when the maximum torque condition is changed,

the fifteenth migration includes: setting the intersection coordinate (MALA) to the current state, setting a predetermined voltage saturation to the migration condition, and setting the intersection coordinate (LVLA) to the migration destination state; and a transition in which the intersection point coordinate (LVLA) is set as the current state, the elimination of predetermined voltage saturation is set as the transition condition, and the intersection point coordinate (MALA) is set as the transition destination state,

the sixteenth migration comprises: setting the intersection coordinate (MALA) to the current state, setting a predetermined power saturation to the migration condition, and setting the intersection coordinate (lalp+) to a migration of the migration destination state; and a transition in which the intersection coordinate (LALP+) is set as the current state, the predetermined elimination of power saturation is set as the transition condition, and the intersection coordinate (MALA) is set as the transition destination state,

The seventeenth migration includes: a transition in which the intersection point coordinate (MVLV) is set to the current state, a predetermined current saturation is set to the transition condition, and the intersection point coordinate (LVLA) is set to the transition destination state; and a transition in which the intersection point coordinate (LVLA) is set as the current state, a predetermined current saturation cancellation is set as the transition condition, and the intersection point coordinate (MVLV) is set as the transition destination state,

the eighteenth migration comprises: a transition in which the intersection coordinate (MVLV) is set to the current state, a predetermined power saturation is set to the transition condition, and the intersection coordinate (lvlp+) is set to the transition destination state; and a transition in which the intersection coordinate (LVLP+) is set as the current state, the predetermined elimination of power saturation is set as the transition condition, and the intersection coordinate (MVLV) is set as the transition destination state,

the nineteenth migration comprises: setting the intersection coordinate (lalp+) to the current state, setting the elimination of a predetermined voltage saturation to the migration condition, and setting the intersection coordinate (mplp+) to the migration of the migration destination state; and a transition in which the intersection coordinate (MPLP+) is set as the current state, a predetermined current saturation is set as the transition condition, and the intersection coordinate (LALP+) is set as the transition destination state,

The twentieth migration includes: setting the intersection coordinate (lalp+) to the current state, setting a predetermined voltage saturation to the migration condition, and setting the intersection coordinate (LVLA) to the migration destination state; and a transition condition in which the intersection point coordinate (LVLA) is set as the current state, a predetermined power saturation and the intersection point coordinate (LVLA) is set on the current minimum curve (MA) side, and the intersection point coordinate (LALP+) is set as the transition destination state,

the twenty-first migration includes: setting the intersection coordinate (lvlp+) to the current state, setting the elimination of a predetermined voltage saturation to the migration condition, and setting the intersection coordinate (mplp+) to the migration of the migration destination state; and a transition in which the intersection coordinate (MPLP+) is set as the current state, a predetermined voltage saturation is set as the transition condition, and the intersection coordinate (LVLP+) is set as the transition destination state,

the twenty-second migration includes: setting the intersection coordinate (lvlp+) to the current state, setting a predetermined current saturation to the migration condition, and setting the intersection coordinate (LVLA) to the migration destination state; and a transition condition in which the intersection coordinate (LVLA) is set to the current state, a predetermined power saturation condition in which the intersection coordinate (LVLA) is located on the voltage minimum curve (MV) side is set to the transition condition, and the intersection coordinate (lvlp+) is set to the transition destination state.

11. The motor control device according to claim 1, wherein the state transition table includes a twenty-third transition as a state transition at the time of regeneration when the torque command increases,

the twenty-third migration includes: setting an intersection point coordinate (MPCT) of the power minimizing curve and the constant torque curve as the current state, setting a prescribed power saturation as the migration condition, and setting an intersection point coordinate (LPCT-) of the regenerated power limiting curve and the constant torque curve as the migration of the migration destination state;

setting the intersection point coordinate (LPCT-) as the current state, setting the elimination of prescribed power saturation as the migration condition, and setting the intersection point coordinate (LACT) of the current limit circle and the constant torque curve as the migration of the migration destination state; and

the state transition table contains a twenty-fourth transition as a state transition at regeneration when the torque command is reduced,

