JP2010259180A

JP2010259180A - Controller of motor

Info

Publication number: JP2010259180A
Application number: JP2009104925A
Authority: JP
Inventors: Hirobumi Shin; 博文新; Hiroyuki Isekawa; 浩行伊勢川
Original assignee: Honda Motor Co Ltd
Current assignee: Honda Motor Co Ltd
Priority date: 2009-04-23
Filing date: 2009-04-23
Publication date: 2010-11-11
Anticipated expiration: 2029-04-23
Also published as: JP5317812B2

Abstract

<P>PROBLEM TO BE SOLVED: To provide a controller of a motor, capable of operating the motor while maintaining the operation efficiency even under a condition that deviation occurs between phase currents. <P>SOLUTION: The controller of a motor includes: an inverter for supplying a phase current to a stator of a motor to drive the motor; a voltage conversion section for stepping up or down the output voltage of a DC power supply and applying the stepped up or down voltage to the inverter; an output voltage command generating section for generating an output voltage command for indicating the output voltage of the voltage conversion section; a conduction mode switching section for switching the mode of conduction by the inverter in controlling a rectangular wave; an electric angle acquiring section for acquiring an electric angle of the rotor of the motor; and a state detecting section for detecting a first state where the deviation occurs between phase currents supplied by the inverter to the motor or a second state satisfying the conditions for causing deviation between the phase currents. When the state detecting section detects the first state or the second state, the conduction mode switching section switches the mode to two-phase conduction, and the output voltage command generating section generates an output voltage command for indicating the correction of the deviation between the phase currents synchronously with a change in the electric angle. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

本発明は、回転子と、印加電圧によって回転磁界を発生して回転子を回転させる固定子と、を有する電動機の制御装置に関する。 The present invention relates to a control device for an electric motor having a rotor and a stator that rotates a rotor by generating a rotating magnetic field by an applied voltage.

図７は、本発明の関連技術としての電動機の制御装置を示すブロック図である。図７に示す電動機１０の制御装置は、レゾルバ１０１と、電流センサー１０３と、バンドパスフィルタ（ＢＰＦ）１０５と、３相−ｄｐ変換部１０７と、電流指令算出部１０９と、ｄ軸電流制御部１１１と、ｑ軸電流制御部１１３と、ｒθ変換部１１５と、インバータ（ＩＮＶ）１１７と、角速度算出部１１９と、直流電圧指令生成部１２１と、ＤＣＤＣコンバータ１２３と、出力電圧検出部１２５と、インバータ演算方式決定部１２７とを備える。図７に示す電動機１０には、当該制御装置を介して、蓄電器１５から電力が供給される。なお、電動機１０は、例えば、永久磁石を有する回転子と、２相又は３相の印加電圧によって回転磁界を発生して回転子を回転させる固定子とを備えた３相ブラシレスＤＣモータである。 FIG. 7 is a block diagram showing an electric motor control apparatus as a related technique of the present invention. 7 includes a resolver 101, a current sensor 103, a bandpass filter (BPF) 105, a three-phase-dp conversion unit 107, a current command calculation unit 109, and a d-axis current control unit. 111, q-axis current control unit 113, rθ conversion unit 115, inverter (INV) 117, angular velocity calculation unit 119, DC voltage command generation unit 121, DCDC converter 123, output voltage detection unit 125, And an inverter calculation method determination unit 127. Electric power is supplied from the battery 15 to the electric motor 10 shown in FIG. 7 via the control device. The electric motor 10 is, for example, a three-phase brushless DC motor that includes a rotor having permanent magnets and a stator that rotates a rotor by generating a rotating magnetic field using two-phase or three-phase applied voltages.

レゾルバ１０１は、電動機１０の回転子の機械角度を検出し、検出した機械角度に応じた電気角度θｍを出力する。レゾルバ１０１から出力された電気角度θｍは、３相−ｄｐ変換部１０７及び角速度算出部１１９に送られる。電流センサー１０３は、インバータ１１７から出力された電動機１０の固定子に供給される３相電流の各相電流を検出する。 The resolver 101 detects the mechanical angle of the rotor of the electric motor 10 and outputs an electrical angle θm corresponding to the detected mechanical angle. The electrical angle θm output from the resolver 101 is sent to the three-phase-dp converter 107 and the angular velocity calculator 119. The current sensor 103 detects each phase current of the three-phase current supplied from the inverter 117 and supplied to the stator of the electric motor 10.

ＢＰＦ１０５は、電流センサー１０３によって検出された３相交流電流Ｉｕ，Ｉｖ，Ｉｗを示す各電流検出信号の不要成分を除去する。３相−ｄｐ変換部１０７は、ＢＰＦ１０５により不要成分が除去された電流検出信号と、レゾルバ１０１によって検出された回転子の電気角度θｍとに基づいて３相−ｄｑ変換を行って、ｄ軸電流の検出値Ｉｄ＿ｓ及びｑ軸電流の検出値Ｉｑ＿ｓを算出する。 The BPF 105 removes unnecessary components of each current detection signal indicating the three-phase alternating currents Iu, Iv, Iw detected by the current sensor 103. The three-phase-dp conversion unit 107 performs three-phase-dq conversion based on the current detection signal from which unnecessary components have been removed by the BPF 105 and the electrical angle θm of the rotor detected by the resolver 101, and the d-axis current Detection value Id_s and q-axis current detection value Iq_s are calculated.

電流指令算出部１０９は、外部から入力されたトルク指令値Ｔに基づいて、ｄ軸側の固定子（以下「ｄ軸固定子」という。）に流す電流（以下「ｄ軸電流」という。）の指令値Ｉｄ*及びｑ軸側の固定子（以下「ｑ軸固定子」という。）に流す電流（以下「ｑ軸電流」という。）の指令値Ｉｑ*を決定する。ｄ軸電流の指令値Ｉｄ*はｄ軸電流制御部１１１に入力される。また、ｑ軸電流の指令値Ｉｑ*はｑ軸電流制御部１１３に入力される。なお、ｄ軸は界磁軸であり、ｑ軸はトルク軸である。 The current command calculation unit 109 is a current (hereinafter referred to as “d-axis current”) that flows to the d-axis side stator (hereinafter referred to as “d-axis stator”) based on the torque command value T input from the outside. Command value Id * and a command value Iq * of a current (hereinafter referred to as “q-axis current”) to be passed through a q-axis side stator (hereinafter referred to as “q-axis stator”). The d-axis current command value Id * is input to the d-axis current control unit 111. Further, the q-axis current command value Iq * is input to the q-axis current control unit 113. The d axis is a field axis, and the q axis is a torque axis.

ｄ軸電流制御部１１１は、ｄ軸電流の指令値Ｉｄ*と検出値Ｉｄ＿ｓの偏差ΔＩｄが減少するよう、ｄ軸固定子の端子間電圧（以下「ｄ軸電圧」という。）の指令値Ｖｄ**を決定する。ｑ軸電流制御部１１３は、ｑ軸電流の指令値Ｉｑ*と検出値Ｉｑ＿ｓの偏差ΔＩｑが減少するよう、ｑ軸固定子の端子間電圧（以下「ｑ軸電圧」という。）の指令値Ｖｑ**を決定する。ｄ軸電圧の指令値Ｖｄ**及びｑ軸電圧の指令値Ｖｑ**は、ｒθ変換部１１５及びインバータ演算方式決定部１２７に入力される。 The d-axis current control unit 111 has a command value Vd for the voltage across the terminals of the d-axis stator (hereinafter referred to as “d-axis voltage”) so that the deviation ΔId between the command value Id * of the d-axis current and the detected value Id_s decreases. Determine **. The q-axis current control unit 113 controls the command value Vq of the inter-terminal voltage of the q-axis stator (hereinafter referred to as “q-axis voltage”) so that the deviation ΔIq between the q-axis current command value Iq * and the detected value Iq_s decreases. Determine **. The d-axis voltage command value Vd ** and the q-axis voltage command value Vq ** are input to the rθ conversion unit 115 and the inverter calculation method determination unit 127.

ｒθ変換部１１５は、ｄ軸電圧の指令値Ｖｄ**及びｑ軸電圧の指令値Ｖｑ**を電圧レベルＶ１と角度θの成分に変換する。 The rθ converter 115 converts the d-axis voltage command value Vd ** and the q-axis voltage command value Vq ** into components of the voltage level V1 and the angle θ.

