JP2011087395A - Motor controller for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To improve motor control accuracy based on the output of a current sensor by correcting the influence of a gain error of the current sensor for detecting a current applied to an AC motor. <P>SOLUTION: A motor controller calculates a proportion (kv/kw) of gain errors of V-phase and W-phase current sensors 38, 39 on the basis of a proportion (Iv/Iw) of V-phase and W-phase current command values in giving an invalid current command not contributing to torque generation while an AC motor 17 is stopped and a proportion (iv/iw) of outputs of the V-phase and W-phase current sensors 38, 39, and corrects the output of either the current sensor 38 or 39 by using the proportion of the gain error, thereby correcting imbalance of the gain errors. If the rotor rotation stop position of the AC motor 17 is a calculation unable position (rotation position where the V-phase current command value Iv or the W-phase current command value Iw is zero) in giving the invalid current command, the AC motor 17 generates torque to change the rotor rotation stop position to a rotation position other than the calculation unable position before giving the invalid current command. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a vehicle motor control device including an AC motor mounted on a vehicle and a current sensor that detects a current flowing through the AC motor.

  In an electric vehicle or a hybrid vehicle equipped with an AC motor as a power source of the vehicle, a current sensor for detecting a current flowing in at least one of the phases of the AC motor is provided, and an output (current detection value) of the current sensor is provided. However, in general, it is inevitable that an error (variation) occurs in the output of the current sensor due to an individual difference (manufacturing variation) of the current sensor or a change with time. For example, the zero point of the current sensor (the output of the current sensor when the actual current is 0) is easily affected by temperature, and the zero point of the current sensor may shift due to temperature changes.

  As a countermeasure, as described in Patent Document 1 (Japanese Patent Laid-Open No. 2005-20877), when the motor is not driven (that is, when the actual current flowing through the motor is 0), the output of the current sensor In some cases, the temperature characteristics of the zero point of the current sensor are learned based on the relationship between the value and the temperature detected by the temperature sensor, and the output of the current sensor is corrected using the learning result when the motor is driven.

Japanese Patent Laying-Open No. 2005-20877 (second page, etc.)

  By the way, the output of the current sensor may be influenced by a gain error that changes in accordance with the magnitude of the actual current, in addition to the zero point deviation (offset error). However, the technique of the above-mentioned Patent Document 1 is a technique for correcting a deviation of a current detection value (current sensor output) due to a deviation (offset error) of a zero point of a current sensor. Because it is not a technology that corrects deviations in current sensor output), it is affected by gain errors that change due to individual differences in the current sensor or changes over time, and current detection accuracy based on current sensor output, or even motor control. The accuracy may be reduced.

  Therefore, the problem to be solved by the present invention is that the influence of the gain error of the current sensor that detects the current flowing in the AC motor can be corrected, and the current detection accuracy or the motor control accuracy based on the output of the current sensor is improved. An object of the present invention is to provide a motor control device for a vehicle.

  In order to solve the above-mentioned problem, an invention according to claim 1 is directed to a vehicle motor control device including an AC motor mounted on a vehicle and a current sensor that detects a current flowing through the AC motor. A reactive current command that instructs the AC motor to flow a reactive current that does not contribute to torque generation of the AC motor (d-axis current or magnetic flux component current) during the stop, that is, a zero torque command is issued. Gain error information calculation for calculating a gain error of the current sensor or information related thereto (hereinafter collectively referred to as “gain error information”) based on the current command value and the output of the current sensor. Means, a sensor output correcting means for correcting the output of the current sensor using the gain error information calculated by the gain error information calculating means, and an AC mode when the reactive current command is issued. When the rotor rotation stop position is a rotation position where the current command value of the phase detected by the current sensor is 0 (hereinafter referred to as “incomputable position”), torque is generated in the AC motor to stop the rotor rotation of the AC motor. A stop position change control means for changing the position to a rotational position other than the uncalculatable position is provided.

  In this configuration, it is assumed that the current command value when the reactive current command is performed while the AC motor is stopped is substantially equal to the actual current flowing through the AC motor, and the current command value is used as substitute information for the actual current. Gain error information can be calculated accurately by calculating gain error information (for example, gain error or gain error ratio) from the current command value (actual current substitute information) and the output of the current sensor (current detection value). Can do. By correcting the output of the current sensor using this gain error information, the influence of the gain error of the current sensor can be corrected, and the current detection accuracy based on the output of the current sensor and the motor control accuracy can be improved. Can do.

  By the way, when the reactive current command is issued, the current command value of each phase changes (increases / decreases) according to the rotor rotation stop position (magnetic pole position) of the AC motor. Therefore, depending on the rotor rotation stop position of the AC motor, In some cases, the current command value of the phase to be detected becomes 0, and when the current command value of the phase detected by the current sensor (substitute information of the actual current) is 0, the gain error information cannot be calculated.

  As a countermeasure against this, in the invention according to claim 1, when the reactive current command is issued, the rotor rotation stop position of the AC motor is a position that cannot be calculated (the rotation position where the current command value of the phase detected by the current sensor is 0). In this case, torque is generated in the AC motor, and the rotor rotation stop position of the AC motor is changed to a rotation position other than the position where calculation is impossible (rotation position where the current command value of the phase detected by the current sensor is not zero). Yes.

  In this way, if the first rotor rotation stop position of the AC motor is a position that cannot be calculated when the reactive current command is issued, the rotor rotation stop position of the AC motor is changed to a rotation position other than the position that cannot be calculated. The reactive current command can be issued from As a result, it is possible to avoid that the phase current command value (substitute information of the actual current) detected by the current sensor at the time of the reactive current command becomes 0, and even when the first rotor rotation stop position of the AC motor is a position that cannot be calculated, Gain error information can be calculated.

  In this case, as described in claim 2, it is preferable to change the rotor rotation stop position of the AC motor by controlling the AC motor so that the rotor rotation stop position of the AC motor matches a predetermined target stop position. In this way, if the first rotor rotation stop position of the AC motor is a position that cannot be calculated when the reactive current command is issued, the rotor rotation stop position of the AC motor is set to a predetermined target stop position (for example, calculation of gain error information). It is possible to calculate the gain error information with high accuracy.

  Alternatively, as described in claim 3, the AC motor may be controlled to change the rotor rotation stop position of the AC motor so that a predetermined target torque is generated in the AC motor. In this way, when the reactive current command is issued, if the initial rotor rotation stop position of the AC motor is a non-calculatable position, the rotor rotation of the AC motor can be controlled by simple control in which the AC motor generates a predetermined target torque. The stop position can be changed to a rotational position other than the uncalculatable position.

