JP2006262589A - Motor controller - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To suppress generation of torque pulsations, while preventing control processing from becoming complex. <P>SOLUTION: A phase corrector 18 corrects detection errors in a magnetic-pole position detector 6 and calculates the magnetic-pole correction angle θofs=atan(Vdc/Vqc), on the basis of a d-axis voltage command value Vdc and a q-axis voltage command value Vqc output from a voltage command generator 15, when it is determines as being in a zero-current state (a state which keeps the rotational angular velocity ω of a motor 3 almost constant), and set up a correction magnetic-pole rotational angle θc (=θact-θofs). The phase corrector 18 refers to the angle displacement map, previously established on the basis of data of torque waveforms for each of a plurality of phase current advance angles for the processing of angle displacement, displaces the correction magnetic-pole rotational angle θc to a magnetic-pole rotational angle θ, and outputs it to a current coordinate converter 12 and to a voltage coordinate converter 16. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a motor control device.

Conventionally, in a motor such as a brushless DC motor, for example, due to the structure of the motor, the excitation current and magnetic flux density at the time of switching the excitation to the stator winding are non-uniform, and output at every excitation switching period to the stator winding. It is known that torque pulsation in which the torque varies occurs.
As a method for suppressing the occurrence of such torque pulsation, for example, a sine wave-shaped phase current is trapezoidal, and a predetermined angle before and after the phase at which the instantaneous value of the phase current becomes a predetermined maximum value. A control method is known in which the phase current is set so as to maintain a predetermined maximum value over a region (see, for example, Patent Document 1).
For example, a control device is known that superimposes waveform data for generating a torque waveform that cancels a predetermined torque pulsation set in advance on a control signal such as a current command value (see, for example, Patent Document 2).
JP-A-8-331885 JP-A-10-191680

By the way, in the control method and the control device according to the above-described conventional technology, the amplitude of the resultant magnetomotive force in the motor is amplified, which may complicate the motor control process and reduce the response and follow-up performance. There is. For example, for a three-phase motor, normal vector control on the premise that each phase current is sinusoidal and the current phase difference between each phase current is 2π / 3 is changed to trapezoidal wave phase current or In order to expand the phase current so that a plurality of sinusoidal waves having different periods and phases can be controlled, it takes troublesome work and the configuration of the control device becomes complicated.
The present invention has been made in view of the above circumstances, and an object thereof is to provide a motor control device capable of suppressing the occurrence of torque pulsation while preventing the control process from becoming complicated.

  In order to solve the above-described problems and achieve the object, a motor control device according to a first aspect of the present invention is a main circuit that supplies current to an electric motor (for example, the brushless DC motor 3 in the embodiment). For example, the magnetic pole position angle (for example, the magnetic pole rotation angle θ in the embodiment) of the PWM inverter circuit 8) in the embodiment and the rotor (for example, the rotor (rotor) 4 in the embodiment) is detected. The magnetic pole position detecting means (for example, the magnetic pole position detector 6 in the embodiment) and the detected value of the magnetic pole position angle by the magnetic pole position detecting means (for example, the magnetic pole detection angle θact in the embodiment) Angle replacement means (for example, a phase in the embodiment) that newly sets a value obtained by adding an angle correction value (for example, an advance angle difference in the embodiment) according to each time as the magnetic pole position angle Corrector 18) and the angular position The magnetic pole position angle set by the conversion means and an output command (for example, torque command value Trc in the embodiment) that is a command for the output of the motor (for example, torque and rotational speed in the embodiment). On the basis of the current control means for controlling the current supplied to the electric motor (for example, the current command generator 9 and the current command switch 10 in the embodiment, the phase current detectors 11u and 11v, the current coordinate converter 12 and the subtraction) It is characterized by comprising processing units 13 and 14, a voltage command generator 15 and a voltage coordinate converter 16).

  According to the motor control device having the above-described configuration, it is possible to suppress the occurrence of torque pulsation by a simple process that only corrects the detected value of the magnetic pole position angle with the angle correction value corresponding to each angle. Since the process of amplifying the peak value is not necessary, it is possible to prevent the control process from becoming complicated.

Furthermore, in the motor control device according to the second aspect of the present invention, the angle correction value is correction data set in advance for each angle (for example, (advance value A−advance value A) in the embodiment). , (Advance value B-advance value A), (advance value C-advance value A)).
According to the motor control device having the above-described configuration, the detection value of the magnetic pole position angle can be corrected by a simple process of simply obtaining correction data set for each angle by map search, and the control process becomes complicated. The occurrence of torque pulsation can be suppressed while preventing this.