The twenty-fourth migration includes: a transition in which the intersection point coordinate (MALA) is set to the current state, the elimination of predetermined torque saturation is set to the transition condition, and the intersection point coordinate (LACT) is set to the transition destination state;

setting the intersection point coordinate (LACT) to the current state, setting a predetermined power saturation to the migration condition, and setting the intersection point coordinate (LPCT-) to the migration destination state; and

and a migration step of setting the intersection coordinate (LPCT-) to the current state, setting the elimination of predetermined power saturation to the migration condition, and setting the intersection coordinate (MPCT) to the migration destination state and to the end point.

12. The motor control device according to claim 1, wherein the state transition table includes a twenty-fifth transition as a state transition at the time of regeneration when the torque command increases,

the twenty-fifth migration includes: setting an intersection coordinate (MPCT) of the electric power minimization curve and the constant torque curve as the current state, setting a prescribed current saturation as the migration condition, and setting an intersection coordinate (LACT) of the current limit circle and the constant torque curve as the migration of the migration destination state;

Setting the intersection coordinate (LACT) to the current state, setting a predetermined power saturation to the migration condition, and setting an intersection coordinate (LPCT-) of the regenerated power limit curve and the constant torque curve to a migration of the migration destination state;

a transition in which the intersection coordinate (LPCT-) is set as the current state, a predetermined elimination of power saturation is set as the transition condition, and the intersection coordinate (LACT) is set as the transition destination state; and

the state transition table contains a twenty-sixth transition as a state transition at regeneration when the torque command is reduced,

the twenty-sixth migration comprises: a transition in which the intersection point coordinate (MALA) is set to the current state, the elimination of predetermined torque saturation is set to the transition condition, and the intersection point coordinate (LACT) is set to the transition destination state;

Setting the intersection point coordinate (LACT) to the current state, setting a predetermined power saturation to the migration condition, and setting the intersection point coordinate (LPCT-) to the migration destination state;

13. The motor control device according to claim 1, wherein the state transition table includes a twenty-seventh transition as a state transition at the time of regeneration when the torque command increases,

the twenty-seventh migration includes: setting an intersection point coordinate (MPCT) of the power minimizing curve and the constant torque curve as the current state, setting a prescribed power saturation as the migration condition, and setting an intersection point coordinate (LPCT-) of the regenerated power limiting curve and the constant torque curve as the migration of the migration destination state;

Setting the intersection point coordinate (LPCT-) as the current state, setting the elimination of prescribed power saturation as the migration condition, and setting the intersection point coordinate (LVCT) of the voltage limit curve and the constant torque curve as the migration of the migration destination state; and

the state transition table contains the twenty-eighth transition as a state transition at regeneration when the torque command is reduced,

the twenty-eighth migration includes: a transition in which the intersection point coordinate (MVLV) is set as the current state, the elimination of predetermined torque saturation is set as the transition condition, and the intersection point coordinate (LVCT) is set as the transition destination state;

setting the intersection point coordinate (LVCT) to the current state, setting a predetermined voltage saturation to the migration condition, and setting the intersection point coordinate (LPCT-) to the migration destination state; and

And a transition in which the intersection coordinate (LPCT-) is set as the current state, the predetermined voltage saturation cancellation is set as the transition condition, and the intersection coordinate (MPCT) is set as the transition destination state and is set as the end point.