インバータ１１７は、ｒθ変換部１１５から入力された電圧レベルＶ１と角度θの成分に基づいて、ＤＣＤＣコンバータ１２３を介した蓄電器１５からの直流電圧を３相（Ｕ，Ｖ，Ｗ）の交流電圧に変換する。なお、インバータ１１７は、矩形波インバータであって、インバータ演算方式決定部１２７から入力される切替フラグに応じて、ＰＷＭ（Pulse Width Modulation）制御及びワンパルス（１ＰＬＳ）制御のいずれかを行う。なお、ＰＷＭ制御は、スイッチング周波数が高いほどインバータ１１７の出力電圧を高い精度で制御可能である。一方、１ＰＬＳ制御は、スイッチング周波数が低いためスイッチング損失が小さい。なお、１ＰＬＳ制御時、インバータ１１７は、電動機１０に対して２相通電及び３相通電のいずれかを行う。 The inverter 117 converts the DC voltage from the battery 15 via the DCDC converter 123 into a three-phase (U, V, W) AC voltage based on the voltage level V1 and the angle θ component input from the rθ converter 115. Convert. The inverter 117 is a rectangular wave inverter, and performs either PWM (Pulse Width Modulation) control or one-pulse (1PLS) control according to the switching flag input from the inverter calculation method determination unit 127. Note that the PWM control can control the output voltage of the inverter 117 with higher accuracy as the switching frequency is higher. On the other hand, 1PLS control has a small switching loss because the switching frequency is low. Note that, during the 1PLS control, the inverter 117 performs either two-phase energization or three-phase energization for the electric motor 10.

角速度算出部１１９は、レゾルバ１０１から出力された電気角度θｍを時間微分することによって、電動機１０の回転子の角速度ωを算出する。角速度算出部１１９によって算出された角速度ωは、直流電圧指令生成部１２１に入力される。 The angular velocity calculation unit 119 calculates the angular velocity ω of the rotor of the electric motor 10 by time differentiation of the electrical angle θm output from the resolver 101. The angular velocity ω calculated by the angular velocity calculation unit 119 is input to the DC voltage command generation unit 121.

直流電圧指令生成部１２１は、角速度ωと出力電圧指令Ｖｃｕ*とが対応したテーブルを参照して、角速度算出部１１９から入力された角速度ωに対応した一定の直流電圧を出力するようＤＣＤＣコンバータ１２３に指示する出力電圧指令Ｖｃｕ*を生成する。出力電圧指令Ｖｃｕ*は、ＤＣＤＣコンバータ１２３に入力される。ＤＣＤＣコンバータ１２３は、蓄電器１５の直流出力電圧を直流のまま昇圧又は降圧する。出力電圧検出部１２５は、ＤＣＤＣコンバータ１２３の出力電圧Ｖｄｃを検出する。 The DC voltage command generation unit 121 refers to a table in which the angular velocity ω and the output voltage command Vcu * correspond, and outputs a constant DC voltage corresponding to the angular velocity ω input from the angular velocity calculation unit 119. An output voltage command Vcu * is generated. The output voltage command Vcu * is input to the DCDC converter 123. The DCDC converter 123 boosts or lowers the direct current output voltage of the battery 15 while maintaining the direct current. The output voltage detector 125 detects the output voltage Vdc of the DCDC converter 123.

インバータ演算方式決定部１２７は、ＤＣＤＣコンバータ１２３の出力電圧Ｖｄｃ、並びに、ｄ軸電流制御部１１１から出力されたｄ軸電圧の指令値Ｖｄ**及びｑ軸電流制御部１１３から出力されたｑ軸電圧の指令値Ｖｑ**に基づいて、インバータ１１７に入力する切替フラグを決定する。 The inverter calculation method determination unit 127 includes the output voltage Vdc of the DCDC converter 123, the command value Vd ** of the d-axis voltage output from the d-axis current control unit 111, and the q-axis output from the q-axis current control unit 113. Based on the voltage command value Vq **, the switching flag to be input to the inverter 117 is determined.

図８は、インバータ演算方式決定部１２７の内部構成及びこれに関連する構成要素との関係を示すブロック図である。図８に示すように、インバータ演算方式決定部１２７は、最大電圧円算出部２０１と、出力電圧円算出部２０３と、切替フラグ出力部２０５とを有する。最大電圧円算出部２０１は、ＤＣＤＣコンバータ１２３の出力電圧Ｖｄｃを√６で除算した値（Ｖｄｃ／√６）Ｖｐ_targetを導出する。この値Ｖｐ_targetは、電動機１０に印加可能な相電圧の最大値、すなわち、インバータ１１７におけるデューティ比が１００％の状態で電動機１０に印加される相電圧値である。 FIG. 8 is a block diagram showing the internal configuration of the inverter calculation method determination unit 127 and the relationship with the components related thereto. As illustrated in FIG. 8, the inverter calculation method determination unit 127 includes a maximum voltage circle calculation unit 201, an output voltage circle calculation unit 203, and a switching flag output unit 205. Maximum voltage circle calculation unit 201 derives a value (Vdc / √6) Vp_target obtained by dividing output voltage Vdc of DCDC converter 123 by √6. This value Vp_target is the maximum value of the phase voltage that can be applied to the electric motor 10, that is, the phase voltage value that is applied to the electric motor 10 with the duty ratio in the inverter 117 being 100%.

出力電圧円算出部２０３は、√（Ｖｄ**^２＋Ｖｑ**^２）の算出結果を合成ベクトル電圧Ｖｐとして導出する。切替フラグ出力部２０５は、最大電圧円算出部２０１によって導出された値Ｖｐ_targetと出力電圧円算出部２０３によって導出された合成ベクトル電圧Ｖｐの差分ΔＶｐ（＝Ｖｐ_target−Ｖｐ）に応じた切替フラグを出力する。切替フラグ出力部２０５は、差分ΔＶｐが０より大きい場合（ΔＶｐ＞０）はＰＷＭ制御を示す切替フラグを出力し、差分ΔＶｐが０以下の場合（ΔＶｐ≦０）は１ＰＬＳ制御を示すフラグを出力する。 The output voltage circle calculation unit 203 derives the calculation result of √ (Vd ** ² + Vq ** ² ) as a combined vector voltage Vp. The switching flag output unit 205 outputs a switching flag according to the difference ΔVp (= Vp_target−Vp) between the value Vp_target derived by the maximum voltage circle calculation unit 201 and the combined vector voltage Vp derived by the output voltage circle calculation unit 203. To do. The switching flag output unit 205 outputs a switching flag indicating PWM control when the difference ΔVp is greater than 0 (ΔVp> 0), and outputs a flag indicating 1PLS control when the difference ΔVp is 0 or less (ΔVp ≦ 0). To do.

特開２００５−５１８９４号公報JP 2005-51894 A

上記説明した電動機１０の制御装置では、ＤＣＤＣコンバータ１２３は、電動機１０の回転子の角速度ωに応じた一定の直流電圧を出力するよう制御される。また、インバータ１１７は、インバータ演算方式決定部１２７で導出された差分ΔＶｐ（＝Ｖｐ_target−Ｖｐ）が０より大きい（ΔＶｐ＞０）ときにはＰＷＭ制御を行い、差分ΔＶｐが０以下（ΔＶｐ≦０）のときには１ＰＬＳ制御を行う。 In the control device for the electric motor 10 described above, the DCDC converter 123 is controlled to output a constant DC voltage corresponding to the angular velocity ω of the rotor of the electric motor 10. The inverter 117 performs PWM control when the difference ΔVp (= Vp_target−Vp) derived by the inverter calculation method determination unit 127 is greater than 0 (ΔVp> 0), and the difference ΔVp is 0 or less (ΔVp ≦ 0). Sometimes 1PLS control is performed.

上述したように、１ＰＬＳ制御時のインバータ１１７は、電動機１０に対して２相通電及び３相通電のいずれかを行う。なお、電動機１０の固定子には相電流が供給される巻線が設けられており、各相の巻線はそれぞれスター結線（Ｙ結線）されている。図９は、ＤＣＤＣコンバータ１２３の出力電圧Ｖｄｃ、及び３相通電時にインバータ１１７が電動機１０に供給する各相電流を示すグラフである。図１０は、ＤＣＤＣコンバータ１２３の出力電圧Ｖｄｃ、及び２相通電時にインバータ１１７が電動機１０に供給する各相電流を示すグラフである。 As described above, the inverter 117 during 1PLS control performs either two-phase energization or three-phase energization for the electric motor 10. The stator of the electric motor 10 is provided with windings to which a phase current is supplied, and the windings of each phase are respectively star-connected (Y-connected). FIG. 9 is a graph showing the output voltage Vdc of the DCDC converter 123 and each phase current that the inverter 117 supplies to the electric motor 10 during three-phase energization. FIG. 10 is a graph showing the output voltage Vdc of the DCDC converter 123 and each phase current that the inverter 117 supplies to the electric motor 10 during two-phase energization.