Furthermore, in the motor control device according to the third aspect of the present invention, the angle correction value may be correction data set in advance for each angle (for example, (advance value A−advance value A) in the embodiment). , (Advance value B-advance value A), (advance value C-advance value A)).
According to the motor control device having the above configuration, the detection value of the magnetic pole position angle can be corrected by a simple process of calculating the angle correction value using a preset mathematical formula, and the control process becomes complicated. The occurrence of torque pulsation can be suppressed while preventing the above.

Furthermore, in the motor control device of the present invention described in claim 4, the correction data is set according to an average torque of the electric motor (for example, a predetermined torque D in the embodiment).
According to the motor control device having the above configuration, for example, when the advance value relative to the phase is changed in a state where the effective value of the current supplied to the electric motor is fixed, the periodic torque having different effective values for each advance value. Variations occur. For this reason, the magnetic pole position angle value at a predetermined torque is extracted from the torque waveform for each advance angle value, and the extracted magnetic pole position angle and the advance angle value are made to correspond to each other with respect to the change in the magnetic pole position angle. The advance value data to be set in order to maintain the torque can be obtained. By setting the average torque of the electric motor as the predetermined torque, the number of data of combinations of the magnetic pole position angle and the advance value for maintaining the predetermined torque can be increased.

Furthermore, in the motor control device of the present invention according to claim 5, correction means (for example, implementation) for correcting the magnetic pole position angle set by the angle replacement means with a control gain corresponding to the rotation speed of the electric motor. It is characterized by comprising step S11) in the form.
According to the motor control device having the above-described configuration, the amount of action of processing for suppressing torque pulsation is corrected by correcting the magnetic pole position angle set by the angle replacing means with the control gain according to the rotation speed of the motor. It can be changed according to.

  Furthermore, in the motor control device of the present invention according to claim 6, correction means (for example, an embodiment) for correcting the magnetic pole position angle set by the angle replacement means with a control gain according to the torque of the electric motor. Step S11) is provided.

  According to the motor control device having the above-described configuration, the amount of action of processing for suppressing torque pulsation is corrected by correcting the magnetic pole position angle set by the angle replacing means with the control gain according to the rotation speed of the motor. It can be changed according to.

  Furthermore, in the motor control device of the present invention according to claim 7, the electric motor concentrates a rotor having a permanent magnet (for example, the rotor 4 in the embodiment) and a plurality of stator windings on the stator core. And a stator wound around.

  According to the motor control device having the above-described configuration, the generation of torque pulsation is suppressed while preventing the control process from becoming complicated for an electric motor having a so-called concentrated winding stator in which the generation of torque pulsation relatively increases. can do.

  Furthermore, in the motor control device of the present invention according to claim 8, the electric motor includes a rotor having a permanent magnet (for example, the rotor 4 in the embodiment) and a three-phase that generates a rotating magnetic field for rotating the rotor. A stator having a plurality of switching elements, and a two-phase voltage of a d-axis voltage and a q-axis voltage (for example, a d-axis voltage command value Vdc and a q-axis voltage command value Vqc in the embodiment). ) Is converted into a three-phase voltage (for example, voltage command values Vuc, Vvc, Vwc in the embodiment), and the rotor is driven to rotate by sequentially commutating the stator windings. It is characterized by comprising energization switching means (for example, the PWM inverter circuit 8 in the embodiment).

  According to the motor control device having the above-described configuration, the torque is simply processed by correcting the detected value of the magnetic pole position angle with the angle correction value corresponding to each angle without amplifying the peak value of the current supplied to the electric motor. Since the occurrence of pulsation can be suppressed, for example, for a three-phase motor, it is simple to assume that each phase current is a sine wave and the current phase difference between each phase current is 2π / 3. The electric motor can be easily controlled using simple vector control.

According to the motor control device of the present invention, it is possible to suppress the occurrence of torque pulsation while preventing the control process from becoming complicated.
Furthermore, according to the motor control device of the present invention as set forth in claim 4, the number of correction data can be increased by setting the correction data in accordance with the average torque of the electric motor.
Furthermore, according to the motor control device of the present invention described in claim 5 or claim 6, the amount of action of the processing for suppressing torque pulsation can be changed according to the operating state of the electric motor.

