JP2011079408A - Power system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a power system which includes a power mechanism using a rotating machine to be reduced in size and enhances a degree of freedom in design, and also includes a control device for properly controlling the operation of the power mechanism. <P>SOLUTION: This power system includes a first rotor 51, a stator 53 and a second rotor 52. A ratio of the number of armature poles of the stator 53, the number of poles of the first rotor 51 and the number of core parts of the second rotor 52 is set to be 1:m:(1+m)/2 (m≠1.0). The power system includes the first rotating machine 3 in which the first rotor 51 is connected to a drive shaft 23, an engine 20 connected to the second rotor 52, the second rotating machine 4 constituted to input/output power between the rotating machine 4 and the drive shaft 23 and to deliver/receive the power between the rotating machine 4 and the first rotating machine 3, and the control device 200 for controlling at least the second rotating machine 4 out of the first rotating machine 3, second rotating machine 4 and engine 20, so that requested output or requested torque may be outputted to the drive shaft 23. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a power mechanism using a rotating machine having a plurality of rotors and a power system including the control device.

  Conventionally, as a rotating machine having a plurality of rotors, for example, a rotating machine including a first rotor connected to a first rotating shaft, a second rotor connected to a second rotating shaft, and a stator is known. (For example, refer to Patent Document 1).

  In the rotating machine described in Patent Document 1, the first rotating shaft and the second rotating shaft are arranged concentrically, and the first rotor, the second rotor, and the stator are arranged inward in the radial direction of the first rotating shaft. Are arranged in this order. The first rotor has a plurality of first permanent magnets and second permanent magnets arranged in the circumferential direction, and the first permanent magnets and the second permanent magnets are arranged in parallel in the axial direction of the first rotor. Has been placed.

  The second rotor has a plurality of first cores and second cores, each of which is aligned in the circumferential direction. The first core and the second core are made of a soft magnetic material, the first core is disposed between the first permanent magnet side portion of the first rotor and the stator, and the second core is the second of the first rotor. It is arranged between the part on the permanent magnet side and the stator.

  Further, the stator is configured to generate a first rotating magnetic field and a second rotating magnetic field that rotate in the circumferential direction, and the first rotating magnetic field is generated between a portion of the first rotor on the first permanent magnet side, The second rotating magnetic field is generated between the first rotor and the portion of the first rotor on the second permanent magnet side. The number of magnetic poles of the first permanent magnet and the second permanent magnet, the number of magnetic poles of the first rotating magnetic field and the second rotating magnetic field, and the number of the first core and the second core are set to be the same.

  As the first rotating magnetic field and the second rotating magnetic field are generated by supplying power to the stator, the first rotating magnetic field, the second rotating magnetic field magnetic pole, and the first permanent magnet and the second permanent magnet magnetic pole When the first core and the second core are magnetized, lines of magnetic force are generated between these elements. Further, the first rotor and the second rotor are driven by the action of the magnetic force of the magnetic field lines, and power is output from the first rotating shaft and the second rotating shaft.

JP 2008-67592 A

  Since the rotating machine described in Patent Document 1 is required to have a first soft magnetic body row composed of a plurality of first cores and a second soft magnetic body row composed of a plurality of second cores because of its configuration. There is a disadvantage that the rotating machine is enlarged. Furthermore, the electric motor described in Patent Document 1 has, due to its configuration, the difference between the rotational speeds of the first and second rotating magnetic fields and the rotating speed of the second rotor, the rotating speed of the second rotor, and the first rotating magnetic field. Since only a speed relationship in which the speed difference from the rotational speed of the rotor is the same is established, there is a disadvantage that the degree of freedom in design is low.

  The present invention has been made in view of the above background, and can appropriately reduce the size of the power mechanism using a rotating machine that can increase the degree of freedom of design and the operation of the power mechanism. An object of the present invention is to provide a power system including a control device for controlling.

  The present invention has been made to achieve the above object, and includes a first rotor having a magnetic pole array composed of a plurality of magnetic poles arranged in a predetermined rotation direction, and a plurality of armatures arranged in the rotation direction. Then, a rotating magnetic field that rotates in the rotation direction is generated between the magnetic pole row and the armature magnetic pole that is arranged opposite to the magnetic pole row and is generated in the plurality of armatures in response to power supply. A stator having an armature row, a second rotor located between the magnetic pole row and the armature row, and a core portion and portions having lower magnetic permeability than the core portion are alternately arranged in the rotation direction; And the ratio of the number of armature magnetic poles, the number of magnetic poles and the number of core portions is set to 1: m: (1 + m) / 2 (where m ≠ 1.0), and the first A first rotating machine having a rotor connected to a drive shaft, and a prime mover connected to the second rotor A power system comprising: a second rotating machine configured to be capable of inputting / outputting power to / from the driving shaft or another driving unit and transferring electric power to / from the first rotating machine. About.

  In the first rotating machine, when a rotating magnetic field is generated by a plurality of armature magnetic poles of the stator, the core portion of the second rotor is magnetized by the armature magnetic pole and the magnetic pole of the first rotor, and the magnetic pole, the core portion, and the armature. Magnetic field lines connecting the magnetic poles are generated.

  In this case, for example, when the first rotating machine is configured under the following conditions (a) and (b), the relationship between the rotating magnetic field, the speed between the first rotor, and the second rotor and the position is as follows. It is expressed in An equivalent circuit of the first rotating machine is shown as in FIG.

  (a) The stator 100 has U, V, and W three-phase armatures 101, 102, and 103.

  (b) There are two armature magnetic poles, the number of magnetic poles 111 of the first rotor 110 is 4, that is, the number of pole pairs in which the N poles and S poles of the armature magnetic poles are one set, the N poles and S of the magnetic poles. The number of pole pairs with one set of poles is 2, and the core portion of the second rotor 120 is three (121, 122, 123).

  The “pole pair” used in this specification means one set of N pole and S pole.

In this case, the magnetic flux Ψ _k1 of the magnetic pole passing through the first core 121 among the three core parts is expressed by the following formula (1).

Where ψ _{f is} the maximum value of the magnetic flux of the magnetic pole, θ _{1 is} the rotational angle position of the magnetic pole with respect to the U-phase coil, and θ ₂ is the rotational angle position of the first core 121 with respect to the U-phase coil.

Therefore, the magnetic flux Ψ _u1 of the magnetic pole passing through the U-phase coil via the first core 121 can be expressed by the following formula (2) obtained by multiplying the above formula (1) by cos θ ₂ .

Similarly, the magnetic flux Ψ _u2 of the magnetic pole passing through the second core 122 is expressed by the following equation (3).

Since the rotational angle position of the second core 122 with respect to the U-phase coil is advanced by 2π / 3 with respect to the first core 121, 2π / 3 is added to θ ₂ in the above equation (3).

Therefore, the magnetic flux Ψ _u2 of the magnetic pole passing through the U-phase coil via the second core 122 is expressed by the following formula (4) obtained by multiplying the above formula (3) by cos (θ + 2π / 3).

Similarly, the magnetic flux Ψ _u3 of the magnetic pole passing through the U-phase coil via the core portion 123 of the third core 123 is expressed by the following formula (5).

In the first rotating machine shown in FIG. 12, the magnetic flux Ψ _u of the magnetic pole passing through the U-phase coil via the core parts 121, 122, 123 is expressed by the above equations (2), (4), and (5). It is expressed by the following formula (6) in which the expressed magnetic fluxes Ψ _u1 , Ψ _u2 , and Ψ _u3 are added.

Further, when the above formula (6) is generalized, the magnetic flux Ψ _u of the magnetic pole passing through the U-phase coil via the core portions 121, 122, 123 of the second rotor 120 is represented by the following formula (7). .

  However, a: Number of pole pairs of magnetic poles of the first rotor, b: Number of core parts of the second rotor, c: Number of pole pairs of armature magnetic poles of the stator.

  Further, when the above formula (7) is modified, the following formula (8) is obtained.

  In the above equation (8), when b = a + c and arranging by cos (θ + 2π) = cosθ, the following equation (9) is obtained.

  When the above formula (9) is further arranged, the following formula (10) is obtained.

  The value of the second term on the right side of the equation (10) becomes zero as shown in the following equation (11) when arranged under the condition that a−c ≠ 0.

  Further, the value of the third term on the right side of the above equation (10) is also zero as shown in the following equation (12) when arranged under the condition that a−c ≠ 0.

As described above, when a−c ≠ 0, the magnetic flux Ψ _U of the magnetic pole passing through the U-phase coil of the stator 100 via the core portions 121, 122, 123 of the second rotor 120 is expressed by the following equation (13). Is done.

  In the above formula (13), when a / c = α, the following formula (14) is obtained.