電動機１０の固定子の各相に対応する部分（コイル）の温度差や巻線のインダクタンス差等によっては、相電流間に偏りが発生する場合がある。なお、固定子のコイルの温度が上がると、当該コイルの抵抗成分は増加する。例えば、Ｕ相のコイルの温度が他の２相（Ｖ相，Ｗ相）のコイルの各温度よりもとりわけ高い状態（１相温度集中状態）では、図１１に示すように、Ｕ―Ｖ相間電流及びＷ−Ｕ相間電流はＶ−Ｗ相間電流よりも小さくなる。 Depending on the temperature difference of the portion (coil) corresponding to each phase of the stator of the electric motor 10, the inductance difference of the winding, etc., there may be a deviation between the phase currents. As the temperature of the stator coil increases, the resistance component of the coil increases. For example, in a state where the temperature of the U-phase coil is particularly higher than the temperatures of the other two-phase (V-phase and W-phase) coils (one-phase temperature concentration state), as shown in FIG. The current and the W-U phase current are smaller than the V-W phase current.

図１２は、Ｕ相のコイルの温度が他の２相のコイルの各温度よりも高い状態でインバータ１１７が２相通電を行う際の、ＤＣＤＣコンバータ１２３の出力電圧Ｖｄｃ及び電動機１０に供給される各相電流を示すグラフである。なお、ＤＣＤＣコンバータ１２３の出力電圧は一定とする。図１２に示すように、インバータ１１７が電動機１０に供給する相電流間に偏りがあると、電動機１０のトルクが変動して騒音や振動が発生するおそれがある。また、インバータ１１７内の一部のスイッチング素子に電流が集中して、当該スイッチング素子が過昇温によって破損する可能性が高くなる。このように、相電流間の偏りは電動機１０の運転効率の低下の原因となる。 FIG. 12 shows the output voltage Vdc of the DCDC converter 123 and the electric motor 10 when the inverter 117 performs two-phase energization in a state where the temperature of the U-phase coil is higher than the temperatures of the other two-phase coils. It is a graph which shows each phase current. Note that the output voltage of the DCDC converter 123 is constant. As shown in FIG. 12, if the phase current supplied from the inverter 117 to the electric motor 10 is biased, the torque of the electric motor 10 may fluctuate and noise and vibration may be generated. Further, the current concentrates on some switching elements in the inverter 117, and the switching elements are more likely to be damaged due to excessive temperature rise. Thus, the deviation between the phase currents causes a decrease in the operating efficiency of the electric motor 10.

本発明の目的は、相電流間に偏りが生じ得る条件下でも運転効率を維持したまま電動機を運転可能な当該電動機の制御装置を提供することである。 An object of the present invention is to provide a control device for an electric motor capable of operating the electric motor while maintaining the operation efficiency even under a condition in which bias may occur between phase currents.

上記課題を解決して係る目的を達成するために、請求項１に記載の発明の電動機の制御装置は、回転子と、印加電圧によって回転磁界を発生して前記回転子を回転させる固定子と、を有する電動機（例えば、実施の形態での電動機１０）の制御装置であって、前記電動機の前記固定子に相電流を供給して前記電動機を駆動するインバータ（例えば、実施の形態でのインバータ１１７）と、直流電源（例えば、実施の形態での蓄電器１５）の出力電圧を昇圧又は降圧して前記インバータに印加する電圧変換部（例えば、実施の形態でのＤＣＤＣコンバータ１２３）と、前記電圧変換部の出力電圧を指示するための出力電圧指令を生成する出力電圧指令生成部（例えば、実施の形態での出力電圧指令生成部１５１）と、矩形波制御時に前記インバータが行う通電形態を切り替える通電形態切替部（例えば、実施の形態での通電形態切替部１５７）と、前記電動機の前記回転子の電気角度を取得する電気角度取得部（例えば、実施の形態でのレゾルバ１０１）と、前記インバータが前記電動機に供給する相電流間に偏りが発生した第１の状態、又は前記相電流間に偏りが発生する条件を満たす第２の状態を検出する状態検出部（例えば、実施の形態での通電形態切替部１５７）と、を備え、前記状態検出部が前記第１の状態又は前記第２の状態を検出したとき、前記通電形態切替部は、前記通電形態を２相通電に切り替え、かつ、前記出力電圧指令生成部は、前記電気角度取得部が取得した前記回転子の電気角度の変化に同期して前記相電流間の偏りを補正するよう指示する前記出力電圧指令を生成することを特徴としている。 In order to solve the above-described problems and achieve the object, an electric motor control device according to claim 1 includes a rotor, a stator that generates a rotating magnetic field by an applied voltage, and rotates the rotor. And an inverter that drives the motor by supplying a phase current to the stator of the motor (for example, an inverter in the embodiment) 117), a voltage converter (for example, DCDC converter 123 in the embodiment) that boosts or steps down an output voltage of a DC power source (for example, the battery 15 in the embodiment) and applies the voltage to the inverter, and the voltage An output voltage command generation unit (for example, output voltage command generation unit 151 in the embodiment) that generates an output voltage command for instructing an output voltage of the conversion unit, and the inverter during rectangular wave control An energization mode switching unit (for example, an energization mode switching unit 157 in the embodiment) that switches an energization mode performed by the motor and an electrical angle acquisition unit (for example, in the embodiment) that acquires an electrical angle of the rotor of the electric motor And a state detection unit that detects a first state in which a bias occurs between the phase currents supplied to the electric motor by the inverter or a second state that satisfies a condition in which the bias occurs between the phase currents. (For example, when the state detection unit detects the first state or the second state, the energization mode switching unit is configured to supply the energization mode). And the output voltage command generator is instructed to correct the bias between the phase currents in synchronization with a change in the electrical angle of the rotor acquired by the electrical angle acquisition unit. Output voltage It is characterized by generating a decree.

さらに、請求項２に記載の発明の電動機の制御装置では、回転子と、印加電圧によって回転磁界を発生して前記回転子を回転させる固定子と、を有する電動機（例えば、実施の形態での電動機１０）の制御装置であって、前記電動機の前記固定子に相電流を供給して前記電動機を駆動するインバータ（例えば、実施の形態でのインバータ１１７）と、直流電源（例えば、実施の形態での蓄電器１５）の出力電圧を昇圧又は降圧して前記インバータに印加する電圧変換部（例えば、実施の形態でのＤＣＤＣコンバータ１２３）と、前記電圧変換部の出力電圧を指示するための出力電圧指令を生成する出力電圧指令生成部（例えば、実施の形態での出力電圧指令生成部１５１）と、矩形波制御時に前記インバータが行う通電形態を切り替える通電形態切替部（例えば、実施の形態での通電形態切替部１５７）と、前記インバータが前記電動機に供給する相電流間に偏りが発生した第１の状態、又は前記相電流間に偏りが発生する条件を満たす第２の状態を検出する状態検出部（例えば、実施の形態での通電形態切替部１５７）と、を備え、前記状態検出部が前記第１の状態又は前記第２の状態を検出したとき、前記通電形態切替部は、前記通電形態を２相通電に切り替え、かつ、前記出力電圧指令生成部は、前記電動機に供給される前記相電流の変化に同期して前記相電流間の偏りを補正するよう指示する前記出力電圧指令を生成することを特徴としている。 Furthermore, in the motor control device according to the second aspect of the present invention, an electric motor (for example, in the embodiment) having a rotor and a stator that generates a rotating magnetic field by an applied voltage and rotates the rotor. A controller for the electric motor 10), which supplies a phase current to the stator of the electric motor to drive the electric motor (for example, the inverter 117 in the embodiment), and a DC power source (for example, the embodiment) The voltage converter (for example, the DCDC converter 123 in the embodiment) that boosts or steps down the output voltage of the battery 15) and applies it to the inverter, and the output voltage for indicating the output voltage of the voltage converter An output voltage command generation unit (for example, an output voltage command generation unit 151 in the embodiment) that generates a command, and an energization that switches an energization mode performed by the inverter during rectangular wave control The state switching unit (for example, the energization mode switching unit 157 in the embodiment) and the first state in which the bias is generated between the phase currents supplied to the electric motor by the inverter, or the bias is generated between the phase currents. A state detection unit (for example, an energization mode switching unit 157 in the embodiment) that detects a second state that satisfies the condition, and the state detection unit detects the first state or the second state Then, the energization mode switching unit switches the energization mode to two-phase energization, and the output voltage command generation unit synchronizes with the change in the phase current supplied to the electric motor. The output voltage command for instructing to correct the bias is generated.