14. The motor control device according to claim 1, wherein the state transition table includes a twenty-ninth transition as a state transition at the time of regeneration when the torque command increases,

the twenty-ninth migration includes: setting an intersection coordinate (MPCT) of the electric power minimization curve and the constant torque curve as the current state, setting a prescribed voltage saturation as the migration condition, and setting an intersection coordinate (LVCT) of the voltage limit curve and the constant torque curve as the migration of the migration destination state;

setting the intersection point coordinate (LVCT) to the current state, setting a predetermined power saturation to the migration condition, and setting an intersection point coordinate (LPCT-) of the regenerated power limit curve and the constant torque curve to a migration of the migration destination state;

a transition in which the intersection coordinate (LPCT-) is set as the current state, a predetermined elimination of power saturation is set as the transition condition, and the intersection coordinate (LVCT) is set as the transition destination state; and

the state transition table includes a thirty-first transition as a state transition at regeneration when the torque command is reduced,

the thirty-first migration includes: a transition in which the intersection point coordinate (MVLV) is set as the current state, the elimination of predetermined torque saturation is set as the transition condition, and the intersection point coordinate (LVCT) is set as the transition destination state;

setting the intersection point coordinate (LVCT) to the current state, setting a predetermined power saturation to the migration condition, and setting the intersection point coordinate (LPCT-) to the migration destination state;

15. The motor control device according to claim 1, wherein the state transition table includes a thirty-first transition as a state transition at a regeneration time when the torque command increases,

the thirty-first migration includes: setting an intersection point coordinate (MPCT) of the power minimizing curve and the constant torque curve as the current state, setting a prescribed power saturation as the migration condition, and setting an intersection point coordinate (LPCT-) of the regenerated power limiting curve and the constant torque curve as the migration of the migration destination state;

the intersection point coordinate (LACT) is set as the current state, the predetermined torque saturation is set as the transition condition, the intersection point coordinate (LVLA) is set as the transition destination state and is set as the transition of the end point, the intersection point coordinate (LVLA) is set as the maximum torque condition,

the state transition table includes a thirty-second transition as a state transition at regeneration when the torque command is reduced,

The thirty-second migration includes: setting the intersection point coordinate (LVLA) to the current state, setting the transition condition to the transition condition that the predetermined torque saturation is eliminated and the intersection point coordinate (LVLA) is located on the current minimum curve (MA) side, and setting the intersection point coordinate (LACT) to the transition destination state;

and a transition in which the intersection coordinate (LPCT-) is set as the current state, the predetermined current saturation cancellation is set as the transition condition, and the intersection coordinate (MPCT) is set as the transition destination state and is set as the end point.

16. The motor control device according to claim 1, wherein the state transition table includes a thirty-third transition as a state transition at the time of regeneration when the torque command increases,

the thirty-third migration includes: setting an intersection coordinate (MPCT) of the electric power minimization curve and the constant torque curve as the current state, setting a prescribed current saturation as the migration condition, and setting an intersection coordinate (LACT) of the current limit circle and the constant torque curve as the migration of the migration destination state;

the state transition table includes a thirty-fourth transition as a state transition at regeneration when the torque command is reduced,

the thirty-fourth migration includes: setting the intersection point coordinate (LVLA) to the current state, setting the transition condition to the transition condition that the predetermined torque saturation is eliminated and the intersection point coordinate (LVLA) is located on the current minimum curve (MA) side, and setting the intersection point coordinate (LACT) to the transition destination state;

17. The motor control device according to claim 1, wherein the state transition table includes a thirty-fifth transition as a state transition at the time of regeneration when the torque command increases,

the thirty-fifth migration includes: setting an intersection point coordinate (MPCT) of the power minimizing curve and the constant torque curve as the current state, setting a prescribed power saturation as the migration condition, and setting an intersection point coordinate (LPCT-) of the regenerated power limiting curve and the constant torque curve as the migration of the migration destination state;

the state transition table includes a thirty-sixth transition as a state transition at regeneration when the torque command is reduced,

the thirty-sixth migration comprises: setting the intersection point coordinate (LVLA) to the current state, setting the transition condition to the state where the predetermined torque saturation is eliminated and the intersection point coordinate (LVLA) is located on the voltage minimum curve (MV) side, and setting the intersection point coordinate (LVCT) to the transition destination state;

setting the intersection point coordinate (LVCT) to the current state, setting a predetermined power saturation to the migration condition, and setting the intersection point coordinate (LPCT-) to the migration destination state; and