Furthermore, in the above equation (14), when c · θ ₂ = θ _e2 and c · θ ₁ = θ _e1 , the following equation (15) is obtained.

Here, θ _e2 represents the electrical angle position of the core portion relative to the U-phase coil, as is apparent from multiplying the rotational angle position θ ₂ of the core portion relative to the U-phase coil by the pole pair number c of the armature magnetic pole. Represents. Further, θ _e1 is the electrical angle of the magnetic pole with respect to the U-phase coil, as is apparent from multiplying the rotation angle position θ ₁ of the magnetic pole of the first rotor 110 with respect to the U-phase coil by the pole pair number c of the armature magnetic pole. Represents the position.

Similarly, the magnetic flux Ψ _v of the magnetic pole passing through the V-phase coil via the core portion is delayed by an electrical angle of 2π / 3 with respect to the U-phase coil. It is represented by Formula (16).

Further, the magnetic flux Ψ _w of the magnetic pole passing through the W-phase coil via the core portion has an electrical angle position of 2π / 3 advanced with respect to the U-phase coil by the electrical angle position of the W-phase coil. 17).

Further, when the magnetic fluxes Ψ _u , Ψ _v , and Ψ _w represented by the above expressions (15) to (17) are differentiated with respect to time, the following expressions (18) to (20) are obtained.

However, ω _e1 : time differential value of θ _e1 (value obtained by converting the angular velocity of the first rotor relative to the stator into an electrical angular velocity), ω _e2 : time differential value of θ _e2 (the angular velocity of the second rotor relative to the stator is converted into an electrical angular velocity) Value).

Here, the magnetic flux that directly passes through the U-phase to W-phase coils without passing through the core portions 121, 122, and 123 is extremely small, and its influence can be ignored. Therefore, the time differential values of the magnetic fluxes Ψ _u , Ψ _v , Ψ _w (the above expressions (18) to (20)) of the magnetic poles passing through the U-phase to W-phase coils via the core portions 121, 122, and 123, respectively. dΨ _u / dt, dΨ _v / dt, and dΨ _w / dt are associated with the rotation (movement) of the electrode of the first rotor 110 and the core portion of the second rotor 120 with respect to the armature array of the stator 100. The counter electromotive voltages (inductive electromotive voltages) generated in the U-phase to W-phase coils are respectively represented.

From this, the current I _u flowing through the U-phase coil, the current I _v flowing through the V-phase coil, and the current I _w flowing through the W-phase coil are expressed by the following equations (21), (22), (23 ).

  However, I is the amplitude (maximum value) of the current flowing through the U phase to W phase coils.

Further, according to the above equations (21) to (23), the electric angle position θ _mf of the rotating magnetic field vector with respect to the U-phase coil is expressed by the following equation (24), and the electric angular velocity ω _mf of the rotating magnetic field with respect to the U-phase coil: Is represented by the following equation (25).

Accordingly, the current I _u flows through the U-phase coil, the current I _v flows through the V-phase coil, and the current I _w flows through the W-phase coil. W is represented by the following formula (26) excluding reluctance.

  Substituting the above formulas (18) to (23) into the above formula (26) and rearranging gives the following formula (27).

Furthermore, this mechanical output W, torque (hereinafter referred to as first torque) T ₁ transmitted to the first rotor via the magnetic pole, and torque (hereinafter referred to as first torque) transmitted to the second rotor via the core portion. 2 of torque) T _2, the relationship between the electrical angular velocity omega _e2 electrical angular velocities omega _e1 and the second rotor of the first rotor is expressed by the following equation (28).

By comparing the equation (27) and the equation (28), the first torque T ₁ and the second torque T ₂ are expressed by the following equations (29) and (30).

Further, when the torque of the electrical angular velocity omega _mf equivalent power and the rotating magnetic field is supplied to the armature row and the driving equivalent torque T _e, power and mechanical power W supplied to the armature row, neglecting losses Therefore, the driving equivalent torque _Te is expressed by the following equation (31) from the relationship between the above equations (25) and (27).

  Furthermore, the following expression (32) is obtained from the above expressions (29) to (31).

  The relationship between the torque expressed by the above equation (32) and the relationship between the electrical angular velocities expressed by the above equation (25) are exactly the same as the relationship between the rotational speed and torque in the sun gear, ring gear, and carrier of the planetary gear device. .

  Furthermore, as described above, on the condition that b = a + c and a−c ≠ 0, the relationship between the electrical angular velocities in the above equation (25) and the relationship between the torques in the above equation (32) are established. This condition b = a + c is expressed as b = (p + q) / 2, that is, b / q = (1 + p / q) / 2, where p is the number of magnetic poles and q is the number of magnetic poles.

  Here, if p / q = m, then b / q = (1 + m) / 2. Therefore, the above-described condition of b = a + c is satisfied. The number of armature magnetic poles and the number of magnetic poles It shows that the ratio with the number of core parts is 1: m: (1 + m) / 2. In addition, the fact that the above-described condition that a−c ≠ 0 is satisfied indicates that m ≠ 1.0.

  In the first rotating machine of the present invention, the ratio of the number of armature magnetic poles, the number of magnetic poles, and the number of core portions in a predetermined section in a predetermined rotation direction is 1: m: (1 + m) / 2 (m ≠ 1.0), the electrical angular velocity relationship shown in the equation (25) and the torque relationship shown in the equation (32) are satisfied, and the first rotating machine operates properly. I understand.

  In addition, unlike the above-described conventional case, the second rotor is configured by only a single row of core portions, so that the first rotating machine can be reduced in size. Further, as apparent from the above formulas (25) and (32), α = a / c, that is, by setting the ratio of the number of pole pairs of the magnetic poles to the number of pole pairs of the armature magnetic poles, The electrical angular velocity relationship between the rotor and the second rotor and the torque relationship between the stator, the first rotor, and the second rotor can be arbitrarily set.

  Accordingly, the degree of freedom in designing the first rotating machine can be increased. These effects can be similarly obtained even when the number of phases of the coils of the plurality of armatures is other than the above-described three phases. On that basis, input / output of power between the prime mover connected to the second rotor and the drive shaft or another drive unit and transmission / reception of power between the first rotary machine and A power mechanism that allows the drive shaft, the prime mover, the first rotator, and the second rotator to operate in the form of a single collinear three-element by providing the second rotator that can be reduced in size and design The degree of freedom can be increased.

[First invention]
According to a first aspect of the present invention, the first rotation is performed such that a power mechanism including the first rotating machine, the second rotating machine, and the prime mover described above, and a predetermined required output or required torque is output to the drive shaft. And a control device for controlling at least the second rotating machine among the motor, the second rotating machine, and the prime mover.

  In the first invention, the second rotating machine is configured to be capable of inputting / outputting power to / from the driving shaft or another driving unit and transferring electric power to / from the first rotating machine. ing. Therefore, by controlling at least the second rotating machine by the control device, power is directly transmitted to the drive shaft, or the first rotating machine is connected to the first rotating machine via input / output of electric power. The required output or the required torque can be generated on the drive shaft by operating the rotating machine.

[Second invention]
According to a second aspect of the present invention, there is provided a power mechanism having the first rotating machine, the second rotating machine, and the prime mover, and the drive from the first rotary machine and the prime mover with respect to a predetermined required output or required torque. And a controller for controlling the second rotating machine so as to compensate for the excess or deficiency of the output or torque output to the shaft with the output or torque of the second rotating machine.

  In the second invention, the second rotating machine is configured to be capable of inputting / outputting power to / from the driving shaft or another driving unit and transferring electric power to / from the first rotating machine. ing. Therefore, when the output or torque output from the first rotating machine and the prime mover to the drive shaft is insufficient with respect to the required output or required torque, the second rotating machine is controlled by the control device. , By transmitting power directly to the drive shaft, or by operating the first rotating machine via power input / output with the first rotating machine, the requested output or the requested Torque can be generated.

[Third invention]
According to a third aspect of the present invention, the first rotating machine is controlled by the power mechanism having the first rotating machine, the second rotating machine, and the prime mover as described above, and the first rotating machine is controlled according to the required torque of the drive shaft. And a control device for setting a torque to be output to the rotating shaft by the second rotating machine based on a difference between a torque output to the rotor and a required torque of the driving shaft.

  In a third aspect of the invention, the first rotor is connected to the drive shaft, and the second rotator is configured to input / output power to / from the drive shaft or another drive unit, and to the first rotator. The power can be exchanged between the two.

  Therefore, based on the difference between the torque output to the first rotor by controlling the first rotating machine according to the required torque and the required torque, the second rotating machine outputs to the drive shaft. By setting the torque to be applied, the output torque of the drive shaft can be brought close to the required torque.