  Also, when a reactive current command is issued, the current command value of each phase changes (increases / decreases) according to the rotor rotation stop position (magnetic pole position) of the AC motor. The current command value of the phase to be detected may be quite small. If the current command value of the phase detected by the current sensor (substitute information for the actual current) is too small, the output of the current sensor will be too small, resulting in a gain error. Information may not be calculated accurately.

  Therefore, as in claim 4, the d-axis command current in the dq coordinate system set as the rotor rotation coordinate of the AC motor is set to a predetermined value other than 0 while the AC motor is stopped, and the q-axis command current is When set to 0, a reactive current command is issued to command a reactive current that does not contribute to torque generation of the AC motor to flow through the AC motor, and the current command value and current sensor output when the reactive current command is issued Gain error information calculating means for calculating the gain error of the current sensor or information related thereto (hereinafter collectively referred to as “gain error information”), and the gain error information calculating means. Sensor output correction means for correcting the output of the current sensor using the gain error information, and a phase current command that the rotor rotation stop position of the AC motor detects by the current sensor when the reactive current command is issued There may be a configuration in which a d-axis command current increase control means for increasing than the predetermined value d-axis command current when performing the reactive current command in the case of the rotational position region falls below a predetermined threshold.

  In this way, when the reactive current command is issued, the rotor rotation stop position of the AC motor is in the rotational position region where the current command value of the phase detected by the current sensor is equal to or less than the predetermined threshold value. It is determined that the gain current information cannot be accurately calculated because the phase current command value (actual current substitute information) detected by the current sensor is too small, and the d-axis command current when performing the reactive current command is greater than the predetermined value. Can also increase the phase current command value detected by the current sensor at the time of reactive current command, and can accurately calculate gain error information (phase current command value detected by the current sensor at reactive current command). The region where the value is larger than the threshold value can be enlarged.

  Further, as in claim 5, a first current sensor for detecting a current flowing in the first phase of each phase of the AC motor and a second current sensor for detecting a current flowing in the second phase. If so, the ratio of the current command values of the first and second phases when the reactive current command is performed (ratio of the current command value of the first phase and the current command value of the second phase) And the gain error of the first and second current sensors based on the ratio of the outputs of the first and second current sensors (ratio of the output of the first current sensor and the output of the second current sensor). (The ratio between the gain error of the first current sensor and the gain error of the second current sensor) is calculated as gain error information, and the output of the first current sensor or the second is calculated using this gain error ratio. The output of the current sensor may be corrected.

  In this way, based on the ratio of the first and second phase current command values (actual current substitute information) and the ratio of the first and second current sensor outputs (current detection values), By calculating the gain error ratio of the first and second current sensors, the gain error ratio can be calculated with high accuracy. Then, by correcting one of the output of the first current sensor and the output of the second current sensor using this gain error ratio, the gain error of the first current sensor and the second current sensor is corrected. The imbalance can be corrected, and the motor control accuracy based on the outputs of the first and second current sensors can be improved.

  The present invention is not limited to the configuration for calculating the gain error ratio of the first and second current sensors as the gain error information, and the current command value (actual current substitute information) when the reactive current command is issued. ) And the current sensor output (current detection value), the current sensor gain error is calculated and the current sensor output is corrected using this gain error. The deviation may be corrected to improve current detection accuracy and motor control accuracy based on the output of the current sensor.

FIG. 1 is a schematic configuration diagram of an entire AC motor control system according to Embodiment 1 of the present invention. FIG. 2 is a block diagram illustrating a gain error ratio calculation function during open loop as an example. FIG. 3 is a diagram showing the relationship between the rotor rotation stop position at the time of the reactive current command and the current command value of each phase. FIG. 4 is a diagram for explaining a position that cannot be calculated. FIG. 5 is a diagram for explaining the calculated optimum position. FIG. 6 is a block diagram for explaining the positioning control of the first embodiment. FIG. 7 is a flowchart for explaining the processing flow of the gain error ratio calculation routine of the first embodiment. FIG. 8 is a flowchart for explaining the flow of processing of the sensor output correction routine. FIG. 9 is a diagram illustrating target torque control according to the second embodiment. FIG. 10 is a flowchart for explaining the processing flow of the gain error ratio calculation routine of the second embodiment. FIG. 11A is a diagram showing the relationship between the rotor rotation stop position and the current command value of each phase at the time of the reactive current command before the increase of the d-axis command current Id, and FIG. It is a figure which shows the relationship between the rotor rotation stop position at the time of the reactive current command after increase of the command current Id, and the current command value of each phase. FIG. 12 is a flowchart for explaining the processing flow of the gain error ratio calculation routine of the third embodiment.

  Hereinafter, some embodiments in which the mode for carrying out the present invention is applied to an electric vehicle or a hybrid vehicle using an AC motor as a drive source will be described.

A first embodiment of the present invention will be described with reference to FIGS.
First, a schematic configuration of the entire AC motor control system will be described with reference to FIG.
A step-up converter 12 is connected to a DC power source 11 composed of a secondary battery or the like. The step-up converter 12 boosts the DC voltage of the DC power source 11 and a DC system between the system power line 13 and the earth line 14. It has a function of generating a voltage and returning the power to the DC power supply 11 by reducing the system voltage. A smoothing capacitor 15 that smoothes the system voltage and a voltage-controlled three-phase inverter 16 are connected between the system power supply line 13 and the earth line 14, and an AC motor 17 is driven by the inverter 16.

  The AC motor 17 is a three-phase permanent magnet type synchronous motor and has a built-in permanent magnet, and is mounted with a rotor rotational position sensor 18 that detects the rotational position θ of the rotor. The step-up converter 12 is provided with an input capacitor 19, a reactor 20, and two switching elements 21 and 22, and free-wheeling diodes 23 and 24 are connected in parallel to the switching elements 21 and 22, respectively. Further, the voltage control type three-phase inverter 16 includes six switch elements 25 to 30 (three switching elements 25, 27, 29 for each phase of the upper arm and three switching elements 26, each phase for the lower arm). 28, 30), and free-wheeling diodes 31 to 36 are connected in parallel to the switching elements 25 to 30, respectively.

  The inverter 16 is boosted by the boost converter 12 based on the DC voltage of the system power line 13 based on the three-phase six-arm voltage command signals UU, UL, VU, VL, WU, WL output from the motor control circuit 37. System voltage) is converted into three-phase AC voltages U, V, and W to drive AC motor 17. A V-phase current iv flowing in the V phase of AC motor 17 is detected by V phase current sensor 38, and a W phase current iw flowing in the W phase of AC motor 17 is detected by W phase current sensor 39.