Embodiments of a motor control device of the present invention will be described below with reference to the accompanying drawings.
As shown in FIG. 1, for example, the motor control device 1 according to this embodiment drives and controls a brushless DC motor 3 (hereinafter simply referred to as a motor 3) mounted on a hybrid vehicle as a drive source together with the internal combustion engine 2. The motor 3 includes a rotor (rotor) 4 having a permanent magnet used for a field and three phases (U phase, V phase, W phase) that generate a rotating magnetic field that rotates the rotor 4. The three-phase stator is configured to include, for example, a stator winding that is concentratedly wound for each of a plurality of teeth.

The rotor (rotor) 4 of the motor 3 is directly connected in series with the output shaft 2a of the internal combustion engine 2, and the outputs of the motor 3 and the internal combustion engine 2 are transmitted to the vehicle via a power transmission device (not shown) such as a transmission. Is transmitted to the drive wheels.
The motor 3 is assembled with a magnetic pole position detector 6 that detects the magnetic pole position of the rotor 4. The magnetic pole position detector 6 is configured by using a Hall element or an encoder, and uses a signal indicating a detected value of the rotation angle θact of the magnetic pole from a predetermined reference rotational position of the rotor 4 as a magnetic pole position detection signal. Output to 1.

  The motor control device 1 includes a PWM inverter circuit 8, a current command generator 9, a current command switch 10, phase current detectors 11 u and 11 v, a current coordinate converter 12, subtraction processors 13 and 14, A voltage command generator 15, a voltage coordinate converter 16, a phase corrector 18, and a speed calculator 19 are provided.

In the motor control device 1, the driving and regenerative operation of the three-phase motor 3 is performed by the PWM inverter circuit 8. The PWM inverter circuit 8 includes a PWM inverter by pulse width modulation (PWM) having a bridge circuit formed by bridge connection using, for example, a plurality of transistor switching elements, and a high-voltage battery that exchanges electric energy with the motor 3. 7 is connected.
For example, when the motor 3 is driven, the PWM inverter circuit 8 converts DC power supplied from the battery 7 into three-phase AC power, and sequentially energizes the stator windings (not shown) of the three-phase motor 3. By operating, the magnitude (amplitude) and phase of the applied voltage of each U-phase, V-phase, and W-phase of the stator according to each phase voltage command value Vuc, Vvc, Vwc, the U-phase current Iu and the V-phase current are controlled. Iv and W phase current Iw are output to each phase of motor 3.

  The motor control device 1 performs current feedback control on the dq coordinates forming the rotation orthogonal coordinates, and each phase voltage command value Vuc, based on the d-axis current command value Idc and the q-axis current command value Iqc. Vvc and Vwc are calculated, a pulse width modulation signal is input to the PWM inverter circuit 8, and the phase currents Iu, Iv and Iw actually supplied from the PWM inverter circuit 8 to the motor 3 are converted into dq coordinates. Control is performed so that each deviation between the obtained d-axis detection current Id and q-axis detection current Iq and the d-axis current command value Idc and q-axis current command value Iqc becomes zero.

  In addition, the dq coordinate forming the rotation orthogonal coordinate is, for example, a magnetic field direction of the field magnetic pole by the permanent magnet of the rotor 4 is a d axis (field axis), and a direction orthogonal to the d axis is a q axis (torque axis). The motor 3 is rotating at an electrical angular velocity ω (hereinafter simply referred to as a rotational angular velocity ω) in synchronization with the rotor 4 of the motor 3. As a result, the d-axis current command value Idc and the q-axis current command value Iqc, which are DC signals, are given as current commands for the AC signal supplied from the PWM inverter circuit 8 to each phase of the motor 3. .

First, the current command generator 9 generates a d-axis current command value Idc and a q-axis current command value Iqc in accordance with a torque command value Trc that is a command value of torque to be generated by the motor 3. The torque command value Trc input to the current command generator 9 is set according to, for example, the driving state (accelerator operation amount, etc.) of the vehicle. Then, the current command generator 9 calculates a d-axis current and a q-axis current required for causing the motor 3 to generate the torque of the input torque command value Trc, and these are calculated as the d-axis current command value Idc and the q-axis current. Output as command value Iqc.
Then, the current command switching unit 10 includes a set (Idc, Iqc) of the d-axis current command value Idc and the q-axis current command value Iqc output from the current command generator 9, and a d-axis current command value Idc having a value “0”. And a set (0, 0) of the q-axis current command value Iqc are selectively output according to a command from the phase corrector 18 described later.