[Fourth Invention]
According to a fourth aspect of the present invention, there is provided a power mechanism having the first rotating machine, the second rotating machine, and the prime mover described above, a target rotational speed of the prime mover set in accordance with a required torque of the drive shaft, and the prime mover. The first rotating machine is controlled so as to reduce the difference from the actual rotational speed of the motor, and the difference between the torque output to the first rotor of the first rotating machine and the required torque is reduced by the control. And a control device for controlling torque to be output to the drive shaft by the second rotating machine.

  In a fourth aspect of the invention, the first rotor is connected to the drive shaft, and the second rotator is configured to input / output power to / from the drive shaft or another drive unit, and to the first rotator. The power can be exchanged between the two. Therefore, the first rotary machine is controlled so as to reduce the difference between the target rotational speed and the actual rotational speed of the prime mover, and the torque output to the first rotor of the first rotary machine and the request for the drive shaft By controlling the torque output to the drive shaft by the second rotating machine so as to reduce the difference from the torque, the rotational speed and output torque of the drive shaft can be controlled.

[Fifth Invention]
5th invention sets the request | requirement output of the said motor | power_engine according to the power mechanism which has the said 1st rotary machine mentioned above, the said 2nd rotary machine, and the said motor | power_engine, and the request | requirement output of the said drive shaft, The request | requirement of this motor | power_engine And a controller for controlling the first rotating machine so as to reduce a difference between a target rotational speed of the prime mover set based on an output and an actual rotational speed of the prime mover.

  In a fifth aspect of the invention, the first rotor of the first rotating machine is connected to the drive shaft. Therefore, by controlling the first rotating machine by the control device so as to reduce the difference between the target rotational speed of the prime mover and the actual rotational speed of the prime mover, the actual rotational speed of the prime mover is set to the target rotational speed. Can be quickly converged.

[Sixth Invention]
According to a sixth aspect of the present invention, in the fifth aspect, the driving power is supplied to the first rotating machine or the second rotating machine, and the first rotating machine or the second rotating machine is rotated by rotation of the output shaft of the prime mover. The storage device is charged with the generated power generated, and the control device sets a required output for the prime mover based on the drive shaft required output and an input / output request for power to the power storage device. .

  In the sixth aspect of the invention, it is necessary to increase the output of the prime mover in response to a power input request to the power storage means. Further, it is possible to reduce the output of the prime mover in response to a power output request to the power storage means. Therefore, by setting the target output of the prime mover based on the requested output and the power input / output request to the power storage means by the control device, an output suitable for the power input / output request is supplied to the prime mover. Can be output.

[Seventh Invention]
According to a seventh invention, in the first to sixth inventions, the control device is configured to control the first rotating machine, the first speed detecting means for detecting the speed of the first rotor, and the first The second speed detecting means for detecting the speed of the two rotors, and the speed of the rotating magnetic field generated by the armature electrode is obtained by multiplying the speed of the second rotor by (1 + m) and the first rotor by m. And a first rotating machine control unit for controlling the first rotating machine so as to be synchronized with a difference from the measured value.

  Since α in the above equation (25) is a (number of pole pairs of magnetic poles) / c (number of pole pairs of armature magnetic poles), it is equal to m (= number of magnetic poles / number of armature magnetic poles). Therefore, the above formula (25) is represented by the following formula (33).

Where ω _{mf is} the electrical angular velocity of the rotating magnetic field, ω _{e2 is} the electrical angular velocity of the second rotor, ω _{e1 is} the electrical angular velocity of the first rotor, c is the number of pole pairs of the armature magnetic poles, ω _{2 is} the speed of the second rotor (machine) Angular velocity), ω ₁ : Speed of the first rotor (mechanical angular velocity).

  Therefore, the control device synchronizes the speed of the rotating magnetic field generated by the armature electrode with the difference between the speed of the second rotor multiplied by (m + 1) and the speed of the first rotor. By controlling the first rotating machine, a relative speed between the speed of the rotating magnetic field generated by the armature electrode of the stator in the first rotating machine, the speed of the first rotor, and the speed of the second rotor. You can control the relationship.

[Eighth Invention]
According to an eighth invention, in the first to sixth inventions, the control device is configured to control the first rotating machine, and includes a first position detecting means for detecting a position of the first rotor, The second position detecting means for detecting the position of the two rotors, and the position of the rotating magnetic field generated by the armature electrode are calculated by multiplying the position of the second rotor by (1 + m) and the position of the first rotor by m. And a first rotating machine control unit that controls the first rotating machine so that the position is represented by a difference from a value multiplied by.

  Since α in the above equation (24) is a (number of pole pairs of magnetic poles) / c (number of pole pairs of armature magnetic poles), it is equal to m (= number of magnetic poles / number of armature magnetic poles). Therefore, the above formula (24) is represented by the following formula (34).

Where θ _{mf is} the electrical angle position of the rotating magnetic field, θ _e2 is the electrical angle position of the second rotor, θ _e1 is the electrical angle position of the first rotor, c is the number of pole pairs of the armature magnetic poles, and θ _{2 is} the position of the second rotor. Position (mechanical angular position), θ ₁ : Position of the first rotor (mechanical angular position).

  Therefore, the control device causes the electrical angle position of the rotating magnetic field generated by the armature electrode to be obtained by multiplying the electrical angle position of the second rotor by (m + 1) and the electrical angle position of the first rotor to m. The electric angle of the rotating magnetic field generated by the armature magnetic pole of the stator in the first rotating machine by controlling the first rotating machine so as to be a value represented by using a difference from the value multiplied by The relative positional relationship between the position, the position of the first rotor, and the position of the second rotor can be controlled.

[Ninth Invention]
According to a ninth invention, in the first to sixth inventions, the control device is configured to control the first rotating machine, the first position detecting means for detecting the position of the first rotor, and the first The second position detecting means for detecting the position of the two rotors, and the difference between the value obtained by multiplying the detected position of the second rotor by (1 + m) and the value obtained by multiplying the detected position of the first rotor by m. A first rotating machine control unit that controls the first rotating machine with a position represented by a value obtained by multiplying the number of pole pairs of the magnetic field as an energization phase angle is provided.

  In the ninth invention, the difference between the value obtained by multiplying the detection position of the second rotor by (1 + m) and the value obtained by multiplying the detection position of the first rotor by m is the difference between the second rotor and the first rotor. It indicates the mechanical relative position. Then, by multiplying this difference by the number of counter poles of the armature magnetic pole, the position of the rotating magnetic field corresponding to the electrical angular position of the first rotor and the second rotor is obtained as shown in the above equation (34). Can be calculated. Therefore, by controlling the first rotating machine with the position of the rotating magnetic field calculated in this way as the energization phase angle, the electric angular position of the rotating magnetic field generated by the armature magnetic pole of the stator and the position of the first rotor And the relative position between the second rotor and the position of the second rotor can be controlled.

[Tenth Invention]
According to a tenth aspect of the present invention, in the first to sixth aspects of the present invention, the control device is configured to control the first rotating machine, and includes a first position detecting unit that detects a position of the first rotor, A second position detecting means for detecting the position of the two rotors, and setting the electrical angle position of the first rotor by multiplying the first rotor position with respect to the stator by the number of pole pairs of the rotating magnetic field; By multiplying the position of the second rotor by the number of pole pairs of the rotating magnetic field, an electrical angle position of the second rotor is set, and a value obtained by multiplying the electrical angle position of the first rotor by (m + 1); And a first rotating machine control unit that controls the first rotating machine using a position represented by a difference between an electrical angle position of the two rotors and a value obtained by multiplying m by an energization phase angle.

  According to the tenth invention, as in the ninth invention, the electrical angle position of the rotating magnetic field generated by the armature magnetic poles of the stator and the position of the first rotor so as to satisfy the relationship of the above formula (34). The relative positional relationship between the position of the second rotor can be controlled.

[11th invention]
In an eleventh aspect based on the first to sixth aspects, the control device is configured to control the first rotating machine, and includes a first position detecting unit that detects a position of the first rotor; The second position detecting means for detecting the position of the two rotors, the current detecting means for detecting the current flowing through the armature, and the position of the first rotor with respect to the stator is multiplied by the number of pole pairs of the rotating magnetic field, The electrical angle position of the first rotor is set, and the electrical angle position of the second rotor is set by multiplying the position of the second rotor with respect to the stator by the number of pole pairs of the rotating magnetic field. Based on the electrical angle detection position represented by the difference between the electrical angle position multiplied by (m + 1) and the electrical angle position of the second rotor multiplied by m, the first rotating machine is orthogonally crossed. 2-axis rotary seat The target value of the voltage supplied to the armature of each axis is determined so as to reduce the difference between the target value of the current flowing through the armature of each axis and the detected value. A first rotating machine control that converts a determined target value of the voltage into a multiphase AC voltage based on the electrical angle detection position and sets a target value of the multiphase AC voltage to be supplied to the armature of the first rotating machine. And a section.