  The motor control circuit 37 controls the boost converter 12 so that the system voltage becomes the target voltage, and controls the inverter 16 so that the output torque of the AC motor 17 becomes the target torque (torque command value). Torque control is performed to adjust the AC voltage applied to. In this torque control, a torque command value output from a main control circuit (not shown), the V-phase current iv and the W-phase current iw of the AC motor 17 (output signals of the current sensors 38 and 39), and the rotor of the AC motor 17 Based on the rotational position θ (the output signal of the rotor rotational position sensor 18), a three-phase voltage command signal is generated by, for example, a sine wave PWM control system or a rectangular wave control system and output to the inverter 16.

  Further, the motor control circuit 37 executes a gain error ratio calculation routine shown in FIG. 7 to be described later, thereby performing a system check process immediately after activation of the control system of the AC motor 17 (that is, the AC motor before the control of the AC motor 17 is started). 17), a reactive current command is issued to instruct the reactive current that does not contribute to the torque generation of the AC motor 17 to flow to the AC motor 17, and the V-phase and W-phase currents when the reactive current command is issued. Based on the ratio of the command values (Iv / Iw) and the ratio of the outputs of the V-phase and W-phase current sensors 38, 39 (iv / iw), the gain error of the V-phase and W-phase current sensors 38, 39 Ratio (kv / kw) is calculated as gain error information. In this case, the V phase and the W phase correspond to the first phase and the second phase in the claims, and the V phase current sensor 38 and the W phase current sensor 39 are the first phase in the claims. This corresponds to the current sensor and the second current sensor.

  Specifically, as shown in FIG. 2, first, the d-axis command of the command current vector (d-axis command current Id, q-axis command current Iq) in the dq coordinate system set as the rotor rotation coordinates of the AC motor 17 is used. By setting the current Id to a predetermined value α other than 0 and setting the q-axis command current Iq to 0, the AC motor 17 is set to control the current vector on the d-axis of the dq coordinate system. The reactive current command that instructs the AC motor 17 to flow a reactive current (d-axis current or flux-divided current) that does not contribute to the generation of torque, that is, a zero torque command is performed.

  In this case, the command current vector (d-axis command current Id, q-axis command current Iq) is converted into a command voltage vector (d-axis command voltage Vd, q-axis command voltage Vq), and this command voltage vector (d-axis command voltage Vd , Q-axis command voltage Vq) and the rotor rotation position θ (rotor rotation stop position) of AC motor 17 detected by rotor rotation position sensor 18 determine three-phase voltage command values Vu, Vv, Vw. Thereafter, the three-phase voltage command values Vu, Vv, Vw are converted into three-phase six-arm voltage command signals UU, UL, VU, VL, WU, WL by, for example, a sine wave PWM control method or a rectangular wave control method. These three-phase six-arm voltage command signals UU, UL, VU, VL, WU, WL are output to the inverter 16. As a result, a reactive current that does not contribute to torque generation of the AC motor 17 is caused to flow through the AC motor 17.

  Further, the V-phase current command value Iv and the W-phase current command value Iw are obtained by calculating a command current vector (d-axis command current Id, q-axis command current Iq) and a rotor rotation position θ (rotor rotation stop position) of the AC motor 17. And can be expressed by the following equations (1) and (2).

  Since Iq = 0 when the reactive current command is issued, the following equations (3) and (4) are obtained from the above equations (1) and (2).

Furthermore, the following formula (5) is obtained from the above formulas (3) and (4).
Iv / Iw = cos ([theta] -2 / 3 * [pi]) / cos ([theta] + 2/3 * [pi]) (5)
From the above equation (5), the ratio (Iv / Iw) between the V-phase current command value Iv and the W-phase current command value Iw when the reactive current command is performed can be obtained. The current command value ratio (Iv / Iw) is determined only by the rotor rotation position θ (rotor rotation stop position) of the AC motor 17 without being affected by the device constant (resistance R or the like).

  In the first embodiment, it is assumed that the three-phase current command values Iu, Iv, Iw when the reactive current command is issued while the AC motor 17 is stopped are substantially equal to the actual currents flowing in the respective phases of the AC motor 17, The V-phase current command value Iv is used as substitute information for the V-phase actual current, and the W-phase current command value Iw is used as substitute information for the W-phase actual current.

If the offset errors of the V-phase and W-phase current sensors 38 and 39 are corrected, the V-phase current detection value iv (the output of the V-phase current sensor 38) is the gain error kv of the V-phase current sensor 38 and the V-phase current. The command value Iv (substitute information of the V-phase actual current) can be used to express the following equation (6). The W-phase current detection value iw (the output of the W-phase current sensor 39) is the W-phase current sensor 39. The gain error kw and the W-phase current command value Iw (substitute information of the W-phase actual current) can be expressed by the following equation (7).
iv = kv xIv (6)
iw = kw × Iw (7)

The following formula (8) is obtained from the above formulas (6) and (7).
kv / kw = (iv / iw) / (Iv / Iw) (8)
According to the above equation (8), the ratio (Iv / Iw) of the V-phase and W-phase current command values when the reactive current command is performed, and the ratio (iv) of the outputs of the V-phase and W-phase current sensors 38 and 39 / Iw) can be used to determine the gain error ratio (kv / kw) of the V-phase and W-phase current sensors 38, 39.

  As described above, the ratio (Iv / Iw) between the current command values of the V phase and the W phase is not affected by the device constant (resistance R or the like), and the rotor rotation position θ (rotor rotation stop position) of the AC motor 17. Therefore, the gain error ratio (kv / kw) of the V-phase and W-phase current sensors 38 and 39 can be obtained without being affected by the device constant (resistance R or the like).

  The gain error ratio (kv / kw) of the V-phase and W-phase current sensors 38, 39 thus obtained is a rewritable nonvolatile memory (such as the backup RAM 40 of the motor control circuit 37). The data is stored in a rewritable memory that holds stored data even when the power is off.

  Further, the motor control circuit 37 executes a sensor output correction routine shown in FIG. 8 to be described later, and uses the gain error ratio (kv / kw) of the V-phase and W-phase current sensors 38 and 39 to make a W-phase current sensor. By correcting the output 39 (W-phase current detection value iw), the gain error imbalance between the V-phase current sensor 38 and the W-phase current sensor 39 is corrected.

