JP2012182859A - Controller of rotary machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve such a problem in a system of superimposing high frequency voltage signals in the d-axis direction that a voltage being superimposed is restricted significantly when the rotation angle is estimated.SOLUTION: High frequency voltage signals are set in a high frequency voltage signal setting unit 50. An operation signal g*# (*=u, v, w; #=n, p) of an inverter is then set in an operation signal generation unit 42 on the basis of the high frequency voltage signals. Meanwhile, a highpass filter 52 extracts high frequency current signals idh and iqh from currents id and iq flowing through a motor generator. A rotation angle θ is estimated in an angle estimation unit 54 according to a formula shown on the drawing. The high frequency voltage signals vαh and vβh satisfy a relation (Σvαh×vβh=0).

Description

  The present invention has a voltage application circuit that applies a voltage to a terminal of a rotating machine having saliency, and includes an estimation unit that estimates a rotation angle of the rotating machine based on an electrical state quantity of the rotating machine, The present invention relates to a control device for a rotating machine that controls a control amount of the rotating machine based on a rotation angle estimated by the estimating means.

  As this type of control device, for example, as shown in Patent Document 1 below, when a high-frequency voltage signal that vibrates in the positive and negative directions of the estimated d-axis of a three-phase motor is applied, the high-frequency that actually propagates to the motor Some have also been proposed that estimate the electrical angle of an electric motor based on a current signal.

Japanese Patent No. 3312472

  However, in the above-described invention, the high-frequency voltage signal is in the estimated d-axis direction, which is a condition for estimating the electrical angle, and restrictions are imposed on the application of voltage in the estimation.

  The present invention has been made in the process of solving the above-mentioned problems, and its object is to operate a voltage application circuit that applies a voltage to a terminal of a rotating machine having saliency, and the electrical state of the rotating machine An object of the present invention is to provide a new control device for a rotating machine that includes an estimation unit that estimates a rotation angle of the rotating machine based on the amount, and that controls a control amount of the rotating machine based on the rotation angle estimated by the estimation unit. .

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

  According to the first aspect of the present invention, estimation is performed by estimating a rotation angle of the rotating machine based on an electrical state quantity of the rotating machine, with a voltage application circuit that applies a voltage to a terminal of the rotating machine having saliency as an operation target Means for controlling the control amount of the rotating machine based on the rotation angle estimated by the estimating means, wherein the estimating means includes the electric power of the rotating machine out of the output voltage of the voltage application circuit. A signal sequence for a high-frequency voltage signal having a frequency higher than the angular frequency, and a signal sequence in which the absolute value of the sum of products of two orthogonal components of the vector is equal to or less than a specified value is selectively used. The rotation angle of the rotating machine is estimated based on the signal sequence and the signal sequence of the high-frequency current signal corresponding to the signal sequence.

  In the above-described invention, the high-frequency voltage signal can be set in an arbitrary direction as long as the condition that the high-frequency voltage signal used for estimating the rotation angle is selected in the above manner is satisfied. Further, by adopting the above conditions, it is possible to reduce the calculation load when estimating the rotation angle.

  The invention according to claim 2 is the invention according to claim 1, further comprising superimposing means for superimposing the high-frequency voltage signal on an output voltage of the voltage application circuit for controlling a control amount of the rotating machine, and the estimation means. Is characterized in that the rotation angle is estimated based on the high-frequency voltage signal superimposed by the superimposing means and the high-frequency current signal corresponding thereto.

  In the above invention, by providing the superimposing means, it is easy to realize a signal train of high-frequency voltage signals that is convenient for estimating the rotation angle.

  According to a third aspect of the present invention, in the second aspect of the present invention, the superimposing means converts the signal sequence of the high-frequency voltage signal to be superimposed in a predetermined period, and the absolute value of the sum of products of two orthogonal components of the vector. Is set to be equal to or less than a specified value, and the estimation means calculates the rotation angle based on the signal sequence of the high-frequency voltage signal in the predetermined period and the signal sequence of the high-frequency current signal corresponding thereto. It is characterized by estimating.

  In the said invention, only the high frequency voltage signal utilized for estimation of a rotation angle can be selectively superimposed.

