DE112018005734T5 - Engine control device and engine control method - Google Patents

Abstract

An engine control device and an engine control method are provided that enable torque control based on a target value even when switching a control mode, suppress torque fluctuations at the time of the switchover, and have excellent responsiveness Switching from a sine control mode to a rectangular control mode outputs a final voltage phase θv in the sine control mode as an initial voltage phase θv1 to a voltage phase setting unit 502, and a transition voltage command value | Va '| is determined by a last voltage command value | Va | to a square-wave voltage value | Va1 | continuously increased in the sine control mode while torque control is performed by the voltage phase θv. Accordingly, in the generated drive signals Su, Sv and Sw, the continuity is maintained at the time of switching, and smooth switching between the control modes with little torque fluctuation can take place.

Description

Technical field

The present invention relates to a motor control device and a motor control method that suppress torque fluctuations in the PM motor control, in particular when switching between sine and rectangular control.

State of the art

Electric motors are used to drive many household appliances and mechanical systems. Among these electric motors, a permanent magnet (PM) motor, which is provided with a permanent magnet on the rotor side and with armature windings on the stator side and rotates a rotor by controlling a magnetic field of the armature windings, has no field loss. Therefore, the PM motor has a low loss and a high efficiency and is therefore often used in large machines due to the recent energy saving trend. The first method to control the PM motor is based on a torque command value specified from the outside (control unit or the like of a host system) Vu , Vv and Vw and a current torque T of the PM motor generates 3-phase voltage command values Vu, Vv and Vw, and a triangular comparison of the 3-phase voltage command values Vu, Vv and Vw generates drive signals Su, Sv and Sw. This is generally done by 3-phase AC drive currents Iu, Iv and Iw, which flow downward by switching the inverter in accordance with the drive signals Su, Sv and Sw. In addition, the control signals Su, Sv and Sw are often generated by switching between sine and square-wave control as a function of an operating state of the PM motor. In this control method, the operation control in a medium / low speed operation area is generally performed by the sine control (PWM control) using a high motor efficiency sine pattern, and the operation control in a high speed and high torque operation area is performed by the rectangular control Performed using a rectangular pattern that can output high power with high output voltage.

The sine pattern here is a pattern of the drive signals Su, Sv and Sw, which is generated by the triangular comparison of the 3-phase voltage command values Vu, Vv and Vw and has a size in which the peak of the amplitude does not exceed the apex of the triangular wave. In addition, the rectangular pattern is a pattern of the drive signals Su, Sv and Sw, each of the 3-phase voltage command values Vu, Vv and Vw crossing the triangular wave twice in one cycle of the electrical angle and the high period and the low period once in one Electrical angle cycle can be generated. In addition, there is an overdrive pattern in the patterns of the drive signals Su, Sv and Sw, and this overdrive pattern is a pattern of the drive signals Su, Sv and Sw generated by the 3-phase voltage command values Vu, Vv and Vw that are larger than that Are amplitude that forms the sine pattern and smaller than the amplitude that forms the rectangular pattern.

But even if the sine and square wave controls have the same voltage phase, they are not preferable because the torque output from the square wave control is larger than that of the sine wave control and, in a simple shift, torque fluctuation occurs at the time of shifting. To this problem, in the below-mentioned [Patent Document 1], the phase and amplitude of the sine wave at the time of switching is set as the switching initial value, and thus the phase of the square wave that outputs the same torque as at the time of switching is set as the switching target value. In addition, the infinite amplitude is set as the switching target value, and when switching the control mode, the phase and amplitude of the voltage curve are simultaneously and continuously changed from the switching initial value to the switching target value. If the voltage curve then reaches the switching target value by switching to square-wave control, the torque fluctuation at the time of switching is suppressed.

Citation list patent document

Patent document 1: JP-A-11-285288

Summary of the invention

Technical problem

However, in the invention described in [Patent Document 1], the torque control by the command value cannot be performed during the transition time from the shift initial value to the shift target value, so there is a possibility that torque fluctuations may occur during the transition time. In addition, in a case where the torque command value changes during the transition time, it is not possible to cope with the change in the torque command value, and there is a possibility that a torque fluctuation occurs immediately after the shift. In addition, even if the supply voltage of the inverter or the speed of the PM motor changes during the transition period, it is not possible to cope with these changes, and there is a possibility that during torque fluctuations occur during the transition period. There is also the problem that responsiveness is poor because switching cannot be performed during the transition period.

The present invention has been made in view of the above-mentioned circumstances, and has an object to provide an engine control device and an engine control method which enable torque control based on a command value even when changing over a control mode, suppress torque fluctuations when changing over and have an excellent response behavior.

the solution of the problem

(1) According to one aspect of the invention is an engine control device 100 specified, comprising: an inverter 20 , the three-phase AC drive currents Iu, Iv and Iw to a PM motor 10th lets flow down; Drive current detection units 12u and 12v , capture the values of the drive currents Iu, Iv and Iw; an angle detection unit 14 that an electrical angle θ of the PM motor 10th detected; a 3-phase / dq converter unit 22 which is used by the drive current detection units 12u and 12v converts detected drive currents Iu, Iv and Iw into a d-axis feedback current value Id and a q-axis feedback current value Iq based on the electrical angle θ; a sine control unit 40 that sets a d-axis current command value Id * and a q-axis current command value Iq * based on a torque command value T * from the outside, and generates a d-axis voltage command value Vd and a q-axis voltage command value Vq in a sine control mode ; a rectangle control unit 50 having a voltage phase θv and a voltage command value | Va | from the outside based on the torque command value T * and generates a d-axis voltage command value Vd and a q-axis voltage command value Vq in a rectangular control mode; a switching unit 24th , the generation of the d-axis voltage command value Vd and the q-axis voltage command value Vq between the sine control unit 40 and the rectangle control unit 50 toggles; a dq / 3-phase converting unit 32 which converts the d-axis voltage command value Vd and the q-axis voltage command value Vq into 3-phase voltage command values Vu, Vv and Vw; and a drive signal generation unit 36 , the control signals Su, Sv and Sw for switching the Inverters 20 generated by comparing the 3-phase voltage command values Vu, Vv and Vw with a triangular wave with a predetermined cycle,
the engine control device further comprising a mode transition unit 80 includes that works when the switching unit 24th switches a control mode, and
being the mode transition unit 80 the voltage phase θv and the voltage command value | Va | which are obtained by performing polar coordinate conversion of a d-axis voltage command value Vd "and a q-axis voltage command value Vq" in the sine control mode as an initial voltage phase θv1 and an initial value of a transition voltage command value | Va '| detects the initial voltage phase and the initial value of the transition voltage command value to the square wave control unit 50 at the time of switching from the sine control mode to the square wave control mode, it detects a square wave voltage value | Va1 | at which the drive signals Su, Sv and Sw become rectangular patterns, and it continuously increases the transition voltage command value | Va '| from the initial value to the square wave voltage value | Va1 | , it gives the transient voltage command value to the square wave controller 50 and generates the d-axis voltage command value Vd and the q-axis voltage command value Vq based on the transition voltage command value | Va '|.

• im Rechteck-Steuermodus den d-Achse-Spannungsbefehlswert Vd und den q-Achse-Spannungsbefehlswert Vq, die von der Rechteck-Steuereinheit 50 ausgegeben werden, als Anfangswert Vd1 des d-Achse-Spannungsbefehlswerts und als Anfangswert Vq1 des q-Achse-Spannungsbefehlswerts an die Sinus-Steuereinheit 40 ausgibt, sie berechnet Übergangsdaten Ifb zur Berechnung eines Anfangswertes Id*1 des d-Achse-Strombefehlswertes und eines Anfangswertes Iq*1 des q-Achse-Strombefehlswertes auf Basis des d-Achse- Rückkopplungsstromwertes Id und des q-Achse-Rückkopplungsstromwertes Iq und gibt die Übergangsdaten an die Sinus-Steuereinheit 40 aus, und
• sie erzeugt unmittelbar nach dem Umschalten vom Rechteck-Steuermodus in den Sinus-Steuermodus einen d-Achse-Spannungsbefehlswert Vd zum Zeitpunkt des Umschaltens und einen q-Achse-Spannungsbefehlswert Vq zum Zeitpunkt des Umschaltens auf Basis des Anfangswertes Vd1 des d-Achse-Spannungsbefehlswertes, des Anfangswertes Vq1 des q-Achse-Spannungsbefehlswerts, des Anfangswertes Id*1 des d-Achse-Strombefehlswerts und des Anfangswertes Iq*1 des q-Achse-Strombefehlswerts und gibt den d-Achse-Spannungsbefehlswert Vd zum Zeitpunkt des Umschaltens und den q-Achse-Spannungsbefehlswert Vq zum Zeitpunkt des Umschaltens an die dq/3-Phasen-Wandlereinheit 32 aus.

(2) According to another aspect of the invention is an engine control device 100 specified, comprising: an inverter 20 , the three-phase AC drive currents Iu, Iv and Iw to a PM motor 10th lets flow down; Drive current detection units 12u and 12v , capture the values of the drive currents Iu, Iv and Iw; an angle detection unit 14 that an electrical angle θ of the PM motor 10th detected; a 3-phase / dq converter unit 22 which is used by the drive current detection units 12u and 12v converts detected drive currents Iu, Iv and Iw into a d-axis feedback current value Id and a q-axis feedback current value Iq based on the electrical angle θ; a sine control unit 40 that sets a d-axis current command value Id * and a q-axis current command value Iq * based on a torque command value T * from the outside, and generates a d-axis voltage command value Vd and a q-axis voltage command value Vq in a sine control mode ; a rectangle control unit 50 having a voltage phase θv and a voltage command value | Va | from the outside based on the torque command value T * and generates a d-axis voltage command value Vd and a q-axis voltage command value Vq in a rectangular control mode; a switching unit 24th , the generation of the d-axis voltage command value Vd and the q-axis voltage command value Vq between the sine control unit 40 and the rectangle control unit 50 toggles; a dq / 3-phase converting unit 32 which converts the d-axis voltage command value Vd and the q-axis voltage command value Vq into 3-phase voltage command values Vu, Vv and Vw; and a drive signal generation unit 36 , the control signals Su, Sv and Sw for switching the inverter 20 generated by comparing the 3-phase voltage command values Vu, Vv and Vw with a triangular wave with a predetermined cycle,
the engine control device further comprising a mode transition unit 80 includes that works when the switching unit 24th switches a control mode, and
being the mode transition unit 80 :

• in the rectangular control mode, the d-axis voltage command value Vd and the q-axis voltage command value Vq by the rectangular control unit 50 are output as the initial value Vd1 of the d-axis voltage command value and as the initial value Vq1 of the q-axis voltage command value to the sine control unit 40 outputs, calculates transition data Ifb for calculating an initial value Id * 1 of the d-axis current command value and an initial value Iq * 1 of the q-axis current command value based on the d-axis feedback current value Id and the q-axis feedback current value Iq and gives the transition data to the sine control unit 40 off and
• immediately after switching from the rectangular control mode to the sine control mode, it generates a d-axis voltage command value Vd at the time of switching and a q-axis voltage command value Vq at the time of switching based on the initial value Vd1 of the d-axis voltage command value, of the initial value Vq1 of the q-axis voltage command value, the initial value Id * 1 of the d-axis current command value and the initial value Iq * 1 of the q-axis current command value, and gives the d-axis voltage command value Vd at the time of switching and the q- Axis voltage command value Vq at the time of switching to the dq / 3-phase converter unit 32.

(3) In the motor control device indicated in (2) 100 detects the mode transition unit 80 from the rectangle control unit 50 output voltage command value | Va | at the time of switching from the rectangular control mode to the sine control mode as an initial value of a transition voltage command value | Va '|, detects a sine mode transition voltage value | Va2 |, in which the drive signals Su, Sv and Sw become a sinusoidal pattern or an overdrive pattern continuously reduces the transition voltage command value | Va '| from the initial value to the sine mode transition voltage value | Va2 | while maintaining the rectangular control mode, gives the transient voltage command value to the rectangular control unit 50 and generates the d-axis voltage command value Vd and the q-axis voltage command value Vq based on the transition voltage command value | Va '|, and then the switching unit switches 24th through the sine control unit 40 in control mode.