Specifically, the output (W-phase current detection value iw) of the W-phase current sensor 39 is corrected by the following equation using the gain error ratio (kv / kw) of the V-phase and W-phase current sensors 38, 39. Thus, the final detected W-phase current value iw ′ is obtained, and the output of the V-phase current sensor 38 (V-phase current detected value iv) is directly used as the final V-phase current detected value iv ′.
iv '= iv (9)
iw ′ = iw × (kv / kw) (10)

The above equations (9) and (10) can be expressed as follows using the relationships of the above equations (6) and (7), respectively.
iv '= iv = kv × Iv
iw '= iw * (kv / kw) = kw * Iw * (kv / kw) = kv * Iw

  As a result, the gain error between the final V-phase current detection value iv ′ and the final W-phase current detection value iw ′ can be aligned with the gain error kv of the V-phase current sensor 38. The gain error imbalance of the phase current sensor 39 can be corrected.

  Alternatively, by correcting the output (V-phase current detection value iv) of the V-phase current sensor 38 using the gain error ratio (kv / kw) of the V-phase and W-phase current sensors 38, 39, The gain error imbalance between the current sensor 38 and the W-phase current sensor 39 may be corrected.

Specifically, the output (V-phase current detection value iv) of the V-phase current sensor 38 is corrected by the following equation using the gain error ratio (kv / kw) of the V-phase and W-phase current sensors 38, 39. Thus, the final V-phase current detection value iv is obtained, and the output (W-phase current detection value iw) of the W-phase current sensor 39 is directly used as the final W-phase current detection value iw ′.
iv '= iv / (kv / kw) (11)
iw '= iw (12)

The above equations (11) and (12) can be expressed as follows using the relationships of the above equations (6) and (7), respectively.
iv '= iv / (kv / kw) = kv * Iv / (kv / kw) = kw * Iv
iw '= iw = kw × Iw

  As a result, the gain error between the final V-phase current detection value iv ′ and the final W-phase current detection value iw ′ can be aligned with the gain error kw of the W-phase current sensor 39. The gain error imbalance of the phase current sensor 39 can be corrected.

  The process of correcting the output of the V-phase current sensor 38 or the output of the W-phase current sensor 39 using the gain error ratio (kv / kw) of the V-phase and W-phase current sensors 38 and 39 is the current sensor 38. , 39 may be used in a motor control routine or the like for controlling the AC motor 17 using the output of 39.

  As shown in FIG. 3, when a reactive current command is issued, the current command value of each phase or the current detection value changes (increases or decreases) according to the rotor rotation stop position (magnetic pole position) of the AC motor 17. Therefore, depending on the rotor rotation stop position of the AC motor 17, when the V-phase current command value Iv = 0 or when the W-phase current command value Iw = 0 (or when the V-phase current detection value iv = 0) W-phase current detection value iw = 0), and V-phase current command value Iv (substitute information for V-phase actual current) and W-phase current command value Iw (substitute information for W-phase actual current) are 0. (Or when the V-phase current detection value iv or the W-phase current detection value is 0), the gain error ratio (kv / kw) of the V-phase and W-phase current sensors 38 and 39 is calculated. Can not do it.

  For example, as shown in FIG. 4, when the rotor rotation stop position (magnetic pole position) of the AC motor 17 is 30 °, 150 °, 210 °, or 330 ° in electrical angle, the V-phase current command value Iv = 0 or W-phase current command value Iw = 0, and a rotational position where the gain error ratio (kv / kw) cannot be calculated (hereinafter referred to as “incomputable position”).

  On the other hand, as shown in FIG. 5, when the rotor rotation stop position (magnetic pole position) of the AC motor 17 is any one of 0 °, 90 °, 180 °, and 270 ° in electrical angle, the V-phase current command value Iv and Both W-phase current command value Iw is a value other than 0 and V-phase current command value Iv = W-phase current command value Iw, and the rotation position suitable for calculating the gain error ratio (kv / kw) (hereinafter referred to as “calculation”) It is called “optimum position”.

  In this case, since the maximum rotation amount from the position where calculation is impossible to the calculation optimal position is 30 ° in electrical angle, when the number of pole pairs of the AC motor 17 is 4, the rotor rotation angle (mechanical angle) of the AC motor 17 7.5 ° (= 30 ° / 4), which corresponds to 1/48 rotation of the AC motor 17.

  Therefore, the motor control circuit 37 executes a gain error ratio calculation routine shown in FIG. 7 to be described later, so that the rotor rotation stop position of the AC motor 17 cannot be calculated when the reactive current command is issued (the V phase at the time of the reactive current command). In the case of the current command value Iv = 0 or the rotation position where the W-phase current command value Iw = 0), the torque is generated in the AC motor 17 to rotate the rotor rotation stop position of the AC motor 17 other than the position where the rotation cannot be calculated. The position is changed to the position (the rotational position where the V-phase current command value Iv and the W-phase current command value Iw are both non-zero during the reactive current command).

  At this time, in the first embodiment, positioning control for controlling the AC motor 17 is executed so that the rotor rotation stop position of the AC motor 17 coincides with a predetermined target stop position θ *. Specifically, as shown in FIG. 6, first, the target stop position θ * (for example, the rotation position closest to the current rotor rotation stop position of the AC motor 17 in the calculated optimum position) and the AC motor 17 The target rotational angular velocity ω * is calculated so as to reduce the deviation from the rotor rotational position θ (the output signal of the rotor rotational position sensor 18), and obtained from the target rotational angular velocity ω * and the output signal of the rotor rotational position sensor 18. The target current vector I * (d-axis target current Id *, q-axis target current Iq *) is calculated so as to reduce the deviation from the rotor rotational angular velocity ω of the AC motor 17.

  Current obtained from this target current vector I * (d-axis target current Id *, q-axis target current Iq *), V-phase current iv and W-phase current iw of AC motor 17 (output signals of current sensors 38 and 39). A target voltage vector V * (d-axis target voltage Vd *, q-axis target voltage Vq *) is calculated so as to reduce the deviation from the vector i (d-axis current id, q-axis current iq), and this target voltage vector V * (D-axis target voltage Vd *, q-axis target voltage Vq *) is converted into a three-phase six-arm voltage command signal, and these three-phase six-arm voltage command signals are output to the inverter 16. As a result, torque is generated in the AC motor 17 to change the rotor rotation stop position to the target stop position θ *.

  In this way, if the first rotor rotation stop position of the AC motor is a position that cannot be calculated when the reactive current command is issued, the rotor rotation stop position of the AC motor 17 is determined to be a rotation position other than the position that cannot be calculated by positioning control. The reactive current command can be issued after the target stop position θ * (for example, the calculated optimum position) is changed.

  The target stop position θ * of the positioning control is not limited to the calculated optimal position, and may be changed as appropriate. For example, the target stop position θ * may be set to a rotational position between the calculated optimal position and the uncalculatable position. At that time, the target stop position θ * may be set to a rotational position as close as possible to the calculated optimum position within a range in which the driver does not feel an unpleasant shock. In addition, the control parameter (for example, target current, target voltage, etc.) of the AC motor 17 during positioning control and the amount of change thereof may be guarded with a predetermined guard value so that the driver does not feel an unpleasant shock.

