JP2010273522A - Device for control of electric motor - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a device for control of an electric motor, capable of optimizing the variation of energy in changing the relative torque. <P>SOLUTION: The device for control of the electric motor 10 controls a current that is supplied to the electric motor 10 which includes an outer rotor 21 and an inner rotor 22, both being provided concentrically around a rotating shaft 12, and a turning mechanism 30 for changing a circumferential relative angle between the outer rotor 21 and the inner rotor 22. It includes an energy consumption controller 153 which corrects a phase advance angle of the current to be supplied to the electric motor 10. Moreover, the energy consumption controller 153 computes a pressure reducing energy W1 corresponding to a variation of a relative torque corresponding to the phase advance angle of the current before and after correction of the phase advance angle of the current, and computes an efficiency changing energy W2 according to a variation of the shaft torque corresponding to the phase advance angle of the current before and after correction of the phase advance angle of the current. Furthermore, the energy consumption controller 153 corrects the phase advance angle of the current in a range where the pressure reducing energy W1 surpasses the efficiency changing energy W2 in a direction where the relative torque corresponding to the phase advance angle of the current decreases before change of the relative phase angle. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention includes a first rotor and a second rotor provided concentrically around a rotation shaft, and a phase change mechanism that changes a relative phase angle in the circumferential direction of the first rotor and the second rotor. The present invention relates to a motor control device.

  FIG. 27 is a cross-sectional view of the electric motor described in Patent Document 1. An electric motor 501 shown in FIG. 27 is disposed coaxially with an inner circumferential rotor 506 having an inner circumferential permanent magnet 509 disposed around the rotation shaft 504 along the circumferential direction. The outer peripheral rotor 505 having the outer peripheral permanent magnet 509 disposed along the circumferential direction outside the inner peripheral rotor 506, and the relative phase in the circumferential direction of the inner peripheral rotor 506 and the outer peripheral rotor 505 And a vane type rotation mechanism 511 capable of changing the angle. The rotating mechanism 511 changes the relative phase between the inner circumferential rotor 506 and the outer circumferential rotor 505 by the hydraulic pressure (fluid pressure) of hydraulic fluid (working fluid) that is an incompressible fluid. To do.

  The rotation mechanism 511 changes the relative phase angle between the inner rotor 506 and the outer rotor 505 so that the electric motor 501 is in a field strong state, a field weakening state, or an intermediate state therebetween. In the field-enhanced state, the magnetization directions of the permanent magnets 509 facing the inner circumferential rotor 506 and the outer circumferential rotor 505 are the same. On the other hand, in the field weakened state, the magnetization directions of the permanent magnets 509 facing the inner circumferential rotor 506 and the outer circumferential rotor 505 are opposite. In addition, the electric motor 10 in the field-enhanced state can output an output with a maximum torque (a shaft torque described later).

  The rotation mechanism 511 is provided with an annular housing 515 provided integrally with the inner peripheral rotor 506, and provided integrally with the outer peripheral rotor 505, and the advance side working chamber 524 and the retard side are provided by the annular housing 515. And a vane rotor 514 that forms a working chamber 525. As shown in FIG. 27, the vane rotor 514 includes a plurality of blade portions 518 provided on the outer periphery of a cylindrical boss portion 517 fitted to the rotation shaft 504. On the other hand, the annular housing 515 is provided with a plurality of recesses 519 on the inner peripheral surface. The corresponding blade portion 518 of the vane rotor 514 is accommodated in each recess 519.

  The annular housing 515 rotates in the circumferential direction with respect to the vane rotor 514. When the annular housing 515 rotates with respect to the vane rotor 514, the outer peripheral rotor 505 rotates with respect to the inner peripheral rotor 506. Note that the rotation of the annular housing 515 relative to the vane rotor 514 is restricted by the protrusion 521 coming into contact with the blade 518. Therefore, the rotation range of the outer peripheral rotor 505 relative to the inner peripheral rotor 506 is also limited.

  The annular housing 515 rotates with respect to the vane rotor 514 according to the hydraulic pressure of the hydraulic oil introduced into the advance side working chamber 524 and the retard side working chamber 525. The hydraulic oil is supplied to and discharged from the advance side working chamber 524 via the advance side supply / discharge passage 526. Further, the hydraulic oil is supplied to and discharged from the retard side working chamber 525 through the retard side supply / discharge passage 527. FIG. 27 shows a state in which hydraulic oil is discharged from the advance side working chamber 524 and hydraulic oil is supplied to the retard side working chamber 525.

  Moreover, the electric motor of patent document 2 is known as an electric motor similar to the electric motor described in patent document 1. The electric motor described in Patent Document 1 is stable at a phase position where the combined magnetic flux generated by the outer peripheral side permanent magnet and the inner peripheral side permanent magnet is strengthened when hydraulic fluid is not supplied to the working chamber (stronger stable characteristic). have. On the other hand, the electric motor described in Patent Document 2 has a characteristic that the combined magnetic flux of the outer peripheral side permanent magnet and the inner peripheral side permanent magnet is stable at the phase position where the outermost permanent magnet and the inner peripheral permanent magnet are most strengthened when the hydraulic oil is not supplied to the working chamber (weakly stable). Characteristic).

JP 2008-167513 A JP 2004-072978 A

  In such a conventional motor, two different torques can be considered. The first torque is “relative torque” determined according to the relative phase angle between the inner circumferential rotor and the outer circumferential rotor. The second torque is “shaft torque” that is determined at each relative phase angle, for example, depending on the phase advance angle and amplitude of the current supplied to the electric motor. Axial torque includes magnet torque generated by attracting and repelling the magnetic field generated by the permanent magnet of the motor and the rotating magnetic field generated by the winding of the motor, and the reluctance torque generated by attracting the salient pole part of the rotor to the rotating magnetic field generated by the winding. And the sum of

  In order for a vehicle equipped with an electric motor to travel at the highest efficiency, it is preferable to always maximize the shaft torque (set to the torque best) at each relative phase angle. However, when the shaft torque is always maximized, a very large relative torque is generated depending on the relationship between the shaft torque and the rotational speed of the electric motor. That is, a high pressure is required as the fluid pressure of the working fluid when shifting from the field strengthening state to the field weakening state or when shifting from the field weakening state to the field strengthening state. As a result, the size of the oil pump for supplying the working fluid becomes large, or loss due to leakage of the working fluid due to high pressure occurs.

  On the other hand, when the relative torque is reduced, the fluid pressure of the working fluid required according to the relative torque is reduced, so that the flow rate of the working fluid necessary for changing the relative phase is reduced. Energy corresponding to the amount of reduction of the working fluid (hereinafter referred to as pressure reduction energy) can be reduced. However, since the shaft torque is reduced in response to the reduction of the relative torque, the energy that can be output by the motor (hereinafter referred to as efficiency change energy) is reduced. Therefore, it is desirable to optimize the amount of energy change when reducing the relative torque in consideration of the pressure reduction energy (obtained) and the efficiency change energy (loss).

  The present invention has been made in view of the above circumstances, and an object thereof is to provide an electric motor control device capable of optimizing the amount of energy change when reducing the relative torque.

  In order to solve the above problems and achieve the object, the motor control device according to the first aspect of the present invention is provided concentrically around the rotating shaft (for example, the rotating shaft 12 in the embodiment). The first rotor and the second rotor (for example, the outer rotor 21 and the inner rotor 22 in the embodiment) and the relative phase angle in the circumferential direction of the first rotor and the second rotor ( For example, a current supplied to an electric motor (for example, the electric motor 10 in the embodiment) including a phase change mechanism (for example, the rotation mechanism 30 in the embodiment) that changes the rotor phase difference in the embodiment is controlled. And a phase advance angle correction unit (for example, an energy consumption controller 153 in the embodiment) that corrects a phase advance angle of a current supplied to the motor, and the phase advance angle correction unit. In the phase advance angle of the current before and after correction A first energy change amount calculation unit (for example, an energy consumption controller 153 in the embodiment) that calculates a first energy change amount (for example, pressure reduction energy W1 in the embodiment) corresponding to the corresponding change amount of the relative torque. ) And a second energy change amount (for example, efficiency change energy W2 in the embodiment) corresponding to the change amount of the shaft torque corresponding to the phase advance angle of the current before and after correction by the phase advance angle correction unit. A second energy change amount calculation unit (for example, an energy consumption controller 153 in the embodiment) for calculating, the phase advance angle correction unit before the change of the relative phase angle, the phase advance angle of the current The phase advance angle of the current is corrected in a range in which the first energy change amount exceeds the second energy change amount in a direction in which the relative torque corresponding to the above decreases.