The detected values of the phase currents Iu and Iv flowing in the U phase and V phase of the stator of the motor 3 detected by the phase current detectors 11u and 11v are input to the current coordinate converter 12, and the current coordinate converter 12 By converting the detected values of Iu and Iv, the d-axis detection current Id and the q-axis detection current Iq at the command axis coordinates dc-dq are calculated. That is, the current coordinate converter 12 uses the magnetic pole rotation angle θ calculated by the phase corrector 18 to be described later as an indication of the rotation angle of the magnetic poles of the rotor 4, and uses the phase currents Iu and Iv that are currents on the stationary coordinates. , Iw are the d-axis detection current Id and the q-axis detection current on the command axis coordinate dc-qc (that is, the dq coordinate determined by setting the magnetic pole rotation angle θ as the rotation position of the d-axis) that is the rotation coordinate according to the rotation phase of the motor 3. Convert to Iq.
Since the stator has three phases, the current flowing through any one phase is uniquely determined by the current flowing through the other two phases. For example, the current flowing through the W phase is − (Iu + Iv).
The d-axis detection current Id and the q-axis detection current Iq output from the current coordinate converter 12 are output to the subtraction processors 13 and 14.

  The subtraction processor 13 calculates a deviation between the d-axis current command value Idc output from the current command switch 10 and the d-axis detection current Id obtained by the current coordinate converter 12, and the subtraction processor 14 is a current command switch. The deviation between the q-axis current command value Iqc output from 10 and the q-axis detection current Iq obtained by the current coordinate converter 12 is calculated. The deviations (Idc−Id) and (Iqc−Iq) output from the subtraction processors 13 and 14 are input to the voltage command generator 15.

The voltage command generator 15 controls and amplifies the deviations (Idc-Id) and (Iqc-Iq), for example, by processing of a feedback control law such as PI (proportional integral) operation, so that each axis at the command axis coordinates dc-qc A d-axis voltage command value Vdc and a q-axis voltage command value Vqc, which are command values of the applied voltage in the direction, are calculated. The d-axis voltage command value Vdc and the q-axis voltage command value Vqc output from the voltage command generator 15 are input to the voltage coordinate converter 16.
Further, the voltage command generator 15 controls the d-axis and the q-axis independently by canceling out the speed electromotive force component that interferes between the d-axis and the q-axis, for example, in addition to the processing of the feedback control law. Therefore, non-interference control processing for calculating a d-axis compensation term and a q-axis compensation term that cancels each interference component with respect to the d-axis and q-axis is performed.

The voltage coordinate converter 16 performs coordinate conversion of the d-axis voltage command value Vdc and the q-axis voltage command value Vqc to thereby apply command values Vuc, Vvc, Vwc (hereinafter referred to as phase voltage command values Vuc, Vvc and Vwc) are calculated. That is, the voltage coordinate converter 16 uses the magnetic pole rotation angle θ calculated by the phase corrector 18 described later as an indication of the rotation angle of the magnetic poles of the rotor 4, and the command axis coordinates that are the rotation coordinates based on the rotation phase of the motor 3. The d-axis voltage command value Vdc and the q-axis voltage command value Vqc, which are voltage command values on dc-qc, are converted into phase voltage command values Vuc, Vvc, Vwc on the three-phase AC coordinates, which are stationary coordinates.
Each phase voltage command value Vuc, Vvc, Vwc output from the voltage coordinate converter 16 is used as a switching command (for example, a pulse width modulation signal) for turning on / off the switching element of the PWM inverter circuit 8. 8 is input.

The phase corrector 18 corrects the detection error of the magnetic pole position detector 6 and performs angle replacement for suppressing, for example, torque ripple (torque pulsation) caused by the structure of the motor 3 by angular velocity modulation.
First, the phase corrector 18 corrects the detection error of the magnetic pole position detector 6 at a predetermined timing (for example, at the time of starting the vehicle where the ignition switch is turned on or returning from the idle operation state of the vehicle). For example, after the start of the internal combustion engine 2 is completed, for example, switching for causing the current command switch 10 to output a set (0, 0) of the d-axis current command value Idc and the q-axis current command value Iqc having the value “0”. The command is output to the current command switching unit 10 and the magnetic pole correction angle θofs for correcting the detection error of the magnetic pole position detector 6 (that is, the error angle of the magnetic pole detection angle θact with respect to the actual rotation angle of the magnetic pole position) is set to zero. Set. Thus, the corrected magnetic pole rotation angle θc (= θact−θofs) obtained by subtracting the magnetic pole position error angle θofs from the magnetic pole detection angle θact is equivalent to the magnetic pole detection angle θact by the magnetic pole position detector 8.

