JP2010004699A - Controller for rotating machine, and control system for rotating machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To solve the problem, wherein quick improvement of the accuracy of estimating a rotation angle is difficult, at the start of operation of an inverter 22 in a suspended state during the rotation of a motor generator 10. <P>SOLUTION: The motor generator 10 is driven in sensorless manner, based on output from an angle estimator (built into a controller 20) receiving rotation speed input. When an internal combustion engine 12 is being driven, despite being suspended of the inverter 22, driving wheels 16, as well as, the motor generator 10 are kept in a rotational state (idling) by a driving force from the internal combustion engine 12. At the start of the operation of the inverter 22, the rotational speed of the internal combustion engine 12, calculated based on an output from a crank angle sensor 24, is used as the initial value, to start the sensorless driving of the motor generator 10. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention provides a control device for a rotating machine that acquires information on the rotation angle of the rotating machine based on an electrical state quantity of the rotating machine when operating a power conversion circuit with the rotating machine as a control target, and the rotating machine It relates to the control system.

  As this type of control device, one that estimates a rotation angle based on an induced voltage of an electric motor is well known. That is, since the induced voltage of the electric motor changes according to the rotation angle of the electric motor, the induced voltage can be used as an angle correlation amount having a correlation with the rotation angle. Here, in estimating the angle correlation amount, a model is used that relates the voltage applied to the motor and the current flowing through the motor.

  However, in the case of the above control device, since it is assumed that voltage is applied to the electric motor, if the operation of the inverter that applies voltage to the electric motor is stopped for some reason during rotation of the electric motor, information on the rotation angle Can not get. In this case, information on the rotation angle cannot be acquired even when the operation of the inverter is resumed.

Therefore, conventionally, for example, as seen in Patent Document 1 below, when the control of the rotating motor is resumed, current feedback control is performed in the rotating coordinate system, and the motor is based on the rotation angle change of the voltage command value at this time. There has also been proposed a method for estimating the rotation angle of an electric motor by estimating the rotation speed of the motor.
JP 2005-65410 A

  Incidentally, in recent years, so-called hybrid vehicles using an electric motor and an internal combustion engine as an in-vehicle power generation device have been put into practical use. Here, in a hybrid vehicle, in a situation where the efficiency of the internal combustion engine is high, a situation may occur in which the motor is stopped and only the internal combustion engine is operated. Under such circumstances, for example, in a parallel hybrid vehicle, the output shaft of the electric motor idles as the internal combustion engine rotates. Under these circumstances, when starting the estimation of the rotation angle to drive the motor, if the time until it becomes possible to estimate the rotation angle with a high degree of time is prolonged, the period when the controllability of the motor has deteriorated As a result, the drivability of the vehicle may be reduced.

  In addition to the above hybrid vehicle, when it takes a long time to improve the estimation accuracy of the rotation angle when starting operation from the operation stop state of the power conversion circuit during rotation of the rotating machine, control of the rotating machine The fact that the state of sex declines for a long time is also generally common.

  The present invention has been made to solve the above-mentioned problems, and its purpose is to quickly improve the estimation accuracy of the rotation angle when starting operation from the operation stop state of the power conversion circuit while the rotating machine is rotating. It is an object of the present invention to provide a control device and a control system for a rotating machine that can be made to operate.

  Hereinafter, means for solving the above-described problems and the operation and effects thereof will be described.

  The invention according to claim 1 is applied to a vehicle having a rotator connected to a power conversion circuit as a power generation device, and estimates a rotation angle of the rotator using the rotation speed of the rotator as an input parameter. And a speed estimation means for estimating a rotational speed of the rotating machine using a rotational state parameter of the drive system of the vehicle when the operation is started from an operation stop state of the power conversion circuit while the rotating machine is rotating. The rotation angle estimation means starts estimation of the rotation angle by using the estimated value of the speed estimation means as an initial value of the rotation speed of the rotating machine at the start of the operation. And

  In the said invention, in order for a rotation angle estimation means to estimate an exact rotation angle, the highly accurate information about a rotational speed is required. For this reason, when there is no highly accurate information about the rotation speed at the start of the operation, the period until the estimation accuracy of the rotation angle is improved may be prolonged. On the other hand, the rotational state of the drive system of the vehicle is considered to have a strong correlation with the rotational speed of the output shaft of the rotating machine. In the above-described invention, by paying attention to this point and using the rotation state parameter, it is possible to acquire a highly accurate initial value for the rotation speed, and in turn, the rotation angle estimation means can accurately improve the estimation accuracy of the rotation angle. it can.

  The rotation state parameter may be a parameter based on an output of a detection unit that detects a rotation state of a part of the drive system that is different from the output shaft of the rotating machine.

  According to a second aspect of the present invention, in the first aspect of the invention, the vehicle includes an in-vehicle internal combustion engine and the rotating machine, the output shafts of which are mechanically connected to each other, and the speed is increased. The estimating means performs the estimation based on the output of the detecting means for detecting the rotation angle of the output shaft of the internal combustion engine.