• erfasst die Spannungsphase θv und den Spannungsbefehlswert |Va|, die erhalten werden durch Durchführung einer Polarkoordinatenumwandlung eines d-Achse-Spannungsbefehlswerts Vd" und eines q-Achse-Spannungsbefehlswerts Vq" im Sinus-Steuermodus, als Anfangsspannungsphase θv1 und Anfangswert eines Übergangsspannungsbefehlswerts |Va'|, gibt die Anfangsspannungsphase und den Anfangswert des Übergangsspannungsbefehlswerts an die Rechteck-Steuereinheit 50 zum Zeitpunkt des Umschaltens vom Sinus-Steuermodus zum Rechteck-Steuermodus aus, erfasst einen Rechteckbildungs-Spannungswert |Va1|, bei dem die Ansteuersignale Su, Sv und Sw zu Rechteckmustern werden, erhöht kontinuierlich den Übergangsspannungsbefehlswert |Va'| vom Anfangswert zum Rechteckbildungs-Spannungswert |Va1|, gibt den Übergangsspannungsbefehlswert an die Rechteck-Steuereinheit 50 aus und erzeugt den d-Achse-Spannungsbefehlswert Vd und den q-Achse-Spannungsbefehlswert Vq auf Basis des Übergangsspannungsbefehlswertes |Va'|,
• gibt im Rechteck-Steuermodus den d-Achse-Spannungsbefehlswert Vd und den q-Achse-Spannungsbefehlswert Vq, die von der Rechteck-Steuereinheit 50 ausgegeben werden, als Anfangswert Vd1 des d-Achse-Spannungsbefehlswerts und als Anfangswert Vq1 des q-Achse-Spannungsbefehlswerts an die Sinus-Steuereinheit 40 aus, berechnet Übergangsdaten Ifb zur Berechnung eines Anfangswertes Id*1 des d-Achse-Strombefehlswertes und eines Anfangswertes Iq*1 des q-Achse-Strombefehlswertes auf Basis des d-Achse-Rückkopplungsstromwertes Id und des q-Achse-Rückkopplungsstromwertes Iq und gibt die Übergangsdaten an die Sinus-Steuereinheit 40 aus,
• erfasst den von der Rechteck-Steuereinheit 50 ausgegebenen Spannungsbefehlswert |Va| zum Zeitpunkt des Umschaltens vom Rechteck-Steuermodus in den Sinus-Steuermodus als Anfangswert des Übergangsspannungsbefehlswertes |Va'|, erfasst einen Sinusmodus-Übergangsspannungswert |Va2|, bei dem die Ansteuersignale Su, Sv und Sw zu einem SinusMuster oder zu einem Übersteuerungsmuster werden, reduziert kontinuierlich den Übergangsspannungsbefehlswert |Va'| vom Anfangswert auf den Sinusmodus-Übergangsspannungswert |Va2| unter Beibehaltung des Rechteck-Steuermodus, gibt den Übergangsspannungsbefehlswert an die Rechteck-Steuereinheit 50 aus und erzeugt den d-Achse-Spannungsbefehlswert Vd und den q-Achse-Spannungsbefehlswert Vq auf Basis des Übergangsspannungsbefehlswerts |Va'|, und danach schaltet die Schalteinheit 24 durch die Sinus-Steuereinheit 40 auf den Sinus-Steuermodus um, und
• erzeugt unmittelbar nach dem Umschalten vom Rechteck-Steuermodus in den Sinus-Steuermodus einen d-Achse-Spannungsbefehlswert Vd zum Zeitpunkt des Umschaltens und einen q-Achse-Spannungsbefehlswert Vq zum Zeitpunkt des Umschaltens auf Basis des Anfangswertes Vd1 des d-Achse-Spannungsbefehlswertes, des Anfangswertes Vq1 des q-Achse-Spannungsbefehlswerts, des Anfangswertes Id*1 des d-Achse-Strombefehlswerts und des Anfangswertes Iq*1 des q-Achse-Strombefehlswerts und gibt den d-Achse-Spannungsbefehlswert Vd zum Zeitpunkt des Umschaltens und den q-Achse-Spannungsbefehlswert Vq zum Zeitpunkt des Umschaltens an die dq/3-Phasen-Wandlereinheit 32 aus.

(4) According to still another aspect of the invention is an engine control device 100 specified, comprising: an inverter 20 , the three-phase AC drive currents Iu, Iv and Iw to a PM motor 10th lets flow down; Drive current detection units 12u and 12v , capture the values of the drive currents Iu, Iv and Iw; an angle detection unit 14 that an electrical angle θ of the PM motor 10th detected; a 3-phase / dq converter unit 22 which is used by the drive current detection units 12u and 12v converts detected drive currents Iu, Iv and Iw into a d-axis feedback current value Id and a q-axis feedback current value Iq based on the electrical angle θ; a sine control unit 40 that sets a d-axis current command value Id * and a q-axis current command value Iq * based on a torque command value T * from the outside, and generates a d-axis voltage command value Vd and a q-axis voltage command value Vq in a sine control mode ; a rectangle control unit 50 having a voltage phase θv and a voltage command value | Va | from the outside based on the torque command value T * and generates a d-axis voltage command value Vd and a q-axis voltage command value Vq in a rectangular control mode; a switching unit 24th , the generation of the d-axis voltage command value Vd and the q-axis voltage command value Vq between the sine control unit 40 and the rectangle control unit 50 toggles; a dq / 3-phase converting unit 32 which converts the d-axis voltage command value Vd and the q-axis voltage command value Vq into 3-phase voltage command values Vu, Vv and Vw; and a drive signal generation unit 36 , the control signals Su, Sv and Sw for switching the inverter 20 generated by comparing the 3-phase voltage command values Vu, Vv and Vw with a triangular wave with a predetermined cycle,
the engine control device further comprising a mode transition unit 80 includes that works when the switching unit 24th switches a control mode, and
the mode transition unit 80 :

• detects the voltage phase θv and the voltage command value | Va |, which are obtained by performing polar coordinate conversion of a d-axis voltage command value Vd "and a q-axis voltage command value Vq" in the sine control mode, as the initial voltage phase θv1 and the initial value of a transition voltage command value | Va ' |, gives the initial voltage phase and the initial value of the transition voltage command value to the square-wave control unit 50 at the time of switching from the sine control mode to the square wave control mode, detects a square wave voltage value | Va1 | in which the drive signals Su, Sv and Sw become rectangular patterns continuously increases the transition voltage command value | Va '| from the initial value to the square wave voltage value | Va1 |, gives the transition voltage command value to the square wave control unit 50 and generates the d-axis voltage command value Vd and the q-axis voltage command value Vq based on the transition voltage command value | Va '|,
• gives the d-axis voltage command value Vd and the q-axis voltage command value Vq in the rectangular control mode by the rectangular control unit 50 are output as the initial value Vd1 of the d-axis voltage command value and as the initial value Vq1 of the q-axis voltage command value to the sine control unit 40 calculates transition data Ifb for calculating an initial value Id * 1 of the d-axis current command value and an initial value Iq * 1 of the q-axis current command value on the basis of the d-axis feedback current value Id and the q-axis feedback current value Iq and gives them Transition data to the sine control unit 40 out,
• detects that from the rectangle control unit 50 output voltage command value | Va | at the time of switching from the rectangular control mode to the sine control mode as the initial value of the transition voltage command value | Va '|, detects a sine mode transition voltage value | Va2 | in which the drive signals Su, Sv and Sw are reduced to a sine pattern or an overdrive pattern continuously the transition voltage command value | Va '| from the initial value to the sine mode transition voltage value | Va2 | while maintaining the rectangular control mode, gives the transient voltage command value to the rectangular control unit 50 and generates the d-axis voltage command value Vd and the q-axis voltage command value Vq based on the transition voltage command value | Va '|, and then the switching unit switches 24th through the sine control unit 40 to the sine control mode, and
• generates a d-axis voltage command value Vd at the time of switching and a q-axis voltage command value Vq at the time of switching based on the initial value Vd1 of the d-axis voltage command value, immediately after switching from the rectangular control mode to the sine control mode Initial value Vq1 of the q-axis voltage command value, the initial value Id * 1 of the d-axis current command value and the initial value Iq * 1 of the q-axis current command value, and gives the d-axis voltage command value Vd at the time of switching and the q-axis Voltage command value Vq at the time of switching to the dq / 3-phase converter unit 32.

(5) In the engine control device 100 that in one of the aspects ( 1 ) to (4), a center position of a falling edge of the triangular wave crosses a zero position of a rising edge of the 3-phase voltage command values Vu, Vv and Vw, and a frequency of the triangular wave is held to be an integer multiple of 3 one is an odd number of a frequency of the 3-phase voltage command values Vu, Vv and Vw.

• Erfassen der Spannungsphase θv und des Spannungsbefehlswerts |Va|, die erhalten werden durch Durchführung einer Polarkoordinatenumwandlung eines d-Achse-Spannungsbefehlswerts Vd" und eines q-Achse-Spannungsbefehlswerts Vq" im Sinus-Steuermodus, als Anfangsspannungsphase θv1 und als Anfangswert eines Übergangsspannungsbefehlswerts |Va'|;
• Ausgeben der Anfangsspannungsphase θv1 und des Anfangswertes des Übergangsspannungsbefehlswertes |Va'| an die Rechteck-Steuereinheit 50 zum Zeitpunkt des Umschaltens vom Sinus-Steuermodus auf den Rechteck-Steuermodus;
• Erfassen eines Rechteckbildungs-Spannungswertes |Va1|, bei dem die Ansteuersignale Su, Sv und Sw zu Rechteckmustern werden; und
• kontinuierliches Erhöhen des Übergangsspannungsbefehlswertes |Va'| vom Anfangswert auf den Rechteckbildungs-Spannungswert |Va1|, und Ausgeben des Übergangsspannungsbefehlswertes an die Rechteck-Steuereinheit 50 und Erzeugen des d-Achse-Spannungsbefehlswertes Vd und des q-Achse-Spannungsbefehlswertes Vq auf Basis des Übergangsspannungsbefehlswertes |Va'|.

(6) According to still another aspect of the invention, an engine control method is an engine control device 100 specified, comprising: an inverter 20 , the three-phase AC drive currents Iu, Iv and Iw to a PM motor 10th lets flow down; Drive current detection units 12u and 12v , capture the values of the drive currents Iu, Iv and Iw; an angle detection unit 14 that an electrical angle θ of the PM motor 10th detected; a 3-phase / dq converter unit 22 which is used by the drive current detection units 12u and 12v converts detected drive currents Iu, Iv and Iw into a d-axis feedback current value Id and a q-axis feedback current value Iq based on the electrical angle θ; a sine control unit 40 that sets a d-axis current command value Id * and a q-axis current command value Iq * based on a torque command value T * from the outside, and generates a d-axis voltage command value Vd and a q-axis voltage command value Vq in a sine control mode ; a square wave control unit 50 which has a voltage phase θv and a voltage command value | Va | from the outside based on the torque command value T * and generates a d-axis voltage command value Vd and a q-axis voltage command value Vq in a rectangular control mode; a switching unit 24th , the generation of the d-axis voltage command value Vd and the q-axis voltage command value Vq between the sine control unit 40 and the rectangle control unit 50 toggles; a dq / 3-phase converting unit 32 which converts the d-axis voltage command value Vd and the q-axis voltage command value Vq into 3-phase voltage command values Vu, Vv and Vw; a drive signal generation unit 36 , the control signals Su, Sv and Sw for switching the inverter 20 generated by comparing the 3-phase voltage command values Vu, Vv and Vw with a triangular wave with a predetermined cycle; and a mode transition unit 80 that works when the switching unit 24th switches a control mode,
being the mode transition unit 80 does the steps:

• Detecting the voltage phase θv and the voltage command value | Va |, which are obtained by performing polar coordinate conversion of a d-axis voltage command value Vd "and a q-axis voltage command value Vq" in the sine control mode, as the initial voltage phase θv1 and as the initial value of a transition voltage command value | Va '|;
• Output the initial voltage phase θv1 and the initial value of the transition voltage command value | Va '| to the rectangle control unit 50 at the time of switching from the sine control mode to the rectangular control mode;
• Detecting a square wave voltage value | Va1 | at which the drive signals Su, Sv and Sw become rectangular patterns; and
• continuously increasing the transition voltage command value | Va '| from the initial value to the square wave voltage value | Va1 |, and outputting the transition voltage command value to the square wave control unit 50 and generating the d-axis voltage command value Vd and the q-axis voltage command value Vq based on the transition voltage command value | Va '|.

• im Rechteck-Steuermodus, Ausgeben des d-Achse-Spannungsbefehlswerts Vd und des q-Achse-Spannungsbefehlswerts Vq, die von der Rechteck-Steuereinheit 50 ausgegeben werden, als Anfangswert Vd1 des d-Achse-Spannungsbefehlswerts und Anfangswert Vq1 des q-Achse-Spannungsbefehlswerts an die Sinus-Steuereinheit 40, Berechnen von Übergangsdaten Ifb zur Berechnung eines Anfangswertes Id*1 des d-Achse-Strombefehlswertes und eines Anfangswertes Iq*1 des q-Achse-Strombefehlswertes auf Basis des d-Achse-Rückkopplungsstromwertes Id und des q-Achse-Rückkopplungsstromwertes Iq, und Ausgeben der Übergangsdaten an die Sinus-Steuereinheit 40; und
• unmittelbar nach dem Umschalten vom Rechteck-Steuermodus in den Sinus-Steuermodus, Erzeugen eines d-Achse-Spannungsbefehlswert Vd zum Zeitpunkt des Umschaltens und eines q-Achse-Spannungsbefehlswertes Vq zum Zeitpunkt des Umschaltens auf Basis des Anfangswertes Vd1 des d-Achse-Spannungsbefehlswertes, des Anfangswertes Vq1 des q-Achse-Spannungsbefehlswerts, des Anfangswertes Id*1 des d-Achse-Strombefehlswerts und des Anfangswertes Iq*1 des q-Achse-Strombefehlswerts, und Ausgeben des d-Achse-Spannungsbefehlswerts Vd zum Zeitpunkt des Umschaltens und des q-Achse-Spannungsbefehlswerts Vq zum Zeitpunkt des Umschaltens an die dq/3-Phasen-Wandlereinheit 32.