  According to the eleventh aspect of the present invention, the first rotating machine is converted into an equivalent circuit of an orthogonal two-axis rotational coordinate system based on the rotational angular position that is the electrical angular position satisfying the relationship of the above formula (34). Thus, the first rotating machine can be handled in the same manner as a general first rotating machine having one rotor, and energization control can be performed.

[Twelfth Invention]
In a twelfth aspect based on the first to sixth aspects, the control device is configured to control the first rotating machine, and includes a first position detecting means for detecting a position of the first rotor, A second position detecting means for detecting the position of the two rotors, a current detecting means for detecting the current flowing through the armature, the first rotating machine, a detection position of the first rotor and a detection position of the second rotor. Is converted into an equivalent circuit of an orthogonal two-axis rotating coordinate system and supplied to the armature of each axis so as to reduce the difference between the target value and the detected value of the current flowing through the armature of each axis. The voltage to be supplied to the armature of one shaft is corrected to cancel out the voltage generated in the armature of the one shaft by the current flowing through the other armature. And a first rotating machine control unit for controlling the machine. To.

  According to the sixth invention, when the energization control of the armatures of each of the two orthogonal axes is performed, the correction that cancels out the voltage generated in the armature of the other axis by the current flowing through the armature of the one axis. By setting the voltage to be supplied to the armature of each axis, interference between armatures of each axis can be avoided, and energization control of the armature of each axis can be performed independently.

The figure which showed schematic structure of the 1st rotary machine with the longitudinal cross-section. The figure which expanded and showed the stator with which the 1st rotary machine shown in FIG. 1 was equipped, the 1st rotor, and the 2nd rotor. The block diagram of the motive power system provided with the motive power mechanism comprised using the 1st rotary machine shown in FIG. 1, and its control apparatus. FIG. 4 is a collinear chart of the power mechanism shown in FIG. 3. The block diagram of 1st Embodiment of the control apparatus shown in FIG. The block diagram of 2nd Embodiment of the control apparatus shown in FIG. The block diagram of a 1st rotary machine control part. The block diagram of the model of a 1st rotary machine. The block diagram of the 1st aspect of the electric current control part shown in FIG. The block diagram of the 2nd aspect of the electric current control part shown in FIG. The figure which showed the equivalent circuit of the rotary machine.

  An embodiment of the present invention will be described with reference to FIGS.

  First, with reference to FIGS. 1-2, the structure and function of the 1st rotary machine 3 used by this Embodiment are demonstrated.

  Referring to FIG. 1, a first rotating machine 3 is connected to a PDU (Power Drive Unit) 10, and a battery 11 (corresponding to a power storage unit of the present invention) via a PDU 10 and a VCU (Voltage Control Unit) 13. Give and receive power. Further, the operation of the first rotating machine 3 is controlled by a first rotating machine control unit 60 described later.

  The first rotating machine 3 includes a first rotor 51 and a second rotor 53 that are rotatably supported in the housing 6 in a coaxial manner. A stator 53 is fixed in the housing 6 of the first rotating machine 3.

  In this case, the stator 53 is disposed around the first rotor 51 so as to face the first rotor 51. The second rotor 52 is disposed between the first rotor 51 and the stator 53 so as to rotate in a non-contact state with these. Therefore, the 1st rotor 51, the 2nd rotor 52, and the stator 53 are arrange | positioned concentrically.

  In the following description, unless otherwise specified, the “circumferential direction” means a direction around the axis of the main shaft 25 extending from the axis of the first rotating machine 3 (the axis of the first rotor 51). The “axial direction” means the axial direction of the main shaft 25.

  The stator 53 has a plurality of armatures 533 that generate a rotating magnetic field that acts on the first rotor 51 and the second rotor 52 inside thereof, and a steel core that is formed in a cylindrical shape by laminating a plurality of steel plates. (Armature iron core) 531 and a coil (armature winding) 532 for three phases (U, V, W phase) mounted on the inner peripheral surface portion of the iron core 531 are provided. The iron core 531 is externally fitted coaxially with the main shaft 25 and fixed to the housing 6.

  The coils 532 of each phase of U, V, and W constitute individual armatures 533 by the coils 532 and the iron core 531. The coils 532 for the three phases U, V, and W are attached to the iron core 531 so as to be aligned in the circumferential direction (see FIG. 2). Thereby, the armature row | line | column which arranged the armature 533 of multiple (multiple of 3) in the circumferential direction is comprised.

  The three-phase coils 532 of this armature array are arranged at equal intervals in the circumferential direction on the inner circumferential surface portion of the iron core 531 when a three-phase alternating current is applied, and a plurality (even numbers) rotating in the circumferential direction. The armature magnetic poles are arranged so as to be generated. This array of armature magnetic poles is an array in which N and S poles are alternately arranged in the circumferential direction (an array in which any two adjacent armature magnetic poles have different polarities). The stator 53 generates a rotating magnetic field inside the iron core 531 by the rotation of the armature magnetic pole row.

  The three-phase coils 532 are connected to the battery 11 via the PDU 10 and the VCU 13, and power is exchanged between the coil 532 and the battery 11 (input / output of electric energy to the coil 532) via the PDU 10. In addition, the first rotating machine control unit 60 can control energization of the coil 532 via the PDU 10 to control the generation form of the rotating magnetic field (the rotational speed and magnetic flux intensity of the rotating magnetic field).

  As shown in FIG. 2, the first rotor 51 includes a cylindrical base 511 made of a soft magnetic material, and a plurality (even number) of permanent magnets (magnet magnetic poles, magnetic poles of the present invention) fixed to the outer peripheral surface of the base 511. Equivalent to). The base 511 is formed by stacking, for example, iron plates or steel plates. The base body 511 is extrapolated to the main shaft 25 inside the iron core 531 of the stator 53 and is fixed to the main shaft 25 so as to rotate integrally with the main shaft 25.

  Further, the plurality of permanent magnets 512 of the first rotor 51 are arranged at equal intervals in the circumferential direction. With the arrangement of the permanent magnets 512, a magnetic pole array composed of a plurality of magnetic poles arranged in the circumferential direction is formed on the outer peripheral surface portion of the first rotor 51 so as to face the inner peripheral surface portion of the iron core 531 of the stator 53. In this case, as shown by (N) and (S) in FIG. 2, the outer surface portions of the two permanent magnets 512 and 512 adjacent to each other in the circumferential direction (corresponding to the inner peripheral surface portion of the iron core 531 of the stator 53). The magnetic poles of the surface part) are different magnetic poles. That is, due to the arrangement of the plurality of permanent magnets 512 of the first rotor 51, the magnetic pole row formed on the outer peripheral surface portion of the first rotor 51 is an arrangement in which N poles and S poles are alternately arranged.

  The length of the base 511 and the permanent magnet 512 of the first rotor 51 (the length of the main shaft 25 in the axial direction) is approximately the same as the length of the iron core 531 of the stator 53 in the axial direction.

  The second rotor 52 is configured by arranging a plurality of cores 521 (corresponding to the core portion of the present invention) made of a soft magnetic material between the stator 53 and the first rotor 51 in a non-contact state. A soft magnetic material row is provided. The plurality of cores 521 constituting the soft magnetic row are arranged at equal intervals in the circumferential direction with a portion 522 having a lower magnetic permeability than the core 521 interposed therebetween.

  Each core 521 is formed by laminating a plurality of steel plates, for example. The soft magnetic material row composed of these cores 521 is fixed to an annular flange 27 formed on the main shaft 25. As a result, the second rotor 52 rotates integrally with the main shaft 25.

  The length of each core 521 constituting the soft magnetic material row (the length in the axial direction of the main shaft 25) is approximately the same as the length in the axial direction of the iron core 531 of the stator 53.

  The number of armature magnetic poles of the stator 53 of the first rotating machine 3 is p, the number of magnetic poles of the first rotor 51 (number of permanent magnets 512) is q, and the number of soft magnetic cores 521 of the second rotor 52. When r is set to r, these p, q, and r are set so as to satisfy the relationship of the following formula (35).

  However, m ≠ 1. Note that p and q are even numbers, and m is a positive rational number.

  In this case, for example, if p = 4, q = 8, r = 6, and m = 2, the relationship of the above equation (35) is satisfied.