  When the output shaft of the internal combustion engine and the output shaft of the rotating machine are mechanically connected to each other, the rotational speed of the output shaft of the rotating machine is considered to have a strong correlation with the rotational speed of the output shaft of the internal combustion engine. In the said invention, paying attention to this point, the rotational speed of a rotary machine can be estimated suitably according to the rotation state of the output shaft of an internal combustion engine.

  According to a third aspect of the present invention, in the first or second aspect of the present invention, the rotation angle estimation means uses a previous value for an angle correlation amount having a correlation with the rotation angle of the rotating machine, and uses a current value. And setting means for setting an initial value of the angular correlation amount using a model that does not include time differentiation of the angular correlation amount at the start of the operation. And

  In the above invention, the previous value is required to calculate the current value of the angle correlation amount. In such a case, the calculation accuracy of the current value depends on the accuracy of the previous value. Therefore, when starting the estimation of the rotation angle with the start of the above operation, it is not possible to prepare a highly accurate value as the previous value for the angle correlation amount, so the estimation accuracy of the rotation angle estimation means is improved. It may take a long time to do so. On the other hand, some models of rotating machines do not include the differential value of the angle correlation amount. In such models, the current value of the state of the rotating machine is input and the angle correlation amount is highly accurate. Can be calculated. In the above invention, by paying attention to this point, the initial value of the angle correlation amount can be set with high accuracy, and the estimation accuracy of the rotation angle estimation means can be quickly improved.

  According to a fourth aspect of the present invention, in the third aspect of the present invention, the model relates the voltage applied to the rotating machine by the power conversion circuit to the angular correlation amount.

  The invention according to claim 5 is the invention according to claim 3 or 4, wherein the model includes a voltage applied to the rotating machine by the power conversion circuit, a current flowing through the rotating machine, and a rotational speed of the rotating machine. The rotation angle estimation means estimates the rotation angle by using the estimated value of the speed estimation means as an initial value of the rotation speed in the model at the start of the operation. It is characterized by starting.

  When the model includes a rotation speed, the calculation accuracy of the angle correlation amount by the model depends on the estimation accuracy of the rotation speed to be used. In this regard, in the above invention, by using the estimated value of the speed estimating means, the angle correlation amount can be calculated with high accuracy based on the model, and as a result, the initial value of the angle correlation amount can be set with high accuracy. .

  According to a sixth aspect of the present invention, the rotation for estimating the rotation angle of the rotating machine is performed by performing a process of calculating the current value using the previous value of the angle correlation amount correlated with the rotation angle of the rotating machine. In the control apparatus for a rotating machine including an angle estimating unit, the rotation angle estimating unit is configured to start the operation from the operation stop state of the power conversion circuit connected to the rotating machine during the rotation of the rotating machine. It is characterized by comprising setting means for setting an initial value of the angle correlation amount using a model that does not include time differentiation of the amount.

  In the above invention, the previous value is required to calculate the current value of the angle correlation amount. In such a case, the calculation accuracy of the current value depends on the accuracy of the previous value. Therefore, when starting the estimation of the rotation angle with the start of the above operation, it is not possible to prepare a highly accurate value as the previous value for the angle correlation amount, so the estimation accuracy of the rotation angle estimation means is improved. It may take a long time to do so. On the other hand, some models of rotating machines do not include the differential value of the angle correlation amount. In such models, the current value of the state of the rotating machine is input and the angle correlation amount is highly accurate. Can be calculated. In the above invention, by paying attention to this point, the initial value of the angle correlation amount can be set with high accuracy, and the estimation accuracy of the rotation angle estimation means can be quickly improved.

  The invention according to a seventh aspect is the invention according to any one of the first to sixth aspects, wherein the rotation angle estimation means is a state equation in which the current flowing through the rotating machine and the angle correlation amount are state variables. It is characterized by comprising an observer whose estimation target is the angle correlation amount.

  An observer whose angle correlation amount is to be estimated is expressed by having a differential operation of the angle correlation amount. For this reason, when the rotation angle estimation means performs computation processing in a discrete system, the rotation angle estimation means uses the previous value of the angle correlation amount having a correlation with the rotation angle of the rotating machine. By performing the process of calculating the current value, the rotation angle of the rotating machine is estimated.

  The invention according to claim 8 is a control system for a rotating machine comprising the rotating machine control device according to any one of claims 1 to 7 and the power conversion circuit.

  In the above invention, since the estimation accuracy of the rotation angle can be improved promptly, a highly reliable control system is realized.

  Hereinafter, an embodiment in which a control device and a control system for a rotating machine according to the present invention are applied to a parallel hybrid vehicle will be described with reference to the drawings.

  FIG. 1 shows an overall configuration of an electric motor control system according to the present embodiment. As illustrated, the motor generator 10 is a three-phase permanent magnet synchronous rotating machine. The motor generator 10 is a rotating machine (saliency pole machine) having saliency. Specifically, the motor generator 10 is an embedded magnet synchronous motor (IPMSM). The output shaft (crank shaft) of the internal combustion engine 12 is mechanically connected to the output shaft of the motor generator 10 on the same axis. The output shaft of the motor generator 10 and the output shaft of the internal combustion engine 12 are connected to the drive wheels 16 via the transmission 14.