(7) According to still another aspect of the invention, there is provided a motor control method of a motor control device comprising: an inverter 20 , the three-phase AC drive currents Iu, Iv and Iw to a PM motor 10th lets flow down; Drive current detection units 12u and 12v , capture the values of the drive currents Iu, Iv and Iw; an angle detection unit 14 that an electrical angle θ of the PM motor 10th detected; a 3-phase / dq converter unit 22 which is used by the drive current detection units 12u and 12v converts detected drive currents Iu, Iv and Iw into a d-axis feedback current value Id and a q-axis feedback current value Iq based on the electrical angle θ; a sine control unit 40 that have a d-axis current command value Id * and a q-axis current command value Iq * based on a torque command value T * sets from outside and generates a d-axis voltage command value Vd and a q-axis voltage command value Vq in a sine control mode; a rectangle control unit 50 having a voltage phase θv and a voltage command value | Va | from the outside based on the torque command value T * and generates a d-axis voltage command value Vd and a q-axis voltage command value Vq in a rectangular control mode; a switching unit 24th , the generation of the d-axis voltage command value Vd and the q-axis voltage command value Vq between the sine control unit 40 and the rectangle control unit 50 toggles; a dq / 3-phase converting unit 32 which converts the d-axis voltage command value Vd and the q-axis voltage command value Vq into 3-phase voltage command values Vu, Vv and Vw; a drive signal generation unit 36 , the control signals Su, Sv and Sw for switching the inverter 20 generated by comparing the 3-phase voltage command values Vu, Vv and Vw with a triangular wave with a predetermined cycle; and a mode transition unit 80 that works when the switching unit 24th switches a control mode,
being the mode transition unit 80 Steps:

• in the rectangular control mode, outputting the d-axis voltage command value Vd and the q-axis voltage command value Vq by the rectangular control unit 50 are output as the initial value Vd1 of the d-axis voltage command value and the initial value Vq1 of the q-axis voltage command value to the sine control unit 40 , Calculating transition data Ifb to calculate an initial value Id * 1 of the d-axis current command value and an initial value Iq * 1 of the q-axis current command value based on the d-axis feedback current value Id and the q-axis feedback current value Iq, and output the transition data to the sine control unit 40 ; and
• immediately after switching from the rectangular control mode to the sine control mode, generating a d-axis voltage command value Vd at the time of switching and a q-axis voltage command value Vq at the time of switching based on the initial value Vd1 of the d-axis voltage command value, the initial value Vq1 of the q-axis voltage command value, the initial value Id * 1 of the d-axis current command value and the initial value Iq * 1 of the q-axis current command value, and outputting the d-axis voltage command value Vd at the time of switching and the q -Axis voltage command value Vq at the time of switching to the dq / 3-phase converter unit 32.

• Erfassen des von der Rechteck-Steuereinheit 50 ausgegebenen Spannungsbefehlswertes |Va| zum Zeitpunkt des Umschaltens vom Rechteck-Steuermodus in den Sinus-Steuermodus als Anfangswert eines Übergangsspannungsbefehlswertes |Va'|;
• Erfassen eines Sinusmodus-Übergangsspannungswertes |Va2|, bei dem die Ansteuersignale Su, Sv und Sw zu einem Sinusmuster oder Übersteuerungsmuster werden;
• kontinuierliches Reduzieren des Übergangsspannungsbefehlswertes |Va'| vom Anfangswert auf den Sinusmodus-Übergangsspannungswert |Va2| unter Beibehaltung des Rechteck-Steuermodus, und Ausgeben des Übergangsspannungsbefehlswertes an die Rechteck-Steuereinheit 50;
• Erzeugen des d-Achse-Spannungsbefehlswerts Vd und des q-Achse-Spannungsbefehlswerts Vq auf Basis des Übergangsspannungsbefehlswerts |Va'|, und
• In der Schalteinheit 24, Umschalten in den Steuermodus durch das Sinus-Steuereinheit 40.

(8) In the engine control method described in (7), the mode transition unit performs 80 do the following:

• Detect that from the rectangle control unit 50 output voltage command value | Va | at the time of switching from the rectangular control mode to the sine control mode as an initial value of a transition voltage command value | Va '|;
• Detecting a sine mode transition voltage value | Va2 | in which the drive signals Su, Sv and Sw become a sine pattern or overdrive pattern;
• continuously reducing the transition voltage command value | Va '| from the initial value to the sine mode transition voltage value | Va2 | while maintaining the rectangle control mode, and outputting the Transition voltage command value to the rectangular control unit 50 ;
• Generating the d-axis voltage command value Vd and the q-axis voltage command value Vq based on the transition voltage command value | Va '|, and
• In the switching unit 24th , Switching to control mode by the sine control unit 40 .

• Erfassen der Spannungsphase θv und des Spannungsbefehlswerts |Va|, die durch Durchführung einer Polarkoordinatenumwandlung eines d-Achse-Spannungsbefehlswerts Vd" und eines q-Achse-Spannungsbefehlswerts Vq" im Sinus-Steuermodus erhalten werden, als Anfangsspannungsphase θv1 und als Anfangswert eines Übergangsspannungsbefehlswerts |Va'|;
• Ausgeben der Anfangsspannungsphase θv1 und des Anfangswertes des Übergangsspannungsbefehlswertes |Va'| an die Rechteck-Steuereinheit 50 zum Zeitpunkt des Umschaltens vom Sinus-Steuermodus in den Rechteck-Steuermodus;
• Erfassen eines Rechteckbildungs-Spannungswertes |Va1|, bei dem die Ansteuersignale Su, Sv und Sw zu Rechteckmustern werden;
• kontinuierliches Erhöhen des Übergangsspannungsbefehlswertes |Va'| vom Anfangswert auf den Rechteckbildungs-Spannungswert |Va1|, Ausgeben des Übergangsspannungsbefehlswertes an die Rechteck-Steuereinheit 50 und Erzeugen des d-Achse-Spannungsbefehlswertes Vd und des q-Achse-Spannungsbefehlswertes Vq auf Basis des Übergangspannungsbefehlswertes |Va'|;
• im Rechteck-Steuermodus, Ausgeben des d-Achse-Spannungsbefehlswerts Vd und des q-Achse-Spannungsbefehlswerts Vq, die von der Rechteck-Steuereinheit 50 ausgegeben werden, als ein Anfangswert Vd1 des d-Achse-Spannungsbefehlswerts und ein Anfangswert Vq1 des q-Achse-Spannungsbefehlswerts an die Sinus-Steuereinheit 40, Berechnen von Übergangsdaten Ifb zur Berechnung eines Anfangswertes Id*1 des d-Achse-Strombefehlswertes und eines Anfangswertes Iq*1 des q-Achse-Strombefehlswertes der Basis des d-Achse-Rückkopplungsstromwertes Id und des q-Achse-Rückkopplungsstromwertes Iq, und Ausgeben der Übergangsdaten an die Sinus-Steuereinheit 40;
• Erfassen des von der Rechteck-Steuereinheit 50 ausgegebenen Spannungsbefehlswertes |Va| zum Zeitpunkt des Umschaltens vom Rechteck-Steuermodus in den Sinus-Steuermodus als Anfangswert des Übergangsspannungsbefehlswertes |Va'|;
• Erfassen eines Sinusmodus-Übergangsspannungswertes |Va2|, bei dem die Ansteuersignale Su, Sv und Sw zu einem Sinusmuster oder Übersteuerungsmuster werden;
• kontinuierliches Reduzieren des Übergangsspannungsbefehlswertes |Va'| vom Anfangswert auf den Sinusmodus-Übergangsspannungswert |Va2| unter Beibehaltung des Rechteck-Steuermodus, und Ausgeben des Übergangsspannungsbefehlswertes an die Rechteck-Steuereinheit 50;
• Erzeugung des d-Achse-Spannungsbefehlswerts Vd und des q-Achse-Spannungsbefehlswerts Vq auf Basis des Übergangsspannungsbefehlswerts |Va'|,
• Umschalten, in der Schalteinheit 24, in den Sinus-Steuermodus durch die Sinus-Steuereinheit 40; und
• unmittelbar nach dem Umschalten in den Sinus-Steuermodus, Erzeugen eines d-Achse-Spannungsbefehlswert Vd zum Zeitpunkt des Umschaltens und eines q-Achse-Spannungsbefehlswert Vq zum Zeitpunkt des Umschaltens auf Basis des Anfangswertes Vd1 des d-Achse-Spannungsbefehlswertes, des Anfangswertes Vq1 des q-Achse-Spannungsbefehlswertes, des Anfangswertes Id*1 des d-Achse-Strombefehlswerts und des Anfangswertes Iq*1 des q-Achse-Strombefehlswerts, und Ausgeben des d-Achse-Spannungsbefehlswerts Vd zum Zeitpunkt des Umschaltens und des q-Achse-Spannungsbefehlswerts Vq zum Zeitpunkt des Umschaltens an die dq/3-Phasen-Wandlereinheit 32.

(9) According to still another aspect of the invention, an engine control method is an engine control device 100 specified, comprising: an inverter 20 , the three-phase AC drive currents Iu, Iv and Iw to a PM motor 10th lets flow down; Drive current detection units 12u and 12v , capture the values of the drive currents Iu, Iv and Iw; an angle detection unit 14 that an electrical angle θ of the PM motor 10th detected; a 3-phase / dq converter unit 22 which is used by the drive current detection units 12u and 12v converts detected drive currents Iu, Iv and Iw into a d-axis feedback current value Id and a q-axis feedback current value Iq based on the electrical angle θ; a sine control unit 40 that sets a d-axis current command value Id * and a q-axis current command value Iq * based on a torque command value T * from the outside, and generates a d-axis voltage command value Vd and a q-axis voltage command value Vq in a sine control mode ; a rectangle control unit 50 having a voltage phase θv and a voltage command value | Va | from the outside based on the torque command value T * and generates a d-axis voltage command value Vd and a q-axis voltage command value Vq in a rectangular control mode; a switching unit 24th , the generation of the d-axis voltage command value Vd and the q-axis voltage command value Vq between the sine control unit 40 and the rectangle control unit 50 toggles; a dq / 3-phase converting unit 32 which converts the d-axis voltage command value Vd and the q-axis voltage command value Vq into 3-phase voltage command values Vu, Vv and Vw; a drive signal generation unit 36 , the control signals Su, Sv and Sw for switching the inverter 20 generated by comparing the 3-phase voltage command values Vu, Vv and Vw with a triangular wave with a predetermined cycle; and a mode transition unit 80 that works when the switching unit 24th switches a control mode,
being the mode transition unit 80 Steps:

• Detecting the voltage phase θv and the voltage command value | Va | obtained by performing polar coordinate conversion of a d-axis voltage command value Vd "and a q-axis voltage command value Vq" in the sine control mode, as the initial voltage phase θv1 and as the initial value of a transient voltage command value | Va '|;
• Output the initial voltage phase θv1 and the initial value of the transition voltage command value | Va '| to the rectangular control unit 50 at the time of switching from the sine control mode to the rectangular control mode;
• Detecting a square wave voltage value | Va1 | at which the drive signals Su, Sv and Sw become rectangular patterns;
• continuously increasing the transition voltage command value | Va '| from the initial value to the square wave voltage value | Va1 |, outputting the transition voltage command value to the square wave control unit 50 and generating the d-axis voltage command value Vd and the q-axis voltage command value Vq based on the transition voltage command value | Va '|;
• in the rectangular control mode, outputting the d-axis voltage command value Vd and the q-axis voltage command value Vq by the rectangular control unit 50 are output as an initial value Vd1 of the d-axis voltage command value and an initial value Vq1 of the q-axis voltage command value to the sine control unit 40 , Calculating transition data Ifb to calculate an initial value Id * 1 of the d-axis current command value and an initial value Iq * 1 of the q-axis current command value based on the d-axis feedback current value Id and the q-axis feedback current value Iq, and output the transition data to the sine control unit 40 ;
• Detect that from the rectangle control unit 50 output voltage command value | Va | at the time of switching from the square wave control mode to the sine control mode as the initial value of the transition voltage command value | Va '|;
• Detecting a sine mode transition voltage value | Va2 | in which the drive signals Su, Sv and Sw become a sine or overdrive pattern;
• continuously reducing the transition voltage command value | Va '| from the initial value to the sine mode transition voltage value | Va2 | while maintaining the rectangular control mode, and outputting the transient voltage command value to the rectangular control unit 50 ;
• Generation of the d-axis voltage command value Vd and the q-axis voltage command value Vq on the basis of the transition voltage command value | Va '|,
• Switch over, in the switching unit 24th , in the sine control mode by the sine control unit 40 ; and
• immediately after switching to the sine control mode, generating a d-axis voltage command value Vd at the time of switching and a q-axis voltage command value Vq at the time of switching based on the initial value Vd1 of the d-axis voltage command value, the initial value Vq1 of q-axis voltage command value, the initial value Id * 1 of the d-axis current command value and the initial value Iq * 1 of the q-axis current command value, and outputting the d-axis voltage command value Vd at the time of switching and the q-axis voltage command value Vq at the time of switching to the dq / 3-phase converter unit 32.

(10) In the engine control procedure, which in one of the points ( 6 ) to ( 9 ) is given, a center position of a falling edge of the triangular wave crosses a zero position of a rising edge of the 3-phase voltage command values Vu, Vv and Vw, and a frequency of the triangular wave is held to be an integer multiple of 3 an odd number of a frequency of the 3-phase voltage command values Vu , Vv and Vw is.

Advantageous effects of the invention

An engine control device and an engine control method of the invention continuously change a drive signal between a sine pattern (overmodulation pattern / overdrive pattern) and a rectangular pattern while performing torque control in a rectangular control mode when a control mode is switched. This makes it possible to switch smoothly between the control modes with low torque fluctuations. Switching is also possible during a transitional period, making the responsiveness high. Since the torque control takes place in the rectangular control mode during the transition time, even if the torque command value, the supply voltage and the speed of the PM motor change during the transition time, these changes are reflected as required, so that there are no torque fluctuations at the time of switching the control modes .