さらに、請求項３に記載の発明の電動機の制御装置では、前記状態検出部は、前記相電流を検出する相電流検出部を含み、前記相電流検出部が検出した相電流の内、いずれか１つの相電流の積算電流値と他の相電流の積算電流値との差がしきい値以上のとき、当該制御装置が前記第１の状態と検出することを特徴としている。 Furthermore, in the motor control device according to claim 3, the state detection unit includes a phase current detection unit that detects the phase current, and any one of the phase currents detected by the phase current detection unit. When the difference between the integrated current value of one phase current and the integrated current value of another phase current is equal to or greater than a threshold value, the control device detects that the first state is present.

さらに、請求項４に記載の発明の電動機の制御装置では、前記状態検出部は、前記固定子の各相に対応する部分の温度を検出する温度検出部を含み、前記温度検出部が検出した温度の内、いずれか１つの温度と他の温度との差がしきい値以上のとき、当該制御装置が前記第２の状態と検出することを特徴としている。 Furthermore, in the motor control device according to claim 4, the state detection unit includes a temperature detection unit that detects a temperature of a portion corresponding to each phase of the stator, and the temperature detection unit detects the temperature. When the difference between any one of the temperatures and the other temperature is equal to or greater than a threshold value, the control device detects the second state.

さらに、請求項５に記載の発明の電動機の制御装置では、前記状態検出部は、前記固定子の各相に対応する部分の温度を検出する温度検出部を含み、前記温度検出部が検出した温度の内、いずれか１つの温度がしきい値以上のとき、当該制御装置が前記第２の状態と検出することを特徴としている。 Furthermore, in the motor control device according to the fifth aspect of the present invention, the state detection unit includes a temperature detection unit that detects a temperature of a portion corresponding to each phase of the stator, and the temperature detection unit detects the temperature detection unit. When any one of the temperatures is equal to or higher than a threshold value, the control device detects the second state.

さらに、請求項６に記載の発明の電動機の制御装置では、前記状態検出部は、前記固定子を構成する各相コイルのインダクタンスを導出するインダクタンス導出部を含み、前記インダクタンス導出部が導出した各相コイルのインダクタンスの内、いずれか１つのインダクタンスと他のインダクタンスとの差がしきい値以上のとき、当該制御装置が前記第２の状態と検出することを特徴としている。 Furthermore, in the motor control device according to claim 6, the state detection unit includes an inductance deriving unit that derives an inductance of each phase coil constituting the stator, and each of the inductance deriving units derived by the inductance deriving unit. When the difference between any one of the inductances of the phase coils and the other inductance is equal to or greater than a threshold value, the control device detects the second state.

さらに、請求項７に記載の発明の電動機の制御装置では、前記状態検出部は、前記固定子を構成する各相コイルのインダクタンスを導出するインダクタンス導出部を含み、前記インダクタンス導出部が導出した各相コイルのインダクタンスの内、いずれか１つのインダクタンスがしきい値以上のとき、当該制御装置が前記第２の状態と検出することを特徴としている。 Furthermore, in the motor control device according to claim 7, the state detection unit includes an inductance deriving unit that derives an inductance of each phase coil constituting the stator, and each of the inductance deriving units derived by the inductance deriving unit. When any one of the phase coil inductances is equal to or greater than a threshold value, the control device detects the second state.

さらに、請求項８に記載の発明の電動機の制御装置では、前記状態検出部は、前記固定子を構成する各相コイルの巻線の抵抗成分を導出する抵抗成分導出部を含み、前記抵抗成分導出部が導出した各相コイルの巻線の抵抗成分の内、いずれか１つの抵抗成分と他の抵抗成分との差がしきい値以上のとき、当該制御装置が前記第２の状態と検出することを特徴としている。 Furthermore, in the motor control apparatus according to an eighth aspect of the present invention, the state detection unit includes a resistance component deriving unit that derives a resistance component of a winding of each phase coil constituting the stator, and the resistance component When the difference between any one of the resistance components of the windings of each phase coil derived by the deriving unit and the other resistance component is equal to or greater than a threshold value, the control device detects that the second state is detected. It is characterized by doing.

さらに、請求項９に記載の発明の電動機の制御装置では、前記状態検出部は、前記固定子を構成する各相コイルの巻線の抵抗成分を導出する抵抗成分導出部を含み、前記抵抗成分導出部が導出した各相コイルの巻線の抵抗成分の内、いずれか１つの抵抗成分がしきい値以上のとき、当該制御装置が前記第２の状態と検出することを特徴としている。 Furthermore, in the motor control device according to claim 9, the state detection unit includes a resistance component deriving unit for deriving a resistance component of a winding of each phase coil constituting the stator, and the resistance component The control device detects the second state when any one of the resistance components of the winding of each phase coil derived by the deriving unit is greater than or equal to a threshold value.

請求項１〜９に記載の発明の電動機の制御装置によれば、相電流間に偏りが生じ得る条件下でも運転効率を維持したまま電動機を運転することができる。 According to the motor control device of the first to ninth aspects of the present invention, it is possible to operate the motor while maintaining the operation efficiency even under the condition that the bias may occur between the phase currents.

一実施形態の電動機の制御装置を示すブロック図The block diagram which shows the control apparatus of the electric motor of one Embodiment 図１に示した電動機１０の制御装置の一部と、ＤＣＤＣコンバータ及びインバータ１１７の各回路とを示すブロック図1 is a block diagram showing a part of the control device for the electric motor 10 shown in FIG. 1 and each circuit of a DCDC converter and an inverter 117. 図１に示した電動機１０の制御装置の一部として、出力電圧指令生成部１５１及びインバータ演算方式決定部１２７の各内部構成、並びに、これらに関連する構成要素との関係を示すブロック図As a part of the control device of the electric motor 10 shown in FIG. 1, a block diagram showing the internal configurations of the output voltage command generation unit 151 and the inverter calculation method determination unit 127 and the relationship with the components related thereto. 出力電圧指令生成部１５１が有する目標直流電圧指令生成部３０１の内部構成を示すブロック図The block diagram which shows the internal structure of the target DC voltage command generation part 301 which the output voltage command generation part 151 has Ｕ相のコイルの温度が他の２相のコイルの各温度よりも高い状態でインバータ１１７が２相通電を行った際、ＤＣＤＣコンバータ１２３が目標直流電圧指令Ｖｃｕ**に応じて昇圧動作を行ったときにインバータ１１７が電動機１０に供給する各相電流、及び、目標直流電圧指令Ｖｃｕ**に応じてＤＣＤＣコンバータ１２３が出力する電圧を示すグラフWhen the inverter 117 conducts two-phase energization in a state where the temperature of the U-phase coil is higher than the temperatures of the other two-phase coils, the DCDC converter 123 performs a boost operation in accordance with the target DC voltage command Vcu **. Graph showing each phase current supplied to the electric motor 10 by the inverter 117 and the voltage output by the DCDC converter 123 according to the target DC voltage command Vcu ** Ｕ相のコイルの温度が他の２相のコイルの各温度よりも高い状態でインバータ１１７が２相通電を行った際、ＤＣＤＣコンバータ１２３が出力電圧指令Ｖｃｕ***に応じて昇圧動作を行ったときに電動機１０に供給される各相電流、並びに、目標直流電圧指令Ｖｃｕ**及び出力電圧指令Ｖｃｕ***に応じてＤＣＤＣコンバータ１２３が出力する各電圧を示すグラフWhen the inverter 117 performs two-phase energization while the temperature of the U-phase coil is higher than the temperatures of the other two-phase coils, the DCDC converter 123 performs a boost operation according to the output voltage command Vcu ***. Is a graph showing each phase current supplied to the electric motor 10 and each voltage output by the DCDC converter 123 according to the target DC voltage command Vcu ** and the output voltage command Vcu ***. 本発明の関連技術としての電動機の制御装置を示すブロック図The block diagram which shows the control apparatus of the electric motor as related technology of this invention 図７に示したインバータ演算方式決定部１２７の内部構成及びこれに関連する構成要素との関係を示すブロック図The block diagram which shows the relationship between the internal structure of the inverter calculation system determination part 127 shown in FIG. 7, and the component related to this. ＤＣＤＣコンバータ１２３の出力電圧Ｖｄｃ、及び３相通電時にインバータ１１７が電動機１０に印加する各相電圧を示すグラフThe graph which shows the output voltage Vdc of the DCDC converter 123, and each phase voltage which the inverter 117 applies to the electric motor 10 at the time of three-phase electricity supply ＤＣＤＣコンバータ１２３の出力電圧Ｖｄｃ、及び２相通電時にインバータ１１７が電動機１０に印加する各相電圧を示すグラフThe graph which shows the output voltage Vdc of the DCDC converter 123, and each phase voltage which the inverter 117 applies to the electric motor 10 at the time of two-phase electricity supply Ｕ相のコイルの温度が他の２相のコイルの各温度よりも高い状態でインバータ１１７が２相通電を行う際の各相間電流を示す図The figure which shows the electric current between each phase when the inverter 117 performs two-phase electricity supply in the state where the temperature of the coil of a U phase is higher than each temperature of another two-phase coil Ｕ相のコイルの温度が他の２相のコイルの各温度よりも高い状態でインバータ１１７が２相通電を行う際の、ＤＣＤＣコンバータ１２３の出力電圧Ｖｄｃ及び電動機１０に印加される各相電圧を示すグラフThe output voltage Vdc of the DCDC converter 123 and each phase voltage applied to the motor 10 when the inverter 117 conducts two-phase energization in a state where the temperature of the U-phase coil is higher than each temperature of the other two-phase coils. Graph showing