In this state, the motor control device 1 sets the phase voltage command values Vuc, Vvc, Vwc so that the d-axis detection current Id and the q-axis detection current Iq match these command values “0”. The applied voltage of the stator of the motor 3 is manipulated. Thereby, the state of the motor 3 becomes a zero current state in which the actual phase current of the motor 3 (that is, the current flowing through each phase of the U phase, the V phase, and the W phase) is controlled to be substantially “0”.
Here, the speed calculator 19 calculates the rotational angular speed ω = dθact / dt of the rotor 4 of the motor 3 by time differentiation of the magnetic pole detection angle θact, and outputs it to the phase corrector 18. Thereby, the phase corrector 18 determines whether or not the motor 3 is in a zero current state by determining whether or not the rotational angular velocity ω of the rotor 4 is a substantially constant rotational angular velocity. The rotational angular velocity ω may be detected by an appropriate speed sensor, or the rotational speed Ne detected by the rotational speed sensor of the internal combustion engine 2 may be substituted as the rotational angular velocity ω.
When the phase corrector 18 determines that the current is in a zero current state (a state in which the rotational angular velocity ω of the motor 3 is substantially constant), the d-axis voltage command values Vdc and q output from the voltage command generator 15 are determined. Based on the shaft voltage command value Vqc, the magnetic pole correction angle θofs = atan (Vdc / Vqc) is calculated. Accordingly, the corrected magnetic pole rotation angle θc (= θact−θofs) thereafter becomes a value obtained by correcting the detection error of the magnetic pole position detector 6.

Further, as the angle replacement process, the phase corrector 18 refers to, for example, an angle replacement map set in advance based on torque waveform data for each of the plurality of phase current advance values, and sets the corrected magnetic pole rotation angle θc to the magnetic pole. The rotation angle θ is substituted and output to the current coordinate converter 12 and the voltage coordinate converter 16.
For example, as shown in FIG. 2, when the advance value for the phase of the phase current is changed in a state where the effective value of the phase current flowing through each phase of the U phase, V phase, and W phase is fixed to a predetermined value, for example, the motor 3 Due to the structure of each of the above, for each advance value (for example, advance value A <advance value B <advance value C), the actual magnetic pole rotation angle (actual magnetic pole rotation angle) is changed. Periodic torque fluctuations occur. Therefore, in order to maintain a predetermined torque D (for example, the average torque of the motor 3) in the torque waveform for each advance angle value, the advance value is set according to the change in the actual magnetic pole rotation angle. It is changed sequentially (for example, the advance value A → the advance value B → the advance value C →..., Etc.).

For this reason, the phase corrector 18 uses each appropriate advance value as a reference advance value, and each advance value selected according to a change in the actual magnetic pole rotation angle in order to maintain the reference advance value and a predetermined torque. The value obtained by further adding the difference (advance value difference) to the actual magnetic pole rotation angle is set as the magnetic pole rotation angle θ, and data indicating the change in the magnetic pole rotation angle θ according to the change in the actual magnetic pole rotation angle Is set as the angle displacement map.
For example, when the advance angle value A shown in FIG. 2 is set as the reference advance angle value and the predetermined torque D is maintained, first, as shown in FIG. 3, for example, the actual magnetic pole rotation angle = θ1 (= 0 ° [electrical angle] ]), Advance angle difference = (advance value A−advance value A) = 0 °, and magnetic pole rotation angle θ = actual magnetic pole rotation angle θ1.
Next, for example, as shown in FIG. 3, when the actual magnetic pole rotation angle = θ2, the advance value difference = (advance value B−advance value A), and the magnetic pole rotation angle θ = actual magnetic pole rotation angle θ2 + (advance angle). Value B-advance value A).
Next, for example, as shown in FIG. 3, when the actual magnetic pole rotation angle = θ3 (for example, θ3 = 30 ° [electrical angle]), the advance value difference = (advance value C−advance value A). The rotation angle θ = the actual magnetic pole rotation angle θ3 + (advance value C−advance value A).
Next, for example, as shown in FIG. 3, when the actual magnetic pole rotation angle = θ4, the advance value difference = (advance value B−advance value A), and the magnetic pole rotation angle θ = actual magnetic pole rotation angle θ4 + (advance angle). Value B-advance value A).
Next, for example, as shown in FIG. 3, when the actual magnetic pole rotation angle = θ5 (for example, θ5 = 60 ° [electrical angle]), the advance value difference = (advance value A−advance value A). The rotation angle θ = the actual magnetic pole rotation angle θ5.
Then, the phase corrector 18 replaces the corrected magnetic pole rotation angle θc with the magnetic pole rotation angle θ based on the angle replacement map using the corrected magnetic pole rotation angle θc as the actual magnetic pole rotation angle.