Figure list

• 1 is a block diagram of a motor control device according to the invention.
• 2nd Fig. 12 is a diagram describing the operating state of an engine and switching between control modes.
• 3rd Fig. 4 is a diagram showing a positional relationship between a triangular wave and a 3-phase voltage command value Vu describes the engine control device according to the invention.
• 4th FIG. 10 is a flowchart illustrating the operations at the time of entering a rectangular control mode of an engine control method according to the invention.
• 5 10 is a flowchart illustrating the operations at the time of transitioning to a sine control mode of the engine control method according to the invention.
• 6 10 is a diagram describing a triangular wave of the engine control device and the engine control method according to the invention.

Mode for carrying out the invention

Referring to the drawings, the embodiments of an engine control device 100 and an engine control method according to the invention. 1 here is a block diagram of the engine control device according to the invention 100 . Firstly, the engine control device according to the invention 100 the operation of a permanent magnet motor (PM motor) 10th control and includes: an inverter 20 which the three-phase AC drive currents Iu, Iv and Iw to a PM motor 10th lets flow; Drive current detection units 12u and 12v , capture the values of the drive currents Iu, Iv and (Iw); an angle detection unit 14 that an electrical angle θ of the PM motor 10th detected; a 3-phase / dq converter unit 22 which is used by the drive current detection units 12u and 12v converts detected drive currents Iu, Iv and Iw into a d-axis feedback current value Id and a q-axis feedback current value Iq based on the electrical angle θ; a sine control unit 40 which sets a d-axis current command value Id * and a q-axis current command value Iq * on the basis of a torque command value T * predetermined from the outside (control unit or the like of a host system) and a d-axis Generates voltage command value Vd and a q-axis voltage command value Vq in a sine control mode; a rectangle control unit 50 having a voltage phase θv and a voltage command value | Va | on the basis of the torque command value T *, which is also predefined from the outside, and generates a d-axis voltage command value Vd and a q-axis voltage command value Vq in a rectangular control mode; a switching unit 24th that control the PM motor 10th between the sine control unit 40 and the rectangle control unit 50 switches, a dq / 3-phase converter unit 32 which outputs the d-axis voltage command value Vd and the q-axis voltage command value Vq by the sine control unit 40 or the rectangle control unit 50 are output in 3-phase voltage command values Vu , Vv and Vw which converts U-phase, V-phase and W-phase; a drive signal generation unit 36 , the control signals Su, Sv and Sw for switching the inverter 20 by comparing the 3-phase voltage command values Vu , Vv and Vw generated with a triangular wave of a predetermined cycle; and a mode transition unit 80 which performs predetermined operations when the switching unit 24th switches a control mode.

The inverter 20 which is the engine control device 100 of the invention, leads through the high-low drive signals Su, Sv and Sw by the drive signal generating unit 36 are output, a switching process, and the DC voltage of a known DC voltage supply unit 18th , such as a battery, is converted into a 3-phase AC voltage based on the drive signals Su, Sv and Sw, so that the 3-phase AC voltage is output. Accordingly, the 3-phase drive currents Iu, Iv and Iw flow with a phase shift of 1/3 cycle (2 / 3π (rad)) to the armature windings of the PM motor 10th .

In addition, the PM motor 10th provided with a permanent magnet on the rotor side and three-phase armature windings on the stator side, as described above, and the drive currents Iu, Iv and Iw described above flow to the three-phase armature windings, so that the rotor rotates due to constantly changing magnetic poles and the magnetic flux of each armature winding is moved. It is noted that as a PM motor 10th preferably an internal permanent magnet motor (IPM) is used, in which a permanent magnet is embedded in a rotor.

As drive current detection units 12u and 12v Known current sensors can be used, which are caused by the switching process of the inverter 20 flowing control currents Iu, Iv and Iw can record without contact. It is noted that in this example two drive currents Iu and Iv are detected from the drive currents Iu, Iv and Iw and converted into the feedback current values Id and Iq of the d and q axes.

In addition, as an angle detection unit 14 Known angle sensors that can detect the angle of a rotor can be used. In particular, the detection of the electrical angle θ of the PM motor 10th preferred by a resolver rotation angle sensor. It should be noted that the detection of the electrical angle θ and the drive currents Iu and Iv is preferably carried out at the time of the peak and the valley of a triangular wave, and in each unit of the motor control device 100 is used in every half cycle of the triangular wave. Then that of the angle detection unit 14 detected electrical angle θ to an angular velocity calculation unit 16 output, and the angular velocity calculation unit 16 calculates a speed co (rad / s) of the electrical angle θ from the input electrical angle and outputs the speed co of the electrical angle to each unit of the motor control device 100 out.

In addition, the 3-phase / dq converter unit 22 performs 3-phase-2-phase conversion and rotation coordinate conversion of the driving currents Iu, Iv, and Iw by the driving current detection units 12u and 12v based on that from the angle detection unit 14 detected electrical angle θ (rad) of the PM motor 10th are detected in order to convert the drive currents Iu, Iv and (Iw) into a d-axis current value (magnetic flux current value) Id and a q-axis current value (torque current value) Iq. These are then sent to the switching unit as the d-axis feedback current value Id and the q-axis feedback current value Iq 24th spent.

The switching unit 24th is a circuit which shows how the d-axis voltage command value Vd and the q-axis voltage command value Vq are generated depending on the operating state (torque, speed) of the PM motor 10th switches, and in a case where the PM motor 10th in an area A (sine control area A) of 2nd operates at medium / low speeds, the PM motor 10th through the sine control unit 40 controlled in sine control mode. Also, in a case where the PM motor 10th in an area B (rectangle control area B) of 2nd operates at high speed and high torque, the control of the PM motor 10th through the rectangle control unit 50 switched, and the PM motor 10th works in rectangular control mode. It is noted that the switching value (switching line C) between the sine control area A and the rectangular control area B depends on the voltage value of the DC power supply unit 18th varies. Preferably, the DC power supply unit should be for each voltage value 18th beforehand a switching value in a memory unit or similar. (not shown) and the switching unit 24th the voltage value of the DC power supply unit 18th Record and use the corresponding switching value. In addition, in a case where there is no suitable voltage value, it is preferred to have a corresponding one Switching value to be used, which by calculation or similar. is obtained from the switching values of the previous and subsequent voltages. If the operating state (torque, speed) of the PM motor 10th exceeds the switching value, each step for switching the control mode described later is then carried out. It should be noted that a hysteresis width is preferred for the switching value at the time of switching from the sine control to the rectangular control and the switching value at the time of switching from the rectangular control to the sine control in order to avoid frequent switching operations at the limit line of the switching values.

Next is the configuration and operation of the sine control unit 40 described. The configuration of the sine control unit described below 40 is an example suitable for the invention, but the invention is not limited to the following configuration and any other sine control mechanism can be used.

First, the torque command value T * from a control device or the like. of a host system. The torque command value T * is a torque that is an operating target of the PM motor 10th is. Then, the torque command value T * is set in a current command value setting unit 402 the sine control unit 40 entered when the switching unit 24th the sine control unit 40 selects. In addition, a current torque T of the PM motor 10th from a torque calculation unit 404 into the current command value setting unit 402 entered.

• T = P(ϕaIq* + (Ld - Lq)Id*Iq*) [Nm]
• P: Anzahl der Polpaare des Permanentmagneten des PM-Motors
• ϕa: Induktionsspannungskonstante
• Ld: d-Achse-Induktivität
• Lq: q-Achse-Induktivität

Here's the torque calculation unit 404 an induction voltage constant ϕa, a d-axis inductance Ld, a q-axis inductance Lq and the like as motor parameters of the PM motor 10th . It is noted that the induction voltage constant ,a, the d-axis inductor Ld and the q-axis inductor Lq may be fixed values or may be suitable values that correspond in advance to the temperature and operating conditions of the PM motor 10th , for example from a data table and the like. From these values and the d-axis and q-axis current values Id and Iq described later or from a current command value generation unit 406 The d and q-axis current command values Id * and Iq * output are calculated by the torque calculation unit 404 then the current torque T of the PM motor 10th eg according to the following formula. Note that this example illustrates the case of calculating the torque T based on the d-axis and q-axis current command values Id * and Iq *.

• T = P (ϕaIq * + (Ld - Lq) Id * Iq *) [Nm]
• P: Number of pole pairs of the permanent magnet of the PM motor
• ϕa: induction voltage constant
• Ld: d-axis inductance
• Lq: q-axis inductance

The current command value setting unit 402 sets a current command value Ia * so that the torque T takes the torque command value T * based on the torque command value T * and the current torque T, and outputs the current command value Ia * to the current command value generation unit 406 out. It is noted that the current command value Ia * can be calculated by calculations such as integral and proportional control. In addition, a limiter value for the current command value Ia * can be set, and the limiter value can be a value that corresponds to the speed co of the electrical angle and supply voltage Vdc (read from table data). In addition, only the maximum value of the limiter can be set and used.

The current command value generation unit 406 takes, for example, from the table data or similar. a current phase angle θί of that from the current command value setting unit 402 entered current command value Ia *, calculates the d-axis current command value Id * and the q-axis current command value Iq * from the current command value Ia * and the current phase angle θi and gives the d-axis current command value Id * and the q-axis current command value Iq * to a voltage command value generation unit 416 the sine control unit 40 out. Here, by obtaining the motor voltage from a known arithmetic expression, the motor parameters (ϕa, Ld and Lq) and the speed co of the electrical angle, and the d-axis and q-axis current command values Id * and Iq *, and by setting the d-axis and q-axis current command values Id * and Iq * so that the level of the motor voltage does not exceed the value of K × Vdc (K: voltage utilization rate), an override control area and a control area between the sine and rectangular areas can be provided with weak magnetic flux, and it is possible to improve the performance in the medium and high speed range. In addition, by changing the voltage utilization factor K, the d-axis and q-axis current command values Id * and Iq * can be set at any voltage utilization factor. It should be noted that the setting of the current command values Id * and Iq * of the d and q axes using the voltage utilization factor K is preferably carried out by a known voltage control, proportional control, integral control or the like. based on the motor parameters (ϕa, Ld and Lq), the speed co of the electrical angle from the angular velocity calculation unit 16 , the supply voltage Vdc from the DC power supply unit 18th and the like can be. In addition, this can be calculated by an operation, such as an integral control or a proportional control, with respect to the current phase angle θi. If necessary, a current limitation can also be provided for the d-axis current command value Id * and the q-axis current command value Iq *.

Here is a suitable example of the voltage command value generation unit 416 described. First, the d- and q-axis current command values Id * and Iq *, which are in the voltage command value generation unit 416 are entered, branched into two branches, one of which is in a trouble-free control device 414 is entered. Then in the trouble-free control device 414 calculates an electromotive force component of the speed that interferes between the current command values Id * and Iq * of the d-axis and the q-axis and as d- and q-axis voltage command values Vd 'and Vq' to a current control unit 410 spent. In addition, the other of the current command values Id * and Iq * of the d-axis and q-axis by subtracting the d-axis and q-axis feedback current values Id and Iq in a subtraction unit 412 to fluctuation components ΔId and ΔIq and are in the current control unit 410 entered.

The power control unit 410 includes, for example, a current integration control unit 410a and a current proportional control unit 410b . That of the current control unit 410 supplied fluctuation components ΔId and ΔIq are forked and the current integration control unit 410a or the current proportional control unit 410b fed. Then the known power integration control in the power integration control unit 410a carried out. In addition, the known current-proportional control in the current proportional control unit 410b carried out. Then after the d-axis and q-axis voltage command values Vd 'and Vq' of the trouble-free control device 414 to the output of the current integration control unit 410a was added, the output of the current proportional control unit 410b added and the d-axis voltage command value Vd and the q-axis voltage command value Vq are generated. The d-axis voltage command value Vd and the q-axis voltage command value Vq are via the switching unit 24th to a control signal generating unit 30th spent.

It should be noted that the current control unit 410 is preferably provided with a limiting unit that the 3-phase voltage command values Vu , Vv and Vw based on the d-axis and q-axis voltage command values Vd and Vq so as not to be near a maximum voltage (voltage that becomes a square wave voltage of a pulse) which is an output limitation of the inverter 20 should be. Then it is preferred to provide this limiting unit on the front stage where the output of the current proportional control unit 410b is added. It is also preferred to limit the limit voltage of the limiter according to the number of synchronizations of a triangular wave described later by a synchronization control unit 420 is set to discontinue.

In addition, the d- and q-axis voltage command values Vd "and Vq" of the front stage, where the output of the current proportional control unit 410b is added to a polar coordinate converter unit 418 the sine control unit 40 output, and this polar coordinate converting unit 418 performs polar coordinate conversion so that the voltage phase θv and the voltage command value | Va | be preserved. Then the polar coordinate converter unit 418 the voltage phase θv to the synchronization control unit 420 and the mode transition unit 80 out. In addition, the voltage command value | Va | to a linearity correction unit 38 and the mode transition unit 80 spent.

In addition, the synchronization control unit generates 420 the sine control unit 40 the triangular wave carrier setting information Sc described later from that by the polar coordinate converting unit 418 obtained voltage phase θv , the speed co of the electrical angle and the electrical angle θ , and outputs the triangular wave carrier setting information Sc to a triangular wave generating unit 34 out. It is noted that the triangular shaft setting information Sc will be described later.