  According to a fourth aspect of the present invention, in the third aspect of the present invention, the superimposing unit is configured to calculate the difference between the sums of squares of the two high-frequency voltage signals superimposed in the predetermined period. The absolute value is set to be equal to or less than a specified value.

  In the said invention, the calculation load concerning estimation of a rotation angle can further be reduced.

  The invention according to claim 5 is the invention according to any one of claims 1 to 4, wherein the rotating machine is an embedded magnet synchronous machine, and the estimating means is a self-inductance of a stator of the rotating machine. And a voltage equation modeling that the mutual inductance periodically varies with a period of one half of one electrical angle as one period due to the difference in the magnetic permeability in the circumferential direction of the rotor of the rotating machine. The rotation angle is estimated based on the high frequency component.

  According to a sixth aspect of the present invention, in the fifth aspect of the present invention, the voltage equation is of a rotating coordinate system, and the estimating means uses the error correlation amount calculated using the signal sequence as a target value. As an operation amount for feedback control, a rotation angle to be estimated is operated.

  The error correlation amount may be obtained without performing an inverse trigonometric function calculation.

  The invention according to claim 7 is the invention according to claim 5, wherein the voltage equation is of a fixed coordinate system, and the estimation means is independent of a trigonometric function value calculated using the signal sequence. The rotation angle is estimated by calculating a variable.

1 is a system configuration diagram according to a first embodiment. FIG. The figure which shows the high frequency voltage signal concerning the embodiment. The figure which shows the high frequency voltage signal concerning 2nd Embodiment. The system block diagram concerning the embodiment. The system block diagram concerning 3rd Embodiment. The figure which shows the high frequency voltage signal concerning the embodiment. The figure which shows the high frequency voltage signal concerning 4th Embodiment. The system block diagram concerning the embodiment. The system block diagram concerning 5th Embodiment. The system block diagram concerning 6th Embodiment.

<First Embodiment>
Hereinafter, a first embodiment in which a control device for a rotating machine according to the present invention is applied to a control device for a rotating machine as an in-vehicle main machine will be described with reference to the drawings.

  FIG. 1 shows a system configuration according to the present embodiment.

  The illustrated motor generator 10 is a three-phase permanent magnet synchronous motor. The motor generator 10 is a rotating machine (saliency pole machine) having saliency. Specifically, the motor generator 10 is an embedded magnet synchronous motor (IPMSM). The motor generator 10 is an in-vehicle main machine, and the rotating shaft thereof is mechanically coupled to the drive wheels.

  The motor generator 10 is connected to a high voltage battery 14 via an inverter 12. Inverter 12 is a DC / AC conversion circuit including a series connection body of switching elements that selectively connects each terminal of motor generator 10 to each of a positive electrode and a negative electrode of high-voltage battery 14.

In the present embodiment, when the inverter 12 is operated to control the control amount of the motor generator 10, processing for estimating the electrical angle (rotation angle θ) of the motor generator 10 is performed. In the following, “control of the control amount of the motor generator 10” will be described first, and then “estimation processing of the rotation angle θ of the motor generator 10” will be described.
"Control of control amount of motor generator 10"
The current flowing through the motor generator 10 is detected by the current sensor 16. The three-phase real currents iu, iv, iw detected by the current sensor 16 are converted into real currents iα, iβ in a fixed coordinate system by the αβ converter 20. Here, the positive direction of the α axis coincides with the U phase, and the β axis is a direction advanced by “π / 2” with respect to this. The actual currents iα and iβ on the αβ axis are converted by the dq converter 22 into the actual currents id and iq of the rotating coordinate system based on the rotation angle θ of the motor generator 10. These real currents id and iq have high frequency components removed by the low-pass filter 24.

  On the other hand, command current setting unit 26 sets command values (command currents idr, iqr) on the dq axis of the current flowing through motor generator 10 based on required torque Tr. The deviation calculating unit 28 subtracts the actual current id from which the high frequency component has been removed from the command current idr, and the deviation calculating unit 30 subtracts the actual current iq from which the high frequency component has been removed from the command current iqr.