以下、本発明の実施形態について、図面を参照して説明する。 Hereinafter, embodiments of the present invention will be described with reference to the drawings.

図１は、一実施形態の電動機の制御装置を示すブロック図である。図１に示す電動機１０の制御装置は、図７に示した電動機の制御装置と同様に、レゾルバ１０１と、電流センサー１０３と、バンドパスフィルタ（ＢＰＦ）１０５と、３相−ｄｐ変換部１０７と、電流指令算出部１０９と、ｄ軸電流制御部１１１と、ｑ軸電流制御部１１３と、ｒθ変換部１１５と、インバータ（ＩＮＶ）１１７と、角速度算出部１１９と、ＤＣＤＣコンバータ１２３と、出力電圧検出部１２５と、インバータ演算方式決定部１２７とを備え、さらに、出力電流検出部１５３、温度センサー１５５、通電形態切替判断部１５７及び抵抗増加相判断部１５９を備え、直流電圧指令生成部１２１の代わりに出力電圧指令生成部１５１を備える。なお、図１において、図７と共通する構成要素には同じ参照符号が付されている。 FIG. 1 is a block diagram illustrating an electric motor control apparatus according to an embodiment. The control device for the electric motor 10 shown in FIG. 1 includes a resolver 101, a current sensor 103, a band-pass filter (BPF) 105, a three-phase-dp conversion unit 107, as in the electric motor control device shown in FIG. , Current command calculation unit 109, d-axis current control unit 111, q-axis current control unit 113, rθ conversion unit 115, inverter (INV) 117, angular velocity calculation unit 119, DCDC converter 123, and output voltage A detection unit 125 and an inverter calculation method determination unit 127; an output current detection unit 153; a temperature sensor 155; an energization mode switching determination unit 157; and a resistance increase phase determination unit 159; Instead, an output voltage command generation unit 151 is provided. In FIG. 1, the same reference numerals are assigned to components common to FIG. 7.

図２は、図１に示した電動機１０の制御装置の一部と、ＤＣＤＣコンバータ及びインバータ１１７の各回路とを示すブロック図である。なお、図２に示すように、本実施形態で用いられるＤＣＤＣコンバータ１２３は、昇降圧コンバータである。図１及び図２に示した出力電流検出部１５３は、ＤＣＤＣコンバータ１２３の出力電流Ｉｄｃを検出する。また、温度センサー１５５は、電動機１０の固定子の各相に対応する部分（コイル）の各温度（以下「コイル温度」という）を検出する。 FIG. 2 is a block diagram showing a part of the control device of the electric motor 10 shown in FIG. 1 and each circuit of the DCDC converter and the inverter 117. As shown in FIG. 2, the DCDC converter 123 used in this embodiment is a step-up / down converter. The output current detector 153 shown in FIGS. 1 and 2 detects the output current Idc of the DCDC converter 123. The temperature sensor 155 detects each temperature (hereinafter referred to as “coil temperature”) of a portion (coil) corresponding to each phase of the stator of the electric motor 10.

通電形態切替判断部１５７には、３相交流電流Ｉｕ，Ｉｖ，Ｉｗを示す相電流検出信号、及び温度センサー１５５が検出した各相のコイル温度を示す温度検出信号が入力される。通電形態切替判断部１５７は、相電流検出信号が示す３相交流電流Ｉｕ，Ｉｖ，Ｉｗに基づいて、１ＰＬＳ制御時のインバータ１１７が２相通電を行った際の相電流が相によって偏った状態か否かを判断する。なお、通電形態切替判断部１５７は、３相交流電流Ｉｕ，Ｉｖ，Ｉｗの内、いずれか１つの相電流の積算電流値と他の２つの相電流の積算電流値との差がしきい値以上のとき、相電流が偏った状態と判断する。 A current detection signal indicating the three-phase alternating currents Iu, Iv, Iw and a temperature detection signal indicating the coil temperature of each phase detected by the temperature sensor 155 are input to the energization mode switching determination unit 157. Based on the three-phase AC currents Iu, Iv, and Iw indicated by the phase current detection signal, the energization mode switching determination unit 157 is in a state in which the phase current is biased depending on the phase when the inverter 117 performs two-phase energization during 1PLS control. Determine whether or not. Note that the energization mode switching determination unit 157 determines that the difference between the integrated current value of any one of the three-phase alternating currents Iu, Iv, and Iw and the integrated current value of the other two phase currents is a threshold value. At this time, it is determined that the phase current is biased.

また、通電形態切替判断部１５７は、各相のコイル温度を示す温度検出信号に基づいて、１ＰＬＳ制御時のインバータ１１７が２相通電を行った際に相電流が相によって偏る可能性が高い状態か否かを判断する。なお、通電形態切替判断部１５７は、各相のコイル温度の内、いずれか１つのコイル温度と他の２つのコイル温度との差がしきい値以上のとき、相電流が偏る可能性が高い状態と判断する。また、通電形態切替判断部１５７は、各相のコイル温度の内、いずれか１つのコイル温度がしきい値以上のとき、相電流が偏る可能性が高い状態と判断する。例えば、Ｕ相のコイル温度が他の２相（Ｖ相、Ｗ相）の各コイル温度よりもとりわけ高い１相温度集中状態では、図１１に示したように、Ｕ―Ｖ相間電流及びＷ−Ｕ相間電流がＶ−Ｗ相間電流よりも小さくなる可能性が高い。 In addition, based on the temperature detection signal indicating the coil temperature of each phase, the energization mode switching determination unit 157 has a high possibility that the phase current is biased depending on the phase when the inverter 117 during 1PLS control performs two-phase energization Determine whether or not. In addition, when the difference between any one coil temperature and the other two coil temperatures is equal to or greater than a threshold value among the coil temperatures of each phase, the energization mode switching determination unit 157 is likely to cause the phase current to be biased. Judged as a state. The energization mode switching determination unit 157 determines that the phase current is highly likely to be biased when any one of the coil temperatures of each phase is equal to or higher than a threshold value. For example, in the one-phase temperature concentration state where the coil temperature of the U phase is particularly higher than the coil temperatures of the other two phases (V phase and W phase), as shown in FIG. The U-phase current is likely to be smaller than the V-W phase current.