The processing contents of the gain error ratio calculation routine of FIG. 7 and the sensor output correction routine of FIG. 8 executed by the motor control circuit 37 will be described below.
[Gain error ratio calculation]
The gain error ratio calculation routine shown in FIG. 7 is repeatedly executed at a predetermined period after the motor control circuit 37 is turned on, and serves as a gain error information calculation means in the claims. When this routine is started, first, in step 101, it is determined whether or not the system check process is being performed immediately after the control system of the AC motor 17 is started (immediately after the motor control circuit 37 is turned on). If not, the routine is terminated without performing the processing from step 102 onward.

  On the other hand, if it is determined in step 101 that the system check process is being performed immediately after the control system of the AC motor 17 is started, it is determined that the AC motor 17 is stopped before the control of the AC motor 17 is started. Proceeding to step 102, the rotor rotation position θ of the AC motor 17 detected by the rotor rotation position sensor 18 is read as the rotor rotation stop position.

  After this, the routine proceeds to step 103, where the rotor rotation stop position of the AC motor 17 is the rotation position at which the V-phase current command value Iv = 0 at the time of the reactive current command, or the rotation at which the W-phase current command value Iw = 0 at the time of the reactive current command. It is determined whether it is a position. Here, the rotational position at which the V-phase current command value Iv = 0 at the reactive current command and the rotational position at which the W-phase current command value Iw = 0 at the reactive current command are determined in advance in the ROM (not shown) of the motor control circuit 37. And so on.

  In step 103, the rotor rotation stop position of the AC motor 17 is not the rotational position where the V-phase current command value Iv = 0 when the reactive current command is given, and the rotational position where the W-phase current command value Iw = 0 when the reactive current command is given. If not, the process proceeds to step 104 where the d-axis command current Id of the command current vector (d-axis command current Id, q-axis command current Iq) is set to a predetermined value α other than 0 and the q-axis command By setting the current Iq to 0, the reactive vector is issued by setting the current vector to be controlled on the d-axis of the dq coordinate system. As a result, a reactive current that does not contribute to torque generation of the AC motor 17 is caused to flow through the AC motor 17.

Thereafter, the routine proceeds to step 105, where the phase current command value Iv (substituting the actual current of the V phase) is calculated by the following equation [Equation (5)] using the rotor rotation position θ (rotor rotation stop position) of the AC motor 17 Information) and the W-phase current command value Iw (substitute information of the W-phase actual current) (Iv / Iw).
Iv / Iw = cos (θ-2 / 3 × π) / cos (θ + 2/3 × π)

  Thereafter, the process proceeds to step 106, where the V-phase current detection value iv (output of the V-phase current sensor 38) detected by the V-phase current sensor 38 and the W-phase current detection value iw (W-phase) detected by the W-phase current sensor 39 are detected. The ratio (iv / iw) to the output of the current sensor 39 is calculated.

Thereafter, the process proceeds to step 107, and using the ratio of the V-phase and W-phase current command values (Iv / Iw) and the ratio of the V-phase and W-phase current detection values (iv / iw), the following equation [ The gain error ratio (kv / kw) of the V-phase and W-phase current sensors 38, 39 is obtained from the above equation (8).
kv / kw = (iv / iw) / (Iv / Iw)

  Thereafter, the process proceeds to step 108, and the gain error ratio (kv / kw) of the V-phase and W-phase current sensors 38 and 39 is stored in a rewritable nonvolatile memory such as the backup RAM 40 of the motor control circuit 37.

  On the other hand, in step 103, the rotor rotation stop position of the AC motor 17 is the rotational position where the V-phase current command value Iv = 0 when the reactive current command is given, or the W-phase current command value Iw = 0 when the reactive current command is given. If it is determined that the rotation position of the rotor is not calculated (that is, if the rotor rotation stop position of the AC motor 17 is determined to be an uncalculatable position), the currents of the V phase and the W phase are maintained at the rotor rotation stop position. It is determined that the gain error ratio (kv / kw) of the sensors 38 and 39 cannot be calculated, and the routine proceeds to step 109 where the rotor rotation stop position of the AC motor 17 is set to a predetermined target stop position θ * (for example, calculation optimum) Positioning control for controlling the AC motor 17 so as to coincide with (position) is executed. As a result, torque is generated in the AC motor 17 to change the rotor rotation stop position to the target stop position θ *. The process of step 109 serves as stop position change control means in the claims.

  In this way, after changing the rotor rotation stop position of the AC motor 17 to the target stop position θ * which is a rotation position other than the position where calculation is impossible, the reactive current command is issued, and the V phase when the reactive current command is issued And W phase current command value ratio (Iv / Iw) and V phase and W phase current detection value ratio (iv / iw) based on the gain of V phase and W phase current sensors 38 and 39 The error ratio (kv / kw) is calculated, and the gain error ratio (kv / kw) is stored in a rewritable nonvolatile memory such as the backup RAM 40 of the motor control circuit 37 (steps 104 to 108).

[Sensor output correction]
The sensor output correction routine shown in FIG. 8 is repeatedly executed at a predetermined cycle (for example, the sampling cycle of the outputs of the current sensors 38 and 39) during motor control, and plays a role as sensor output correction means in the claims. When this routine is started, first, in step 201, the ratio between the gain errors of the V-phase and W-phase current sensors 38, 39 stored in the rewritable nonvolatile memory such as the backup RAM 40 of the motor control circuit 37. After reading the stored value of (kv / kw), the routine proceeds to step 202, where the output of the V-phase current sensor 38 (V-phase current detection value iv) and the output of the W-phase current sensor 39 (W-phase current detection value iw) are obtained. Read.

  Thereafter, the process proceeds to step 203, and the output of the W-phase current sensor 39 (W-phase current detection value iw) is corrected using the gain error ratio (kv / kw) of the V-phase and W-phase current sensors 38, 39. Thus, the gain error imbalance between the V-phase current sensor 38 and the W-phase current sensor 39 is corrected. Alternatively, by correcting the output (V-phase current detection value iv) of the V-phase current sensor 38 using the gain error ratio (kv / kw) of the V-phase and W-phase current sensors 38, 39, The gain error imbalance between the current sensor 38 and the W-phase current sensor 39 may be corrected.