  The command voltage setting unit 32 calculates the command voltage vdr as an operation amount for performing feedback control of the actual current id from which the high frequency component is removed to the command current idr, and uses the actual current iq from which the high frequency component has been removed as the command current iqr. The command voltage vqr is calculated as an operation amount for feedback control. Here, the feedback controller is preferably constituted by a proportional element and an integral element. The command voltages vdr and vqr are preferably calculated by adding a feedforward term such as known non-interference control or induced voltage compensation to the output of the feedback controller.

The αβ converter 34 converts the command voltages vdr, vqr into a command voltage vαr on the α axis and a command voltage vβr on the β axis based on the rotation angle θ. The three-phase conversion unit 40 converts the command voltages vαr and vβr into three-phase command voltages vur, vvr, and vwr. The PWM signal generation unit 42 generates and outputs an operation signal for operating the switching element of the inverter 12 so that the output voltage of the inverter 12 becomes the three-phase command voltages vur, vvr, and vwr. In generating the operation signal, the voltage VDC of the high voltage battery 14 detected by the voltage sensor 44 is used.
“Processing for Estimating Rotation Angle θ of Motor Generator 10”
In the present embodiment, the rotation angle θ is estimated by the following method when the motor generator 10 rotates at an extremely low speed.

  The high frequency voltage signal superimposing unit 50 outputs high frequency voltage signals vαh and vβh, which are added to the command voltages vαr and vβr in the superimposing units 36 and 38, respectively. Here, the high-frequency voltage signals vαh and vβh are signals higher in frequency than the electrical angular frequency of the motor generator 10. The low pass filter 24 has a function of removing this high frequency component. The high-pass filter 52 extracts the high-frequency current signals iαh and iβh from the output of the αβ converter 20 after the inverter 12 is operated with the high-frequency voltage signals vαh and vβh superimposed. Then, the angle estimation unit 54 estimates the rotation angle θ based on the high frequency voltage signals vαh and vβh and the high frequency current signals iαh and iβh. Hereinafter, an estimation method in the angle estimation unit 54 will be described.

  In this embodiment, the self-inductance and mutual inductance of the stator of the IPMSM periodically vary with a period of one half of one electrical angle as one period due to the difference in the magnetic permeability in the circumferential direction of the rotor. Using a known model, the rotation angle information is extracted from the value of the trigonometric function constituting the inductance term. That is, when a term composed of a high-frequency component is extracted from a model (voltage equation) that connects the current flowing through the motor generator 10 and the motor generator 10, the following expression (c1) is obtained.

ただし、Ｌ０，Ｌ１は、ｄ軸インダクタンスＬｄおよびｑ軸インダクタンスＬｑを用いて「Ｌ０＝（Ｌｄ＋Ｌｑ）／２」、「Ｌ１＝（Ｌｄ−Ｌｑ）／２」にて定義される。

However, L0 and L1 are defined by “L0 = (Ld + Lq) / 2” and “L1 = (Ld−Lq) / 2” using the d-axis inductance Ld and the q-axis inductance Lq.

  In the above formula (c1), the term of the differential operator p is discretized by the time T, and the following formula (c2) is obtained by solving for the current.

ただし、「Ｔ」は転置行列を意味する。上記の式（ｃ２）において未知数ａｉｊ（ｉ，ｊ＝１，２）は４つであるため、これらの値を得るには、高周波電圧信号ｖαｈ，ｖβｈと、高周波電流信号ｉαｈ，ｉβｈとについて少なくとも２つの組が必要である。そこで、高周波電圧信号ベクトル（ｖαｈ，ｖβｈ）とこれに対応する高周波電流ベクトル（ｉαｈ，ｉβｈ）についての複数組と上記未知数とを以下の式によって関係付ける。

However, “T” means a transposed matrix. In the above equation (c2), there are four unknowns aij (i, j = 1, 2). Therefore, in order to obtain these values, at least the high-frequency voltage signals vαh and vβh and the high-frequency current signals iαh and iβh are at least. Two sets are required. Therefore, a plurality of sets of the high-frequency voltage signal vector (vαh, vβh) and the corresponding high-frequency current vector (iαh, iβh) and the unknown are related by the following expression.

上記の式（ｃ３）において、「Σｖαｈ・ｖβｈ＝０」なら、以下の式（ｃ４）となる。

In the above equation (c3), if “Σvαh · vβh = 0”, the following equation (c4) is obtained.