Next is the configuration and operation of the rectangle control unit 50 described. Because the configuration of the rectangular control unit described below 50 As an example suitable for the invention, the invention is not limited to the following configuration, so that any other rectangular control mechanism can be used.

First, if the PM motor 10th the switching value (switching line C) in 2nd exceeds and goes into the operating state of operating range B at high speed and high torque, the switching unit switches 24th the control of the PM motor 10th from the sine control unit 40 on the rectangle control unit 50 around. Note that the switching operation will be described later here. Accordingly, the torque command value T * is put into a voltage phase setting unit 502 the rectangle control unit 50 entered. In addition, the d-axis feedback current value Id and the q- Axis feedback current value Iq in a torque calculation unit 504 the rectangle control unit 50 entered. It is noted that the torque calculation unit 504 Motor parameters similar to the torque calculation unit 404 the sine control unit 40 includes and the current torque T of the PM motor 10th based on these motor parameters and the d-axis and q-axis feedback current values Id and Iq and the current torque T to the voltage phase setting unit 502 issues. The voltage phase setting unit then generates 502 the voltage phase θv that the PM motor 10th through integral control, proportional control or similar can work with a target torque, based on the torque command value T * and the torque T. Then, the voltage phase θv to a voltage command value generation unit 516 and a synchronization control unit 520 the rectangle control unit 50 spent.

The synchronization control unit 520 generates the triangular wave carrier setting information Sc from the voltage phase θv, the speed co of the electrical angle and the electrical angle θ. It is noted that the triangular shaft setting information Sc will be described later. The synchronization control unit also detects 520 the voltage command value | Va |, where the triangular wave and the 3-phase voltage command values Vu , Vv and Vw in a cycle of 3-phase voltage command values Vu , Vv and Vw cross twice, ie the drive signals Su, Sv and Sw generated by the triangle comparison become a square wave of a pulse, and give the voltage command value | Va | to the voltage command value generation unit 516 out. It should be noted that the setting of the voltage command value | Va | through the synchronization control unit 520 preferably takes place in that the value of the voltage command value | Va | is set in advance in the data table for each number of triangular wave synchronizations and the voltage command value | Va | is selectively set according to the number of synchronizations at the same time when the synchronization control unit 520 determines the number of synchronizations of the triangular wave. Then there is the synchronization control unit 520 the voltage command value | Va | to the voltage command value generation unit 516 and the linearity correction unit 38 out. It is noted that the voltage command value | Va | to form the square wave, preferably as a square-wave voltage value | Va1 | is used, which will be described later.

In addition, the voltage command value generation unit generates 516 the d-axis voltage command value Vd and the q-axis voltage command value Vq from the voltage phase θv by the voltage phase setting unit 502 is entered and the voltage command value | Va | by the synchronization control unit 520 is entered.

It is noted that the rectangle control unit 50 a correction unit 70 may include that corrects a fluctuation component due to an offset or the like. Here is an example of the correction unit 70 shown. It should be noted that the configuration of the correction unit described below 70 is an example suitable for the invention, and thus the invention is not limited to the following configuration.

The correction unit shown in this example 70 includes a smoothing unit 72 , a correction current generation unit 74 , a correction voltage generating unit 76 and a voltage command value correction unit 78 . The smoothing unit 72 the correction unit 70 smoothes the over the switching unit 24th entered d-axis and q-axis feedback current values Id and Iq, for example by performing a moving averaging process or smoothing. It is noted that the smoothing process here specifies a process of smoothing the input signal (d-axis and q-axis feedback current values Id and Iq) using the process of the following formula (1) for any cycle. $$\text{C.}=\text{B}\left(1-\text{K}\right)+\text{K}\times \text{A}$$

A is an input value (d-axis and q-axis feedback current values Id and Iq), B is an output value after the smoothing process of the immediately preceding cycle, K is a smoothing constant and C is an output value (estimated d-axis and q-axis Current command values Id * and Iq *).

This smoothing process generates a pseudo-estimated d-axis current command value Id * and a pseudo-estimated q-axis current command value Iq *, in which the fluctuation components caused by the offset and an amplitude unevenness of the drive currents Iu, Iv and Iw are smoothed. The estimated d-axis and q-axis current command values Id * and Iq * are sent to the correction current generation unit 74 spent.

In addition, the d-axis feedback current value Id and the q-axis feedback current value Iq become the correction current generation unit 74 entered, and the correction current generating unit 74 subtracts the d-axis feedback current value Id and the q-axis feedback current value Iq from the estimated d-axis current command value Id * and the estimated q-axis current command value Iq * by the smoothing unit 72 generated become. Accordingly, the d-axis correction current ΔId and the q-axis correction current ΔIq are generated as fluctuation components. Then, the d-axis correction current ΔId and the q-axis correction current ΔIq are sent to the correction voltage generating unit 76 spent. It is noted that since the d-axis correction current ΔId and the q-axis correction current ΔIq by appropriately subtracting the feedback current values Id and Iq including the offset and amplitude non-uniformity components (fluctuation components) from the estimated d-axis and q-axis Current command values Id * and Iq *, which are obtained by smoothing the offset and amplitude inequality components (fluctuation components), the d-axis correction current ΔId and the q-axis correction current ΔIq essentially have the opposite phases of the fluctuation components.

In addition, the correction voltage generation unit generates 76 a d-axis correction voltage ΔVd and a q-axis correction voltage ΔVq, for example, by proportional control and the like in accordance with predetermined correction gains (Kd and Kq) on the basis of the d-axis correction current ΔId and the q-axis correction current ΔIq, which of the Correction current generation unit 74 are input, and outputs the d-axis correction voltage ΔVd and the q-axis correction voltage ΔVq to the voltage command value correction unit 78 out.

The voltage command value correction unit 78 adds the d-axis correction voltage ΔVd and the q-axis correction voltage ΔVq by the correction voltage generation unit 76 are inputted to the d-axis voltage command value Vd or q-axis voltage command value Vq by the voltage command value generating unit 516 be issued. The generated d-axis and q-axis voltage command values Vd and Vq are therefore obtained by adding the blocking voltages (d-axis and q-axis correction voltages ΔVd and ΔVq) for the offset currents generated in the drive currents Iu, Iv and Iw and amplitude inequality components. Then, the d-axis voltage command value Vd and the q-axis voltage command value Vq via the switching unit 24th into the control signal generating unit 30th entered. Since the d-axis voltage command value Vd and the q-axis voltage command value Vq are used by the correction unit 70 are corrected, as described above by adding the blocking voltages for the offset and amplitude unequal components, the offset or the like. of the correspondingly driven PM motor 10th corrected and eliminated.

Next are those from the synchronization control units 420 and 520 output carrier setting information Sc described. The carrier setting information Sc holds the frequency of that from the triangular wave generating unit 34 generated triangular waves in a suitable state. Here, in the triangular wave determined by the carrier setting information Sc, as by a point A in 3rd shown, the center position of the falling edge of the triangular wave crosses the zero position of the rising edge of the 3-phase voltage command values Vu , Vv and Vw , and the frequency of the triangular wave becomes an integer multiple of 3 an odd number of the frequency of the 3-phase voltage command values Vu , Vv and Vw , ie 9 , 15, 21, 27 or the like (in the following this multiple is referred to as the number of synchronizations). It is noted that the number of synchronizations of the triangular wave is set in accordance with the speed of the electrical angle co. The reason why the frequency of the triangular wave is an integer multiple of 3 is an odd number of the frequency of the 3-phase voltage command values Vu , Vv and Vw will be described later.

It is noted that in this example, as the voltage phase θv used to generate the carrier setting information Sc, the voltage phase θv obtained from the voltage command values Vd "and Vq" of the d-axis and q-axis (before the output addition of the current proportional unit 410b ) or before the correction unit 70 branched voltage phase θv (with proportional control) is used. In this case, in a case in which the voltage phase θv comprises the proportional control component, which is a short-term vibration component, the cycle of the triangular wave (carrier setting information Sc) also briefly oscillates in accordance with the proportional component. This vibrates the drive signals Su, Sv and Sw generated by the triangle comparison and becomes a fluctuation factor of the output voltage, the output current and the output torque. However, since in this example the carrier setting information Sc is determined via the voltage phase θv, which does not include the proportional control component (short-term vibration component) as described above, in this example the triangular wave and the control signals Su, Sv and Sw are stable and thus the output voltage , the current and the torque can be stabilized. It is also possible, by using the voltage phase θv, which does not include the proportional control component, the control gains of the synchronization control units 420 and 520 , the voltage phase setting unit 502 etc. to increase and improve their responsiveness.

Then put the synchronization control units 420 and 520 the cycle of the triangular wave one at which the center position of the triangular wave and the zero position of the 3-phase voltage command value Vu ( Vv , Vw ), based on the voltage phase θv and the electrical angle θ, and the frequency of the triangular wave becomes the set number of synchronizations (integer multiple of 3 an odd number of the frequency of the 3-phase voltage command values Vu , Vv and Vw ). In addition, the synchronization control units change 420 and 520 the cycle setting information associated with the change in the speed ω of the electrical angle and follow and keep the triangular wave in the above state. In addition, when the speed of the electric angle co exceeds a predetermined value, the synchronization control units set and give 420 and 520 the carrier setting information Sc by reducing the number of synchronizations by one step. In addition, in the event that the speed co of the electrical angle falls below a predetermined value, the synchronization control units set and give 420 and 520 the carrier setting information Sc by increasing the number of synchronizations by one step. It is noted that it is preferable that the value of the electric angle speed ω that changes the number of synchronizations is stored in advance in a data table or the like for each number of synchronizations, and that the synchronization control units 420 and 520 take the corresponding number of synchronizations from the data table according to the entered speed co of the electrical angle in order to carry out the setting. Here, it is preferable that the speed ω of the electrical angle, which increases or decreases the number of synchronizations, has a hysteresis width. It should be noted that in connection with the change of the triangular wave cycle, the correction gain (Kd, Kq) of the correction voltage generating unit described above 76 , a time constant of the smoothing unit 72 , a gain of each controller and the like can be set and reset.

Next, a preferred example of the control signal generation unit 30th described. Since the configuration of the control signal generating unit described below 30th As an example suitable for the invention, the invention is not limited to the following configuration, so that any other control signal generation mechanism can be used.

First, the d-axis voltage command value Vd and the q-axis voltage command value Vq are those from the sine control unit 40 or the rectangular control unit 50 are output to the dq / 3-phase converter unit 32 of the control signal generating unit 30th entered. It is noted that the control signal generation unit 30th the linearity correction unit 38 to correct the non-linearity of the d-axis and q-axis voltage command values Vd and Vq, and the voltage command value | Va | at the time of the rectangular control and the overdrive control at the front stage of the dq / 3-phase converter unit 32 with the fundamental wave component of an output voltage of the inverter can contain. It is noted that that in the linearity correction unit 38 correction value used preferably according to, for example, a modulation factor or the voltage command value | Va | is set.

It is noted that in this example, as the voltage command value | Va |, which is in the linearity correction unit 38 is input, the voltage command value | Va | which is obtained from the voltage command values Vd "and Vq" of the d and q axes (before the output addition of the current proportional control unit 410b ) or from the synchronization control unit 520 voltage command value | Va | output at the front stage (or | Va '|) (without short-term vibration components of the d-axis correction voltage ΔVd and the q-axis correction voltage ΔVq of the correction device 70 ) of the correction unit 70 (where the proportional control takes place) can be used. The correction value varies in the event that the voltage command value | Va | comprises a proportional control component, which is a short-term vibration component, through the influence of the vibration component. The following 3-phase voltage command values also vary accordingly Vu , Vv and Vw and the subsequent drive signals Su, Sv and Sw, which lead to fluctuations in the output voltage, the output current and the output torque. However, since the correction value in this example is based on the relatively stable voltage command value | Va | setting that does not include the proportional control component as described above, stable 3-phase voltage command values can be set Vu , Vv and Vw and stable control signals Su, Sv and Sw are generated and thus the output voltage, the current and the torque are stabilized. By setting the correction value based on the voltage command value | Va | , which does not include the proportional control component, it is also possible to use the gains of the current proportional control unit 410b and the correction voltage generating unit 76 to increase and thus improve the response behavior.

In addition, the electrical angle θ of the angle detection unit 14 and the electrical angle velocity ω of the angular velocity calculation unit 16 input into the dq / 3 phase converter 32, and from the electrical angle θ and the speed ω of the electrical Angle, a predicted electrical angle θ 'is calculated at a new time when the inverter 20 performs the switching operation, and the voltage command values Vd and Vq The d and q axes are converted into the 3-phase voltage command values based on the predicted electrical angle θ ' Vu , Vv and Vw converted, and the 3-phase voltage command values Vu , Vv and Vw are sent to the drive signal generating unit 36 spent.

The drive signal generation unit 36 includes the triangular wave generating unit 34 , and the carrier setting information Sc described above are input to the triangular wave generating unit 34 is input to generate a triangular wave with one cycle based on the carrier setting information Sc. It is noted that the triangular wave here becomes a triangular wave in which the center position of the falling edge of the triangular wave is the zero position of the rising edge of the 3-phase voltage command values Vu , Vv and Vw and their frequency crosses an integer multiple of 3 an odd number of the 3-phase voltage command values Vu , Vv and Vw based on the carrier setting information Sc from the synchronization control units 420 and 520.