The motor control device 1 according to the above-described embodiment has the above-described configuration. Next, referring to the operation of the motor control device 1, in particular, the angle substitution map, the correction magnetic pole rotation angle θc is changed to the magnetic pole rotation angle θ. The replacement process will be described with reference to the accompanying drawings.
First, for example, in step S01 shown in FIG. 4, the magnetic pole position detector 6 detects the magnetic pole position of the rotor 4, and corrects the detection error of the magnetic pole position detector 6 with respect to the rotation angle θact that is the detected value. The correction magnetic pole rotation angle θc is calculated.
Next, in step S02, the correction magnetic pole rotation angle θc is set in the angle replacement map showing the change of the magnetic pole rotation angle θ obtained by adding the advance angle difference to each actual magnetic pole rotation angle at an appropriate reference advance angle value. As the actual magnetic pole rotation angle, the correction magnetic pole rotation angle θc is replaced with the magnetic pole rotation angle θ.
Next, in step S03, phase current control based on the magnetic pole rotation angle θ replaced by the angle replacement map is executed, and a series of processes is terminated.

  As described above, according to the brushless DC motor control apparatus 10 according to the present embodiment, the correction magnetic pole rotation is performed by referring to the angle replacement map set in advance based on the torque waveform data for each of the plurality of phase current advance values. The generation of torque pulsation can be suppressed with a simple process that simply replaces the angle θc with the magnetic pole rotation angle θ. For example, a process that amplifies the peak value of the phase current is unnecessary. It is possible to prevent complication.

In the embodiment described above, for example, as shown in FIG. 3, data indicating a change in the magnetic pole rotation angle θ with respect to the actual magnetic pole rotation angle over a range of 360 ° in electrical angle is set as an angle replacement map. However, the present invention is not limited to this, for example, data indicating a change in the magnetic pole rotation angle θ with respect to the actual magnetic pole rotation angle over the excitation switching period to the stator winding (for example, 60 ° in electrical angle in the three-phase motor 3). It may be set as an angle replacement map.
In the above-described embodiment, the data indicating the change in the magnetic pole rotation angle θ with respect to the actual magnetic pole rotation angle is set as the angle replacement map. However, the present invention is not limited to this. Data indicating a change in θ may be approximated by an appropriate mathematical formula, and the magnetic pole rotation angle θ may be calculated based on this mathematical formula.

In the above-described embodiment, the phase current control is executed based on the magnetic pole rotation angle θ replaced by the angle replacement map. However, the present invention is not limited to this. For example, as shown in FIG. An appropriate control gain is set according to various state quantities related to the output command, the magnetic pole rotation angle θ replaced by the angle replacement map is corrected based on the set control gain, and the phase is determined by the corrected magnetic pole rotation angle θ. Current control may be performed.
That is, in this modified example, first, in step S01 shown in FIG. 5, the magnetic pole position detector 6 detects the magnetic pole position of the rotor 4, and the magnetic pole position detector 6 is detected with respect to the rotation angle θact that is the detected value. The correction | amendment magnetic pole rotation angle (theta) c is calculated by performing the process which correct | amends this detection error.
Next, in step S02, the correction magnetic pole rotation angle θc is set in the angle replacement map showing the change of the magnetic pole rotation angle θ obtained by adding the advance angle difference to each actual magnetic pole rotation angle at an appropriate reference advance angle value. As the actual magnetic pole rotation angle, the correction magnetic pole rotation angle θc is replaced with the magnetic pole rotation angle θ.
Next, in step S11, various state quantities related to the output command to the motor 3 (for example, the rotation speed and torque of the motor 3 shown in FIGS. 6A and 6B, or the rotation speed and torque of the motor 3 shown in FIG. 7). Or the like) is obtained.
Next, in step S12, the magnetic pole rotation angle θ replaced by the angle replacement map is corrected based on the acquired control gain, the phase current control is executed using the corrected magnetic pole rotation angle θ, and the series of processes is completed. To do.
For example, as shown in FIGS. 6A and 6B, the control gain is set so as to decrease as the rotation speed of the motor 3 increases and to increase as the torque of the motor 3 increases. Has been. Then, a control gain corresponding to the rotation speed or torque of the motor 3 is applied to the magnetic pole rotation angle θ replaced by the angle replacement map, and the magnetic pole rotation angle θ is further corrected. Then, the magnetic pole rotation angle θ corrected by the control gain is output to the current coordinate converter 12 and the voltage coordinate converter 16 and used for the coordinate conversion process.