As described above, the number p of armature magnetic poles of the stator 53 of the first rotating machine 3, the number q of cores 521 of the second rotor 52, the number of magnetic poles of the first rotor 51 (number of permanent magnets 512) r, However, in the first rotating machine 3 configured so as to satisfy the relationship of the above formula (35), the first rotor 51 and the second rotor 52 are rotated from the magnetic poles of the first rotor 51 to the second rotor during rotation of one or both of the first rotor 51 and the second rotor 52. 52, dΨ _u / dt, dΨ _v / dt, dΨ _w / dt (provided that Ψ _u is a temporal change rate of magnetic flux (linkage magnetic flux) acting on the coil 532 of each phase of the stator 53 via the core 521 of the stator 52 The U phase, Ψ _v is the V phase, and Ψ _w is the flux linkage acting on each coil of the W phase is expressed by the following expressions (36), (37), and (38).

Where ψ _{f is} the maximum magnetic flux of the magnetic poles of the first rotor 51, θ _{e2 is} the electrical angle of the second rotor 52 with respect to one reference coil (for example, a U-phase coil) of the three-phase coils 532 of the stator 53. Position, ω _e2 : electrical angular velocity of the second rotor 52, θ _e1 : electrical angular position of the first rotor 51 with respect to the reference coil, ω _e1 : electrical angular velocity of the first rotor 51.

In the equations (36) to (38), the value of θ _e1 when one magnetic pole of the first rotor 51 _faces the reference coil is set to “0”, and one core of the second rotor 52 is obtained. The value of θ _{e2 in} the state corresponding to the reference coil 521 is set to “0”. The “electrical angle” means an angle obtained by multiplying the mechanical angle by the number of pole pairs of armature magnetic poles (the number of pairs of N poles and S poles (= p / 2)).

In this case, the magnetic flux directly acting on each coil 532 from the magnetic pole of the first rotor 51 without passing through the core 521 of the second rotor 52 is very small compared to the magnetic flux passing through the core 521. The dΨ _u / dt, dΨ _v / dt, and dΨ _w / dt in the expressions (36) to (38) correspond to the rotation of the first rotor 51 and the second rotor 52 with respect to the stator 53 and the coils 532 of the respective phases. It represents the counter electromotive force (induced voltage) generated in.

Therefore, in the present embodiment, the rotation angle position θ _mf (rotation angle position in electrical angle) of the magnetic flux vector of the rotating magnetic field generated by energization of the coil 532 of the stator 53 and its temporal change rate (differential value). The energizing current of the coil 532 of the stator 53 is passed through the PDU 10 by the first rotating machine control unit 60 so that the angular velocity ω _mf (electrical angular velocity) satisfies the relationship of the following equations (39) and (40). Control.

Where θ _{mf is} the rotational angular position of the magnetic flux vector of the rotating magnetic field, θ _{e2 is} the electrical angular position of the second rotor 52, θ _e1 is the electrical angular position of the first rotor 51, c is the counter pole number of the armature magnetic pole, and θ _2. : Mechanical angular position of the second rotor 52, θ ₁ : mechanical angular position of the first rotor 51.

Where ω _{mf is} the angular velocity of the magnetic flux vector of the rotating magnetic field, ω _{e2 is} the electrical angular velocity of the second rotor 52, ω _{e1 is} the electrical angular velocity of the first rotor 51, c is the number of counter poles of the armature magnetic poles, and ω _{2 is} the second rotor. 52 mechanical angular velocity, ω ₁ : mechanical angular velocity of the first rotor 51.

As described above, by generating a rotating magnetic field in the stator 53, the first rotating machine 3 can be appropriately operated to generate torque in the first rotor 51 and the second rotor 52. At this time, a value obtained by dividing the supply power (input power) to the coil 532 of the stator 53 or the output power from the coil 532 by the angular velocity ω _mf at the electric angle of the rotating magnetic field is equivalent torque T _mf ( (Hereinafter referred to as “rotating field equivalent torque T _mf ”), where T 1 is the torque generated in the first rotor 51, and T 2 is the torque generated in the second rotor 52, between T _mf , T 1 and T 2. The following equation (41) is established. Here, it is assumed that energy loss due to copper loss, iron loss, etc. is so small that it can be ignored.

  The mutual relationship between the angular velocities expressed by the above equation (40) and the mutual relationship between the torques expressed by the above equation (41) are the mutual relationship between the sun gear, the ring gear, the rotational speed of the carrier, and the torque of the single pinion type planetary gear device. This is the same relationship as That is, one of the armature magnetic pole and the first rotor 51 corresponds to the sun gear, the other corresponds to the ring gear, and the second rotor 52 corresponds to the carrier.

  Therefore, the first rotating machine 3 has a function as a planetary gear device (more generally, a function as a differential device), and the rotation of the armature magnetic pole, the first rotor 51 and the second rotor 52 is performed. Is performed while maintaining the collinear relationship represented by the equation (41).

  In this case, the first rotating machine 3 has an energy distribution / combination function similar to a general planetary gear mechanism. That is, the coil 532 of the stator 53 and the second rotor 52 are connected via a magnetic circuit formed between the stator 53 and the core 521 (soft magnetic material) of the second rotor 52 and the permanent magnet 512 of the first rotor 51. Energy can be distributed and combined with the first rotor 51.

  For example, in a state where loads are applied to the first rotor 51 and the second rotor 52, electric power (electric energy) is supplied to the coil 532 of the stator 53 to generate a rotating magnetic field. The first rotor 51 and the second rotor 52 are driven to rotate by converting the rotational kinetic energy of the first rotor 51 and the second rotor 52 through the magnetic circuit (the torque applied to the first rotor 51 and the second rotor 52). Can be generated). In this case, the electrical energy input to the coil 532 is distributed to the first rotor 51 and the second rotor 52.

  In addition, for example, the first rotor 51 is driven to rotate from the outside (rotational kinetic energy is applied to the first rotor 51 from the outside), and electric energy is supplied from the coil 532 of the stator 53 while a load is applied to the second rotor 52. Is generated to generate a rotating magnetic field so that power is generated by the coil 532, thereby converting the rotational kinetic energy of the second rotor 52 and the power generating energy of the coil 532 via the magnetic circuit, and While being driven to rotate, the coil 532 can generate power. In this case, energy input to the first rotor 51 is distributed to the second rotor 52 and the coil 532.

  Further, for example, the first rotor 51 is rotationally driven from the outside (rotational kinetic energy is applied to the first rotor 51 from the outside), and electric energy is applied to the coil 532 of the stator 53 while a load is applied to the second rotor 52. To generate a rotating magnetic field to convert the rotational kinetic energy supplied to the first rotor 51 and the electrical energy supplied to the coil 532 into the rotational kinetic energy of the second rotor via the magnetic circuit, The second rotor 52 can be rotationally driven. In this case, the energy input to the first rotor 51 and the energy supplied to the coil 532 are combined and transmitted to the second rotor 52.

  As described above, in the first rotating machine 3, the first rotor 51, the second rotor 52, the second rotor 52, and the rotary energy of the first rotor 51, the second rotor 52, and the electrical energy of the coil 532 are mutually converted. It is possible to distribute and combine energy between the rotor 52 and the coil 532.

  Next, with reference to FIGS. 3 and 4, the configuration and function of a power system configured using the first rotating machine 3 described above will be described.

  Referring to FIG. 3, the power system of the present embodiment drives left and right drive wheels 24, 24 of a vehicle (not shown), and is an engine 20 that is a power source (corresponding to the prime mover of the present invention). ), A power mechanism 30, and a control device 200 that performs cooperative control in the power mechanism 30.

  The control device 200 is an electronic unit composed of a CPU (Central Processing Unit), a memory, and the like. By causing the CPU to execute a control program for the power mechanism, the CPU operates the first rotating machine 3. The first rotating machine control unit 60 to control, the second rotating machine control unit 250 to control the operation of the second rotating machine 4, the engine control unit 260 to control the operation of the engine 260, and the first rotating machine 3 and the second It functions as a cooperative control unit 210 that performs cooperative control of the rotating machine 4 and the engine 20.

  In addition, the control device 200 is a VCU (Voltage Control Unit) that transforms the voltage input to and output from the battery 11 (corresponding to the power storage means of the present invention), the supply of driving power to the first rotating machine 3, and the first rotating machine. A PDU (Power Drive Unit) that collects generated power and a PDU that supplies driving power to the second rotating machine 4 and collects generated power generated by the second rotating machine are provided.

  The power mechanism 30 is configured by using a first rotating machine 3 having two rotors (first rotor 51 and second rotor 52) and a second rotating machine 4 having one rotor (rotor 41). Yes. The output shaft 26 of the engine 20 is rotatably supported by a bearing 26a. The main shaft 25 is rotatably supported by bearings 25a and 25b, and is disposed on the same axis as the output shaft 26.

  The first rotor 51 of the first rotating machine 3 and the rotor 42 of the second rotating machine 4 are coupled to the main shaft 25 so as to be rotatable. Further, the second rotor 52 of the first rotating machine 3 is rotatably connected integrally with the output shaft 26 of the engine 20. The main shaft 25 is connected to the differential gear mechanism 22 via the transmission mechanism 21.