The drive signal generation unit then compares 36 the triangular wave with the 3-phase voltage command values Vu , Vv and Vw . Here, the amplitude of the triangular wave increases or decreases in accordance with the carrier setting information Sc. Therefore, the 3-phase voltage command values Vu , Vv and Vw is adjusted by a conversion coefficient that is proportional to the amplitude of the triangular wave, and the triangular wave comparison is made after the adjustment with the 3-phase voltage command values Vu , Vv and Vw carried out. As a result, high-low drive signals Su, Sv and Sw are generated.

In the inverter 20 the internal switching elements by the drive signals Su, Sv and Sw of the drive signal generating unit 36 on and off and the DC voltage of the DC voltage supply unit 18th is converted into an AC voltage on the basis of the control signals Su, Sv and Sw, so that the AC voltage is output. Accordingly, the drive alternating currents Iu, Iv and Iw flow with a phase shift of 1/3 cycle (2 / 3π (rad)) to the armature windings of the PM motor 10th . The PM motor rotates accordingly 10th with a torque that corresponds to the torque command value T *.

The following is the operation of the mode transition unit 80 having a characteristic configuration of the engine control device 100 and describes the motor driving method according to the invention. 4th Fig. 14 is a flowchart at the time of switching from the sine to the rectangular control mode. Also is 5 a flowchart at the time of switching from rectangular to sine control.

First, the operation at the time of switching from the rectangular control mode to the sine control mode, which is the first form of the motor control device 100 and the engine control method of the invention. First, the sine control unit generates 40 in the sine control mode, the d-axis voltage command value Vd and the q-axis voltage command value Vq on the basis of the torque command value T *, and the drive signals Su, Sv and Sw are based on the d-axis voltage command value Vd and the q- Axis voltage command value Vq generated. In a case where the sine control unit 40 enables overdrive control or weak magnetic flux control, drive signals Su, Sv and Sw become a sine or overdrive pattern. In addition, the drive signals Su, Sv and Sw become a sine pattern when the sine control unit 40 has no override function or weak magnetic flux control. Then the PM motor 10th controlled in operation by the control signals Su, Sv and Sw of the sine or overdrive pattern (step S102 ).

In addition, the polar coordinate conversion unit performs 418 the sine control unit 40 As described above, a polar coordinate conversion to the d- and q-axis voltage command values Vd "and Vq" by before the current proportional control components in the current control unit 410 are added to the voltage phase θv and the voltage command value | Va | to calculate. Then the mode transition unit detects 80 the voltage phase θv and the voltage command value | Va | (Step S104 ) and sets the voltage phase θv and the voltage command value | Va | as initial values of an initial voltage phase θv1 and the transition voltage command value | Va '| (Step S105 ). It is noted that the voltage phase θv and the voltage command value | Va | change as needed and thus the initial values of the initial voltage phase θv1 and the transition voltage command value | Va '| change accordingly. As described above, since the initial values of the initial voltage phase θv1 and the transition voltage command value | Va '| are obtained from the voltage command values Vd "and Vq" of the d and q axes which do not include the proportional control components, there are, as described above, only slight short fluctuations, so that the output can be stabilized during the transition period described later.

If the torque command value T * increases from the outside and thus the operating state (torque, speed) of the PM motor 10th exceeds the switching value (switching line C) and becomes the rectangular control area B (step S106 : Yes), the switching unit switches 24th immediately the generation unit for the d-axis voltage command value Vd and the q-axis voltage command value Vq from the sine control unit 40 on the rectangle control unit 50 around (step S108 ). It is noted that in a case where the engine control device 100 is equipped with the second form described later, a control unit on the rectangular control unit 50 switches and the steps described later S203 and S204 be carried out. Therefore, the rectangle control unit 50 output d-axis and q-axis voltage command values Vd and Vq as initial values Vd1 and Vq1 of the d-axis and q-axis voltage command values to the sine control unit 40 and transition data Ifb are calculated based on the d-axis feedback current value Id and the q-axis feedback current value Iq.

In addition, there is the mode transition unit 80 the initial voltage phase θv1 to the voltage phase setting unit 502 the rectangle control unit 50 and the initial value (= | Va |) of the transition voltage command value | Va '| to the synchronization control unit 520 off (step S110 ).

Next, the mode transition unit detects 80 the square wave voltage value | Va1 | from the synchronization control unit 520 , so that the control signals Su, Sv and Sw have a single-pulse rectangular pattern (step S112 ).

The mode transition unit then increases 80 continuously the transition voltage command value | Va '| from the initial value (= | Va |) to the square-wave voltage value | Va1 | eg on the basis of a previously set time constant and gives the value to the synchronization control unit 520 off (steps S114 to S116 ).

Note that in a case where the transition voltage command value | Va '| from the mode transition unit 80 is entered, the synchronization control unit 520 the transition voltage command value | Va '| regardless of the torque command value T * to the voltage command value generation unit 516 and the switching unit 24th issues. However, the initial voltage phase θv1 is only output when the control unit is on the rectangular control unit 50 is switched, and then the initial voltage phase θv1 becomes the voltage phase θv corresponding to the torque command value T *. Accordingly, the d and q axis voltage command values become Vd and Vq during the transition time from step S114 to step S116 based on the voltage phase θv and the transition voltage command value | Va '| generated. It is noted that since the initial value of the transition voltage command value | Va '| the voltage command value | Va | which forms the sine pattern (or over-modulation pattern) used in the sine control unit 40 and the squaring voltage value | Va1 | which is the final value of the transition voltage command value | Va '| is a voltage command value that forms the rectangular pattern, while the torque signals through the voltage phase θv control signals Su, Sv and Sw are continuously changed from the sine or overload pattern to the rectangular pattern during the transition period.

In a case where the transition voltage command value | Va '| equal to or greater than the square wave voltage value | Va1 | will (step S116 : Yes), the mode transition unit stops 80 the output of the transition voltage command value | Va '| and completely changes to the rectangle control mode by the rectangle control unit 50 (Step S118 ). The rectangle control unit generates accordingly 50 from the voltage phase θv corresponding to the torque command value T * and the square-wave voltage value | Va1 | the d- and q-axis voltage command values Vd and Vq and outputs the d- and q-axis voltage command values Vd and Vq to the control signal generating unit 30th out. Accordingly, the PM motor 10th controlled in operation by the control signals Su, Sv and Sw with a square wave pattern.

As described above, in the engine control device 100 and the motor control method of the invention when switching from the sine control mode to the rectangular control mode while the torque control is performed by the voltage phase θv, the drive signals Su, Sv and Sw are continuously changed from the sine pattern (or overdrive pattern) to the rectangular pattern. For this reason, it is possible to switch smoothly between the control types with slight torque fluctuations.

Subsequently, the operation at the time of switching from the rectangular control mode to the sine control mode, which is the second form of the motor control device 100 and the engine control method. First, the rectangle control unit creates 50 in the rectangular control mode, the d-axis voltage command value Vd and the q-axis voltage command value Vq on the basis of the torque command value T *, and the drive signals Su, Sv and Sw are based on the d-axis voltage command value Vd and the q- Axis voltage command value Vq generated. The control signals Su, Sv and Sw basically have a single-pulse rectangular pattern, as above described. Then the PM motor 10th controlled during operation by the square drive signals Su, Sv and Sw (step S202 ).

During control by the rectangular control unit 50 are those of the rectangle control unit 50 output voltage command values Vd and Vq the d and q axes as initial values Vd1 and Vq1 of the d and q axis voltage command values directly or through the mode transition unit 80 (Step S203 ) to the voltage command value generation unit 416 the sine control unit 40 spent. Then, the initial values Vd1 and Vq1 of the input d-axis and q-axis voltage command values with noise components between the d-axis and the q-axis of the trouble-free control unit 414 (d-axis and q-axis voltage command values Vd 'and Vq') are subtracted accordingly and then into the current integration control unit 410a entered to become an integral value of the current control unit 410 to become. The integral value or the like the current control unit 410 but is controlling the PM motor 10th not involved during rectangular control. It is noted that the initial values Vd1 and Vq1 vary as required according to the fluctuations of the d-axis voltage command value Vd and the q-axis voltage command value Vq, which are generated by the rectangular control unit 50 spent, change.

Here the mode transition unit detects 80 the d-axis feedback current value Id and the q-axis feedback current value Iq from the 3-phase / dq converter unit 22. Then, the transition data Ifb for calculating an initial value Id * 1 of the d-axis current command value and an initial value Iq * 1 of the q-axis current command value is calculated (step S204 ). It is noted that the transition data Ifb, the integration value or the like. of the integration control unit in the current command value setting unit 402 or the current command value generation unit 406 are, which is determined by calculation, for example, with the d- and q-axis feedback current values Id and Iq and is intended to supplement the data that is not immediately after the switchover from the rectangular control unit 50 to the sine control unit 40 from the current command value setting unit 402 and the current command value generation unit 406 can be recorded. Note that the acquisition of the transition data Ifb takes place in a similar manner during the transition period described later.

If the torque command value T * decreases from the outside and thus the operating state (torque, speed) of the PM motor 10th exceeds the switching value (switching line C) and becomes the sine control area A (step S206 : Yes), detects the mode transition unit 80 from the synchronization control unit 520 output voltage command value | Va |. Then the voltage command value | Va | as the initial value of the transition voltage command value | Va '| set (step S208 ). In addition, the mode transition unit detects 80 a sine mode transition voltage value | Va2 | so that the drive signals Su, Sv and Sw assume a sine pattern (or an overdrive pattern) (step S210 ). Note that the sine mode transition voltage value | Va2 | preferably a predetermined fixed value, such as an upper limit value (limiter value of the limiter unit of the current control unit 410 ) of the voltage command value | Va | can be used in sine control mode.

The mode transition unit then reduces 80 continuously the transition voltage command value | Va '| from the initial value (= | Va |) to the sinusoidal sine mode transition voltage value | Va2 | for example, based on a previously set time constant, and gives the transition voltage command value to the synchronization control unit 520 off (steps S212 to S216 ). It is noted that even during the transition period, that of the rectangular control unit 50 initial values Vd1 and Vq1 continuously output to the sine control unit 40 be output (step S214 ), and the transition data Ifb are updated if necessary (step S215 ).

Note that in a case where the transition voltage command value | Va '| from the mode transition unit 80 is entered, the synchronization control unit 520 is not dependent on the torque command value T * and the transition voltage command value | Va '| to the voltage command value generation unit 516 and the switching unit 24th issues. Accordingly, the d and q axis voltage command values become Vd and Vq during the transition time from step S212 to step S216 based on the voltage phase θv and the transition voltage command value | Va '| generated as described above. Since the initial value (= | Va |) of the transition voltage command value | Va '| is the voltage command value at the time of square wave control, and the sine mode transition voltage value | Va2 |, which is the final value of the transition voltage command value | Va '| is a voltage command value that forms the sine pattern or the overdrive pattern, the drive signals Su, Sv and Sw are continuously converted from the rectangular to the overdrive or sine pattern, while the torque control during the transition time is performed by the voltage phase θv. In addition, if changes are made to the torque command value T *, the supply voltage Vdc and the speed ω of the electrical angle during the transition period, these changes are taken into account in the torque control and the transition data Ifb if necessary.

Then, in a case where the transition voltage command value | Va '| equal to or less than the sine mode transition voltage value | Va2 | will (step S216 : Yes), the mode transition unit stops 80 the output of the transition voltage command value | Va '|, and the switching unit 24th switches the generation unit of the d-axis voltage command value Vd and the q-axis voltage command value Vq from the rectangular control unit 50 to the sine control unit 40 around (step S218 ). In addition, there is the mode transition unit 80 the transition data Ifb to the current command value setting unit 402 and the current command value generation unit 406 the sine control unit 40 off (step S220 ). Accordingly, the current command value setting unit calculate 402 and the current command value generation unit 406 based on the transition data Ifb, the initial value Id * 1 of the current command value of the d-axis and the initial value Iq * 1 of the current command value of the q-axis, and give the initial values to the voltage command value generation unit 416 out.

Since the initial values Vd1 and Vq1 of the d- and q-axis voltage command values into the voltage command value generation unit 416 entered and become integral values of the current integration control of the d- and q-axis, are immediately after switching to the sine control unit 40 the d-axis voltage command value Vd at the time of switching and the q-axis voltage command value Vq at the time of switching based on the initial values Vd1 and Vq1 of the d-axis and q-axis voltage command values, the initial value Id * 1 of the d -Axis current command value and the initial value Iq * 1 of the q-axis current command value are generated and sent to the control signal generating unit 30th spent (step S222 ). This is how the PM motor works 10th immediately after switching to the sine control unit 40 controlled by the drive signals Su, Sv and Sw based on the d-axis voltage command value Vd at the time of switching and the q-axis voltage command value Vq at the time of switching.

Then the engine control device goes 100 through the sine control unit 40 completely into the sine control mode via (step S224 ). The sine control unit generates accordingly 40 the d- and q-axis voltage command values Vd and Vq based on the d-axis current command value Id * and the q-axis current command value Iq * corresponding to the torque command value T * and gives the d- and q-axis voltage command values Vd and Vq to the control signal generating unit 30th out. This will make the PM motor 10th controlled in operation by the control signals Su, Sv and Sw with a sine pattern or overdrive pattern.