18. The motor control device according to claim 1, wherein the state transition table includes a thirty-seventh transition as a state transition at the time of regeneration when the torque command increases,

the thirty-seventh migration comprises: setting an intersection coordinate (MPCT) of the electric power minimization curve and the constant torque curve as the current state, setting a prescribed voltage saturation as the migration condition, and setting an intersection coordinate (LVCT) of the voltage limit curve and the constant torque curve as the migration of the migration destination state;

the state transition table includes a thirty-eighth transition as a state transition at regeneration when the torque command is reduced,

the thirty-eighth migration includes: setting the intersection point coordinate (LVLA) to the current state, setting the transition condition to the state where the predetermined torque saturation is eliminated and the intersection point coordinate (LVLA) is located on the voltage minimum curve (MV) side, and setting the intersection point coordinate (LVCT) to the transition destination state;

19. The motor control device according to claim 1, wherein the state transition table includes a thirty-ninth transition as a state transition at the time of regeneration when the torque command increases,

the thirty-ninth migration comprises: setting an intersection coordinate (MPCT) of the electric power minimization curve and the constant torque curve as the current state, setting a prescribed current saturation as the migration condition, and setting an intersection coordinate (LACT) of the current limit circle and the constant torque curve as the migration of the migration destination state;

setting the intersection coordinate (LACT) to the current state, setting a predetermined power saturation to the migration condition, and setting an intersection coordinate (LPCT-) of the regenerated power limit curve and the constant torque curve to a migration of the migration destination state; and

the intersection point coordinate (LPCT-) is set as the current state, a prescribed torque saturation is set as the transition condition, the intersection point coordinate (LALP-) of the current limit circle and the regenerated electric power limit curve is set as the transition destination state and is set as the transition of the end point, the intersection point coordinate (LALP-) is the maximum torque condition,

The state transition table contains forty transitions as state transitions at regeneration when the torque command is reduced,

the forty-first migration includes: setting the intersection point coordinate (LALP-) as the current state, setting the elimination of the prescribed torque saturation as the migration condition, and setting the intersection point coordinate (LPCT-) as the migration of the migration destination state;

20. The motor control device according to claim 1, wherein the state transition table includes a forty-first transition as a state transition at the time of regeneration when the torque command increases,

the forty-first migration includes: setting an intersection point coordinate (MPCT) of the power minimizing curve and the constant torque curve as the current state, setting a prescribed power saturation as the migration condition, and setting an intersection point coordinate (LPCT-) of the regenerated power limiting curve and the constant torque curve as the migration of the migration destination state; and

the state transition table contains forty-second transitions as state transitions at regeneration when the torque command is reduced,

the forty-second migration includes: setting the intersection point coordinate (LALP-) as the current state, setting the elimination of the prescribed torque saturation as the migration condition, and setting the intersection point coordinate (LPCT-) as the migration of the migration destination state; and

21. The motor control device according to claim 1, wherein the state transition table includes forty-third transitions as state transitions at the time of regeneration when the torque command increases,

the forty-third migration includes: setting an intersection coordinate (MPCT) of the electric power minimization curve and the constant torque curve as the current state, setting a prescribed voltage saturation as the migration condition, and setting an intersection coordinate (LVCT) of the voltage limit curve and the constant torque curve as the migration of the migration destination state;

Setting the intersection point coordinate (LVCT) to the current state, setting a predetermined power saturation to the migration condition, and setting an intersection point coordinate (LPCT-) of the regenerated power limit curve and the constant torque curve to a migration of the migration destination state; and

the state transition table contains forty-fourth transitions as state transitions at regeneration when the torque command is reduced,

the forty-fourth migration includes: setting the intersection point coordinate (LALP-) as the current state, setting the elimination of the prescribed torque saturation as the migration condition, and setting the intersection point coordinate (LPCT-) as the migration of the migration destination state;