本実施形態のインバータ１１７は、１ＰＬＳ制御時、電動機１０に対して３相通電又はデッドタイム付き２相通電を行う。通電形態切替判断部１５７は、相電流が偏った状態又は相電流が偏る可能性が高い状態と判断したとき、１ＰＬＳ制御時にインバータ１１７が行う通電形態を２相通電に切り替える。このとき、通電形態切替判断部１５７は、２相通電を示す切替フラグを出力する。また、通電形態切替判断部１５７は、相電流が偏った状態及び相電流が偏る可能性が高い状態のいずれでもないと判断したとき、１ＰＬＳ制御時にインバータ１１７が行う通電形態を３相通電に切り替える。このとき、通電形態切替判断部１５７は、３相通電を示す切替フラグを出力する。通電形態切替判断部１５７から出力された２相通電／３相通電切替フラグは、インバータ１１７及び出力電圧指令生成部１５１に入力される。 The inverter 117 of the present embodiment performs three-phase energization or two-phase energization with dead time for the motor 10 during 1PLS control. When it is determined that the phase current is in a biased state or a state in which the phase current is likely to be biased, the energization mode switching determination unit 157 switches the energization mode performed by the inverter 117 during 1PLS control to two-phase energization. At this time, the energization mode switching determination unit 157 outputs a switching flag indicating two-phase energization. Further, when the energization mode switching determination unit 157 determines that neither the state in which the phase current is biased or the state in which the phase current is likely to be biased is high, the energization mode performed by the inverter 117 during the 1PLS control is switched to three-phase energization. . At this time, the energization mode switching determination unit 157 outputs a switching flag indicating three-phase energization. The two-phase energization / 3-phase energization switch flag output from the energization mode switching determination unit 157 is input to the inverter 117 and the output voltage command generation unit 151.

抵抗増加相判断部１５９には、３相交流電流Ｉｕ，Ｉｖ，Ｉｗを示す相電流検出信号、及び温度センサー１５５が検出した各相のコイル温度を示す温度検出信号が入力される。抵抗増加相判断部１５９は、相電流検出信号又は温度検出信号に基づいて、電動機１０の固定子の各相に対応する部分間での抵抗成分の差と、抵抗成分が他相よりも大きな相（以下「抵抗増加相」という）を判断する。抵抗増加相判断部１５９によって判断された抵抗増加相及び抵抗成分の差（以下「相抵抗情報」という）は出力電圧指令生成部１５１に入力される。 The resistance increase phase determination unit 159 receives a phase current detection signal indicating the three-phase AC currents Iu, Iv, and Iw and a temperature detection signal indicating the coil temperature of each phase detected by the temperature sensor 155. Based on the phase current detection signal or the temperature detection signal, the resistance increase phase determination unit 159 determines the difference between the resistance components between the portions corresponding to the respective phases of the stator of the electric motor 10 and the phase in which the resistance component is larger than the other phases. (Hereinafter referred to as “resistance increasing phase”). The difference between the resistance increasing phase and the resistance component (hereinafter referred to as “phase resistance information”) determined by the resistance increasing phase determining unit 159 is input to the output voltage command generating unit 151.

図３は、図１に示した電動機１０の制御装置の一部として、出力電圧指令生成部１５１及びインバータ演算方式決定部１２７の各内部構成、並びに、これらに関連する構成要素との関係を示すブロック図である。インバータ演算方式決定部１２７は、図３に示すように、最大電圧円算出部２０１と、出力電圧円算出部２０３と、切替フラグ出力部２０５とを有する。最大電圧円算出部２０１は、ＤＣＤＣコンバータ１２３の出力電圧Ｖｄｃを√６で除算した値（Ｖｄｃ／√６）Ｖｐ_targetを導出する。この値Ｖｐ_targetは、電動機１０に印加可能な相電圧の最大値、すなわち、インバータ１１７におけるデューティ比が１００％の状態で電動機１０に印加される相電圧値である。 FIG. 3 shows each internal configuration of the output voltage command generation unit 151 and the inverter calculation method determination unit 127 as a part of the control device of the electric motor 10 shown in FIG. 1 and the relationship with the related components. It is a block diagram. As shown in FIG. 3, the inverter calculation method determination unit 127 includes a maximum voltage circle calculation unit 201, an output voltage circle calculation unit 203, and a switching flag output unit 205. Maximum voltage circle calculation unit 201 derives a value (Vdc / √6) Vp_target obtained by dividing output voltage Vdc of DCDC converter 123 by √6. This value Vp_target is the maximum value of the phase voltage that can be applied to the electric motor 10, that is, the phase voltage value that is applied to the electric motor 10 with the duty ratio in the inverter 117 being 100%.

出力電圧円算出部２０３は、√（Ｖｄ**^２＋Ｖｑ**^２）の算出結果を合成ベクトル電圧Ｖｐとして導出する。切替フラグ出力部２０５は、最大電圧円算出部２０１によって導出された値Ｖｐ_targetと出力電圧円算出部２０３によって導出された合成ベクトル電圧Ｖｐの差分ΔＶｐ（＝Ｖｐ_target−Ｖｐ）に応じたＰＷＭ／１ＰＬＳ切替フラグを出力する。切替フラグ出力部２０５は、差分ΔＶｐが０より大きい場合（ΔＶｐ＞０）はＰＷＭ制御を示す切替フラグを出力し、差分ΔＶｐが０以下の場合（ΔＶｐ≦０）は１ＰＬＳ制御を示すフラグを出力する。切替フラグ出力部２０５から出力されたＰＷＭ／１ＰＬＳ切替フラグはインバータ１１７に入力される。 The output voltage circle calculation unit 203 derives the calculation result of √ (Vd ** ² + Vq ** ² ) as a combined vector voltage Vp. The switching flag output unit 205 performs PWM / 1PLS switching according to the difference ΔVp (= Vp_target−Vp) between the value Vp_target derived by the maximum voltage circle calculation unit 201 and the combined vector voltage Vp derived by the output voltage circle calculation unit 203. Output a flag. The switching flag output unit 205 outputs a switching flag indicating PWM control when the difference ΔVp is greater than 0 (ΔVp> 0), and outputs a flag indicating 1PLS control when the difference ΔVp is 0 or less (ΔVp ≦ 0). To do. The PWM / 1PLS switching flag output from the switching flag output unit 205 is input to the inverter 117.

出力電圧指令生成部１５１は、図３に示すように、目標直流電圧指令生成部３０１と、電圧指令出力部３０３とを有する。なお、図１〜図３に示すように、出力電圧指令生成部１５１には、外部から入力されたトルク指令値Ｔと、角速度算出部１１９によって算出された角速度ωと、レゾルバ１０１から出力された電気角度θｍと、出力電圧検出部１２５が検出したＤＣＤＣコンバータ１２３の出力電圧Ｖｄｃと、出力電流検出部１２７が検出したＤＣＤＣコンバータ１２３の出力電流Ｉｄｃと、通電形態切替判断部１５７が出力した２相通電／３相通電切替フラグと、抵抗増加相判断部１５９が出力した相抵抗情報とが入力される。 As shown in FIG. 3, the output voltage command generation unit 151 includes a target DC voltage command generation unit 301 and a voltage command output unit 303. As shown in FIGS. 1 to 3, the output voltage command generation unit 151 outputs the torque command value T input from the outside, the angular velocity ω calculated by the angular velocity calculation unit 119, and the resolver 101. The electrical angle θm, the output voltage Vdc of the DCDC converter 123 detected by the output voltage detection unit 125, the output current Idc of the DCDC converter 123 detected by the output current detection unit 127, and the two phases output by the energization mode switching determination unit 157 The energization / 3-phase energization switching flag and the phase resistance information output by the resistance increase phase determination unit 159 are input.

図４は、出力電圧指令生成部１５１が有する目標直流電圧指令生成部３０１の内部構成を示すブロック図である。図４に示すように、目標直流電圧指令生成部３０１は、係数Ｋとトルク指令値Ｔと角速度ωを乗算して、要求出力電力Ｐ０を導出する。また、目標直流電圧指令生成部３０１は、ＤＣＤＣコンバータ１２３の出力電流Ｉｄｃと出力電圧Ｖｄｃを乗算して、実際出力電力Ｐ１を導出する。目標直流電圧指令生成部３０１は、要求出力電力Ｐ０と実際出力電力Ｐ１の差分ΔＰ（＝Ｐ０−Ｐ１）に応じたＰＩ制御の制御量として、目標直流電圧指令Ｖｃｕ**を生成する。目標直流電圧指令Ｖｃｕ**は、電圧指令出力部３０３に入力される。 FIG. 4 is a block diagram illustrating an internal configuration of the target DC voltage command generation unit 301 included in the output voltage command generation unit 151. As shown in FIG. 4, the target DC voltage command generation unit 301 multiplies the coefficient K, the torque command value T, and the angular velocity ω to derive the required output power P0. The target DC voltage command generation unit 301 multiplies the output current Idc of the DCDC converter 123 by the output voltage Vdc to derive the actual output power P1. The target DC voltage command generation unit 301 generates a target DC voltage command Vcu ** as a control amount of PI control according to the difference ΔP (= P0−P1) between the requested output power P0 and the actual output power P1. The target DC voltage command Vcu ** is input to the voltage command output unit 303.