  Furthermore, an electric motor control device according to a second aspect of the present invention provides an amplitude correction unit (for example, in the embodiment) that increases the amplitude of the current based on the shaft torque that is decreased by correcting the phase advance angle of the current. The energy consumption controller 153) is provided.

  Furthermore, an electric motor control device according to a third aspect of the present invention is an accelerator opening detector that detects an accelerator opening (for example, an AP opening in the embodiment) (for example, an AP opening detector in the embodiment). 152), and the phase advance angle correction unit corrects the phase advance angle of the current based on the accelerator opening detected by the accelerator opening detection unit.

  Further, in the electric motor control device according to claim 4, the phase advance angle correction unit corrects the phase advance angle of the current as the accelerator opening detected by the accelerator opening detection unit increases. Therefore, the correction value is reduced.

  Furthermore, in the motor control device according to the fifth aspect of the invention, the phase advance angle correction unit corrects the phase advance angle of the current as the accelerator opening degree detected by the accelerator opening degree detection unit is smaller. The correction value for this is increased.

  Furthermore, in the motor control device according to claim 6, the phase advance angle correction unit increases a correction value for correcting the phase advance angle of the current as the rotation speed of the motor increases. It is characterized by that.

  Furthermore, in the motor control device according to claim 7 of the present invention, the phase advance angle correction unit causes the relative phase angle before the change of the relative phase angle to be applied to the first rotor and the second rotor. It is a relative phase angle corresponding to the phase position (for example, the strongest field phase in the embodiment) where the combined magnetic flux by the arranged magnet pieces is most strengthened, or is arranged in the first rotor and the second rotor. In order to correct the phase advance angle of the current based on whether the resultant magnetic flux is a relative phase angle corresponding to the phase position where the combined magnetic flux is weakened most (for example, the weakest field phase in the embodiment). The correction value is switched.

  Furthermore, the control apparatus for an electric motor according to an eighth aspect of the present invention provides a working fluid supply unit (for example, in the embodiment) that supplies the working fluid to the phase change mechanism that changes the relative phase angle according to the fluid pressure of the working fluid. Hydraulic pressure control unit 150) and a source pressure control unit (for example, an energy consumption controller 153 in the embodiment) that controls the source pressure of the working fluid supplied by the working fluid supply unit, The source pressure control unit reduces the source pressure of the working fluid based on the relative torque that is reduced by correcting the phase advance angle of the current by the phase advance angle correction unit.

  According to the motor control apparatus of the first aspect of the present invention, it is possible to optimize the amount of energy change when the relative torque is reduced.

  According to the motor control device of the second aspect of the present invention, the relative torque can be reduced without causing the driver to feel a torqueless feeling by increasing the amplitude of the current so as to compensate for the decrease in the shaft torque. .

  According to the electric motor control apparatus of the third aspect of the present invention, the relative torque can be reduced according to the AP opening while optimizing the energy change amount.

  According to the control device for the electric motor of the invention according to claim 4, when the required driving force of the vehicle such as kickdown at the start of the vehicle is large, in particular, by reducing the correction value of the phase advance angle of the current, It is possible to avoid the relative torque from becoming excessively small and minimize the decrease in driving force.

  According to the motor control device of the invention described in claim 5, when the required driving force of the vehicle is small, for example, when the vehicle is traveling at a constant speed, in particular, by increasing the correction value of the phase advance angle of the current, The relative torque can be reduced as much as possible.

  According to the motor control device of the sixth aspect of the invention, the relative torque can be efficiently reduced while optimizing the amount of energy change.

  According to the motor control apparatus of the seventh aspect of the present invention, an optimum current phase advance angle is determined based on whether the relative phase before the phase change is the strongest field phase or the weakest field phase. The correction value can be determined.

  According to the motor control apparatus of the eighth aspect of the invention, unnecessary energy consumption can be reduced by reducing the fluid pressure of the working fluid corresponding to the decrease in relative torque.

Schematic configuration diagram of an electric motor in an embodiment of the present invention The figure which looked at the rotor unit in embodiment of this invention from the axial direction The disassembled perspective view of the rotor unit in embodiment of this invention The disassembled perspective view of the inner peripheral side rotor in embodiment of this invention The principal part enlarged view for demonstrating the state of the strongest field phase of the rotor unit in embodiment of this invention The principal part enlarged view for demonstrating the state of the weakest field phase of the rotor unit in embodiment of this invention The figure which shows the structure of the hydraulic-pressure control apparatus which controls the relative phase angle of the double rotor which the electric motor in embodiment of this invention has. The graph which shows the relationship between the electrical angle of the magnetic pole center ICN of the inner peripheral side permanent magnet, the induced voltage, and the relative torque with respect to the magnetic pole center OC of the outer peripheral side permanent magnet in the embodiment of the present invention. The block diagram which shows an example of the control apparatus of the electric motor in embodiment of this invention The block diagram which shows an example of an internal structure of the current control part in embodiment of this invention The figure which shows the image of the phase advance angle control of the electric current in embodiment of this invention It is a figure which shows the image of the area | region where the pressure reduction energy in embodiment of this invention exceeds efficiency change energy. The figure which shows the image corrected so that the phase advance angle of the electric current in embodiment of this invention may decrease. The flowchart which shows an example of the outline | summary of the operation | movement at the time of the current phase advance angle control which the control apparatus of the motor in embodiment of this invention performs The flowchart which shows an example of the detail of operation | movement at the time of the current phase advance angle control which the control apparatus of the motor in embodiment of this invention performs The flowchart which shows an example of the detail of operation | movement at the time of the current phase advance angle control which the control apparatus of the motor in embodiment of this invention performs The flowchart which shows an example of the operation | movement at the time of calculation of the estimated relative torque transition which the control apparatus of the motor in embodiment of this invention performs The flowchart which shows an example of the operation | movement at the time of large energy consumption area | region calculation which the control apparatus of the electric motor in embodiment of this invention performs The figure which shows an example of the relationship between the rotation speed of an electric motor, and a shaft torque about each of the strong field phase and the weak field phase in embodiment of this invention. The figure which shows an example of the relationship between the rotation speed of the electric motor in embodiment of this invention, and phase change flow prediction time. The figure which shows an example of the relationship between the rotation speed of the electric motor and target drive force in embodiment of this invention The figure which shows an example of the relationship between the rotation speed of the electric motor and target rotation speed in embodiment of this invention The figure which shows an example of the relationship between the target rotation transition line and relative torque in embodiment of this invention. The figure which shows an example of the relationship between the rotation speed of the electric motor in embodiment of this invention, and the phase advance angle correction value of an electric current. The figure which shows an example of the relationship between the rotation speed of the electric motor in the embodiment of this invention, and the amplitude of an electric current. The figure which shows an example of the relationship between the rotation speed of an electric motor and hydraulic-pressure Reg value in embodiment of this invention. Sectional view of electric motor of Patent Document 1

  Embodiments of the present invention will be described below with reference to the drawings.

  An electric motor used in the embodiments described below is used as a travel drive source of a vehicle such as an HEV (Hybrid Electrical Vehicle) or an EV (Electric Vehicle).

  The electric motor 10 of this embodiment is an inner rotor type brushless DC motor in which the rotor unit 20 is disposed on the inner peripheral side of the annular stator 11 as shown in FIGS. The stator 11 has a multi-phase stator winding 11a, and the rotor unit 20 has a rotating shaft 12 at the shaft core.