  On the other hand, the control device 20 targets the motor generator 10 as a control target, and targets a power conversion circuit (inverter 22) electrically connected to the motor generator 10 as an operation target. The control device 20 takes in the output of a sensor (not shown) that detects various state quantities of the motor generator 10 and controls the control quantity of the motor generator 10 by operating the inverter 22 based on this. At this time, in this embodiment, in particular, the output of the crank angle sensor 24 that detects the rotation angle of the crankshaft of the internal combustion engine 12 is taken in, and control is performed in consideration of this under predetermined conditions.

FIG. 2 shows processing performed by the control device 20. In the following, after “a. Processing relating to driving of motor generator 10” and “b. Estimation processing of rotation angle during driving of motor generator 10” are described, “c. Operation of inverter 22 during rotation of motor generator 10” is explained. Will be described. " In the present embodiment, when the rotation speed of the motor generator 10 is equal to or lower than a predetermined value, the rotation angle is estimated by another well-known method (not shown), but the description thereof is omitted.
<A. Processing for Driving Motor Generator 10>
The two-phase conversion unit 30 converts the real currents iu, iv, iw flowing through the U phase, V phase, and W phase of the motor generator 10 into real currents of fixed two-phase coordinate components (actual currents iα and β on the α axis) To the actual current iβ). Based on the rotation angle θ, the dq conversion unit 32 converts the actual currents iα and iβ on the αβ axis into the actual currents of the rotating two-phase coordinate components (the actual current id on the d axis and the actual current iq on the q axis). Convert to Command current setting unit 34 sets command currents idc and iqc on the dq axis based on the required torque for motor generator 10. In the command voltage setting unit 40, the difference between the actual current id and the command current idc on the d axis calculated by the deviation calculating unit 36, and the actual current with respect to the command current iqc on the q axis calculated by the deviation calculating unit 38. Based on the difference between iq, command voltages vdc and vqc on the dq axis are set. Specifically, the command voltage setting unit 40 sets the command voltages vdc and vqc by performing well-known non-interacting control in addition to feedback control based on the outputs of the deviation calculation units 36 and 38. That is, after the actual currents id and iq output from the dq conversion unit 32 are processed by the low-pass filter 42, the non-interacting control unit 44 based on these and the electric angular velocity (rotational speed ω) of the motor generator 10. , Non-interference terms for setting the command voltages vdc and vqc are calculated. The command voltage setting unit 40 sets the command voltages vdc and vqc by taking this non-interference term into consideration.

The αβ conversion unit 46 converts the command voltages vdc and vqc on the dq axis into command voltages (command voltage vαc on the α axis and command voltage vβc on the β axis) based on the rotation angle θ. To do. The three-phase converter 48 converts the command voltages vαc, vβc on the αβ axis into three-phase command voltages vuc, vvc, vwc. The PMW control unit 50 receives the command voltages vuc, vvc, and vwc and generates a signal for operating the switching element of the inverter 22 using PWM processing. At this time, the PWM control unit 50 takes into account the detection value of the voltage sensor 54 that detects the input voltage of the inverter 22 (the voltage of the battery 52).
<B. Processing for Estimating Rotation Angle when Driving Motor Generator 10>
In the present embodiment, an extended induced voltage observer 60 is provided. The extended induced voltage observer 60 estimates the extended induced voltage using an observer. This is in accordance with “Extended induced voltage observer for sensorless control of salient pole type brushless DC motor 1999 National Institute of Electrical Engineers of Japan No. 1026”, but this will be briefly described below. That is, the extended induced voltage model is expressed by the following equation (c1).

上記の式(ｃ１)において、永久磁石の誘起電圧定数Ｋｅ、ｄ軸インダクタンスＬｄ，ｑ軸インダクタンスＬｑを用いている。上記の式（ｃ１）の右辺第２項は、永久磁石の誘起電圧に加えて、リランタンス磁束などにより誘起される電圧成分を含んでおり、拡張誘起電圧と定義されている。上記の式（ｃ１）の拡張誘起電圧モデルは、永久磁石のベクトル成分と平行なベクトル（回転角度θを独立変数とする三角関数を成分とするベクトル）と、回転角度θを含まないベクトルとに分解されている。ここで、拡張誘起電圧は、回転角度θを独立変数とする三角関数を成分とするベクトル（−ｓｉｎθ、ｃｏｓθ）に平行なベクトルである。このため、これを回転角度θと相関を有する角度相関量とみなせば、この角度相関量を推定することで、逆三角関数(逆正接関数)を用いて回転角度θを推定することができる。詳しくは、指令電圧ｖαｃ、ｖβｃ、実電流ｉα、ｉβ及び回転速度ωから、拡張誘起電圧を推定することで、回転角度θを推定することができる。

In the above formula (c1), the induced voltage constant Ke, the d-axis inductance Ld, and the q-axis inductance Lq of the permanent magnet are used. The second term on the right-hand side of the above formula (c1) includes a voltage component induced by the reluctance magnetic flux in addition to the induced voltage of the permanent magnet, and is defined as an extended induced voltage. The extended induced voltage model of the above equation (c1) is a vector parallel to the vector component of the permanent magnet (a vector having a trigonometric function with the rotation angle θ as an independent variable) and a vector not including the rotation angle θ. It has been disassembled. Here, the expansion induced voltage is a vector parallel to a vector (−sin θ, cos θ) whose component is a trigonometric function having the rotation angle θ as an independent variable. Therefore, if this is regarded as an angle correlation amount having a correlation with the rotation angle θ, the rotation angle θ can be estimated using an inverse trigonometric function (inverse tangent function) by estimating the angle correlation amount. Specifically, the rotation angle θ can be estimated by estimating the expansion induced voltage from the command voltages vαc, vβc, the actual currents iα, iβ, and the rotation speed ω.