It is a block diagram of the motor control apparatus which concerns on embodiment of this invention. Each advance value (advance value A << advance value A <<) when the effective value of the phase current flowing through each phase of the U phase, V phase, and W phase is fixed to a predetermined value. It is a graph which shows an example of the periodic torque fluctuation according to the change of the actual magnetic pole rotation angle (actual magnetic pole rotation angle) for every advance angle value B <advance angle value C). FIG. 3 is a graph showing an example of a relationship between an actual magnetic pole rotation angle and a magnetic pole rotation angle θ when a predetermined torque D is maintained with the advance angle value A shown in FIG. 2 as a reference advance angle value. It is a flowchart which shows operation | movement of the motor control apparatus shown in FIG. It is a flowchart which shows operation | movement of the motor control apparatus which concerns on the modification of embodiment of this invention. It is a graph which shows an example of the control gain which changes according to the rotation speed or torque of a motor. It is a graph which shows an example of the control gain which changes according to the rotation speed and torque of a motor.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Motor control apparatus 3 Brushless DC motor 4 Rotor (rotor)
6 Magnetic pole position detector (Magnetic pole position detection means)
8 PWM inverter circuit (main circuit, energization switching means)
9 Current command generator (current control means)
10 Current command selector (current control means)
11u phase current detector (current control means)
11v phase current detector (current control means)
12 Current coordinate converter (current control means)
13, 14 Subtraction processor (current control means)
15 Voltage command generator (current control means)
16 Voltage coordinate converter (current control means)
18 Phase corrector (angle replacement means)
Step S11 Correction means

Claims (8)

A main circuit for supplying a current to the electric motor, a magnetic pole position detecting means for detecting a magnetic pole position angle of the rotor, and
Angle replacement means for newly setting a value obtained by adding an angle correction value corresponding to each angle to the detected value of the magnetic pole position angle by the magnetic pole position detection means, as the magnetic pole position angle;
A motor comprising: current control means for controlling the current supplied to the electric motor based on the magnetic pole position angle set by the angle replacing means and an output command which is a command for the output of the electric motor. Control device. The motor control device according to claim 1, wherein the angle correction value is searched from a map configured by correction data set in advance for each angle. The motor control device according to claim 1, wherein the angle correction value is calculated from a mathematical formula set based on correction data set for each angle in advance. The motor control device according to claim 2, wherein the correction data is set according to an average torque of the electric motor. The correction means which correct | amends the said magnetic pole position angle set by the said angle substitution means with the control gain according to the rotation speed of the said electric motor is provided, The correction means as described in any one of Claim 1 to 4 characterized by the above-mentioned. Motor control device. 6. The motor according to claim 1, further comprising a correcting unit that corrects the magnetic pole position angle set by the angle replacing unit with a control gain according to a torque of the electric motor. Control device. The said electric motor is equipped with the rotor which has a permanent magnet, and the stator which wound the multiphase stator winding around the stator core intensively, The one of Claim 1-6 characterized by the above-mentioned. Motor control device. The electric motor includes a rotor having a permanent magnet, and a stator having a three-phase stator winding that generates a rotating magnetic field that rotates the rotor.
An energization comprising a plurality of switching elements and rotating the rotor by sequentially commutating energization to the stator winding according to a three-phase voltage converted from a two-phase voltage of a d-axis voltage and a q-axis voltage The motor control apparatus according to claim 1, further comprising a switching unit.

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