  The rotor unit 20 includes an annular outer circumferential rotor 21 and an annular inner circumferential rotor 22 that is coaxially disposed inside the outer circumferential rotor 21. And the inner circumferential rotor 22 can be relatively rotated within a set angle range. In the following description, the relative phase angle in the circumferential direction between the outer circumferential rotor 21 and the inner circumferential rotor 22 is also referred to as “rotor phase difference”.

  The outer circumferential rotor 21 and the inner circumferential rotor 22 are formed of laminated steel plates in which annular yokes 23 and 24, which are rotor bodies, are laminated, for example, in the direction along the rotary shaft 12. Is done. In each yoke 23, 24, a plurality of magnet mounting slots 23a, 24a formed so as to penetrate in the axial direction are arranged at a predetermined interval (22.5 ° in the present embodiment) in the circumferential direction.

  Each of the magnet mounting slots 23a and 24a is mounted with a flat plate-like outer peripheral permanent magnet 25A and inner peripheral permanent magnet 25B magnetized in the thickness direction. And in this embodiment, as shown in FIG. 5, the outer peripheral side permanent magnet 25A is arranged so that the magnetization direction (thickness direction) faces the circumferential direction, and the inner peripheral side permanent magnet 25B is arranged in the magnetization direction ( (Thickness direction) is arranged in the radial direction. Therefore, the adjacent outer peripheral side permanent magnets 25A and 25A and the inner peripheral side permanent magnet 25B are arranged in a substantially U-shape.

  Further, the outer peripheral side permanent magnet 25A and the inner peripheral side permanent magnet 25B are provided in the same number (8 pole pairs in the present embodiment), and as shown in FIG. The side permanent magnets 25A are arranged so that the magnetic poles (polarities) are alternately different, and the inner peripheral side permanent magnets 25B adjacent in the circumferential direction on the inner circumferential side rotor 22 are also arranged so that the magnetic poles (polarities) are alternately different. The

  In the present embodiment, the magnetic pole center OC between the opposing N poles of the adjacent outer peripheral permanent magnet 25A and the same pole of the inner peripheral permanent magnet 25B, that is, the N pole magnetic pole center ICN overlap on the same line. When the relative phase of the outer peripheral rotor 21 and the inner peripheral rotor 22 is adjusted, the resultant magnetic flux of the entire rotor unit 20 is in a “strong field phase” state in which the combined magnetic flux is increased. Further, the outer circumferential rotor 21 is arranged so that the magnetic pole center OC between the opposing N poles of the adjacent outer circumferential permanent magnet 25A and the different pole of the inner circumferential permanent magnet 25B, that is, the magnetic pole center ICS of the S pole overlap each other. When the relative phase between the rotor 22 and the inner rotor 22 is adjusted, the resultant magnetic flux of the entire rotor unit 20 is in a “weak field phase” state.

  The rotor unit 20 includes a rotation mechanism 30 for rotating the outer peripheral rotor 21 and the inner peripheral rotor 22 relative to each other. The rotating mechanism 30 constitutes a phase changing mechanism 13 for arbitrarily changing the relative phase of both the rotors 21 and 22, and is driven by the pressure of the working fluid that is an incompressible working fluid. . The hydraulic fluid is, for example, a transmission lubricating oil, and may be an engine oil or the like. The phase change mechanism 13 includes a rotation mechanism 30 and a hydraulic pressure control device 50 (see FIG. 7) including an actuator that controls supply and discharge of hydraulic fluid to and from the rotation mechanism 30 as main elements.

  As shown in FIGS. 1 to 3, the rotating mechanism 30 includes a vane rotor 31 that is spline-fitted to the outer periphery of the rotary shaft 12 so as to be integrally rotatable, and an annular shape that is disposed on the outer peripheral side of the vane rotor 31 so as to be relatively rotatable. And a housing 32.

  As shown in FIG. 1, the vane rotor 31 includes a pair of disk-shaped first drive plates 14 </ b> A and 14 </ b> B straddling both end surfaces in the axial direction of the annular housing 32 and the inner rotor 22, and both axial ends of the annular housing 32. It is connected to the outer peripheral rotor 21 via a pair of disk-shaped second drive plates 15A, 15B that close the opening of the part. Accordingly, the outer peripheral rotor 21, the first drive plates 14A and 14B, the second drive plates 15A and 15B, the vane rotor 31, and the rotary shaft 12 are integrally connected, so that the driving force of the outer peripheral rotor 21 is the first. 1 is transmitted to the rotary shaft 12 via the drive plates 14A and 14B and the vane rotor 31.

  In the present embodiment, the first drive plates 14A and 14B, the second drive plates 15A and 15B, and the vane rotor 31 are integrally connected by the bolt 16, and the first drive plates 14A and 14B and the outer peripheral rotor are connected. The torque transmission pins 17 are connected so that torque can be transmitted.

  As shown in FIGS. 1 and 5, the torque transmission pins 17 are respectively formed (at intervals of 22.5 °) at the center in the circumferential direction between the outer peripheral side permanent magnets 25 </ b> A of the yoke 23 of the outer peripheral side rotor 21. Pin holders that are respectively inserted into four through holes 18 located at equal intervals (90 ° intervals) in the hole-shaped through holes 18 and whose both ends are formed on the inner surfaces of the first drive plates 14A and 14B. The hole 19 is inserted or press-fitted.

  Reference numeral 26 in the figure denotes a lost motion disc spring interposed between the outer rotor 21 and the first drive plate 14A, and reference numeral 27 denotes the first drive plates 14A and 14B, the second drive plate 14A, and the second drive plate 14A. This is a positioning pin for positioning the drive plates 15A and 15B and the vane rotor 31.

  As shown in FIGS. 1 and 4, the annular housing 32 is disposed on the outer peripheral surface thereof so as to sandwich the inner peripheral rotor 22 and the inner peripheral rotor 22 in the axial direction, and from the magnet mounting slot 24 a. The inner peripheral rotor 22 and the pair of end face plates between the pair of end face plates 33 and 33 that prevent the peripheral side permanent magnet 25 </ b> B from slipping out and the flange 32 a formed at the axial end of the annular housing 32. The collar 34 which sandwiches 33 and 33 is integrally fitted and fixed. Therefore, the annular housing 32 and the inner peripheral rotor 22 are integrated.

  In the vane rotor 31, a plurality of vanes 36 protruding radially outward are provided at equal intervals in the circumferential direction on the outer periphery of a cylindrical boss portion 35 that is spline-fitted to the rotary shaft 12. The annular housing 32 is provided with a plurality of recesses 37 at equal intervals in the circumferential direction on the inner peripheral surface, and the corresponding vanes 36 of the vane rotor 31 are accommodated in these recesses 37. Each recess 37 includes a bottom wall 38 having an arc surface that substantially matches the rotation trajectory of the tip of the vane 36, and a partition wall 39 that defines adjacent recesses 37, and the vane rotor 31 and the annular housing 32. During the relative rotation, the partition wall 39 moves between the one vane 36 and the other vane 36.

  Further, in the present embodiment, as shown in FIG. 6, the vane 36 when the vane rotor 31 and the annular housing 32 are relatively rotated in the direction in which the combined magnetic flux of the outer peripheral permanent magnet 25 </ b> A and the inner peripheral permanent magnet 25 </ b> B is weakened. A contact surface with the partition wall 39 is defined as a first abutting surface (first abutting position) E1. Further, as shown in FIG. 5, the vane 36 and the partition wall 39 when the vane rotor 31 and the annular housing 32 are relatively rotated in the direction in which the combined magnetic flux of the outer peripheral permanent magnet 25A and the inner peripheral permanent magnet 25B is increased. The contact surface is defined as a second abutting surface (second abutting position) E2.

  In addition, a seal member 40 constituted by a seal 40 a that slides in contact with the bottom wall 38 along the axial direction and a spring 40 b that presses the seal 40 a toward the bottom wall 38 is provided at the tip of each vane 36. The sealing member 40 is provided so as to liquid-tightly seal between the vane 36 and the bottom wall 38. In addition, a seal 41 a that is in sliding contact with the outer peripheral surface of the boss portion 35 along the axial direction and a spring 41 b that presses the seal 41 a toward the outer peripheral surface of the boss portion 35 are provided at the distal ends of the partition walls 39. A configured sealing member 41 is provided, and the sealing member 41 seals between the partition wall 39 and the outer peripheral surface of the boss portion 35 in a liquid-tight manner.