  In the present embodiment, a minimum dimension observer is used for estimation of the extended induced voltage. Therefore, the extended induced voltage observer 60 is configured by a minimum dimension observer using the above equation (c1) as a model equation. Next, this will be described. From the above equation (c1), the equation of state is defined as the following equation (c2).

上記状態方程式について、最小次元オブザーバを以下の式（ｃ３）にて構成する。

For the above state equation, the minimum dimension observer is configured by the following equation (c3).

ここで、ｇは、オブザーバのゲインである。

Here, g is the gain of the observer.

  In the above formula (c3), the gain g is set to “g = LdωG” and the following modification is performed in order to avoid differentiation of the current.

上記オブザーバは、中間変数ξα、ξβを直接の推定対象とするものである。中間変数ξα、ξβは、拡張誘起電圧及び電流ｉα、ｉβの１次式となっている。中間変数ξα、ξβを推定することができるなら、これと電流ｉα、ｉβとに基づき、拡張誘起電圧を推定することができ、ひいては、回転角度θを推定することができる。なお、図１においては、拡張誘起電圧オブザーバ６０にて推定される回転角度を回転角度θｅと記載した。

The observer uses the intermediate variables ξα and ξβ as direct estimation targets. The intermediate variables ξα and ξβ are linear expressions of the expansion induced voltage and currents iα and iβ. If the intermediate variables ξα and ξβ can be estimated, the expansion induced voltage can be estimated based on this and the currents iα and iβ, and thus the rotation angle θ can be estimated. In FIG. 1, the rotation angle estimated by the extended induced voltage observer 60 is described as the rotation angle θe.

When the rotation angle θe is estimated in this way, the rotation speed estimation unit 62 calculates the rotation speed ω by differential calculation of the rotation angle θe. Note that the rotation speed ω calculated in this way is used to estimate the rotation angle θe, and thus is input to the extended induced voltage observer 60.
<C. Rotation angle estimation process at the start of inverter operation>
By the way, in this embodiment, since the parallel hybrid vehicle is assumed, the situation where the rotational energy is supplied to the driving wheel 16 by the internal combustion engine 12 and the motor generator 10 is not driven may occur. Even in this case, since the crankshaft of the internal combustion engine 12 and the output shaft of the motor generator 10 are mechanically connected, the output shaft of the motor generator 10 is rotated by the driving force of the internal combustion engine 12. The Under such circumstances, since the inverter 22 is stopped, no voltage is applied to the motor generator 10 by the inverter 22, and there are no command voltages vαc and vβc as input information of the extended induced voltage observer 60. For this reason, the rotation angle of the motor generator 10 cannot be estimated. Under such circumstances, when the operation of the inverter 22 is resumed, since there is no information regarding the rotation angle of the motor generator 10, feedback control to the command currents idc and iqc cannot be performed.

  Therefore, in this embodiment, when the operation of the inverter 22 is resumed, the estimation of the rotation angle θ is started by setting the command voltages vαc and vβc in the fixed coordinate system prior to the feedback control to the command currents idc and iqc. To do. Specifically, the command voltages vαc and vβc are set by feedback control of the actual currents iα and iβ to fixed values. Then, the rotation angle is estimated by the extended induced voltage observer 60.

  In order to execute such processing, the synchronization pull-in control unit 64 is provided in the present embodiment. When the operation of the inverter 22 is resumed, the synchronous pull-in control unit 64 stops the control by the non-interacting control unit 44 and sets the value of the rotation angle θ input to the dq conversion unit 32 and the αβ conversion unit 46. Zero. As a result, the processing means for feedback-controlling the actual currents id and iq flowing through the motor generator 10 to the command currents idc and iqc in a normal state is used, and the rotation angle estimation process (synchronization pull-in) at the start of the operation of the inverter 22 is performed. Command voltages vαc, vβc for control) can be set.

  This is because, as shown in the following equations (c5) and (c6), by setting “θ = 0”, the dq conversion unit 32 converts the input to the identity and outputs it, and αβ conversion. The unit 46 pays attention to the fact that the input is identically converted and output.