  As described above, the first rotating machine 3 has a function as a planetary gear device. Therefore, the power mechanism 30 is configured to operate while maintaining the collinear relationship of the one collinear three elements shown in FIG.

  FIG. 4 is a velocity diagram of the rotational speed MG2 of the second rotating machine 4 (= the rotational speed of the drive wheels 24 and 24), the rotational speed ENG of the engine 20, and the rotational speed MG1 of the first rotating machine 3. . In this case, by controlling the rotational speed MG1 of the first rotating machine 3 and the rotational speed MG2 of the second rotating machine 4, the rotational speed OUTPUT of the drive wheels 24 and 24 with respect to the rotational speed ENG of the engine 20 is steplessly changed. be able to.

  Also, as shown in FIG. 4, between the first rotating machine 3 and the second rotating machine 4 of the first power system and between the first rotating machine 3 and the second rotating machine 5 of the second power system, It is also possible to distribute energy by sending and receiving generated power (electrical path).

  Next, the configuration (indicated by 210a in the figure) and the function of the first embodiment of the cooperative control unit 210 shown in FIG. 3 will be described with reference to FIG.

  The cooperative control unit 210a is determined by the accelerator pedal depression amount Ap by the driver of the vehicle, the rotational speed of the drive shaft 23 (vehicle traveling speed) Vcar, the required power Bat_req of the battery 11 (the charging state of the battery 11, etc.). ), And the rotational speed Veng of the engine 20 is input. Based on these inputs, the cooperative control unit 210 determines a torque command value Mg1Tr_c for the first rotating machine 3, a torque command value Mg2Tr_c for the second rotating machine 3, and an output request value EngPw_req for the engine 20. .

  The cooperative control unit 210a selects a drive shaft request torque map 211 for selecting the optimum drive shaft request torque DrvTr_req with respect to the accelerator pedal depression amount Ap and the rotation speed Vcar of the drive shaft 23, and the drive shaft request torque DrvTr_req to the drive shaft 23. The multiplier 212 that outputs the drive shaft request output DrvPw_req and the drive shaft request output DrvPw_req is added with the required power Bat_req of the battery 11 and outputs the engine request output EngPw_req. The engine request output An engine efficiency map 220 that selects an optimum target rotational speed EngV_tgt of the engine 20 with respect to EngPw_req, a subtracter 221 that calculates a difference between the target rotational speed EngV_tgt of the engine 20 and the actual rotational speed Veng, and a target rotational speed of the engine 20 Torque command value Mg1R2Tr_c for the second rotor 52 of the first rotating machine 3 for reducing the difference between the speed EngV_tgt and the actual rotational speed Veng A rotation speed controller 222 is calculated.

  Further, the cooperative control unit 210a adds 1 / (1 + α) (α to the number of pole pairs of the armature magnetic poles of the stator 43 of the first rotating machine 3 to the torque command value Mg1R2Tr_c for the second rotor 52 of the first rotating machine 3. The distributor 224 that multiplies the ratio of the number of pole pairs of the magnetic poles of the first rotor 51 to output the first rotating machine torque command value Mg1Tr_c, which is the torque command value for the stator 53 of the first rotating machine 3, and the first rotating machine 3 The torque command value Mg1R2Tr_c for the second rotor 52 is multiplied by α / (1 + α) to output the torque command value Mg1R1Tr_c for the first rotor 51 of the first rotating machine 3, and the drive shaft required torque DrvTr_req Is provided with a subtractor 214 that subtracts the torque command value Mg1R1Tr_c for the first rotor 51 of the first rotating machine 3 and outputs the torque command value Mg2Tr_c for the second rotating machine 4.

  The drive shaft required torque map 211 and the engine efficiency map 220 are created based on results of experiments, computer simulations, and the like, and data of these maps are stored in a memory (not shown) in advance. Instead of the drive shaft required torque map 211, a correlation equation for calculating the drive shaft required torque DrvTr_req by inputting the depression amount Ap of the accelerator pedal and the rotational speed Vcar of the drive shaft 23 may be used. Further, instead of the engine efficiency map 220, a correlation equation for calculating the target rotational speed EngV_tgt of the engine 20 by inputting the engine required output EngPw_req may be used.

  With the above configuration, the coordinated control unit 210a determines the engine depression amount Ap and the engine status (the rotational speed Vcar of the drive shaft 23, the rotational speed Veng of the engine 20, the required power Bat_req of the battery 11). The torque command value Mg1Tr_c for the first rotating machine 3, the torque command value Mg2Tr_c for the second rotating machine 3, and the required output value EngPw_req for the engine 20 can be appropriately determined so that the engine 20 can be operated efficiently.

  Next, the configuration (indicated by 210b in the figure) and function of the second embodiment of the cooperative control unit 210 shown in FIG. 3 will be described with reference to FIG. In addition, about the structure similar to the said 1st Embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted.

  The cooperative control unit 210b of the second embodiment includes a drive shaft request output map 230 in place of the drive shaft request torque map 211 shown in FIG. The drive shaft request output map 230 outputs an optimum drive shaft request output DrvPw_req for the accelerator pedal depression amount Ap and the rotational speed Vcar of the drive shaft 23. The cooperative control unit 210b includes a divider 231 that divides the drive shaft request output DrvPw_req by the rotational speed Vcar of the drive shaft 23 and outputs the drive shaft request torque DrvTr_req.

  Thus, the processing after the drive shaft request output DrvPw_req and the drive shaft request torque DrvTr_req are output is the same as that of the cooperative control unit 210a of the first embodiment described above.

  The drive shaft request output map 230 is created based on results of experiments, computer simulations, and the like, and data of the drive shaft request output map 230 is stored in advance in a memory (not shown). Further, instead of the drive shaft request output map 230, a correlation equation for calculating the drive shaft request output DrvPw_req by inputting the depression amount Ap of the accelerator pedal and the rotation speed Vcar of the drive shaft 23 may be used.

  In the above-described cooperative control unit 210a of the first embodiment and the cooperative control unit 210b of the second embodiment, when the required power Bat_req of the battery 11 is not considered and when the rotational speed Veng of the engine 20 is not considered, That is, even when only the second rotating machine 4 is controlled, the effect of the present invention can be obtained.

  Further, in the cooperative control unit 210a of the first embodiment and the cooperative control unit 210b of the second embodiment described above, the feedback control of the rotational speed that reduces the difference between the actual rotational speed Veng of the engine 20 and the target rotational speed EngV_tgt. The target rotational speed of the rotating magnetic field of the first rotating machine is set based on the relationship between the target rotational speed of the engine 20 and the speed collinear diagram of the other rotating elements. It is good also as a structure which performs feedback control of the rotational speed which reduces the difference with the actual rotational speed of 1 rotary machine.

  Further, the “connection” and “connection” in the above description may be performed via a speed reducer, a speed increaser, a transmission, a clutch, and the like.

  Moreover, you may make it perform appropriate correction | amendment using the map, a filter, etc. with respect to the variable used by the said various arithmetic processing.

  Further, instead of the multiplier 212 in FIG. 6 and the divider 231 in FIG. 7, a drive shaft output and drive shaft torque may be obtained using a map.

  In addition, the required value of the force in the forward direction may be used in consideration of the radius of the drive wheel and the like instead of the required torque value.

  Moreover, since the torques of the first rotating machine and the second rotating machine are controlled by the energization amount of the armature coil, the current request may be used as the torque request.

  Further, in order to achieve the purpose of taking into account the feeling of the driver of the vehicle, correction such as a smoothing process may be appropriately performed on the accelerator depression amount.

  Moreover, you may use the rotary machine of the outer rotor structure which has arrange | positioned the stator inside the rotor to a 1st rotary machine and a 2nd rotary machine.

  Further, the rotation speed may be expressed as a movement angle per predetermined time or may be expressed as a rotation number per predetermined time.

  Next, the configuration and operation of the first rotating machine control unit 60 will be described with reference to FIGS. Referring to FIG. 8, the first rotating machine control unit 60 controls energization currents (phase currents) of the coils of the respective phases of the stator 53 of the first rotating machine 3 by so-called dq vector control. That is, the first rotating machine control unit 60 handles the three-phase coils of the stator 53 of the first rotating machine 3 by converting them into an equivalent circuit in the dq coordinate system, which is a two-phase DC rotation coordinate.

The equivalent circuit corresponding to the stator 53 has an armature on the d-axis (hereinafter referred to as “d-axis armature”) and an armature on the q-axis (hereinafter referred to as “q-axis armature”). In the dq coordinate system, the phase of the d axis with respect to the reference coil among the three-phase coils is defined as the rotation angle position θ _mf calculated by the above equation (39), and the direction orthogonal to the d axis is _defined as the q axis. The rotary coordinate system rotates with the first rotor 51 and the second rotor 52.