  The second drive plates 15 </ b> A and 15 </ b> B are slidably in close contact with the axial end surface of the annular housing 32, and respectively close the sides of the concave portions 37 of the annular housing 32. Accordingly, each concave portion 37 of the annular housing 32 forms an independent space together with the boss portion 35 of the vane rotor 31 and the second drive plates 15A and 15B on both sides, and this space serves as an introduction space into which hydraulic fluid is introduced. ing. Each introduction space is divided into two chambers by corresponding vanes 36 of the vane rotor 31, one chamber being an advance side working chamber 42 and the other chamber being a retard side working chamber 43. .

  The advance side working chamber 42 rotates the inner circumferential side rotor 22 relative to the outer circumferential side rotor 21 in the advance direction by the pressure of the working fluid introduced therein, and the retard side working chamber 43 is The inner rotor 22 is rotated relative to the outer rotor 21 in the retard direction by the pressure of the working fluid introduced therein. In this case, the “advance angle” means that the inner rotor 22 is advanced in the main rotation direction of the electric motor 10 indicated by the arrow R in FIG. 2 with respect to the outer rotor 21, and “retard” Means that the inner rotor 22 is advanced in the direction opposite to the main rotation direction R of the electric motor 10 with respect to the outer rotor 21.

  Further, the supply and discharge of the hydraulic fluid to and from each of the advance side working chambers 42 and the retard side working chambers 43 are performed through the rotary shaft 12. Specifically, the advance side working chamber 42 has a passage hole 44 a formed in the rotating shaft 12, an annular groove 44 b formed in the outer peripheral surface of the rotating shaft 12 and connected to the passage hole 44 a, and the vane rotor 31. The boss portion 35 is connected to a hydraulic pressure control device 50 (see FIG. 7) including an actuator through a plurality of conduction holes 44c formed in a substantially radial direction. Further, the retard side working chamber 43 is formed with a passage hole 45 a formed in the rotating shaft 12, an annular groove 45 b formed in the outer peripheral surface of the rotating shaft 12 and connected to the passage hole 45 a, and a boss portion 35 of the vane rotor 31. Are connected to the hydraulic pressure control device 50 (see FIG. 7) through a plurality of conduction holes 45c formed in a substantially radial direction.

  FIG. 7 is a diagram illustrating a configuration of the hydraulic pressure control device 50. As shown in FIG. 7, the hydraulic control device 50 mainly includes an electric oil pump (EOP) 52, a regulator valve 55, and a flow path switching valve 57. The oil pump 52 sucks up the hydraulic fluid from an oil tank (not shown) and discharges it to the passage. The regulator valve 55 adjusts the hydraulic pressure of the hydraulic fluid discharged from the oil pump 52, introduces the hydraulic fluid into the high-pressure line passage 53, and flows the hydraulic fluid into the low-pressure passage 54 for lubricating and cooling various devices. The regulator valve 55 receives the pressure of the line passage 53 as a control pressure, and distributes the hydraulic fluid according to the balance with the reaction force spring 58.

  The flow path switching valve 57 distributes the hydraulic fluid introduced into the line passage 53 to the advance-side supply / discharge passage 44 and the retard-side supply / discharge passage 45, and to the advance-side supply / discharge passage 44 and the retard-side supply / discharge passage. At 45, unnecessary hydraulic fluid is discharged to the drain passage 56. The flow path switching valve 57 has an electromagnetic solenoid 57b that moves the control spool 57a forward and backward. By the advance / retreat operation of the control spool 57a by the electromagnetic solenoid 57b, the hydraulic fluid is supplied to and discharged from the advance side working chamber 42 and the retard side working chamber 43 via the advance side supply / discharge passage 44 and the retard side supply / discharge passage 45. Done.

  In the present embodiment, as shown in FIGS. 5 and 8, when the state of the strong field phase is 0 [deg], the magnetic pole center OC between the opposing N poles of the adjacent outer peripheral permanent magnet 25A is On the other hand, the same pole of the inner peripheral side permanent magnet 25B, that is, the N-pole magnetic pole center ICN is shifted by a [deg] at an electrical angle in the direction away from the second abutting surface E2 (counterclockwise in FIG. 5). The phase of the second abutting surface E2 is set, and the relative phase of the outer circumferential rotor 21 and the inner circumferential rotor 22 in this state is defined as “the strongest field phase”. Note that the electrical angle a [deg] of the magnetic pole center ICN with respect to the magnetic pole center OC in the state of the strongest field phase can be arbitrarily set in the range of 0 deg to 180 deg.

  Further, in the present embodiment, as shown in FIGS. 6 and 8, if the state of the field weakening phase is 0 [deg], the magnetic pole center OC between the opposing N poles of the adjacent outer peripheral permanent magnet 25 </ b> A is set. On the other hand, a different pole of the inner peripheral side permanent magnet 25B, that is, the magnetic pole center ICS of the S pole is displaced by b [deg] by an electrical angle in a direction close to the first abutting surface E1 (counterclockwise in FIG. 6). The phase of the first abutting surface E1 is set, and the relative phase between the outer circumferential rotor 21 and the inner circumferential rotor 22 in this state is referred to as “weakest field weakening phase”. Note that the electrical angle b [deg] of the magnetic pole center ICS with respect to the magnetic pole center OC in the state of the weakest field phase can be arbitrarily set in the range of 0 deg to 180 deg.

  In the present embodiment, as shown in FIGS. 5, 6, and 8, the first abutting surface E <b> 1 has the above-described weakest field phase in the outer rotor 21 and the inner rotor 22. At this time, a relative torque T1 (see 180-b [deg] in FIG. 8) is generated between the outer peripheral permanent magnet 25A and the inner peripheral permanent magnet 25B. Further, the second abutting surface E2 is arranged in a phase where the outer peripheral side rotor 21 and the inner peripheral side rotor 22 become the above-described strongest field phase. At this time, the outer peripheral side permanent magnet 25A and the inner peripheral side are arranged. A relative torque T1 and a relative torque T2 having a generation direction opposite to each other are generated between the side permanent magnet 25B (see -a [deg] in FIG. 8).

  Furthermore, in the present embodiment, as shown in FIG. 5, in the state where the vane rotor 31 and the annular housing 32 of the phase change mechanism 13 are rotated with the second abutting surface E <b> 2 restricting the rotation, the inner circumferential rotor 22 is rotated. The inertia force P1 and the attractive force P2 of the outer peripheral side permanent magnet 25A and the inner peripheral side permanent magnet 25B are set in the same direction.

  In the electric motor 10 configured as described above, when changing the field characteristics, the hydraulic fluid is supplied to one of the advance side working chamber 42 and the retard side working chamber 43 by supplying and discharging the hydraulic fluid by the hydraulic pressure control device. And the hydraulic fluid is discharged from the other. When the supply and discharge of the hydraulic fluid is controlled in this way, the vane rotor 31 and the annular housing 32 rotate relative to each other, and the relative phase between the outer peripheral rotor 21 and the inner peripheral rotor 22 is operated accordingly. .

  When the relative phase between the outer circumferential rotor 21 and the inner circumferential rotor 22 is manipulated, it is fixed between the state of the strongest field phase shown in FIG. 5 and the state of the weakest field phase shown in FIG. The strength of the magnetic field exerted on the child 11 changes. When the strength of the magnetic field changes, the induced voltage constant changes accordingly, and as a result, the characteristics of the electric motor 10 are changed. That is, when the induced voltage constant increases due to the strong field, the allowable rotational speed at which the motor 10 can be operated decreases, but the maximum output torque (maximum shaft torque) increases, and conversely, the induced voltage due to the weak field. As the constant decreases, the maximum torque (maximum shaft torque) that can be output as the electric motor 10 decreases, but the allowable rotational speed at which operation is possible increases.