As described above, in the engine control device 100 and the motor control method of the invention at the time of switching from the rectangular control mode to the sine control mode, the drive signals Su, Sv and Sw are continuously changed from the rectangular to the sine pattern (or overdrive pattern) while the torque control is by the voltage phase θv and the switch to the sine control mode is performed when the sine pattern (or clipping pattern) is received. In addition, immediately after switching to the sine control mode, the d- and q-axis voltage command values Vd and Vq at the time of switching are made based on the last values at the time of the mode transition (initial value Vd1 of the d-axis voltage command value, initial value Vq1 of the q -Axis voltage command value, initial value Id * 1 of the d-axis current command value and initial value Iq * 1 of the q-axis current command value) and the operation control of the PM motor 10th carried out. For this reason, it is possible to switch continuously between control types in which the control values before and after switching the control unit are continuous and the torque fluctuations are small.

In addition, the engine control device 100 and the engine control method of the invention controlled by the rectangular controller 50 based on the transition voltage command value | Va '| during the transition period at the time of mode switching. So if the operating state of the PM motor 10th changes during the transition period and a changeover is required, the changeover can be performed as it is. Especially in the engine control device 100 , which includes both the first and the second form, for example, in a case where the switch to the sine control mode occurs during the switch from the sine control mode to the rectangular control mode, the process goes to step S208 until step S216 continue unchanged, and after the transition through the rectangle control unit 50 can switch to sine control mode through the steps S218 to S224 respectively. In addition, in a case where the switching to the rectangular control mode occurs during the switching operation from the rectangular control mode to the sine control mode, the process becomes step S110 until step S116 continues unchanged, and then the control is in the rectangular control mode by the rectangular control unit 50 carried out continuously. This is the case with the motor control device 100 and the engine control method of the invention possible to perform the switching of the control mode also in the transition time, and since the torque control by the voltage phase θv based on the torque command value T * can also take place in the transitional period Operational control can be performed with excellent responsiveness.

It is noted that in a case where the sine control unit 40 the engine control device 100 corresponds to the overdrive control and the weak magnetic flux control and the voltage with a square wave voltage value | Va1 | equivalent to the rectangular control unit 50 can be output in the control area of the overdrive pattern, that is, in a case where the sine mode transition voltage value | Va2 | and the square wave voltage value | Va1 | are essentially the same, controlling the above steps S208 to S216 can be omitted. In this case as well, immediately after switching from the rectangular control mode to the sine control mode, the d and q axis voltage command values Vd and Vq are generated at the time of switching, and the smooth control mode switching with less torque fluctuations can be performed.

Next, the triangular shaft of the motor control device 100 and the engine control method of the invention. As described above, it is assumed that in the triangular wave according to the invention, the center position of the falling edge of the triangular wave is the zero position of the rising edge of the 3-phase voltage command values Vu , Vv and Vw crosses and the frequency of the triangular wave is an integer multiple of 3 an odd number of the frequency of the 3-phase voltage command values Vu , Vv and Vw is. First, in a case where the frequency of the triangular wave is not an integer multiple of 3 the frequency of the 3-phase voltage command values Vu , Vv and Vw is, the waveforms of the drive signals Su, Sv and Sw for the U-phase, V-phase and W-phase are different, so that the PM motor 10th cannot be controlled evenly. Therefore, the frequency of the triangular wave is an integer multiple of 3 the frequency of the 3-phase voltage command values Vu , Vv and Vw .

Next, the reason why the frequency is set to an integer multiple of 3 an odd number will be described. Here shows 6 (a1) is a schematic representation of the triangular wave comparison of the 3-phase voltage command values Vu and Vv when the frequency of the triangular wave is six times (an integer multiple of 3 an even number) the 3-phase voltage command value Vu ( Vv , Vw ) is set. In addition, in the 6 (a2) and 6 (a3) the control signals Su and Sv generated by this triangular comparison are shown. Also shows 6 (a4) an output line voltage Vuv between the U phase and the V phase. Also shows 6 (b1) a schematic representation of the triangular wave comparison with the 3-phase voltage command values Vu and Vv when the frequency of the triangular wave is nine times (integer multiple of 3 an odd number) the 3-phase voltage command value Vu ( Vv , Vw ) is. In addition, in the 6 (b2) and 6 (b3) the drive signals Su and Sv generated by the triangle comparison are shown. Also shows 6 (b4) the output line voltage Vuv between the U phase and the V phase.

First, in a case where the frequency of the triangular wave is an integer multiple of 3 an even number of the 3-phase voltage command values Vu , Vv and Vw , the zero position of the three-phase voltage command value cross each other Vu as well as the center position of the triangular wave in a region of the falling flank in the by the dashed one-point line in 6 (a1) displayed part. In such a case, there is a possibility that depending on the amplitudes of the 3-phase voltage command values Vu , Vv and Vw the slopes of the 3-phase voltage command values Vu , Vv and Vw and partially approach the triangular wave (both overlap). In such a case, when the drive signals Su, Sv and Sw change from the sine pattern (overdrive pattern) to the rectangular pattern, there is a possibility of a discontinuous or abrupt change which is a cause of torque fluctuations.

However, if the frequency of the triangular wave is an integer multiple of 3, an odd number of the 3-phase voltage command values Vu , Vv and Vw is set, as by a dashed one-dot line in 6 (b1) shown, intersects the zero position of the falling edge region of the three-phase voltage command value Vu the center position of the rising edge of the triangular wave. That is, an integer multiple of 3 an odd number crosses the zero position of the falling edge region of the 3-phase voltage command values Vu , Vv and Vw basically in the rising flank area of the triangular wave, and the zero position in the rising flank area of the 3-phase voltage command values Vu , Vv and Vw crosses in the falling flank area of the triangular wave. For this reason, the continuity of the drive signals Su, Sv and Sw is well maintained and stable drive signals Su, Sv and Sw can be generated.

In addition, in a case where the frequency of the triangular wave is an integer multiple of 3, an even number of the 3-phase voltage command values Vu , Vv and Vw is, for example in 6 (a4) , the waveform of the output line voltage Vuv unbalanced in the vertical direction. As described above, there is a case where the symmetry of the waveform of the output line voltage is not guaranteed, the possibility that an offset component or distortion is generated in the drive currents Iu, Iv and Iw, which as a control signal for the PM motor 10th is not desirable.

However, when the frequency of the triangular wave is an integer multiple of 3, an odd number of the 3-phase voltage command values Vu , Vv and Vw is set, the waveform of the output line voltage Vuv is symmetrical in the vertical and horizontal directions as in FIG 6 (b4) shown. Likewise, the output line voltages Vvw and Vwu are symmetrical, and the PM motor 10th is stably controllable.

As described above, in the engine control device 100 and the motor control method of the invention at the time of switching from sine to square wave control mode, the last voltage phase θv in the sine control mode is set as the initial voltage phase θv1 and to the voltage phase setting unit 502 is output, and the transition voltage command value | Va '| becomes from the last voltage command value | Va | continuously in the sine control mode to the square-wave voltage value | Va1 | increases, while the torque control takes place through the voltage phase θv. As a result, the drive signals Su, Sv and Sw generated are continuously converted from a sine (or clipping pattern) to a rectangular pattern while maintaining the continuity when switching. For this reason, it is possible to switch continuously between the control types with slight torque fluctuations.

In addition, when switching from the rectangular control mode to the sine control mode, a d-axis voltage command value Vd at the time of switching and a q-axis voltage command value Vq at the time of switching become based on the last d-axis and q-axis voltage command values Vd and Vq as well as the last d-axis and q-axis feedback current values Id and Iq are generated in the rectangular control mode immediately after the switching and sent to the control signal generating unit 30th spent. The generated control signals Su, Sv and Sw are accordingly continuously retained at the time of the switchover, so that a stepless switchover between the control types is possible with slight torque fluctuations.

In addition, in the configuration in which, at the time of switching from the rectangular control mode to the sine control mode, the transition voltage command value | Va '| from the last voltage command value | Va | to the sine mode transition voltage value | Va2 | in the rectangular control mode is continuously reduced and output, when the drive signals Su, Sv and Sw are continuously changed from the rectangular to the sine pattern (or overdrive pattern) and the transition to the sine pattern (or overdrive pattern) is completed, the switch to the sine control unit 40 . Then, immediately after the switching, the d-axis voltage command value Vd at the time of switching and the q-axis voltage command value Vq at the time of switching are output, and then the mode is completely switched to the sine control mode. Accordingly, it remains in a case where the sine control unit 40 has no override function, maintains the continuity of the drive signals Su, Sv, and Sw at the time of switching, and thus the control type can be smoothly switched with less torque fluctuations.

It also takes place in the engine control device 100 and the engine control method of the invention, torque control by the voltage phase θv based on the torque command value T * even during the transition time at the time of switching. Accordingly, even with changes in the torque command value T *, the supply voltage Vdc and the speed co of the electrical angle during the transition period, these changes are taken into account in the torque control as necessary, so that the mode control can be performed with excellent responsiveness with little torque fluctuation. Because the rectangle control unit 50 during the transition period takes over control, even if a switchover of the control unit is required during the transition period, the control unit can be switched over to the switching operation as it is.

Further in the engine control device 100 and the motor control method of the invention uses a triangular wave in which the center position of the falling edge is the zero position of the rising edge of the 3-phase voltage command values Vu , Vv and Vw and their frequency crosses an integer multiple of 3 an odd number of the frequency of the 3-phase voltage command values Vu , Vv and Vw is. In this configuration, the zero position crosses in the area of the falling edge of the 3-phase voltage command values Vu , Vv and Vw in the area of the rising edge of the triangular wave, and the zero position in the area of the rising edge of the 3-phase voltage command values Vu , Vv and Vw crosses in the area of the falling flank of the triangular wave. For this reason, the drive signals Su, Sv and Sw can maintain the continuity when the sine pattern (clipping pattern) changes to the rectangular pattern, and the stable drive signals Su, Sv and Sw can be generated. Besides, they are Output line voltages Vuv, Vvw and Vwu symmetrical, so that the PM motor 10th can be regulated stably.

Note that the motor control device shown in this example 100 and the engine control method is only examples, and therefore the configurations and operations of the units such as the control signal generation unit 30th who have favourited Sine Control Unit 40 and the rectangle control unit 50 and the configuration of the steps within the scope can be modified and implemented without departing from the spirit of the invention.

Reference list

10th

PM motor

12u, 12v

Drive current detection unit

14

Angle detection unit

20

Inverter

22

3-phase / dq converter unit

24th

Switching unit

32

dq / 3-phase converter unit

36

Control signal generation unit

40

Sine control unit

50

Rectangle control unit

80

Mode transition unit

100

Engine control device

θ

electrical angle

θv

Tension phase

θv1

Initial tension phase

Id

d-axis feedback current value

Iq

q-axis feedback current value

Id *

d-axis current command value

Iq *

q-axis current command value

Iu, Iv, Iw

Control current

Ifb

Transition dates

| Va |

Voltage command value

| Va1 |

Rectangular voltage value

| Va2 |

Sine mode transition voltage

| Va '|

Transition voltage command value

Vd

d-axis voltage command value

Vq

q-axis voltage command value

Vu, Vv, Vw

Voltage command value (3-phase)

T *

Torque command value

Su, Sv, Sw

Control signal

QUOTES INCLUDE IN THE DESCRIPTION

This list of documents listed by the applicant has been generated automatically and is only included for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• JP 11285288 A [0005]

Claims (10)