The first rotating machine controller 60 includes a mechanical angle position θ ₁ of the first rotor 51 detected by the position sensor 70 (resolver, encoder, etc.) and a mechanical angle position θ of the second rotor 52 detected by the position sensor 71. ₂ , the electrical angle converter 67 for calculating the rotational angle position θ _{mf according} to the above equation (39), the U-phase current detection value i _u _s and the W-phase current detection value detected by the phase current sensors 72 and 73. Based on the rotation angle position θ _mf , i _w _s is a detected value of a d-axis current i _d _s that is a detected value of a current (hereinafter referred to as a d-axis current) flowing in a coil of the d-axis armature, and a q-axis armature A three-phase / dq converter 65 that converts a detected value of a current flowing through the coil (hereinafter referred to as a q-axis current) to a q-axis current detected value i _q _s, and an electrical angular velocity ω by differentiating the rotational angular position θ _mf and an electrical angular velocity calculator 66 for calculating _mf .

Further, the first rotating machine control section 60, a subtracter 61 for obtaining a difference .DELTA.i _d between the d-axis current command value i _d _c and d-axis current detection value i _d _s is a command value of the d-axis current supplied from the outside When, a subtracter 62 for obtaining a difference .DELTA.i _q between the q-axis current command value i _q _c and q-axis current detection value i _q _s is a command value of q-axis current supplied from the outside, so as to reduce the .DELTA.i _d d-axis armature coils of the inter-terminal voltage of the command value at which the d-axis voltage command value V _d _c, and q-axis voltage which is a command value of the voltage between the terminals of the coil of the q-axis armature to reduce .DELTA.i _q The current controller 63 that determines the command value V _q _c, and the d-axis voltage command value V _d _c and the q-axis voltage command value V _q _c are command values for the three-phase voltage based on the rotation angle position θ _mf. A dq / 3-phase converter 64 for converting the U-phase voltage command value V _{u —} c, the V-phase voltage command value V _{v —} c, and the W-phase voltage command value V _{w —} c. .

Further, the PDU 10 switches the switching elements (transistors and the like) constituting the inverter by PWM control according to V _{u —} c, V _{v —} c, and V _{w —} c, so that the three phases of the stator 53 of the first rotating machine 3 are switched. Coil energization control is executed.

  Next, the voltage equation of the model of the first rotating machine 3 in the dq coordinate system is expressed by the following equation (42).

Where V _d : d-axis voltage, V _q : q-axis voltage, i _d : d-axis current, i _q : q-axis current, R _a : resistance of the coils of the d-axis armature and the q-axis armature, L _d : d-axis armature coil inductance, L _q : q-axis armature coil inductance, Ψ _a : induced voltage constant, ω: angular velocity of rotating magnetic flux vector.

FIG. 9 is a block diagram showing the relationship of the above equation (42). As shown in FIG. 9, the voltage component 81 caused by the d-axis current _{i d (i d · (ωL} d + ωΨ a)) is subtracted from the q-axis voltage V _q by the subtracter 82. A voltage component 83 (i _q · ωL _q ) generated by the q-axis current i _q is added to the d-axis voltage V _d by the adder 80.

Thus, the d-axis voltage V _d is affected by the q-axis current i _q , and the q-axis voltage V _q is affected by the d-axis current i _d . Therefore, the d-axis current i _d and the q-axis current i _q cannot be controlled independently.

Therefore, the current controller 63 includes a non-interference controller 90a for avoiding interference between the d-axis and the q-axis, as shown in FIG. Decoupling control unit 90a, as shown by the following equation (43), PI from the d-axis voltage V _da that is determined to reduce .DELTA.i _d by (proportional-integral) controller 91, subtractor 92 The d-axis voltage command value V _{d — c} is calculated by reducing the interference component.

Further, the non-interference controller 90a is configured to add an adder from a q-axis voltage V _qa determined so as to decrease Δi _q by a PI (proportional / integral) controller 91 as shown in the following equation (44). In step 93, the interference component is added to calculate the q-axis voltage command value V _q _c.

Here, from the above equation (42), i _d and i _q are expressed by the following equations (45) and (46).

Then, V _{d — c} in the above equation (43) is substituted into V _d in the above equation (45), and V _{q — c} in the above equation (44) is substituted into the above equation (46), and ω = ω _mf Then, the following equations (47) and (48) are obtained.

  From the above formulas (47) and (48), it is understood that the control of the d-axis current and the d-axis voltage and the control of the q-axis current and the q-axis voltage can be performed independently by the transfer function of the primary system. .

  Next, FIG. 11 is configured by replacing the non-interference controller 90a shown in FIG. 10 with a non-interference controller 90b.

The non-interference controller 90a calculates the interference component using the d-axis current detection value i _d _s and the q-axis current detection value i _q _s, but the non-interference controller 90b uses the following equations (49) and As shown in (50), the interference component is calculated using the d-axis current command value i _d _c and the q-axis current command value i _q _c.

However, i _q _c: q-axis current command value.

However, i _d _c: d-axis current command value.

Here, the current controller 63, and determines a d-axis voltage command value V _d _c to decrease the difference .DELTA.i _d between the d-axis current command value i _d _c and d-axis current detection value i _d _s, q The q-axis voltage command value V _q _c is determined so as to reduce the difference Δi _q between the shaft current command value i _q _c and the q-axis current detection value i _q _c. For this reason, i _d _c≈i _d _s is controlled, and i _q _c≈i _q _s.

  Therefore, as in the case of using the non-interference controller 90a described above, the interference between the d-axis and the q-axis is avoided, and the control of the d-axis current and the d-axis voltage and the control of the q-axis current and the q-axis voltage are performed. Can be performed independently by the transfer function of the primary system.

  In the present embodiment, the configuration in which the current controller 63 is provided with the non-interference controllers 90a and 90b is shown. However, even if the non-interference controllers 90a and 90b are not provided, the effects of the present invention are achieved. Obtainable.

  In the present embodiment, the stator 53 of the first rotating machine 3 is provided with three-phase coils of U, V, and W, but a rotating magnetic field (moving magnetic field) is generated by a coil having a number of phases other than three. You may make it make it.

  In the present embodiment, the first rotating machine control unit 60 converts the first rotating machine 3 into an equivalent circuit in the dq coordinate system, but this is not the case. However, it is possible to obtain the effect of the present invention by performing energization control of the three-phase coil 532 of the stator 53 of the first rotating machine 3 so as to maintain the relationship of the above formula (39) or the above formula (40). it can.

  DESCRIPTION OF SYMBOLS 3 ... 1st rotary machine, 4 ... 2nd rotary machine, 11 ... Battery, 20 ... Engine, 23 ... Drive shaft, 51 ... 1st rotor of 1st rotary machine, 52 ... 2nd rotor of 1st rotary machine, 53 ... Stator of first rotating machine, 60 ... First rotating machine controller, 63 ... Current controller, 90a, 90b ... Non-interference controller, 200 ... Control device, 210 ... Cooperative controller, 250 ... Second rotating machine control 260, engine control unit, 512, permanent magnet, 521, core (soft magnetic material), 532, coil, 533, armature.

Claims (12)