図３に、同期引き込み制御時の処理を示す。図示されるように、同期引き込み制御時においては、回転角度θをゼロとすることで、αβ軸上の実電流ｉα、ｉβが指令電流設定部３４の指令する値となるようにフィードバック制御される。ここで、本実施形態では、同期引き込み制御時における指令電流ｉｄｃ，ｉｑｃをともにゼロとする。すなわち、αβ軸上の指令電流ｉαｃ、ｉβｃをともにゼロとする。これにより、指令電圧設定部４０では、実電流ｉα、ｉβをともにゼロとするための指令電圧ｖαｃ、ｖβｃを設定することとなる。ここで、実電流ｉα、ｉβは、モータジェネレータ１０の回転に応じた交流電流である。このため、指令電圧ｖαｃ、ｖβｃは、モータジェネレータ１０の回転に応じた交流電圧となる。

FIG. 3 shows processing at the time of synchronous pull-in control. As shown in the figure, during the synchronous pull-in control, feedback control is performed so that the actual currents iα and iβ on the αβ axis become the values commanded by the command current setting unit 34 by setting the rotation angle θ to zero. . Here, in this embodiment, both command currents idc and iqc at the time of synchronous pull-in control are set to zero. That is, both command currents iαc and iβc on the αβ axis are set to zero. Thereby, the command voltage setting unit 40 sets the command voltages vαc and vβc for making the actual currents iα and iβ both zero. Here, the actual currents iα and iβ are alternating currents corresponding to the rotation of the motor generator 10. Therefore, the command voltages vαc and vβc are alternating voltages according to the rotation of the motor generator 10.

  When the current flowing through the motor generator 10 becomes excessively large during such synchronous pull-in control, it is desirable to suppress the current rather than continuing the synchronous pull-in control and acquiring the rotation angle information. For this reason, in this embodiment, a pull-in stop processing unit 66 is provided. That is, the pull-in stop processing unit 66 stops the inverter 22 by outputting the fail signal FL when it is determined that the current flowing through the motor generator 10 is excessive based on the actual currents iu, iv, iw.

  FIG. 4 shows a processing procedure for synchronous pull-in control according to the present embodiment. This process is repeatedly executed at, for example, a predetermined cycle by the synchronous pull-in control unit 64, the pull-in stop processing unit 66, and the like.

  In this series of processes, first, in step S10, it is determined whether or not there is a request for synchronous pull-in control. If it is determined that there is a request, the rotation angle θ is set to zero and the command currents idc and iqc are set to zero in step S12. In the subsequent step S14, processing for feedback control of the actual currents iα and iβ to zero is started. In the following step S16, the rotation angle estimation start process, which will be described in detail later, is performed using the extended induced voltage observer 60. In subsequent step S18, it is determined whether or not the current flowing through motor generator 10 is equal to or greater than a threshold value. This process is for determining whether to stop the synchronous pull-in control. And when it is judged that it is more than a threshold value, synchronous pull-in control is stopped by stopping operation of inverter 22 in Step S20.

  On the other hand, if it is determined in step S18 that it is not equal to or greater than the threshold value, it is determined in step S22 whether or not the duration from the start of the synchronous pull-in control has reached a predetermined time. This process is for determining whether or not the estimation accuracy of the rotation angle by the extended induced voltage observer 60 is equal to or higher than a predetermined value. Here, the predetermined time may be adapted based on measurement or the like in advance. When the predetermined time has elapsed (step S22: YES), in step S24, the rotation angle θ is set as the rotation angle θe output by the expansion induced voltage observer 60, and the command current setting unit 34 determines the command current idc according to the required torque. , Iqc. As a result, feedback control of the actual currents id and iq to the command currents idc and iqc is started.

  When a negative determination is made in step S10 or when the processes in steps S20 and S24 are completed, this series of processes is temporarily terminated.

  The synchronous pull-in control can be performed in the above manner. However, since the minimum dimension observer described in the above equation (c4) has the rotational speed ω as an input, the time required for the estimation accuracy to improve with the start of estimation is the rotational speed used at the start of estimation. Depends on the accuracy of ω. Furthermore, since the minimum dimension observer includes the first derivative of the intermediate variables ξα and ξβ, when this is expressed in a discrete system, the minimum dimension observer receives the previous value for the intermediate variables ξα and ξβ as input. It is a function that calculates a value. For this reason, the time required for the estimation accuracy to improve with the start of estimation depends on the accuracy of the initial values of the intermediate variables ξα and ξβ used at the start of estimation.

  Therefore, in the present embodiment, in order to quickly improve the estimation accuracy, the process shown in FIG. 5 is performed as the angle estimation start process described in step S16.

  That is, in this series of processing, first, in step S30, it is determined whether or not the initial values of the intermediate variables ξα and ξβ have been acquired. If it is determined that the initial value has not yet been acquired, the rotational speed ω is estimated based on the output of the crank angle sensor 24 in step S32. Specifically, a value obtained by dividing the rotational speed Ne detected based on the output of the crank angle sensor 24 by the pole pair number p of the motor generator 10 is defined as a rotational speed ω.

  In the subsequent step S34, the initial value of the extended induced voltage is estimated based on the model of the following formula (c7), which is a simplified model approximating the extended induced voltage shown in the formula (c1).