22. The motor control device according to claim 1, wherein the state transition table includes a forty-fifth transition as a state transition at the time of regeneration when the torque command increases,

the forty-fifth migration includes: setting an intersection point coordinate (MPCT) of the power minimizing curve and the constant torque curve as the current state, setting a prescribed power saturation as the migration condition, and setting an intersection point coordinate (LPCT-) of the regenerated power limiting curve and the constant torque curve as the migration of the migration destination state; and

the intersection point coordinate (LPCT-) is set as the current state, a prescribed torque saturation is set as the transition condition, the intersection point coordinate (LVLP-) of the voltage limit curve and the regenerated electric power limit curve is set as the transition destination state and is set as the transition of the end point, the intersection point coordinate (LVLP-) is the maximum torque condition,

the state transition table contains forty-sixth transitions as state transitions at regeneration when the torque command is reduced,

The forty-sixth migration includes: setting the intersection point coordinate (LVLP-) to the current state, setting the elimination of the predetermined torque saturation to the migration condition, and setting the intersection point coordinate (LPCT-) to the migration of the migration destination state; and

23. The motor control device according to claim 1, wherein the state transition table includes forty-seventh transitions as state transitions at the time of regeneration when the torque command increases,

the forty-seventh migration includes: setting an intersection coordinate (MPCT) of the electric power minimization curve and the constant torque curve as the current state, setting a prescribed voltage saturation as the migration condition, and setting an intersection coordinate (LVCT) of the voltage limit curve and the constant torque curve as the migration of the migration destination state;

the state transition table contains forty-eight transitions as state transitions at regeneration when the torque command is reduced,

the forty-eighth migration includes: setting the intersection point coordinate (LVLP-) to the current state, setting the elimination of the predetermined torque saturation to the migration condition, and setting the intersection point coordinate (LPCT-) to the migration of the migration destination state;

24. The motor control device according to claim 1, wherein the state transition table includes forty-ninth transitions as state transitions at the time of regeneration when the torque command increases,

the forty-ninth migration includes: setting an intersection coordinate (MPCT) of the electric power minimization curve and the constant torque curve as the current state, setting a prescribed current saturation as the migration condition, and setting an intersection coordinate (LACT) of the current limit circle and the constant torque curve as the migration of the migration destination state;

The state transition table contains a fifty-th transition as a state transition at regeneration when the torque command is reduced,

the fifty-th migration includes: setting the intersection point coordinate (LVLP-) to the current state, setting the elimination of the predetermined torque saturation to the migration condition, and setting the intersection point coordinate (LPCT-) to the migration of the migration destination state;

25. The motor control device according to claim 1, wherein the state transition table includes a fifty-first transition as a state transition at a regeneration time when the torque command is increased,

the fifty-first migration includes: setting an intersection point coordinate (MPCT) of the power minimizing curve and the constant torque curve as the current state, setting a prescribed power saturation as the migration condition, and setting an intersection point coordinate (LPCT-) of the regenerated power limiting curve and the constant torque curve as the migration of the migration destination state; and

the state transition table contains a fifty second transition as a state transition at regeneration when the torque command is reduced,

the fifty-second migration includes: setting the intersection point coordinate (LALP-) as the current state, setting the elimination of the prescribed torque saturation as the migration condition, and setting the intersection point coordinate (LPCT-) as the migration of the migration destination state; and

26. The motor control device according to claim 1, wherein the state transition table includes a fifty-third transition as a state transition at a regeneration time when the torque command is increased,

the fifty-third migration includes: setting an intersection point coordinate (MPCT) of the power minimizing curve and the constant torque curve as the current state, setting a prescribed power saturation as the migration condition, and setting an intersection point coordinate (LPCT-) of the regenerated power limiting curve and the constant torque curve as the migration of the migration destination state; and

the state transition table contains a fifty-fourth transition as a state transition at regeneration when the torque command is reduced,

the fifty-fourth migration includes: setting the intersection point coordinate (LALP-) as the current state, setting the elimination of the prescribed torque saturation as the migration condition, and setting the intersection point coordinate (LPCT-) as the migration of the migration destination state; and