An engine control device comprising: an inverter that flows a 3-phase AC drive current to a PM motor; a drive current detection unit that detects a value of the drive current; an angle detection unit that detects an electrical angle of the PM motor; a 3-phase / dq converter unit that converts the drive current detected by the drive current detection unit into a d-axis feedback current value and a q-axis feedback current value based on the electrical angle; a sine control unit that sets a d-axis current command value and a q-axis current command value based on an external torque command value and generates a d-axis voltage command value and a q-axis voltage command value in a sine control mode; a rectangular control unit that sets a voltage phase and a voltage command value based on the torque command value from the outside and generates a d-axis voltage command value and a q-axis voltage command value in a rectangular control mode; a switching unit that switches the generation of the d-axis voltage command value and the q-axis voltage command value between the sine control unit and the rectangular control unit; a dq / 3-phase converter unit that converts the d-axis voltage command value and the q-axis voltage command value to a 3-phase voltage command value; and a drive signal generating unit that generates a drive signal for switching the inverter by comparing the 3-phase voltage command value with a triangular wave with a predetermined cycle, wherein the engine control device further comprises a mode transition unit that operates when the switching unit switches a control mode, and wherein the mode transition unit detects a voltage phase and a voltage command value obtained by performing polar coordinate conversion of the d-axis voltage command value and the q-axis voltage command value in the sine control mode as an initial voltage phase and an initial value of a transition voltage command value, the initial voltage phase and the initial value of Transition voltage command value to the square wave control unit at the time of switching from the sine control mode to the square wave control mode outputs a square wave voltage value in which the drive signal becomes a rectangular pattern, continuously increasing the transition voltage instruction value from the initial value to the square wave voltage value, the transition voltage command value to Rectangle control unit outputs and generates the d-axis voltage command value and the q-axis voltage command value based on the transient voltage command value. A motor control device comprising: an inverter that flows a 3-phase AC drive current to a PM motor; a drive current detection unit that detects a value of the drive current; an angle detection unit that detects an electrical angle of the PM motor; a 3-phase / dq converter unit that converts the drive current detected by the drive current detection unit into a d-axis feedback current value and a q-axis feedback current value based on the electrical angle; a sine control unit that sets a d-axis current command value and a q-axis current command value based on an external torque command value and generates a d-axis voltage command value and a q-axis voltage command value in a sine control mode; a rectangular control unit that sets a voltage phase and a voltage command value based on the torque command value from the outside and generates a d-axis voltage command value and a q-axis voltage command value in a rectangular control mode; a switching unit that switches the generation of the d-axis voltage command value and the q-axis voltage command value between the sine control unit and the rectangular control unit; a dq / 3-phase converter unit that converts the d-axis voltage command value and the q-axis voltage command value to a 3-phase voltage command value; and a drive signal generating unit that generates a drive signal for switching the inverter by comparing the 3-phase voltage command value with a triangular wave with a predetermined cycle, the motor control device further comprising a mode transition unit that operates when the switching unit switches a control mode, and wherein the mode transition unit in the rectangular control mode outputs the d-axis voltage command value output from the rectangular control unit and the q-axis voltage command value as the initial value of the d-axis voltage command value and the initial value of the q-axis voltage command value to the sine control unit, for transition data Calculation of an initial value of the d-axis current command value and an initial value of the q-axis current command value based on the d-axis feedback current value and the q-axis feedback current value and outputs the transition data to the sine control unit, and immediately after switching from Rec hteck control mode in the sine control mode ad- Axis voltage command value at the time of switching and a q-axis voltage command value at the time of switching based on the initial value of the d-axis voltage command value, the initial value of the q-axis voltage command value, the initial value of the d-axis current command value and the initial value of the q-axis current command value and outputs the d-axis voltage command value at the time of switching and the q-axis voltage command value at the time of switching to the dq / 3-phase converter unit. Motor control device after Claim 2 , wherein the mode transition unit detects the voltage command value output from the rectangular control unit at the time of switching from the rectangular control mode to the sine control mode as an initial value of a transition voltage command value, detects a sine mode transition voltage value at which the drive signal becomes a sine pattern or an overdrive pattern, continuously reduces the transition voltage command value from the initial value to the sine mode transition voltage value while maintaining the square wave control mode, the transition voltage command value to the square wave Outputs the controller and generates the d-axis voltage command value and the q-axis voltage command value based on the transient voltage command value; and then the switching unit switches to the control mode by the sine control unit. An engine control device comprising: an inverter that flows a 3-phase AC drive current to a PM motor; a drive current detection unit that detects a value of the drive current; an angle detection unit that detects an electrical angle of the PM motor; a 3-phase / dq converter unit that converts the drive current detected by the drive current detection unit into a d-axis feedback current value and a q-axis feedback current value based on the electrical angle; a sine control unit that sets a d-axis current command value and a q-axis current command value based on an external torque command value and generates a d-axis voltage command value and a q-axis voltage command value in a sine control mode; a rectangular control unit that sets a voltage phase and a voltage command value based on the torque command value from the outside and generates a d-axis voltage command value and a q-axis voltage command value in a rectangular control mode; a switching unit that switches the generation of the d-axis voltage command value and the q-axis voltage command value between the sine control unit and the rectangular control unit; a dq / 3-phase converter unit that converts the d-axis voltage command value and the q-axis voltage command value to a 3-phase voltage command value; and a drive signal generating unit that generates a drive signal for switching the inverter by comparing the 3-phase voltage command value with a triangular wave with a predetermined cycle, wherein the engine control device further comprises a mode transition unit that operates when the switching unit switches a control mode, and the mode transition unit a voltage phase and a voltage command value obtained by performing polar coordinate conversion of the d-axis voltage command value and the q-axis voltage command value in the sine control mode as the initial voltage phase and the initial value of a transient voltage command value, the initial voltage phase and the initial value of the transient voltage command value to the square wave. Control unit at the time of switching from the sine control mode to the rectangular control mode, detects a rectangular shape voltage value at which the drive signal becomes a rectangular pattern, continuously increases the transition voltage command value from the initial value to the rectangular shape voltage value, outputs the transition voltage command value to the rectangular control unit, and generates the d-axis voltage command value and the q-axis voltage command value based on the transition voltage command value, outputs the d-axis voltage command value output by the rectangular control unit and the q-axis voltage command value as the initial value of the d-axis voltage command value and the initial value of the q-axis voltage command value to the sine control unit, transition data for calculating a Initial value of the d-axis current command value and an initial value of the q-axis current command value are calculated on the basis of the d-axis feedback current value and the q-axis feedback current value and outputs the transition data to the sine control unit, detects the voltage command value output from the rectangular control unit at the time of switching from the rectangular control mode to the sine control mode as the initial value of the transient voltage command value, detects a sine mode transition voltage value at which the drive signal becomes a sine or overdrive pattern, continuously the transient voltage command value from the initial value reduced to the sine mode transition voltage value while maintaining the rectangular control mode, outputting the transition voltage command value to the rectangular controller, and generating the d-axis voltage command value and the q-axis voltage command value based on the transition voltage command value; and then the switching unit switches to the sine control mode by the sine control unit; and immediately after switching from the rectangular control mode to the sine control mode, the mode transition unit generates a d-axis voltage command value at the time of switching and a q-axis voltage command value at the time of switching based on the initial value of the d-axis voltage command value, the initial value of the q-axis voltage command value, the initial value of the d-axis current command value and the initial value of the q-axis current command value, and gives the d-axis voltage command value at the time of switching and the q-axis voltage command value at the time of switching to dq / 3-phase converter unit. The engine control according to one of the Claims 1 to 4th , wherein a center position of a falling edge of the triangular wave crosses a zero position of a rising edge of the 3-phase voltage command value, and wherein a frequency of the triangular wave is held to be an integer multiple of 3 an odd number of a frequency of the 3-phase voltage command value is. A motor control method of a motor control device comprising: an inverter that flows a 3-phase AC drive current to a PM motor; a drive current detection unit that detects a value of the drive current; an angle detection unit that detects an electrical angle of the PM motor; a 3-phase / dq converter unit that converts the drive current detected by the drive current detection unit into a d-axis feedback current value and a q-axis feedback current value based on the electrical angle; a sine control unit that sets a d-axis current command value and a q-axis current command value based on an external torque command value and generates a d-axis voltage command value and a q-axis voltage command value in a sine control mode; a square wave control unit that has a voltage phase and a voltage command value Sets the base of the torque command value from the outside and generates a d-axis voltage command value and a q-axis voltage command value in a rectangular control mode; a switching unit that switches the generation of the d-axis voltage command value and the q-axis voltage command value between the sine control unit and the rectangular control unit; a dq / 3-phase converter unit that converts the d-axis voltage command value and the q-axis voltage command value to a 3-phase voltage command value; a drive signal generating unit that generates a drive signal for switching the inverter by comparing the 3-phase voltage command value with a triangular wave with a predetermined cycle; and a mode transition unit that operates when the switching unit switches a control mode, the mode transition unit performing the steps of: detecting a voltage phase and a voltage command value by performing polar coordinate conversion of the d-axis voltage command value and the q-axis voltage command value in sine control mode are obtained as an initial voltage phase and an initial value of a transition voltage command value; Outputting the initial voltage phase and the initial value of the transient voltage command value to the rectangular control unit at the time of switching from the sine control mode to the rectangular control mode; Detecting a rectangular formation voltage value at which the drive signal becomes a rectangular pattern; and continuously increasing the transition voltage command value from the initial value to the square-wave forming voltage value, outputting the transition voltage command value to the square-wave control unit, and generating the d-axis voltage command value and the q-axis voltage command value based on the transition voltage command value. An engine control method of an engine control device comprising: an inverter that flows a 3-phase AC drive current to a PM motor; a drive current detection unit that detects a value of the drive current; an angle detection unit that detects an electrical angle of the PM motor; a 3-phase / dq converter unit that converts the drive current detected by the drive current detection unit into a d-axis feedback current value and a q-axis feedback current value based on the electrical angle; a sine control unit that sets a d-axis current command value and a q-axis current command value based on an external torque command value and generates a d-axis voltage command value and a q-axis voltage command value in a sine control mode; a rectangular control unit that sets a voltage phase and a voltage command value based on the torque command value from the outside and generates a d-axis voltage command value and a q-axis voltage command value in a rectangular control mode; a switching unit that switches the generation of the d-axis voltage command value and the q-axis voltage command value between the sine control unit and the rectangular control unit; a dq / 3-phase converter unit that converts the d-axis voltage command value and the q-axis voltage command value to a 3-phase voltage command value; a drive signal generation unit that generates a drive signal for switching the inverter by comparing the 3-phase voltage command value with a triangular wave with a predetermined cycle; and a mode transition unit that operates when the switching unit switches a control mode, the mode transition unit performing the following steps: in the rectangular control mode, outputting the d-axis voltage command value and the q-axis voltage command value output from the rectangular control unit as an initial value of the d-axis voltage command value and an initial value of the q-axis voltage command value to the sines Control unit, calculating transition data for calculating an initial value of the d-axis current command value and an initial value of the q-axis current command value based on the d-axis feedback current value and the q-axis feedback current value and outputting the transition data to the sine control unit; and immediately after switching from the rectangular control mode to the sine control mode, generating a d-axis voltage command value at the time of switching and a q-axis voltage command value at the time of switching based on the initial value of the d-axis voltage command value, the initial value of q-axis voltage command value, the initial value of the d-axis current command value and the initial value of the q-axis current command value, and outputting the d-axis voltage command value at the time of switching and the q-axis voltage command value at the time of switching to the dq / 3-phase converter unit. The engine control procedure after Claim 7 , in which the mode transition unit carries out further steps: detecting the voltage command value output from the rectangular control unit at the time of switching from the rectangular control mode to the sine control mode as an initial value of a transition voltage command value; Detecting a sine mode transition voltage value at which the drive signal becomes a sine or overdrive pattern; continuously reducing the transient voltage command value from the initial value to the sine mode transient voltage value while maintaining the rectangular control mode and outputting the transient voltage command value to the rectangular control unit; Generating the d-axis voltage command value and the q-axis voltage command value based on the transition voltage command value; and by the switching unit, switching to the control mode by the sine control unit. A motor control method of a motor control device comprising: an inverter that flows a 3-phase drive current to a PM motor; a drive current detection unit that detects a value of the drive current; an angle detection unit that detects an electrical angle of the PM motor; a 3-phase / dq converter unit that converts the drive current detected by the drive current detection unit into a d-axis feedback current value and a q-axis feedback current value based on the electrical angle; a sine control unit that sets a d-axis current command value and a q-axis current command value based on an external torque command value and generates a d-axis voltage command value and a q-axis voltage command value in a sine control mode; a rectangular control unit that sets a voltage phase and a voltage command value based on the torque command value from the outside and generates a d-axis voltage command value and a q-axis voltage command value in a rectangular control mode; a switching unit that switches the generation of the d-axis voltage command value and the q-axis voltage command value between the sine control unit and the rectangular control unit; a dq / 3-phase converter unit that converts the d-axis voltage command value and the q-axis voltage command value to a 3-phase voltage command value; a drive signal generation unit that generates a drive signal for switching the inverter by comparing the 3-phase voltage command value with a triangular wave with a predetermined cycle; and a mode transition unit that operates when the switching unit switches a control mode, the mode transition unit performing the steps of: detecting a voltage phase and a voltage command value by performing polar coordinate conversion of the d-axis voltage command value and the q-axis voltage command value in sine control mode be obtained as an initial voltage phase and an initial value of a transition voltage command value; Outputting the initial voltage phase and the initial value of the transient voltage command value to the rectangular control unit at the time of switching from the sine control mode to the rectangular control mode; Detecting a square wave voltage value at which the drive signal becomes a square pattern; continuously increasing the transition voltage command value from the initial value to the square wave voltage value, outputting the transition voltage command value to the square wave control unit, and generating the d-axis voltage command value and the q-axis voltage command value based on the transition voltage command value; in the rectangular control mode, outputting the d-axis voltage command value and the q-axis voltage command value output from the rectangular control unit as the initial value of the d-axis voltage command value and the initial value of the q-axis voltage command value to the sine control unit , Calculating transition data for calculating an initial value of the d-axis current command value and an initial value of the q-axis current command value based on the d-axis feedback current value and the q-axis feedback current value, and outputting the transition data to the sine control unit; Detecting the voltage command value output from the rectangular control unit at the time of switching from the rectangular control mode to the sine control mode as the initial value of the transient voltage command value; Detecting a sine mode transition voltage value at which the drive signal becomes a sine or overdrive pattern; continuously reducing the transient voltage command value from the initial value to the sine mode transient voltage value while maintaining the rectangular control mode and outputting the transient voltage command value to the rectangular control unit; Generating the d-axis voltage command value and the q-axis voltage command value based on the transition voltage command value; by the switching unit, switching to the sine control mode by the sine control unit; and immediately after switching to the sine control mode, generating a d-axis voltage command value at the time of switching and a q-axis voltage command value at the time of switching based on the initial value of the d-axis voltage command value, the initial value of the q-axis Voltage command value, the initial value of the d-axis current command value and the initial value of the q-axis current command value, and outputting the d-axis voltage command value at the time of switching and the q-axis voltage command value at the time of switching to the dq / 3- Phase converter unit. The engine control method according to one of the Claims 6 to 9 , wherein a center position of a falling edge of the triangular wave crosses a zero position of a rising edge of the 3-phase voltage command value, and wherein a frequency of the triangular wave is held to be an integer multiple of 3 an odd number of a frequency of the 3-phase voltage command value is.

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