上記の式（ｃ７）は、拡張誘起電圧ｅα、ｅβの微分値を含まない。このため、現在の指令電圧ｖαｃ、ｖβｃ及び実電流ｉα、ｉβ、及び上記ステップＳ３２において推定された回転速度ωを入力として、拡張誘起電圧ｅα、ｅβを高精度に推定することができる。なお、上記の式（ｃ７）の簡易モデルについては、例えば特開２００７−９７２６３号公報に記載されている。

The above equation (c7) does not include differential values of the extended induced voltages eα and eβ. Therefore, it is possible to estimate the expansion induced voltages eα and eβ with high accuracy by using the current command voltages vαc and vβc and the actual currents iα and iβ and the rotational speed ω estimated in step S32 as inputs. The simple model of the above formula (c7) is described in, for example, Japanese Patent Application Laid-Open No. 2007-97263.

  In the subsequent step S36, the initial values of the intermediate variables ξα and ξβ are estimated based on the expansion induced voltages eα and eβ estimated in step S34 using the relationship described in the lower part of the above equation (c4). When the process of step S36 is completed or when an affirmative determination is made in step S30, the intermediate variables ξα and ξβ are estimated based on the observer described in the above equation (c4). Thereby, the expansion induced voltage can be estimated with high accuracy immediately after the operation of the inverter 22 is started, and as a result, the rotation angle θ can be estimated with high accuracy.

  According to the embodiment described in detail above, the following effects can be obtained.

  (1) The estimated rotational speed ω is used as an initial value of the rotational speed ω input to the extended induced voltage observer 60 when the operation of the inverter 22 is started. Thereby, the estimation precision of rotation angle (theta) can be improved rapidly.

  (2) The rotational speed ω was estimated based on the output of the crank angle sensor 24. As a result, the rotational speed ω can be estimated appropriately.

  (3) At the start of the operation of the inverter 22, the initial value of the extended induced voltage was set using a model that does not include time differentiation of the extended induced voltage (the above formula (c7)). As a result, the initial value of the expansion induced voltage can be set with high accuracy, and as a result, the estimation accuracy of the expansion induced voltage observer 60 can be quickly improved.

  (4) With the start of the operation of the inverter 22, the estimated rotational speed ω is used as the initial value of the rotational speed in the model expressed by the above equation (c7), and the estimation of the rotational angle θ is started. Thereby, the initial value of the expansion induced voltage can be set with high accuracy.

  (5) An observer whose estimation target is an extended induced voltage in a state equation having a current flowing through the motor generator 10 and an extended induced voltage as a state variable is constructed as a means for performing arithmetic processing in a discrete system, and using this, a rotation angle θ was estimated. Thereby, the extended induced voltage observer 60 performs a process of calculating the current value with the previous value of the extended induced voltage as an input. For this reason, the utility value of this invention is especially high.

  (6) When starting the operation from the operation stop state of the inverter 22 while the motor generator 10 is rotating, the command voltages vαc, vβc and the actual currents iα, iβ are input, and the expansion defined by the above formula (c1) The rotation angle used for the operation of the inverter 22 was estimated using the induced voltage model. As described above, by using the model in the fixed coordinate system, the rotation angle can be estimated without using the rotation angle information when the operation of the inverter 22 is resumed.

  (7) When the operation is started from the operation stop state of the inverter 22, the command voltages vαc and vβc corresponding to the rotation of the motor generator 10 are set. Thereby, it can be matched with the use of a model (model used for derivation of the above-mentioned extended induced voltage model) on the premise that an AC voltage is applied to the motor generator 10, and as a result, the rotation angle by the model. It is possible to improve the reliability of estimation.

  (8) When starting the operation from the operation stop state of the inverter 22, the command voltages vαc and vβc corresponding to the rotation of the motor generator 10 are set by feedback control of the actual currents iα and iβ. Thereby, a voltage synchronized with the rotation of motor generator 10 can be set.

  (9) When it is assumed that the estimation accuracy of the rotation angle by the extended induced voltage observer 60 after the start of the operation of the inverter 22 is greater than a predetermined value, the command voltage vαc to be applied to the motor generator 10 based on the estimated rotation angle θe, Setting of vβc was performed. As a result, as long as the rotational speed of the motor generator 10 is equal to or higher than a predetermined value, the same estimation means (extended induced voltage observer 60) can be used in the synchronous pull-in control and in the normal time. For this reason, design of an estimation means becomes easy.

  (10) The synchronous pull-in control was performed by setting the rotation angle θ to zero and fixing the command currents idc and iqc. Thus, the voltage for synchronous pull-in control (command in the fixed coordinate system corresponding to the rotation of the motor generator 10) is used by means for appropriately controlling the required torque (means for performing vector control). Voltages vαc, vβc) can be set.

(Other embodiments)
The above embodiment may be modified as follows.

  The method for calculating the initial values of the intermediate variables ξα and ξβ is not limited to the one exemplified in the above embodiment. For example, the expansion induced voltage may be calculated based on the estimated value of the rotational speed ω and the actual currents iα and iβ based on the above formula (c1). Further, if the actual currents iα and iβ can be ignored at the start of the synchronous pull-in control, the intermediate variables ξα and ξβ are initialized by approximating the expansion induced voltages eα and eβ to the command voltages vα and vβ in the above equation (c7). A value may be calculated.

  The method for calculating the initial value of the rotation speed ω is not limited to the method exemplified in the above embodiment. For example, it may be calculated based on the traveling speed of the vehicle, the gear ratio of the transmission 14, and the like.