  In the first embodiment described above, the V-phase and W-phase current command values Iv and Iw when the reactive current command is issued while the AC motor 17 is stopped are used as substitute information for the V-phase and W-phase actual currents. Based on the ratio (Iv / Iw) of the V-phase and W-phase current command values when the reactive current command is issued, and the ratio (iv / iw) of the outputs of the V-phase and W-phase current sensors 38, 39. Since the gain error ratio (kv / kw) of the V-phase and W-phase current sensors 38 and 39 is calculated, the V-phase and W-phase current sensors 38 and 39 are not affected by the device constants (resistance R, etc.). The gain error ratio (kv / kw) of the current sensors 38 and 39 can be calculated with high accuracy. Since the gain error ratio (kv / kw) is used to correct the output of the W-phase current sensor 39 or the output of the V-phase current sensor 38, the V-phase current sensor 38 and the W-phase current sensor 39 The gain error imbalance can be corrected, and the motor control accuracy based on the outputs of the V-phase and W-phase current sensors 38 and 39 can be improved. Thereby, the fluctuation | variation of the electric power in a system by the imbalance of the gain error of the V-phase current sensor 38 and the W-phase current sensor 39 can be suppressed. Moreover, when the gain error ratio (kv / kw) is calculated while the AC motor 17 is stopped, a reactive current that does not contribute to the torque generation of the AC motor 17 is caused to flow to the AC motor 17. Torque is prevented from being generated, and adverse effects on the system can be avoided.

  In the first embodiment, the reactive current command is issued during the system check process immediately after the activation of the control system of the AC motor 17 (that is, while the AC motor 17 is stopped before the control of the AC motor 17 is started), and the gain error ratio is determined. Since (kv / kw) is calculated, the gain error ratio (kv / kw) can be calculated before starting the control of the AC motor 7, and the latest gain error can be calculated from the beginning of the control of the AC motor 17. Using the ratio (kv / kw), the output of the W-phase current sensor 39 or the output of the V-phase current sensor 38 can be accurately corrected, and the motor control accuracy based on the outputs of the current sensors 38 and 39 can be improved. .

  Further, in the first embodiment, when the reactive rotor command is issued, if the first rotor rotation stop position of the AC motor 17 is a non-calculatable position, torque is generated in the AC motor 17 to rotate the rotor of the AC motor 17. Since the reactive current command is performed after the stop position is changed to a rotational position other than the non-calculatable position, it is possible to avoid the V-phase and W-phase current command values Iv and Iw from becoming zero at the reactive current command, Even when the first rotor rotation stop position of the AC motor 17 is an uncalculatable position, the ratio of gain errors (kv / kw) of the V-phase and W-phase current sensors 38, 39 can be calculated.

  At that time, in the first embodiment, the AC motor 17 is controlled to change the rotor rotation stop position of the AC motor 17 so that the rotor rotation stop position of the AC motor 17 matches the predetermined target stop position. Therefore, when the reactive current command is issued, if the first rotor rotation stop position of the AC motor 17 is a position that cannot be calculated, the rotor rotation stop position of the AC motor 17 is changed to a predetermined target stop position (for example, a calculated optimum position). Thus, the gain error ratio (kv / kw) can be calculated with high accuracy.

  Next, Embodiment 2 of the present invention will be described with reference to FIGS. 9 and 10. However, description of substantially the same parts as those in the first embodiment will be omitted or simplified, and different parts from the first embodiment will be mainly described.

  In the second embodiment, by executing a gain error ratio calculation routine of FIG. 10 described later by the motor control circuit 37, when the rotor rotation stop position of the AC motor 17 is an uncalculatable position when performing the reactive current command, When the torque is generated in the AC motor 17 and the rotor rotation stop position of the AC motor 17 is changed to a rotational position other than the non-calculatable position, the AC motor 17 is controlled so that the AC motor 17 generates a predetermined target torque. Target torque control is executed. Specifically, as shown in FIG. 9, by setting the command current vector (d-axis command current Id, q-axis command current Iq) so as to realize the target torque (torque command value for changing the stop position). The AC motor 17 is instructed to pass a current that contributes to the torque generation of the AC motor 17. Thereby, the target torque is generated in the AC motor 17, and the rotor rotation stop position is changed to a rotation position other than the non-calculatable position.

  In this way, if the first rotor rotation stop position of the AC motor is an uncalculatable position when the reactive current command is issued, the rotor rotation stop position of the AC motor 17 is rotated at a position other than the uncalculatable position by target torque control. The reactive current command can be issued after changing to the position.

  Note that the target torque (torque command value for changing the stop position) of the target torque control may be set to a torque value at which the AC motor 17 can be rotationally driven within a range in which the driver does not feel an unpleasant shock, for example. At that time, the control parameter (for example, target current, target voltage, etc.) of the AC motor 17 during the positioning control and the amount of change thereof may be guard-processed with a predetermined guard value so that the driver does not feel an unpleasant shock. .

  The gain error ratio calculation routine of FIG. 10 is obtained by changing the processing of step 109 of the routine of FIG. 7 described in the first embodiment to processing of step 109a, and the processing of each other step is the same as that of FIG. The same.

  In the gain error ratio calculation routine of FIG. 10, in step 103, the rotor rotation stop position of the AC motor 17 is the rotational position where the V-phase current command value Iv = 0 when the reactive current command is issued, or the W-phase current command value when the reactive current command is received. When it is determined that the rotation position is Iw = 0 (that is, when it is determined that the rotor rotation stop position of the AC motor 17 is a non-calculatable position), at the rotor rotation stop position, the V phase and It is determined that the gain error ratio (kv / kw) of the W-phase current sensors 38, 39 cannot be calculated, and the routine proceeds to step 109a, where a predetermined target torque (a torque command for changing the stop position) is sent to the AC motor 17. Target torque control for controlling the AC motor 17 so as to generate (value). Thereby, the target torque is generated in the AC motor 17, and the rotor rotation stop position is changed to a rotation position other than the non-calculatable position.

  In this way, after changing the rotor rotation stop position of the AC motor 17 to a rotation position other than the position where calculation is impossible, the reactive current command is issued, and the current command values of the V phase and the W phase when the reactive current command is issued. The ratio of gain errors (kv / kw) of the current sensors 38 and 39 of the V-phase and the W-phase based on the ratio (Iv / Iw) of the current and the ratio of the detected current values of the V-phase and the W-phase (iv / iw) ) And the gain error ratio (kv / kw) is stored in a rewritable nonvolatile memory such as the backup RAM 40 of the motor control circuit 37 (steps 104 to 108).

  In the second embodiment described above, if the first rotor rotation stop position of the AC motor 17 is an uncalculatable position when the reactive current command is issued, torque is generated in the AC motor 17 to cause the rotor of the AC motor 17 to rotate. Since the reactive current command is issued after the rotation stop position is changed to a rotational position other than the non-calculatable position, it is possible to avoid the V-phase and W-phase current command values Iv and Iw from becoming zero during the reactive current command. Even when the first rotor rotation stop position of the AC motor 17 is an uncalculatable position, the ratio (kv / kw) of gain errors of the V-phase and W-phase current sensors 38 and 39 can be calculated.