電圧指令出力部３０３は、通電形態切替判断部１５７が２相通電を示すフラグを出力しているとき、抵抗増加相判断部１５９が出力した相抵抗情報に基づいて、電動機１０の回転子の電気角度θｍに同期した変圧率で昇圧を行うようＤＣＤＣコンバータ１２３に指示する出力電圧指令Ｖｃｕ***を出力する。一方、通電形態切替判断部１５７が３相通電を示すフラグを出力しているときは、電圧指令出力部３０３は、目標直流電圧指令生成部３０１が生成した目標直流電圧指令Ｖｃｕ**を出力電圧指令Ｖｃｕ***として出力する。電圧指令出力部３０３から出力された出力電圧指令７Ｖｃｕ***はＤＣＤＣコンバータ１２３に入力される。 The voltage command output unit 303 outputs the electric power of the rotor of the electric motor 10 based on the phase resistance information output by the resistance increase phase determination unit 159 when the energization mode switching determination unit 157 outputs a flag indicating two-phase energization. An output voltage command Vcu *** is output to instruct the DCDC converter 123 to boost the voltage at a transformation rate synchronized with the angle θm. On the other hand, when the energization mode switching determination unit 157 outputs a flag indicating three-phase energization, the voltage command output unit 303 outputs the target DC voltage command Vcu ** generated by the target DC voltage command generation unit 301 as the output voltage. Output as command Vcu ***. The output voltage command 7Vcu *** output from the voltage command output unit 303 is input to the DCDC converter 123.

図５は、Ｕ相のコイルの温度が他の２相のコイルの各温度よりも高い状態でインバータ１１７が２相通電を行った際、ＤＣＤＣコンバータ１２３が目標直流電圧指令Ｖｃｕ**に応じて昇圧動作を行ったときにインバータ１１７が電動機１０に供給する各相電流、及び、目標直流電圧指令Ｖｃｕ**に応じてＤＣＤＣコンバータ１２３が出力する電圧を示すグラフである。なお、目標直流電圧指令Ｖｃｕ**に応じたＤＣＤＣコンバータ１２３の出力電圧は一定とする。 FIG. 5 shows that when the inverter 117 conducts two-phase energization in a state where the temperature of the U-phase coil is higher than the temperatures of the other two-phase coils, the DCDC converter 123 responds to the target DC voltage command Vcu **. It is a graph which shows the voltage which the DCDC converter 123 outputs according to each phase current which the inverter 117 supplies to the electric motor 10, and target DC voltage command Vcu ** when performing a pressure | voltage rise operation. Note that the output voltage of the DCDC converter 123 corresponding to the target DC voltage command Vcu ** is constant.

Ｕ相のコイル温度が他の２相の各コイル温度よりも高い状態のとき、Ｕ相コイルに設けられた巻線の抵抗成分は他相コイルの巻線の抵抗成分よりも大きい。このとき、図５に示すように、インバータ１１７が電動機１０に供給する相電流間には偏りが発生する、又はこのような偏りが発生する可能性が高い。電圧指令出力部３０３は、インバータ１１７が出力する３相の電流値が均等になるよう、相抵抗情報に基づく電気角度θｍに応じた昇圧率の調整を出力電圧指令Ｖｃｕ***によって行う。 When the U-phase coil temperature is higher than the other two-phase coil temperatures, the resistance component of the winding provided in the U-phase coil is larger than the resistance component of the winding of the other-phase coil. At this time, as shown in FIG. 5, there is a high possibility that deviation occurs between the phase currents supplied to the electric motor 10 by the inverter 117, or such deviation occurs. The voltage command output unit 303 adjusts the step-up rate according to the electrical angle θm based on the phase resistance information so as to equalize the three-phase current values output from the inverter 117 by the output voltage command Vcu ***.

図６は、Ｕ相のコイルの温度が他の２相のコイルの各温度よりも高い状態でインバータ１１７が２相通電を行った際、ＤＣＤＣコンバータ１２３が出力電圧指令Ｖｃｕ***に応じて昇圧動作を行ったときに電動機１０に供給される各相電流、並びに、目標直流電圧指令Ｖｃｕ**及び出力電圧指令Ｖｃｕ***に応じてＤＣＤＣコンバータ１２３が出力する各電圧を示すグラフである。図６に示すように、出力電圧指令Ｖｃｕ***に応じたＤＣＤＣコンバータ１２３の出力電圧によって、目標直流電圧指令Ｖｃｕ**に応じたＤＣＤＣコンバータ１２３の出力電圧の場合と比較して、インバータ１１７から出力される３相の電流値は電気角度θｍによらず均等になる。 FIG. 6 shows that when the inverter 117 conducts two-phase energization in a state where the temperature of the U-phase coil is higher than the temperatures of the other two-phase coils, the DCDC converter 123 responds to the output voltage command Vcu ***. 4 is a graph showing each phase current supplied to the electric motor 10 when the boosting operation is performed, and each voltage output by the DCDC converter 123 according to the target DC voltage command Vcu ** and the output voltage command Vcu ***. . As shown in FIG. 6, the inverter 117 is compared with the output voltage of the DCDC converter 123 according to the target DC voltage command Vcu ** by the output voltage of the DCDC converter 123 according to the output voltage command Vcu ***. The three-phase current values output from are equal regardless of the electrical angle θm.

以上説明したように、本実施形態の電動機の制御装置によれば、１ＰＬＳ制御時のインバータ１１７が２相通電を行った際の相電流間に偏りが発生する、又はその可能性があるときは、相抵抗情報に基づいてＤＣＤＣコンバータ１２３の変圧率が電動機１０の回転子の電気角度θｍに応じて変更される。その結果、インバータ１１７が出力する３相の電流値は等しくなるため、電動機１０には相電流間の偏りによるトルクの変動が起こらず、インバータ１１７のスイッチング素子が過昇温によって破損することもない。したがって、電動機１０の運転効率良く駆動できる。 As described above, according to the motor control device of the present embodiment, when the inverter 117 during the 1PLS control is biased between the phase currents when the two-phase energization is performed, or there is a possibility thereof Based on the phase resistance information, the transformation rate of the DCDC converter 123 is changed according to the electrical angle θm of the rotor of the electric motor 10. As a result, since the current values of the three phases output from the inverter 117 are equal, the torque of the electric motor 10 does not vary due to the deviation between the phase currents, and the switching element of the inverter 117 is not damaged due to excessive temperature rise. . Therefore, the electric motor 10 can be driven with high operation efficiency.

なお、上記実施形態では、出力電圧指令生成部１２１は、電動機１０の回転子の電気角度θｍと同期して出力電圧指令Ｖｃｕ***を出力しているが、電流センサー１０３が検出した電動機１０の固定子に供給される３相電流と同期して出力電圧指令Ｖｃｕ***を出力しても良い。また、なお、本実施形態のＤＣＤＣコンバータ１２３は昇降圧コンバータであるが、昇圧コンバータ又は降圧コンバータであっても良い。 In the above embodiment, the output voltage command generation unit 121 outputs the output voltage command Vcu *** in synchronization with the electrical angle θm of the rotor of the electric motor 10, but the electric motor 10 detected by the current sensor 103 is output. The output voltage command Vcu *** may be output in synchronization with the three-phase current supplied to the stator. In addition, although the DCDC converter 123 of this embodiment is a step-up / step-down converter, it may be a step-up converter or a step-down converter.