  Moreover, in the electric motor 10 of this embodiment, as shown in FIG. 8, in the strong field phase of the above-mentioned electric angle 0 [deg], it is relative between the outer peripheral side permanent magnet 25A and the inner peripheral side permanent magnet 25B. Since no torque is generated, but in an unstablely balanced state, the inner rotor 22 has a force in a direction to weaken the resultant magnetic flux with this strong field phase (0 [deg]) as a boundary. Works. Then, as in the present embodiment, by setting the first abutting surface E1 to the above-described weakest field phase, the relative torque T1 of the field weakening phase acts on the inner circumferential rotor 22 and 2, the vane 36 and the partition wall 39 come into contact with each other at the first abutting surface E1. Therefore, the outer rotor 21 and the inner rotor 22 are in contact with each other. The relative phase is stably maintained only by the magnetic force of both permanent magnets 25A and 25B. Further, as in the present embodiment, by setting the second abutting surface E2 to the above-described strongest field phase, the relative torque T2 of the strong field phase acts on the inner circumferential rotor 22, Although the circumferential rotor 22 is to be rotated counterclockwise in FIG. 2, the vane 36 and the partition wall 39 abut on the second abutting surface E2, so that the outer circumferential rotor 21 and the inner circumferential rotor 22 are in contact with each other. Is stably maintained only by the magnetic force of both permanent magnets 25A and 25B. As the electric motor 10 of the present embodiment, it is mainly assumed that the relative phase can be switched in two steps between the strongest field phase and the weakest field phase.

<Control device of electric motor 10>
FIG. 9 is a block diagram showing an electric motor control apparatus according to an embodiment of the present invention. As shown in FIG. 9, the motor control device of the present embodiment includes a resolver 101, a rotation speed calculation unit 103, a current command calculation unit 105, a current control unit 106, a phase detection unit 117, and a Ke calculation unit. 119, an actuator 125, a Ke command calculation unit 121, a phase control unit 123, a hydraulic pressure control unit 150 that drives the actuator 125, an AP opening degree detector 152, and a consumption energy controller 153. A capacitor 137 is connected to the current control unit 106.

  The resolver 101 detects the mechanical angle of the outer peripheral rotor 21 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 current control unit 106 and the rotation speed calculation unit 103. The rotational speed calculation unit 103 calculates the angular velocity ω of the outer circumferential rotor 21 and the rotational speed Nm per unit time of the outer circumferential rotor 21 from the electrical angle θm input from the resolver 101. The rotation speed Nm calculated by the rotation speed calculation unit 103 is sent to the current command calculation unit 105 and the Ke command calculation unit 121.

  Based on the shaft torque command value T, the rotation speed Nm of the electric motor 10 calculated by the rotation speed calculation section 103, and the induced voltage constant Ke calculated by the Ke calculation section 119, the current command calculation section 105 Command value Id_c of a current (hereinafter referred to as “d-axis current”) to be passed through a side armature (hereinafter referred to as “d-axis armature”) and a q-axis side armature (hereinafter referred to as “q-axis armature”) A command value Iq_c of a current to be passed through (hereinafter referred to as “q-axis current”) is determined. The d-axis current command value Id_c and the q-axis current command value Iq_c are input to the current control unit 106.

  FIG. 10 is a block diagram showing an internal configuration of the current control unit 106. As shown in FIG. 10, the current control unit 106 includes a bandpass filter (BPF) 107, a three-phase-dq conversion unit 109, a current FB control unit 111, an rθ conversion unit 113, a PWM calculation unit 115, A field control unit 141 and a power control unit 143 are included. The battery 137 is connected to the PWM control unit 115 of the current control unit 106.

  The three-phase-dq conversion unit 109 converts the current detection signals Iu and Iw detected by the current sensors 131 and 133 and from which unnecessary components are removed by the BPF 107, and the electrical angle θm of the outer circumferential rotor 21 detected by the resolver 101. Based on this, three-phase-dq conversion is performed to calculate the detected value Id_s of the d-axis current and the detected value Iq_s of the q-axis current.

  The current FB control unit 111 is configured to reduce the deviation ΔId between the d-axis current command value Id_c and the detection value Id_s and the deviation between the q-axis current command value Iq_c and the detection value Iq_s ΔIq. Hereinafter, a command value Vd_c of “d-axis voltage”) and a command value Vq_c of a terminal voltage of the q-axis armature (hereinafter referred to as “q-axis voltage”) are determined. The deviation ΔId is controlled by the field controller 141. The deviation ΔIq is controlled by the power control unit 143.

  The rθ converter 113 converts the d-axis voltage command value Vd_c and the q-axis voltage command value Vq_c into components of magnitude V1 and angle θ1.

  The PWM calculation unit 115 generates a PWM signal based on the components of the phase advance angle θ2 and the current amplitude V1 corrected from the current phase advance angle θ1 as necessary, and converts the direct current from the battery 137 into PWM. It is converted into three-phase (U, V, W) alternating current by control. The correction of the phase advance angle θ1 of the current will be described in detail later, but when correction is not necessary, θ2 = θ1. On the other hand, when correction is necessary, θ2 = θ1−correction value Δθ. Although not shown, the current amplitude V1 is also corrected as necessary.

  The phase detector 117 detects the actual rotor phase difference θs. The rotor phase difference θs detected by the phase detector 117 is sent to the Ke calculator 119. As described above, when the magnetic flux of the field changes according to the rotor phase difference, the induced voltage constant Ke of the electric motor 10 also changes. Therefore, the Ke calculator 119 calculates the induced voltage localization number Ke from the actual rotor phase difference θs detected by the phase detector 117.

  The Ke command calculation unit 121 generates an induced voltage constant based on the shaft torque command value T, the rotation speed Nm of the electric motor 10 calculated by the rotation speed calculation unit 103, and the battery voltage Vdc of the battery 137 input from the outside. Command value Ke_c is determined. Further, the Ke command calculation unit 121 determines whether or not the rotation mechanism 30 is in a phase variable state, and when it is in a phase variable state, sends a variable request flag as 1 to the energy consumption controller 153.

  Note that when the electric motor 10 is in the state of the strongest field phase shown in FIG. 5, the Ke command calculation unit 121 outputs a command value Ke_c that maximizes the induced voltage constant Ke. When the Ke command calculation unit 121 outputs the command value Ke_c, the vane 36 of the electric motor 10 hits the second abutting surface E2 of the partition wall 39 as shown in FIG. That is, the inner rotor 22 moves to the position of the electrical angle −a [deg] shown in FIG. 5 in the magnetic pole center ICN, and the electric motor 10 is in the strongest field phase state.

  On the other hand, when the electric motor 10 is in the state of the weakest field phase shown in FIG. 6, the Ke command calculation unit 121 outputs a command value Ke_c that minimizes the induced voltage constant Ke. When the Ke command calculation unit 121 outputs the command value Ke_c, the vane 36 of the electric motor 10 hits the first abutting surface E1 of the partition wall 39 as shown in FIG. That is, the inner peripheral rotor 22 moves to the position of the electric angle 180-b [deg] shown in FIG. 6 at the magnetic pole center ICN, and the electric motor 10 enters the state of the weakest field phase.

  The phase control unit 123 outputs a control signal so that the deviation ΔKe between the command value Ke_c of the induced voltage constant output from the Ke command calculation unit 121 and the induced voltage constant Ke calculated by the Ke calculation unit 119 is reduced. The controller 150 or the actuator 125 is controlled. When the rotor phase difference is changed by the actuator 125, the magnetic flux of the field changes, so that the induced voltage constant Ke of the electric motor 10 also changes.

  The hydraulic pressure control unit 150 includes an oil pump 151 that supplies hydraulic fluid to the actuator 125. The configuration of the hydraulic pressure control unit 150 and the actuator 125 is the same as the configuration of the hydraulic pressure control device 50 shown in FIG. Further, the hydraulic pressure control unit 150 decreases the hydraulic pressure of the hydraulic fluid in accordance with the original pressure command from the consumption energy controller 153. Specifically, the original pressure of the hydraulic fluid (the regulator value (hydraulic pressure Reg value) of the regulator valve 55 shown in FIG. 7) is controlled so that the hydraulic pressure of the hydraulic fluid decreases.