  At this time, in the second embodiment, the AC motor 17 is controlled so that the AC motor 17 generates a predetermined target torque and the rotor rotation stop position of the AC motor 17 is changed. When the first rotor rotation stop position of the AC motor 17 is not a position that cannot be calculated, the rotor rotation stop position of the AC motor 17 is set to a position other than the position where it cannot be calculated by simple control in which the AC motor 17 generates a predetermined target torque. The rotation position can be changed.

  Next, Embodiment 3 of the present invention will be described with reference to FIGS. However, description of substantially the same parts as those in the first embodiment will be omitted or simplified, and different parts from the first embodiment will be mainly described.

  As shown in FIG. 11, when the reactive current command is issued, the current command value of each phase changes (increases / decreases) in accordance with the rotor rotation stop position (magnetic pole position) of the AC motor 17. Depending on the stop position, the absolute value of the V-phase current command value Iv and the absolute value of the W-phase current command value Iw may be considerably small, and the V-phase current command value Iv (substitute information of the V-phase actual current) or If the W-phase current command value Iw (W-phase actual current substitute information) is too small, the output of the V-phase current sensor 38 and the output of the W-phase current sensor 39 are too small, and the V-phase and W-phase current sensors 38 are output. , 39 may not be accurately calculated (kv / kw).

  Therefore, in the third embodiment, the motor control circuit 37 executes a gain error ratio calculation routine shown in FIG. 12 to be described later so that the rotor rotation stop position of the AC motor 17 is a predetermined current minute region when the reactive current command is issued. In the case of (the rotational position region where the absolute value of the V-phase current command value Iv or the absolute value of the W-phase current command value Iw is equal to or less than a predetermined threshold K) at the time of the reactive current command, The command current Id is set to an increase value β larger than the predetermined value α. Here, the increase value β is set such that the maximum value of the current command value of each phase is within an allowable range (for example, within a range where an overcurrent is not diagnosed by overcurrent abnormality diagnosis). Further, the threshold value K is set to a current command value that makes it impossible to ensure the calculation accuracy of the gain error ratio.

  Since the q-axis command current Iq is set to 0 at the time of the reactive current command, the V-phase current command value Iv and the W-phase current command value Iw at the time of the reactive current command can be expressed by the above equations (3) and (4). When the d-axis command current Id for performing the reactive current command is set to a predetermined value α, the d-axis command current Id for performing the reactive current command is set to the predetermined value α as compared with the case where the d-axis command current Id is set to the predetermined value α (see FIG. 11A). When the increase value β is set to be larger than that (see FIG. 11B), the absolute value of the V-phase current command value Iv and the absolute value of the W-phase current command value Iw at the time of the reactive current command are increased. Can do.

  In the gain error ratio calculation routine of FIG. 12, first, in step 301, it is determined whether or not the system check process is being performed immediately after the AC motor 17 control system is started (immediately after the motor control circuit 37 is powered on). If the check process is not in progress, this routine is terminated without performing the processes in and after step 302.

  On the other hand, if it is determined in step 301 that the system check process is being performed immediately after the control system of the AC motor 17 is started, it is determined that the AC motor 17 is stopped before the control of the AC motor 17 is started. Proceeding to step 302, the rotor rotation position θ of the AC motor 17 detected by the rotor rotation position sensor 18 is read as the rotor rotation stop position.

  Thereafter, the process proceeds to step 303 where the rotor rotation stop position of the AC motor 17 is a predetermined current minute region (the absolute value of the V-phase current command value Iv or the absolute value of the W-phase current command value Iw is a predetermined threshold value when the reactive current command is issued). It is determined whether or not the rotation position region is K or less. Here, at the time of the reactive current command, the rotational position region [region shown by hatching in FIG. 11A] where the absolute value of the V-phase current command value Iv or the absolute value of the W-phase current command value Iw is equal to or less than the threshold K is: It is stored in advance in a ROM (not shown) of the motor control circuit 37 or the like.

  If it is determined in step 303 that the rotor rotation stop position of the AC motor 17 is not in the current minute region (that is, the absolute value of the V-phase current command value Iv and the absolute value of the W-phase current command value Iw at the time of the reactive current command are If it is determined that both are rotational position regions that are larger than the threshold value K), the routine proceeds to step 304 where the d-axis command current Id is set to a predetermined value α and the q-axis command current Iq is set to 0. To issue a reactive current command.

  Thereafter, based on the ratio (Iv / Iw) of the current command values of the V phase and the W phase when the reactive current command is performed, and the ratio (iv / iw) of the detected current values of the V phase and the W phase, The gain error ratio (kv / kw) of the V-phase and W-phase current sensors 38, 39 is calculated, and the gain error ratio (kv / kw) is a rewritable nonvolatile memory such as the backup RAM 40 of the motor control circuit 37. (Steps 305 to 308).

  On the other hand, in step 303 above, the rotor rotation stop position of the AC motor 17 is in a very small current region (the absolute value of the V-phase current command value Iv or the absolute value of the W-phase current command value Iw at the time of the reactive current command is a predetermined threshold value). When the reactive current command is too low, the V-phase current command value Iv and the W-phase current command value Iw are too small, and the V-phase and W-phase current sensors 38 are determined. , 39, the gain error ratio (kv / kw) cannot be calculated with high accuracy, and the process proceeds to step 309 where the d-axis command current Id when the reactive current command is issued is set to an increase value β larger than the predetermined value α. Set. The processing in step 309 serves as d-axis command current increase control means in the claims.

  Thereafter, the process proceeds to step 310, and when the d-axis command current Id used when the reactive current command is issued is set to the increased value β, the V-phase current command at the time of the reactive current command at the current rotor rotation stop position of the AC motor 17 is set. It is determined whether or not both the absolute value of the value Iv and the absolute value of the W-phase current command value Iw are larger than the threshold value K.

  If it is determined in step 310 that the absolute value of the V-phase current command value Iv and the absolute value of the W-phase current command value Iw are both greater than the threshold value K during the reactive current command, the process proceeds to step 304, and d The axis command current Id is set to an increase value β larger than a predetermined value α, and the q-axis command current Iq is set to 0 to issue a reactive current command.

  Thereafter, based on the ratio (Iv / Iw) of the current command values of the V phase and the W phase when the reactive current command is performed, and the ratio (iv / iw) of the detected current values of the V phase and the W phase, The gain error ratio (kv / kw) of the V-phase and W-phase current sensors 38, 39 is calculated, and the gain error ratio (kv / kw) is a rewritable nonvolatile memory such as the backup RAM 40 of the motor control circuit 37. (Steps 305 to 308).