上記実施形態では、通電形態切替部１５７が、３相交流電流Ｉｕ，Ｉｖ，Ｉｗ又は各相のコイル温度に基づいて、相電流間に偏りが発生した状態又は相電流間に偏りが発生する可能性が高い状態か否かを判断している。他の実施形態として、通電形態切替部１５７は、電動機１０の固定子を構成する各相コイルのインダクタンスに基づいて、相電流間に偏りが発生した状態又は相電流間に偏りが発生する可能性が高い状態か否かを判断しても良い。インダクタンスが上がるとインピーダンスも上がるため、相電流間に偏りが発生する可能性が高い。また、通電形態切替部１５７は、各相コイルのインダクタンスの内、いずれか１つのインダクタンスがしきい値以上のとき、相電流が偏る可能性が高い状態と判断しても良い。 In the above-described embodiment, the energization mode switching unit 157 may cause the bias between the phase currents or the phase current based on the three-phase AC currents Iu, Iv, Iw or the coil temperature of each phase. It is judged whether or not the state is high. As another embodiment, the energization mode switching unit 157 may cause a bias between the phase currents or a state in which the bias between the phase currents is generated based on the inductance of each phase coil constituting the stator of the electric motor 10. It may be determined whether or not the state is high. If the inductance increases, the impedance also increases, so there is a high possibility that a bias will occur between the phase currents. Further, the energization mode switching unit 157 may determine that the phase current is likely to be biased when any one of the inductances of the respective phase coils is equal to or greater than a threshold value.

各相コイルのインダクタンスは、通電形態切替部１５７が以下の式（１）を用いて、相毎に算出する。なお、抵抗Ｒは、ｑ軸電機子及びｄ軸電機子の抵抗であり、予め設定された固定値である。また、ｄ軸成分のインダクタンスＬｄは相電流の大きさに対して一定である。 The inductance of each phase coil is calculated for each phase by the energization mode switching unit 157 using the following equation (1). The resistance R is the resistance of the q-axis armature and the d-axis armature, and is a preset fixed value. The d-axis component inductance Ld is constant with respect to the magnitude of the phase current.

また、他の実施形態として、通電形態切替部１５７は、各相コイルの巻線の抵抗成分に基づいて、相電流間に偏りが発生した状態又は相電流間に偏りが発生する可能性が高い状態か否かを判断しても良い。また、通電形態切替部１５７は、各相コイルの巻線の抵抗成分の内、いずれか１つの抵抗成分がしきい値以上のとき、相電流が偏る可能性が高い状態と判断しても良い。各相コイルの巻線の抵抗成分は、通電形態切替部１５７が以下の式（２）及び式（３）の連立方程式を用いて、相毎に算出する。なお、Ｋｅは誘起電圧定数である。 Further, as another embodiment, the energization mode switching unit 157 has a high possibility of occurrence of bias between phase currents or occurrence of bias between phase currents based on the resistance component of the winding of each phase coil. You may judge whether it is in a state. The energization mode switching unit 157 may determine that the phase current is likely to be biased when any one of the resistance components of the windings of each phase coil is equal to or greater than the threshold value. . The resistance component of the winding of each phase coil is calculated for each phase by the energization mode switching unit 157 using simultaneous equations of the following equations (2) and (3). Note that Ke is an induced voltage constant.

１０電動機
１５蓄電器
１０１レゾルバ
１０３電流センサー
１０５バンドパスフィルタ（ＢＰＦ）
１０７３相−ｄｐ変換部
１０９電流指令算出部
１１１ｄ軸電流制御部
１１３ｑ軸電流制御部
１１５ｒθ変換部
１１７インバータ
１１９角速度算出部
１２３ＤＣＤＣコンバータ
１２５出力電圧検出部
１２７インバータ演算方式決定部
１５１出力電圧指令生成部
１５３出力電流検出部
１５５温度センサー
１５７通電形態切替判断部
１５９抵抗増加相判断部
２０１最大電圧円算出部
２０３出力電圧円算出部
２０５切替フラグ出力部
３０１目標直流電圧指令生成部
３０３電圧指令出力部 DESCRIPTION OF SYMBOLS 10 Electric motor 15 Capacitor 101 Resolver 103 Current sensor 105 Band pass filter (BPF)
107 three-phase-dp conversion unit 109 current command calculation unit 111 d-axis current control unit 113 q-axis current control unit 115 rθ conversion unit 117 inverter 119 angular velocity calculation unit 123 DCDC converter 125 output voltage detection unit 127 inverter calculation method determination unit 151 output Voltage command generation unit 153 Output current detection unit 155 Temperature sensor 157 Energization mode switching determination unit 159 Resistance increase phase determination unit 201 Maximum voltage circle calculation unit 203 Output voltage circle calculation unit 205 Switching flag output unit 301 Target DC voltage command generation unit 303 Voltage Command output section

Claims

A control device for an electric motor having a rotor, and a stator that rotates a rotor by generating a rotating magnetic field by an applied voltage,
An inverter that drives the electric motor by supplying a phase current to the stator of the electric motor;
A voltage converter for stepping up or stepping down the output voltage of the DC power source and applying it to the inverter;
An output voltage command generator for generating an output voltage command for instructing an output voltage of the voltage converter;
An energization mode switching unit that switches an energization mode performed by the inverter during rectangular wave control;
An electrical angle acquisition unit for acquiring an electrical angle of the rotor of the electric motor;
A first state in which a bias has occurred between the phase currents supplied to the electric motor by the inverter, or a state detection unit that detects a second state that satisfies a condition in which the bias occurs between the phase currents,
When the state detection unit detects the first state or the second state, the energization mode switching unit switches the energization mode to two-phase energization, and the output voltage command generation unit The motor control device according to claim 1, wherein the output voltage command is generated to instruct to correct the bias between the phase currents in synchronization with a change in the electrical angle of the rotor acquired by the angle acquisition unit.

A control device for an electric motor having a rotor, and a stator that rotates a rotor by generating a rotating magnetic field by an applied voltage,
An inverter that drives the electric motor by supplying a phase current to the stator of the electric motor;
A voltage converter for stepping up or stepping down the output voltage of the DC power source and applying it to the inverter;
An output voltage command generator for generating an output voltage command for instructing an output voltage of the voltage converter;
An energization mode switching unit that switches an energization mode performed by the inverter during rectangular wave control;
A first state in which a bias has occurred between the phase currents supplied to the electric motor by the inverter, or a state detection unit that detects a second state that satisfies a condition in which the bias occurs between the phase currents,
When the state detection unit detects the first state or the second state, the energization mode switching unit switches the energization mode to two-phase energization, and the output voltage command generation unit includes the electric motor A control apparatus for an electric motor, wherein the output voltage command is generated to instruct to correct a deviation between the phase currents in synchronization with a change in the phase current supplied to the motor.

The motor control device according to claim 1 or 2,
The state detection unit includes a phase current detection unit that detects the phase current,
When the difference between the accumulated current value of any one of the phase currents detected by the phase current detection unit and the accumulated current value of the other phase currents is greater than or equal to a threshold value, the control device A control device for an electric motor characterized by detecting the state of the motor.

The motor control device according to claim 1 or 2,
The state detection unit includes a temperature detection unit that detects a temperature of a portion corresponding to each phase of the stator,
When the difference between any one of the temperatures detected by the temperature detection unit and the other temperature is equal to or greater than a threshold value, the control device detects the second state. Control device.

The motor control device according to claim 1 or 2,
The state detection unit includes a temperature detection unit that detects a temperature of a portion corresponding to each phase of the stator,
The motor control device, wherein when any one of the temperatures detected by the temperature detection unit is equal to or higher than a threshold value, the control device detects the second state.

The motor control device according to claim 1 or 2,
The state detection unit includes an inductance deriving unit for deriving the inductance of each phase coil constituting the stator,
When the difference between any one of the inductances of each phase coil derived by the inductance deriving unit and the other inductance is equal to or greater than a threshold value, the control device detects the second state. An electric motor control device.

The motor control device according to claim 1 or 2,
The state detection unit includes an inductance deriving unit for deriving the inductance of each phase coil constituting the stator,
The control device for an electric motor, wherein when any one of the inductances of the respective phase coils derived by the inductance deriving unit is equal to or greater than a threshold value, the control device detects the second state.

The motor control device according to claim 1 or 2,
The state detection unit includes a resistance component deriving unit for deriving a resistance component of a winding of each phase coil constituting the stator,
When the difference between any one of the resistance components of the coils of each phase coil derived by the resistance component deriving unit and the other resistance component is equal to or greater than a threshold value, the control device An electric motor control device that detects a state.

The motor control device according to claim 1 or 2,
The state detection unit includes a resistance component deriving unit for deriving a resistance component of a winding of each phase coil constituting the stator,
The control device detects the second state when any one of the resistance components of the winding of each phase coil derived by the resistance component deriving unit is greater than or equal to a threshold value. A motor control device.