  AP opening detector 152 detects the accelerator pedal opening of the vehicle on which electric motor 10 is mounted. The detection result of the accelerator pedal opening is sent to the energy consumption controller 153 as AP opening information.

The energy consumption controller 153 determines the shaft torque command value T based on the AP opening information, and sends this shaft torque command value to the current command calculation unit 105 and the Ke command calculation unit 121.
Further, the energy consumption controller 153 calculates the pressure reduction energy W1 and the efficiency change energy W2 before and after the correction of the phase advance angle of the current supplied to the motor 10 (for example, θ1 before correction and θ2 after correction). The pressure reduction energy W1 is calculated according to the change amount of the relative torque before and after the correction of the phase advance angle of the current. For example, the pressure reduction energy W1 is calculated based on the change amount of the rotational speed Nm of the electric motor 10 and the change amount of the relative torque. . Further, the efficiency change energy W2 is calculated according to the change amount of the shaft torque before and after the correction of the current phase advance angle. For example, the efficiency change energy W2 is calculated based on the change amount of the rotational speed Nm of the motor 10 and the change amount of the shaft torque. Is done. Then, the energy consumption controller 153 determines a correction value Δθ for correcting the phase advance angle of the current based on the pressure reduction energy W1 and the efficiency change energy W2. This correction value is sent to the current control unit 106.
Further, the energy consumption controller 153 may increase the amplitude of the current so as to compensate for the shaft torque that is decreased by correcting the phase advance angle of the current. Thus, by correcting the amplitude of the current along with the correction of the phase advance angle of the current, it is possible to control so that the shaft torque command value T is not changed. Further, the energy consumption controller 153 may send an original pressure command to the hydraulic pressure control unit 150 so as to reduce the hydraulic pressure of the hydraulic fluid corresponding to the relative torque that is reduced by correcting the phase advance angle of the current.

  Next, the outline of the phase advance angle control of the current supplied to the electric motor 10 in the present embodiment will be described.

  FIG. 11 is a diagram showing an image of the current phase advance angle control in the present embodiment, and shows the relationship between the current phase advance angle, the axial torque, and the relative torque. In the example shown in FIG. 11, the axial torque has a maximum value of the axial torque at a predetermined value of the phase advance angle of the current, and changes in a quadratic curve. On the other hand, relative torque increases as the phase advance angle of the current increases, and changes linearly. For example, if the current phase advance angle is corrected from 38, which is θ1, to 28, which is θ2, the efficiency change energy W2 associated with the amount of change in shaft torque is substantially the same, but the pressure reduction associated with the amount of change in relative torque. The energy W1 is greatly reduced. Therefore, the energy consumption controller 153 changes the current phase in a range in which the pressure reduction energy W1 exceeds the efficiency change energy W2 in the direction in which the relative torque corresponding to the phase advance angle of the current decreases before changing the relative phase. Correct the advance angle. Thereby, it is possible to optimize the amount of energy change when reducing the relative torque.

  Moreover, FIG. 12 is a figure which shows the image of the area | region where the pressure reduction energy W1 exceeds the efficiency change energy W2. FIG. 12 shows the relationship between the rotational speed and the shaft torque, and the region R1 shows a region where W1> W2.

  FIG. 13 is an image diagram in which the current phase advance angle is corrected so as to decrease, and is a diagram showing the relationship between the rotational speed of the electric motor 10 and the current phase advance angle. The phase advance angle of the current at the time of the shaft torque A indicated by L1 becomes the phase advance angle indicated by L2 by correction. Further, the phase advance angle of the current at the time of the shaft torque B indicated by L3 becomes the phase advance angle indicated by L4 by the correction.

  Furthermore, in the example shown in FIG. 11, the relative torque is still excessive only by correcting the phase advance angle of the current from 38 to 28, and the hydraulic pressure required to realize this relative torque is When the allowable maximum pressure is equal to or exceeded, the phase advance angle may be corrected to 18 for example. In this way, it is possible to avoid an excessive load on the oil pump 151 by reducing the phase advance angle slightly larger than the required amount.

Next, operation | movement of the control apparatus of the electric motor 10 is demonstrated.
FIG. 14 is a flowchart showing an outline of an operation at the time of current phase advance control performed by the control device of the electric motor 10.

  First, the energy consumption controller 153 reads the variable request flag (step S101) and determines whether or not the variable request flag is 1 (step S102).

  Here, the variable request flag is generated by the Ke command calculation unit 121. The Ke command calculation unit 121 refers to the graph information of FIG. 19 stored in a storage unit (not shown), and generates a variable request flag. FIG. 19 is a diagram showing the relationship between the rotational speed of the electric motor 10 and the shaft torque for each of the strong field phase and the weak field phase. For example, when it is desired to change the shaft torque command value T from the point A in FIG. 19 to the point A ′, the rotational speed at the point A can be realized in both the weak field phase and the strong field phase. Therefore, the phase can be changed. On the other hand, when it is desired to change the shaft torque command value T from the point B in FIG. 19 to the point B ′, the rotational speed at the point B can be realized in the case of the field weakening phase, but is strengthened. In the case of the field phase, it cannot be realized, so that the phase cannot be changed. The Ke command calculation unit 121 sets the variable request flag to 1 when the phase change is possible, sets the variable request flag to 0 when the phase change is impossible, and sends the variable request flag to the energy consumption controller 153. .

  Subsequently, the energy consumption controller 153 reads the rotation speed Nm of the electric motor 10 from the rotation speed calculation unit 103 (step S103). Subsequently, the energy consumption controller 153 acquires the AP opening information from the AP opening detector 152, and determines the shaft torque command value T based on the AP opening information (step S104). Subsequently, the energy consumption controller 153 calculates the pressure reduction energy W1 based on the rotation speed Nm of the electric motor 10 and the shaft torque command value T (step S105). Subsequently, the energy consumption controller 153 calculates the efficiency reduction energy W2 based on the rotation speed Nm of the electric motor 10 and the shaft torque command value T (step S106).

  Subsequently, the energy consumption controller 153 determines whether or not the pressure reduction energy W1 is larger than the efficiency change energy W2 (step S107). When the pressure reduction energy W1 is larger than the efficiency change energy W2, the energy consumption controller 153 determines the current phase advance angle correction value Δθ based on the rotational speed Nm of the electric motor 10 and the shaft torque command value T. (Step S108). Then, the energy consumption controller 153 determines the amplitude of the current (the corrected amplitude input to the PWM calculation unit 115) based on the rotational speed Nm of the electric motor 10 and the shaft torque command value T (step S109). Then, the energy consumption control unit 153 determines the hydraulic pressure Reg value based on the rotation speed Nm of the electric motor 10 and the shaft torque command value T (step S110).

  If the variable request flag is not 1 in step S102, or if the pressure reduction energy W1 is equal to or less than the efficiency change energy W2 in step S107, the controller for the electric motor 10 causes the energy consumption controller 153 to perform steps S108 to S110. Normal control is performed without determining the phase advance angle correction value Δθ of the current, the amplitude of the current, and the hydraulic pressure Reg value of the hydraulic fluid.

  Next, FIG. 15 and FIG. 16 are flowcharts showing details of the operation at the time of current phase advance angle control performed by the control device of the electric motor 10. Here, it is assumed that the electric motor 10 changes the relative phase from the weakest field phase to the strongest field phase.

  First, the energy consumption controller 153 reads the variable request flag from the Ke command calculation unit 121 (step S201), and determines whether or not the variable request flag is 1 (step S202).

  When the variable request flag is 1, the energy consumption controller 153 reads the rotation speed Nm of the electric motor 10 from the rotation speed calculation unit 103 (step S203). Subsequently, the energy consumption controller 153 acquires the AP opening information from the AP opening detector 152 and determines the shaft torque command value T based on the AP opening information (step S204). Subsequently, the energy consumption controller 153 sequentially acquires AP opening information from the AP opening detector 153, and calculates the unit time average Ac of the AP opening (step S205). Subsequently, the energy consumption controller 153 resets the timer value Tc of the timer provided in the controller (step S206).