27. The motor control device according to any one of claims 11-26, wherein the state transition table includes a fiftieth transition, and a sixty transition when the maximum torque condition is changed,

The fifty-fifth migration includes: setting the intersection coordinate (MALA) to the current state, setting a predetermined voltage saturation to the migration condition, and setting the intersection coordinate (LVLA) to the migration destination state; and a transition in which the intersection point coordinate (LVLA) is set as the current state, the elimination of predetermined voltage saturation is set as the transition condition, and the intersection point coordinate (MALA) is set as the transition destination state,

the fifty-sixth migration includes: setting the intersection coordinate (MALA) to the current state, setting a predetermined power saturation to the migration condition, and setting the intersection coordinate (LALP-) to a migration of the migration destination state; and a transition in which the intersection point coordinate (LALP-) is set as the current state, the predetermined elimination of power saturation is set as the transition condition, and the intersection point coordinate (MALA) is set as the transition destination state,

the fifty-seventh migration includes: a transition in which the intersection point coordinate (MVLV) is set to the current state, a predetermined current saturation is set to the transition condition, and the intersection point coordinate (LVLA) is set to the transition destination state; and a transition in which the intersection point coordinate (LVLA) is set as the current state, a predetermined current saturation cancellation is set as the transition condition, and the intersection point coordinate (MVLV) is set as the transition destination state,

The fifty-eighth migration includes: setting the intersection point coordinate (MVLV) to the current state, setting a predetermined power saturation to the migration condition, and setting the intersection point coordinate (LVLP-) to a migration of the migration destination state; and a transition in which the intersection point coordinate (LVLP-) is set as the current state, a predetermined elimination of current saturation is set as the transition condition, and the intersection point coordinate (MVLV) is set as the transition destination state,

the fifty-ninth migration includes: setting the intersection point coordinate (LALP-) as the current state, setting a prescribed voltage saturation as the migration condition, and setting the intersection point coordinate (LVLA) as the migration of the migration destination state; and a transition condition in which the intersection point coordinate (LVLA) is set as the current state, a predetermined power saturation and the intersection point coordinate (LVLA) is set on the current minimum curve (MA) side, and the intersection point coordinate (LALP-) is set as the transition destination state,

the sixty migration comprises: setting the intersection point coordinate (LVLP-) to the current state, setting a predetermined current saturation to the migration condition, and setting the intersection point coordinate (LVLA) to the migration destination state; and a transition condition in which the intersection point coordinate (LVLA) is set to the current state, a predetermined power saturation and the intersection point coordinate (LVLA) is set to the voltage minimum curve (MV) side, and the intersection point coordinate (LVLP-) is set to the transition destination state.

28. The motor control device according to any one of claims 1 to 27, characterized in that the electric power minimization curve (MP), the voltage limit curve (LV), and the voltage minimum curve (MV) are quadratic curves described using an iron loss of the motor, and the power running electric power limit curve (lp+) and the regenerative electric power limit curve (LP-) are any one of parabolic, perfect circular, elliptical, or hyperbolic curves defined by a voltage equation including the iron loss.

29. A motor control method characterized by driving a motor by current vector control in a dq-axis orthogonal coordinate system, comprising the steps of:

a step of obtaining a combination of intersections, which is effective as a current command, from among intersections of two curves selected from a dq-axis orthogonal coordinate plane, namely, a power minimization curve (MP), a current minimization curve (MA), a voltage minimization curve (MV), a current limit circle (LA), a voltage limit curve (LV), a constant torque Curve (CT), a power running power limit curve (LP+), and a regenerated power limit curve (LP-);

a step of forming a state transition table in which a combination of the intersections is set to a current state and a transition destination state, and the combinations are arranged in a row direction and a column direction, respectively, and in which a transition condition from the current state to the transition destination state is set; and

And selecting a current target value for the motor based on a positional relationship on the curve of an intersection point corresponding to the migration destination state when the migration is performed from an arbitrary intersection point corresponding to the current state in accordance with the migration condition.