  On the other hand, if it is determined in step 310 that the absolute value of the V-phase current command value Iv or the absolute value of the W-phase current command value Iw is equal to or less than the threshold value K at the time of the reactive current command, the process proceeds to step 311 to In addition, the gain error ratio (kv / kw) of the W-phase current sensors 38 and 39 is not calculated, and the gain error ratio (kv / kw) is held at the previous value (the stored value is not updated).

  When it is determined in step 310 that the absolute value of the V-phase current command value Iv or the absolute value of the W-phase current command value Iw is equal to or less than the threshold value K at the time of the reactive current command, By executing the target torque control of the second embodiment and the like, torque is generated in the AC motor 17 and the rotor rotation stop position of the AC motor 17 is changed, and then the reactive current command is issued, and the gain error ratio (kv / kW) may be calculated.

  In the third embodiment described above, when the reactive current command is issued, the rotor rotation stop position of the AC motor 17 is in a very small current region (the absolute value of the V-phase current command value Iv or the W-phase current command value Iw at the time of the reactive current command). In the case of the rotational position region where the absolute value is equal to or less than the threshold value K), the V-phase current command value Iv and the W-phase current command value Iw at the reactive current command are too small, and the V-phase and W-phase current sensors 38, Since it is determined that the gain error ratio (kv / kw) of 39 cannot be accurately calculated, the d-axis command current Id when the reactive current command is issued is set to an increase value β larger than the predetermined value α. The absolute value of the V-phase current command value Iv and the absolute value of the W-phase current command value Iw during the reactive current command can be increased, and the gain error ratio (kv of the V-phase and W-phase current sensors 38 and 39) can be increased. / Kw) area (when reactive current command is given) Can be the absolute value of the absolute value and the W-phase current command value Iw of the V-phase current command value Iv to enlarge the area) becomes larger than both threshold K.

  In the first to third embodiments, the present invention is applied to a system including two current sensors so as to detect currents flowing in two of the three phases of the AC motor. However, the present invention is not limited thereto. Instead, the present invention may be applied to a system including three or more (for example, double system) current sensors so as to detect a current flowing in the three phases of the AC motor.

  In the first to third embodiments, the gain error ratio of the first and second current sensors is calculated as gain error information. However, the present invention is not limited to this. For example, a reactive current command is issued. The current sensor gain error is calculated based on the current command value (actual current substitute information) and the current sensor output (current detection value), and the current sensor output is corrected using this gain error. Thus, the deviation of the current detection value due to the gain error of the current sensor may be corrected to improve the current detection accuracy and the motor control accuracy based on the output of the current sensor.

  Further, the present invention is not limited to the configuration in which the reactive current command is issued during the stop of the AC motor before the start of the control of the AC motor and the gain error information (for example, gain error or gain error ratio) is calculated. When the motor is stopped (for example, when the AC motor is stopped after starting the control of the AC motor, or when the AC motor control system is stopped while the AC motor is stopped, etc.), a reactive current command is issued to give a gain error. Information may be calculated.

  In addition, the present invention is not limited to an AC motor current sensor mounted as a drive source of an electric vehicle or a hybrid vehicle, and may be applied to various AC motor current sensors mounted on a vehicle.

  DESCRIPTION OF SYMBOLS 11 ... DC power supply, 12 ... Boost converter, 16 ... Inverter, 17 ... AC motor, 18 ... Rotor rotation position sensor, 37 ... Motor control circuit (gain error information calculation means, sensor output correction means, stop position change control means, d Axis command current increase control means), 38 ... V-phase current sensor, 39 ... W-phase current sensor, 40 ... backup RAM

Claims (5)

In a vehicle motor control device including an AC motor mounted on a vehicle and a current sensor that detects a current flowing through the AC motor,
When the AC motor is stopped, a reactive current command is issued to command a reactive current that does not contribute to torque generation of the AC motor to flow to the AC motor, and the current command value and the current sensor when the reactive current command is issued Gain error information calculating means for calculating the gain error of the current sensor or information related thereto (hereinafter collectively referred to as “gain error information”) based on the output of
Sensor output correction means for correcting the output of the current sensor using the gain error information calculated by the gain error information calculation means;
In the case where the rotor rotation stop position of the AC motor is a rotation position where the current command value of the phase detected by the current sensor is 0 (hereinafter referred to as “incomputable position”) when performing the reactive current command, the AC motor And a stop position change control means for changing the rotor rotation stop position of the AC motor to a rotation position other than the uncalculatable position by generating torque.   The stop position change control means has means for changing the rotor rotation stop position of the AC motor by controlling the AC motor so that the rotor rotation stop position of the AC motor matches a predetermined target stop position. The vehicle motor control device according to claim 1, wherein the motor control device is a vehicle control device.   2. The stop position change control means includes means for changing the rotor rotation stop position of the AC motor by controlling the AC motor so that the AC motor generates a predetermined target torque. The vehicle motor control device according to claim 1. In a vehicle motor control device including an AC motor mounted on a vehicle and a current sensor that detects a current flowing through the AC motor,
By setting the d-axis command current in the dq coordinate system set as the rotor rotation coordinate of the AC motor to a predetermined value other than 0 and setting the q-axis command current to 0 while the AC motor is stopped, the AC A reactive current command is provided for instructing a reactive current that does not contribute to motor torque generation to flow to the AC motor, and the current sensor is based on a current command value when the reactive current command is issued and the output of the current sensor. Gain error information calculating means for calculating the gain error or information related thereto (hereinafter collectively referred to as “gain error information”),
Sensor output correction means for correcting the output of the current sensor using the gain error information calculated by the gain error information calculation means;
When the reactive current command is issued, the rotor rotation stop position of the AC motor is in a rotational position region where the current command value of the phase detected by the current sensor is equal to or less than a predetermined threshold value. A vehicle motor control device comprising: d-axis command current increase control means for increasing the d-axis command current beyond the predetermined value. A first current sensor for detecting a current flowing in a first phase of each phase of the AC motor and a second current sensor for detecting a current flowing in a second phase;
The gain error information calculation means is based on a ratio of the current command values of the first and second phases when the reactive current command is performed and a ratio of outputs of the first and second current sensors. And means for calculating a gain error ratio of the first and second current sensors as the gain error information,
The sensor output correction means includes means for correcting the output of the first current sensor or the output of the second current sensor using the gain error ratio calculated by the gain error information calculation means. The motor control device for a vehicle according to any one of claims 1 to 4.

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