  In the above embodiment, the initial values of the intermediate variables ξα and ξβ are not processed using the model formulas and the like exemplified in the above embodiment, and the initial values of the intermediate variables ξα and ξβ are set to zero, for example. Even when the synchronous pull-in control is started, if the initial value of the rotational speed ω is calculated based on the output of the crank angle sensor 24, the effect (1) can be obtained.

  In the above embodiment, even if the synchronous pull-in control is started by setting the initial value of the rotational speed ω based on the output of the crank angle sensor 24 to zero, for example, the intermediate variable ξα, If the initial value of ξβ is calculated using the model equation exemplified in the above embodiment, the effect of (3) can be obtained.

  As the voltage setting means for setting the voltage according to the rotation of the motor generator 10 by using the detection value in the fixed coordinate system of the current flowing through the motor generator 10 when the operation is started from the operation stop state of the inverter 22 as the input It is not restricted to what was illustrated with the form. For example, the command voltage vαc corresponding to the rotation speed of the motor generator 10 based on the rotation speed of the motor generator 10 grasped based on the actual currents iu, iv, iw and the actual currents iα, iβ output from the two-phase converter 30. , Vβc may be set.

  Further, as voltage setting means for setting a voltage when starting operation from the operation stop state of the inverter 22, a voltage corresponding to the rotation of the motor generator 10 with a detection value in a fixed coordinate system of the current flowing through the motor generator 10 as an input. It is not restricted to what sets up. For example, the command voltages vαc and vβc may be set based on the rotational speed ω estimated based on the output of the crank angle sensor 24.

  Furthermore, the voltage setting means for setting the voltage when starting the operation from the operation stop state of the inverter 22 is not limited to a voltage setting unit that sets the voltage according to the rotation of the motor generator 10, for example, the rotation cycle of the motor generator 10. It is also possible to set a voltage with a different period.

  In the above embodiment, the command currents idc and iqc are set to zero (the command current on the αβ axis is zero) in the synchronous pull-in control. However, the present invention is not limited to this, and any fixed value may be used. Further, not limited to a fixed value, for example, a command current on the αβ axis may be set according to the rotation of the motor generator 10. This can be performed, for example, by setting a command current on the αβ axis based on the actual currents iu, iv, iw and the actual currents iα, iβ output from the two-phase converter 30. Further, for example, the command current on the αβ axis may be set based on the rotational speed ω estimated based on the output of the crank angle sensor 24.

  In the above embodiment, the command currents idc and iqc are set based on the required torque. However, the present invention is not limited to this. For example, the command currents idc and iqc may be set based on the required value of the rotation speed for the motor generator 10.

  -As the rotation angle estimation means for estimating the rotation angle of the rotating machine by performing the process of calculating the current angle correlation quantity using the previous value of the angle correlation quantity having a correlation with the rotation angle of the rotating machine Further, the present invention is not limited to the means for estimating the extended induced voltage in the fixed coordinate system using the minimum dimension observer. For example, as described in “Sensorless control of salient pole type permanent magnet synchronous motor based on extended induced voltage model, T. IEEE Japan, Vol. 122-D, No. 12, 2002”, It may be a means for estimating the extended induced voltage with a minimum dimension observer. Incidentally, the extended induced voltage here is a “voltage induced by a magnetic field” expressed in a rotating coordinate system.

  -As the rotation angle estimation means for estimating the rotation angle of the rotating machine by performing the process of calculating the current angle correlation quantity using the previous value of the angle correlation quantity having a correlation with the rotation angle of the rotating machine In addition, the present invention is not limited to means for estimating the expansion induced voltage with the minimum dimension observer. For example, as described in “Position / Speed Sensorless Control of a Cylindrical Brushless Motor Based on Disturbance Observer and Speed Adaptive Identification, T. IEEE Japan, Vol. 118-D, No. 7/8, 98”, the cylindrical brushless motor The induced voltage may be estimated by a minimum dimension observer.

  -As the rotation angle estimation means for estimating the rotation angle of the rotating machine by performing the process of calculating the current angle correlation quantity using the previous value of the angle correlation quantity having a correlation with the rotation angle of the rotating machine In addition, the present invention is not limited to performing the process of estimating the intermediate variable with the minimum dimension observer. For example, a process for estimating an induced voltage or an extended induced voltage with the same dimensional observer may be performed. Even in this case, when the observer for estimating the induced voltage or the extended induced voltage is constructed in a discrete system, this estimates the current value using the previous value of the induced voltage or the extended induced voltage. Processing is performed. For this reason, it is effective to estimate this initial value from a model that does not include the time derivative of the induced voltage or the extended induced voltage. Even in the same dimension observer, since the electrical angular velocity is an input parameter, it is also effective to calculate this initial value based on the output of the crank angle sensor 24.

  In the above-described embodiment, the rotation angle is estimated using a single estimation unit depending on whether the rotation speed of the motor generator 10 is equal to or higher than the predetermined value and when the synchronous pull-in control is performed. For example, it is also possible to estimate the rotation angle using an extended induced voltage model in the rotating coordinate system except during synchronous pull-in control.