A first rotor having a magnetic pole array composed of a plurality of magnetic poles arranged in a predetermined rotational direction;
A plurality of armatures arranged in the rotation direction, arranged opposite to the magnetic pole row, and rotated in the rotation direction by armature magnetic poles generated in the plurality of armatures in response to power supply; A stator having an armature array that generates a rotating magnetic field between the magnetic pole array;
A second rotor that is located between the magnetic pole row and the armature row, and a core portion and portions having a lower magnetic permeability than the core portion are alternately arranged in the rotation direction;
A ratio of the number of armature magnetic poles, the number of magnetic poles, and the number of core portions is set to 1: m: (1 + m) / 2 (where m ≠ 1.0), and the first rotor is driven. A first rotating machine connected to the shaft;
A prime mover connected to the second rotor;
A second rotating machine configured to be able to input and output power to and from the driving shaft or another driving unit and to transfer power to and from the first rotating machine;
A control device that controls at least the second rotating machine among the first rotating machine, the second rotating machine, and the prime mover so that a predetermined requested output or a requested torque is output to the drive shaft;
A power system characterized by comprising: A first rotor having a magnetic pole array composed of a plurality of magnetic poles arranged in a predetermined rotational direction;
A plurality of armatures arranged in the rotation direction, arranged opposite to the magnetic pole row, and rotated in the rotation direction by armature magnetic poles generated in the plurality of armatures in response to power supply; A stator having an armature array that generates a rotating magnetic field between the magnetic pole array;
A second rotor that is located between the magnetic pole row and the armature row, and a core portion and portions having a lower magnetic permeability than the core portion are alternately arranged in the rotation direction;
A ratio of the number of armature magnetic poles, the number of magnetic poles, and the number of core portions is set to 1: m: (1 + m) / 2 (where m ≠ 1.0), and the first rotor is driven. A first rotating machine connected to the shaft;
A prime mover connected to the second rotor;
A second rotating machine configured to be able to input and output power to and from the driving shaft or another driving unit and to transfer power to and from the first rotating machine;
To compensate for the excess or deficiency of the output or torque output from the first rotating machine and the prime mover to the drive shaft with respect to the predetermined required output or required torque, the output or torque of the second rotating machine, A control device for controlling the second rotating machine;
A power system characterized by comprising: A first rotor having a magnetic pole array composed of a plurality of magnetic poles arranged in a predetermined rotational direction;
A plurality of armatures arranged in the rotation direction, arranged opposite to the magnetic pole row, and rotated in the rotation direction by armature magnetic poles generated in the plurality of armatures in response to power supply; A stator having an armature array that generates a rotating magnetic field between the magnetic pole array;
A second rotor that is located between the magnetic pole row and the armature row, and a core portion and portions having a lower magnetic permeability than the core portion are alternately arranged in the rotation direction;
A ratio of the number of armature magnetic poles, the number of magnetic poles, and the number of core portions is set to 1: m: (1 + m) / 2 (where m ≠ 1.0), and the first rotor is driven. A first rotating machine connected to the shaft;
A prime mover connected to the second rotor;
A second rotating machine configured to be able to input and output power to and from the driving shaft or another driving unit and to transfer power to and from the first rotating machine;
Based on the difference between the torque output to the first rotor by controlling the first rotating machine according to the required torque of the driving shaft and the required torque of the driving shaft, the second rotating machine A control device for setting torque to be output to the rotary shaft;
A power system characterized by comprising: A first rotor having a magnetic pole array composed of a plurality of magnetic poles arranged in a predetermined rotational direction;
A plurality of armatures arranged in the rotation direction, arranged opposite to the magnetic pole row, and rotated in the rotation direction by armature magnetic poles generated in the plurality of armatures in response to power supply; A stator having an armature array that generates a rotating magnetic field between the magnetic pole array;
A second rotor that is located between the magnetic pole row and the armature row, and a core portion and portions having a lower magnetic permeability than the core portion are alternately arranged in the rotation direction;
A ratio of the number of armature magnetic poles, the number of magnetic poles, and the number of core portions is set to 1: m: (1 + m) / 2 (where m ≠ 1.0), and the first rotor is driven. A first rotating machine connected to the shaft;
A prime mover connected to the second rotor;
A second rotating machine configured to be able to input and output power to and from the driving shaft or another driving unit and to transfer power to and from the first rotating machine;
The first rotating machine is controlled so as to reduce the difference between the target rotational speed of the prime mover set according to the required torque of the drive shaft and the actual rotational speed of the prime mover, and the first rotation is controlled by the control. A control device for controlling the torque output to the drive shaft by the second rotating machine so as to reduce the difference between the torque output to the first rotor of the machine and the required torque;
A power system characterized by comprising: A first rotor having a magnetic pole array composed of a plurality of magnetic poles arranged in a predetermined rotational direction;
A plurality of armatures arranged in the rotation direction, arranged opposite to the magnetic pole row, and rotated in the rotation direction by armature magnetic poles generated in the plurality of armatures in response to power supply; A stator having an armature array that generates a rotating magnetic field between the magnetic pole array;
A second rotor that is located between the magnetic pole row and the armature row, and a core portion and portions having a lower magnetic permeability than the core portion are alternately arranged in the rotation direction;
A ratio of the number of armature magnetic poles, the number of magnetic poles, and the number of core portions is set to 1: m: (1 + m) / 2 (where m ≠ 1.0), and the first rotor is driven. A first rotating machine connected to the shaft;
A prime mover connected to the second rotor;
A second rotating machine configured to be able to input and output power to and from the driving shaft or another driving unit and to transfer power to and from the first rotating machine;
The required output of the prime mover is set according to the required output of the drive shaft, and the difference between the target rotational speed of the prime mover set based on the required output of the prime mover and the actual rotational speed of the prime mover is reduced. A control device for controlling the first rotating machine;
A power system characterized by comprising: The power system according to claim 5, wherein
Power storage means for supplying driving electric power to the first rotating machine or the second rotating machine and being charged by generated power generated in the first rotating machine or the second rotating machine by rotation of an output shaft of the prime mover Prepared,
The control system sets the required output for the prime mover based on the drive shaft required output and the power input / output request for the power storage means. The power system according to any one of claims 1 to 6,
The controller is configured to control the first rotating machine,
First speed detecting means for detecting the speed of the first rotor;
Second speed detecting means for detecting the speed of the second rotor;
The speed of the rotating magnetic field generated by the armature electrode is synchronized with a difference between a value obtained by multiplying the speed of the second rotor by (1 + m) and a value obtained by multiplying the first rotor by m. A power system comprising: a first rotating machine control unit that controls the rotating machine. The power system according to any one of claims 1 to 6,
The controller is configured to control the first rotating machine,
First position detecting means for detecting the position of the first rotor;
Second position detecting means for detecting the position of the second rotor;
The position of the rotating magnetic field generated by the armature electrode is a position represented by a difference between a value obtained by multiplying the position of the second rotor by (1 + m) and a value obtained by multiplying the position of the first rotor by m. As described above, a power system comprising: a first rotating machine control unit that controls the first rotating machine. The power system according to any one of claims 1 to 6,
The controller is configured to control the first rotating machine,
First position detecting means for detecting the position of the first rotor;
Second position detecting means for detecting the position of the second rotor;
A position represented by a value obtained by multiplying the value obtained by multiplying the detection position of the second rotor by (1 + m) and the value obtained by multiplying the detection position of the first rotor by m and the number of pole pairs of the rotating magnetic field. A power system comprising: a first rotating machine control unit that controls the first rotating machine as an energization phase angle. The power system according to any one of claims 1 to 6,
The controller is configured to control the first rotating machine,
First position detecting means for detecting the position of the first rotor;
Second position detecting means for detecting the position of the second rotor;
The electrical angle position of the first rotor is set by multiplying the first rotor position with respect to the stator by the number of pole pairs of the rotating magnetic field, and the number of pole pairs of the rotating magnetic field is set at the position of the second rotor with respect to the stator. By multiplying, the electrical angle position of the second rotor is set, the electrical angle position of the first rotor is multiplied by (m + 1), and the electrical angle position of the second rotor is multiplied by m. A power system comprising: a first rotating machine control unit that controls the first rotating machine using a position represented by the difference as an energization phase angle. The power system according to any one of claims 1 to 6,
The controller is configured to control the first rotating machine,
First position detecting means for detecting the position of the first rotor;
Second position detecting means for detecting the position of the second rotor;
Current detecting means for detecting a current flowing through the armature;
The electrical angle position of the first rotor is set by multiplying the position of the first rotor with respect to the stator by the number of pole pairs of the rotating magnetic field, and the number of pole pairs of the rotating magnetic field at the position of the second rotor with respect to the stator. The electrical angle position of the second rotor is set by multiplying the electrical angle position of the first rotor by (m + 1), and the electrical angle position of the second rotor is multiplied by m. Based on the electrical angle detection position represented by the difference, the first rotating machine is converted into an equivalent circuit of a rotating coordinate system of two orthogonal axes, and the target value and detection of the current flowing through the armature of each axis are detected. The target value of the voltage supplied to the armature of each axis is determined so as to reduce the difference from the value, and the determined target value of the voltage is converted into a polyphase AC voltage based on the electrical angle detection position. To supply to the armature of the motor Power system, characterized in that a first rotating machine controller for setting a target value of the voltage. The power system according to any one of claims 1 to 6,
The controller is configured to control the first rotating machine,
First position detecting means for detecting the position of the first rotor;
Second position detecting means for detecting the position of the second rotor;
Current detecting means for detecting a current flowing through the armature;
Based on the detection position of the first rotor and the detection position of the second rotor, the first rotating machine is handled by converting it into an equivalent circuit of an orthogonal biaxial rotational coordinate system, and the current flowing through the armature of each axis The voltage supplied to the armature of each axis is controlled so as to reduce the difference between the target value and the detected value of each axis, and the voltage supplied to the armature of one axis is controlled by the current flowing through the other armature. A power system comprising: a first rotating machine control unit that controls the first rotating machine by performing a correction that cancels a voltage component generated in an armature of one shaft.

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