  Subsequently, the energy consumption controller 153 refers to the graph information of FIG. 20 stored in a storage unit (not shown), and changes the phase based on the rotation speed Nm of the motor 10 and the unit time average Ac of the calculated AP opening. The predicted time Te until the end (here, the predicted time from the weakest field phase to the strongest field phase) is determined (step S207). FIG. 20 is a diagram illustrating the relationship between the rotation speed of the electric motor 10 and the phase change end prediction time Te. Here, the AP opening unit time average Ac is determined to which AP opening (for example, 80%, 50%, 30%) in FIG. 20 corresponds, and the phase change end predicted time Te is determined.

  Subsequently, the energy consumption controller 153 adds the control period to the timer value Tc (step S208). Subsequently, the energy consumption controller 153 performs expected relative torque transition calculation processing (step S209).

  Here, FIG. 17 is a flowchart showing details of the operation during the predicted relative torque transition calculation process performed by the control device of the electric motor 10.

  First, the energy consumption controller 153 refers to the graph information of FIG. 21 stored in a storage unit (not shown), and based on the rotation speed Nm of the motor 10 and the unit time average Ac of the AP opening, the target drive of the motor 10 A force transition line F_line is determined (step S301). FIG. 21 is a diagram illustrating the relationship between the rotation speed of the electric motor 10 and the target driving force. Here, it is determined which AP opening (According to FIG. 21) the AP opening unit time Ac corresponds to, for example, 80%, 50%, 30%, and the target driving force transition line F_line is determined. The target driving force transition line F_line indicates the transition of the target driving force in FIG.

  Subsequently, the energy consumption controller 153 refers to the graph information of FIG. 22 stored in a storage unit (not shown), and based on the rotation speed Nm of the motor 10 and the unit time average Ac of the AP opening, the target of the motor 10 A rotation transition line N_line is determined (step S302). FIG. 22 is a diagram illustrating the relationship between the rotation speed of the electric motor 10 and the target rotation speed. Here, it is determined to which AP opening (for example, 80%, 50%, 30%) in FIG. 22 the unit time average Ac of the AP opening corresponds, and the target rotation transition line_line is determined. The target rotation transition line N_line indicates the transition of the target rotational speed in FIG.

  Subsequently, the energy consumption controller 153 cuts out the portion of the target driving force transition line F_line from time 0 to Te so that it can be referred to (step S303). That is, the target driving force corresponding to the rotation speed in the time interval corresponding to time 0 to Te is acquired so that data can be referred to. Subsequently, the energy consumption controller 153 cuts off the portion of the target rotation transition line N_line from time 0 to Te so that it can be referred to (step S304). That is, the target rotational speed corresponding to the rotational speed in the time interval corresponding to time 0 to Te is acquired so that data can be referred to.

  Subsequently, the energy consumption controller 153 multiplies a predetermined coefficient by the target driving force transition line F_line (time 0 to Te) and divides the value by the target rotation transition line N_line (time 0 to Te). The transition line T_line is calculated (step S305).

  Subsequently, the energy consumption controller 153 determines the relative torque transition line RT_line based on the target rotation transition line N_line and the torque transition line T_line with reference to the graph information of FIG. 23 stored in the storage unit (not shown) ( Step S306). FIG. 22 is a diagram illustrating a relationship between the target rotation transition line N_line and the relative torque RT. The relative torque transition line RT_line indicates the transition of the relative torque RT in FIG.

  After the expected relative torque transition calculation process is completed, the process returns to FIG. 16, and the energy consumption controller 153 performs a large energy consumption area calculation process (step S210).

  Here, FIG. 18 is a flowchart showing details of the operation during the large energy consumption region calculation process performed by the control device of the electric motor 10.

  First, the energy consumption controller 153 integrates the value obtained by subtracting the reference relative torque transition line (reference relative torque_Line) from the relative torque transition line RT_line determined in step S209 at time 0 to Te (step S401). The reference relative torque transition line is stored in advance by a storage unit (not shown).

  Subsequently, the energy consumption controller 153 determines whether or not the integral value (A) is larger than 0 (step S402). When the integrated value is 0 or less, the energy consumption controller 153 sets the large energy consumption flag to 0 (step S403). On the other hand, if the integral value is greater than 0, the energy consumption controller 153 sets the large energy consumption flag to 1 (step S404). When the large energy consumption flag is set to 0, this corresponds to when the pressure reduction energy W1 is below the efficiency change energy W2, and when the large energy consumption flag is set to 1, the pressure reduction energy W1 is efficient. This corresponds to when the change energy W2 is exceeded.

  Subsequently, the energy consumption controller 153 calculates the target rotation transition line N_line multiplied by a predetermined coefficient as a dischargeable flow rate transition line (dischargeable flow rate_line) (step S405). The dischargeable flow rate is a flow rate of hydraulic fluid that can be discharged by the oil pump 151, and is determined by the characteristics of the oil pump 151. The dischargeable flow rate transition line indicates the change of the dischargeable flow rate.

  Subsequently, the energy consumption controller 153 determines whether or not the dischargeable flow rate transition line (dischargeable flow rate) exceeds the lower limit required flow rate transition line (lower limit required flow rate_line) (step S406). The lower limit required flow rate is a flow rate of the hydraulic fluid necessary for satisfying the phase change speed required at the time of phase change, and is stored in advance by a storage unit (not shown). The lower limit required flow rate transition line indicates the transition of the lower limit required flow rate.

  If the dischargeable flow rate transition line is below the lower limit necessary flow rate transition line, the energy consumption controller 153 controls the dischargeable flow rate to increase (step S407). Specifically, when the oil pump 151 is an electric oil pump, the lower limit value of the rotational speed of a control motor of the oil pump 151 (not shown) is increased. In the case where the oil pump 151 is a mechanical oil pump, the lower limit value of the engine speed of the vehicle on which the electric motor 10 (not shown) is mounted is increased.

  After the large energy consumption region calculation process is completed, the process returns to FIG. 16, and the energy consumption controller 153 determines whether or not the large energy consumption flag is 1 (step S211). When the large energy consumption flag is 1, the energy consumption controller 153 reads the phase advance angle θ1 of the current from the rθ conversion unit 113 (step S212).

  Subsequently, the energy consumption controller 153 refers to the graph information of FIG. 24 stored in a storage unit (not shown), and sets the phase advance angle θ1 of the current based on the rotational speed Nm of the motor 10 and the shaft torque command value T. A correction value (Δθ) for correction is determined (step S213). FIG. 24 is a diagram showing the relationship between the rotation speed of the electric motor 10 and the phase advance angle correction value (Δθ) of the current. Here, the case where the shaft torque command value T is small and low torque, the case where the shaft torque command value T is medium torque, and the case where the shaft torque command value T is large and high torque are illustrated.

  Referring to FIG. 24, it can be understood that the energy consumption controller 153 increases the phase advance angle correction value (Δθ) as the rotational speed Nm of the electric motor 10 increases. Further, since the required driving force increases as the AP opening increases, the shaft torque command value T increases. Referring to FIG. 24, it can be understood that the energy consumption controller 153 decreases the phase advance angle correction value (Δθ) of the current as the shaft torque command value T is larger, that is, as the AP opening is larger. Referring to FIG. 24, it can be understood that the energy consumption controller 153 increases the current phase advance angle correction value (Δθ) as the shaft torque command value T is smaller, that is, as the AP opening is smaller.

  Subsequently, the energy consumption controller 153 refers to the graph information of FIG. 25 stored in a storage unit (not shown), and determines the amplitude of the current based on the rotational speed Nm of the electric motor 10 and the shaft torque command value T ( Step S214). FIG. 25 is a diagram illustrating a relationship between the rotation speed of the electric motor 10 and the amplitude of the current. Here, the case where the shaft torque command value T is small and low torque, the case where the shaft torque command value T is medium torque, and the case where the shaft torque command value T is large and high torque are illustrated.