  The rotation angle estimation means for estimating the rotation angle of the rotating machine using the rotation speed of the rotating machine as an input parameter is not limited to using an observer. For example, in the above formula (c1), a process of subtracting the first term on the right side from the left side may be performed. Even in this case, since the electrical angular velocity is used as an input parameter, it is effective to calculate the initial value based on the output of the crank angle sensor 24.

  -Control of the rotating machine is not limited to PWM control. For example, rectangular wave control may be used. In this case, for example, the voltage applied to the rotating machine may be estimated based on the phase operated according to the required torque and the voltage VB of the battery 52, and the angle correlation amount may be estimated based on this.

  The motor generator 10 is not limited to IPMSM, but may be SPM, for example. Furthermore, it is not limited to a permanent magnet synchronous motor. Even in this case, if it is a salient pole machine, the second term on the right side of the above equation (c1) due to the voltage induced by the magnetic field of the salient pole machine (voltage component induced by reluctance magnetic flux). Is not zero, it can be used as an estimation target as an angle correlation amount.

  -The rotating machine is not limited to a three-phase rotating machine. The parallel hybrid vehicle is not limited to those that are mechanically coupled to each other in a manner in which the ratio of the rotational speed of the motor generator 10 to the rotational speed of the crankshaft of the internal combustion engine 12 is the same. The crankshaft and the output shaft of the motor generator 10 may be mechanically connected via a transmission. In this case, the rotational speed of the motor generator 10 can be estimated based on the rotational speed Ne of the internal combustion engine 12 calculated based on the output of the crank angle sensor 24 and the transmission gear ratio. The vehicle is not limited to a parallel hybrid vehicle of the type in which the output shaft of the internal combustion engine and the output shaft of the motor generator are the same shaft. For example, a series hybrid vehicle may be used. In this case, since the output shaft of the internal combustion engine is not connected to the output shaft of the motor generator, the initial value of the electrical angular velocity cannot be estimated based on the output of the crank angle sensor. However, for example, the initial value of the electrical angular velocity can be estimated based on the speed ratio of the speed change means between the output shaft of the motor generator and the drive wheels and the speed of the wheels.

The system block diagram concerning one Embodiment. The block diagram which shows the process regarding control of the electric motor concerning the embodiment. The figure which shows the process regarding the synchronous pull-in control in the embodiment. The flowchart which shows the procedure of the process regarding the said synchronous pull-in control. The flowchart which shows the procedure of the rotation angle estimation start process in the said synchronous pull-in control.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 10 ... Motor generator, 20 ... Control apparatus, 22 ... Inverter, 60 ... Expansion induced voltage observer, 64 ... Synchronous pull-in control part.

Claims (8)

It is applied to a vehicle that uses a rotating machine connected to a power conversion circuit as a power generation device,
Rotation angle estimating means for estimating the rotation angle of the rotating machine using the rotation speed of the rotating machine as an input parameter;
A speed estimation means for estimating a rotational speed of the rotating machine by inputting a rotational state parameter of the driving system of the vehicle when starting operation from an operation stop state of the power conversion circuit during rotation of the rotating machine;
The rotation angle estimation means starts estimation of the rotation angle by using the estimated value of the speed estimation means as an initial value of the rotation speed of the rotation machine at the start of the operation. Control device. The vehicle is equipped with an in-vehicle internal combustion engine and the rotating machine with their output shafts mechanically connected to each other,
2. The control apparatus for a rotating machine according to claim 1, wherein the speed estimation means performs the estimation based on an output of a detection means for detecting a rotation angle of an output shaft of the internal combustion engine.   The rotation angle estimation means performs a process of calculating a current value using a previous value of an angle correlation amount having a correlation with a rotation angle of the rotating machine, and at the start of the operation, 3. The control device for a rotating machine according to claim 1, further comprising a setting unit that sets an initial value of the angle correlation amount using a model that does not include time differentiation of the angle correlation amount.   4. The rotating machine control device according to claim 3, wherein the model relates a voltage applied to the rotating machine by the power conversion circuit to the angular correlation amount. The model relates the voltage applied to the rotating machine by the power conversion circuit, the current flowing through the rotating machine, and the rotational speed of the rotating machine to the angular correlation amount,
The rotation angle estimation means starts estimation of the rotation angle using the estimated value of the speed estimation means as an initial value of the rotation speed in the model when the operation is started. 4. A control device for a rotating machine according to 4. A rotating machine comprising a rotation angle estimating means for estimating a rotation angle of the rotating machine by performing a process of calculating a current value using a previous value of an angle correlation amount having a correlation with a rotating angle of the rotating machine. In the control device,
The rotation angle estimation means uses a model that does not include time differentiation of the angle correlation amount when starting the operation from the operation stop state of the power conversion circuit connected to the rotating machine during the rotation of the rotating machine. A control device for a rotating machine, comprising setting means for setting an initial value of the angle correlation amount.   2. The rotation angle estimation means includes an observer for estimating the angle correlation amount in a state equation using a current flowing through the rotating machine and the angle correlation amount as a state variable. The control apparatus of the rotary machine of any one of -6. A control device for a rotating machine according to any one of claims 1 to 7,
A control system for a rotating machine comprising the power conversion circuit.

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