  Subsequently, the energy consumption controller 153 refers to the graph information of FIG. 26 stored in the storage unit (not shown), and determines the hydraulic pressure Reg value based on the rotation speed Nm of the motor 10 and the amplitude of the current (step). S215). FIG. 26 is a diagram illustrating a relationship between the rotation speed of the electric motor 10 and the hydraulic pressure Reg value. Here, the case where the current amplitude is small, the current amplitude is medium, and the current amplitude is large is illustrated.

  Subsequently, the energy consumption controller 153 sets the value obtained by subtracting the correction value Δθ from the current phase advance angle θ1 as the current phase advance angle θ2, and sends the current phase advance angle θ2 to the PWM calculation unit 115 (step S216). Then, the energy consumption controller 153 sends the amplitude of the current determined in step S214 to the PWM calculation unit 115. Then, the energy consumption controller 153 sends an original pressure command including the hydraulic pressure Reg value determined in step S215 to the hydraulic pressure control unit 150.

  Subsequently, the energy consumption controller 153 determines whether or not the timer value Tc is larger than a predetermined threshold value Te (step S217). When the timer value Tc is larger than the predetermined threshold Te, the processing of FIGS. 15 and 16 is ended. When the timer value Tc is equal to or smaller than the predetermined threshold Te, the process returns to Step S208, and the timer value Tc is equal to the predetermined threshold Te. The process of steps S208 to S217 is repeated until it becomes larger than Te.

  If the variable request flag is not 1 in step S202, or if the large energy consumption flag is not 1 in step S211, the control device for electric motor 10 performs normal control (step S218). The contents of the normal control in step S218 are the same as the normal control described in step S111.

  According to the control device for the electric motor 10 of this embodiment, it is possible to reduce the relative torque when the phase change is necessary, and to optimize the amount of energy change when the relative torque is reduced. That is, it is possible to avoid the occurrence of energy loss due to the decrease in relative torque by allowing the energy reduction associated with the decrease in relative torque to exceed the energy loss associated with the decrease in shaft torque. In addition, by reducing the hydraulic pressure of the hydraulic fluid as the relative torque decreases, loss due to hydraulic fluid leaking from the working chamber 42 or 43 and loss due to friction generated when the leaked hydraulic fluid enters the air gap are reduced. Can be reduced.

  Next, current phase advance control when the electric motor 10 changes the relative phase from the weakest field phase to the strongest field phase will be described.

  Even when the relative phase is changed from the strongest field phase to the weakest field phase, the control device of the electric motor 10 basically performs the processing shown in FIG. 15 and FIG. The same effect as the case of changing from the strongest field phase to the weakest field phase can be obtained. However, you may have the graph information which has a different characteristic as graph information of FIGS. That is, the graph information of FIGS. 20 to 26 shows each characteristic when the relative phase before the relative phase change is the weakest field phase, but the relative phase before the relative phase change is the strongest field phase. In this case, graph information indicating each characteristic may be prepared separately.

  Then, the energy consumption controller 153 reads the current phase (relative phase before changing the relative phase) θs detected by the phase detector 117, and based on whether the current phase is the weakest field phase or the strongest field phase. The graph information may be switched. By switching the graph information, the current phase advance angle correction value (Δθ), the current amplitude, and the hydraulic pressure Reg value can be switched. Thereby, the optimal correction value according to the relative phase before a relative phase change can be set.

  Further, in the present embodiment, the control device of the electric motor 10 is a graph of FIGS. 20 to 26 in each of the case where the relative phase before the relative phase change is the strongest field phase and the weakest field phase. A plurality of pieces of graph information having different characteristics may be provided as information. As a result, the characteristics of the electric motor 10 change due to changes in the external environment (temperature, etc.), so that it is not possible to obtain the desired phase advance correction value, current amplitude, and hydraulic pressure Reg value with only one piece of graph information. Even in this case, for example, temperature detection is performed, and an optimal correction value can be set by selecting graph information corresponding to the detection result.

  INDUSTRIAL APPLICABILITY The present invention is useful for a motor control device that can optimize the amount of energy change when reducing the relative torque.

DESCRIPTION OF SYMBOLS 10 Electric motor 11 Stator 12 Rotating shaft 13 Phase change mechanism 14A 1st drive plate 14B 1st drive plate 20 Rotor unit 21 Outer rotor 22 Inner rotor 23 Yoke 24 Yoke 25A Outer permanent magnet 25B Inner peripheral Permanent magnet 30 Rotating mechanism 31 Vane rotor 32 Annular housing 50 Hydraulic control device 101 Resolver 103 Rotational speed calculation unit 105 Current command calculation unit 106 Current control unit 107 Band pass filter (BPF)
109 Three-phase-dq conversion unit 111 Current FB control unit 113 rθ conversion unit 115 PWM calculation unit 117 Phase detection unit 119 Ke calculation unit 121 Ke command calculation unit 123 Phase control unit 125 Actuator 137 Capacitor 141 Field control unit 143 Power control unit 150 Liquid Pressure control unit 151 Oil pump 152 AP opening detector 153 Energy consumption controller E1 First abutting surface (first abutting position)
E2 Second abutting surface (second abutting position)
OC Magnetic pole center ICN of outer peripheral side permanent magnet N pole magnetic pole center ICS of inner peripheral side permanent magnet S pole magnetic pole center of inner peripheral side permanent magnet

Claims (8)

A first rotor and a second rotor provided concentrically around a rotation axis; and a phase changing mechanism that changes a relative phase angle in a circumferential direction of the first rotor and the second rotor. A control device for the electric motor for controlling the current supplied to the electric motor,
A phase advance correction unit that corrects a phase advance of a current supplied to the electric motor;
A first energy change amount calculation unit that calculates a first energy change amount according to a change amount of relative torque corresponding to the phase advance angle of the current before and after correction by the phase advance angle correction unit;
A second energy change amount calculating unit that calculates a second energy change amount according to a change amount of the shaft torque corresponding to the phase advance angle of the current before and after correction by the phase advance angle correction unit;
With
The phase advance angle correction unit sets the first energy change amount to the second energy change amount in a direction in which the relative torque corresponding to the phase advance angle of the current decreases before the change of the relative phase angle. An electric motor control device that corrects the phase advance angle of the current within a range exceeding the range. The motor control device according to claim 1, further comprising:
An electric motor control device comprising: an amplitude correction unit that increases the amplitude of the current based on the shaft torque that is decreased by correcting the phase advance angle of the current. The motor control device according to claim 1, further comprising:
It has an accelerator position detector that detects the accelerator position,
The phase advance angle correction unit corrects the phase advance angle of the current based on the accelerator opening detected by the accelerator opening detection unit. The motor control device according to claim 3,
The phase advance angle correction unit is a motor control device that decreases a correction value for correcting the phase advance angle of the current as the accelerator opening detected by the accelerator opening detection unit increases. The motor control device according to claim 3,
The phase advance angle correction unit is a motor control device that increases a correction value for correcting the phase advance angle of the current as the accelerator opening detected by the accelerator opening detection unit is smaller. A control device for an electric motor according to any one of claims 1 to 5,
The phase advance angle correction unit increases the correction value for correcting the phase advance angle of the current as the rotational speed of the motor increases. The motor control device according to any one of claims 1 to 6,
In the phase advance angle correction unit, the relative phase angle before the change of the relative phase angle corresponds to a phase position where the combined magnetic flux generated by the magnet pieces arranged on the first rotor and the second rotor is strengthened most. Or the relative phase angle corresponding to the phase position where the combined magnetic flux generated by the magnet pieces arranged in the first rotor and the second rotor is weakened most. The control apparatus of the electric motor which switches the correction value for correcting the phase advance angle. The motor control device according to any one of claims 1 to 7, further comprising:
A working fluid supply unit that supplies the working fluid to the phase change mechanism that changes the relative phase angle according to the fluid pressure of the working fluid;
An original pressure control unit that controls an original pressure of the working fluid supplied by the working fluid supply unit;
With
The said original pressure control part is a control apparatus of the electric motor which reduces the original pressure of the said working fluid based on the said relative torque reduced by correction | amendment of the phase advance angle of the said current by the said phase advance angle correction part.

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