上記の式（ｃ４）に基づき、以下の式（ｃ５）にて回転角度θを推定することができる。

Based on the above formula (c4), the rotation angle θ can be estimated by the following formula (c5).

上記の条件「Σｖαｈ・ｖβｈ＝０」は、高周波電圧信号ｖαｈ，ｖβｈを図２に示すように設定することで実現できる。

The condition “Σvαh · vβh = 0” can be realized by setting the high-frequency voltage signals vαh and vβh as shown in FIG.

  Here, FIG. 2A uses three high-frequency voltage signals vαh and vβh in estimating the rotation angle θ of 1 degree. Here, the α-axis component of the first high-frequency voltage signal is twice that of the second and third, and the second and third β components have the same absolute value and opposite signs. FIG. 2B uses four high-frequency voltage signals vαh and vβh in estimating the rotation angle θ of 1 degree. Here, the first P1, the second P2, the third P3, and the fourth P4 have the same absolute value of the β-axis component, and the first P1, the second P2, the third P3, and the fourth P4 are the β-axis. The signs of the components are opposite to each other. The first P1, the second P2, the third P3, and the fourth P4 have the same α-axis component absolute values, and the first P1, the fourth P4, the third P3, and the second P2 are the α-axis components. Are opposite to each other. Further, FIG. 2 (c) uses a large number of high-frequency voltage signals vαh and vβh (P1 to P12) that draw an ellipse when estimating the rotation angle θ of 1 degree. These sets of points have the same β-axis component and the same α-axis component absolute value and the opposite sign, and the same α-axis component and the same β-axis component absolute value and the same sign. Is composed of the reverse.

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

  (1) By estimating the rotation angle θ using the high-frequency voltage in accordance with the above condition “Σvαh · vβh = 0”, it is possible to reduce the calculation load when estimating the rotation angle.

(2) By superimposing the high-frequency voltage signals vαh and vβh on the command voltages vαr and vβr for controlling the control amount (torque) of the motor generator 10, the high-frequency voltage signal is converted into the above condition “Σvαh · vβh = 0”. Can be set to satisfy.
<Second Embodiment>
Hereinafter, the second embodiment will be described with reference to the drawings with a focus on differences from the first embodiment.

  FIG. 3 shows a superposition method of high-frequency voltage signals according to the present embodiment. Each of the high-frequency voltage signals shown in FIGS. 3A to 3C is used for estimating the rotation angle θ of 1 degree. These are set so as to satisfy “Σvαh · vαh = Σvβh · vβh”. In this case, the rotation angle θ is expressed by the following equation (c6) by the above equation (c5).

図４に、本実施形態にかかるシステム構成を示す。なお、図４において先の図１に示した処理に対応するものについては、便宜上同一の符号を付している。

FIG. 4 shows a system configuration according to the present embodiment. In FIG. 4, the same reference numerals are assigned for convenience to those corresponding to the processing shown in FIG.

  According to the present embodiment described above, in addition to the above effects of the first embodiment, the following effects can be obtained.

(3) By setting the high-frequency voltage signal used for estimating the rotation angle θ to satisfy the condition “Σvαh · vαh = Σvβh · vβh”, it is possible to further reduce the calculation load when estimating the rotation angle θ.
<Third Embodiment>
Hereinafter, the third embodiment will be described with reference to the drawings with a focus on differences from the first embodiment.

  FIG. 5 shows a system configuration according to the present embodiment. In FIG. 5, the same reference numerals are assigned for convenience to the processing corresponding to the processing shown in FIG.

  In the present embodiment, the superimposing units 36 and 38 superimpose the high-frequency voltage signals vdh and vqh on the dq axis on the command voltages vdr and vqr, respectively. Then, the high pass filter 52 extracts a high frequency component from the output of the dq conversion unit 22 and outputs it to the error correlation amount estimation unit 60 as high frequency current signals idh and iqh. The error correlation amount estimation unit 60 outputs an error correlation amount Δθ of the estimated rotation angle θ. The speed calculation unit 62 calculates the electrical angular speed (rotational speed ω) based on the sum of the outputs of the proportional and integral elements of the error correlation amount Δθ. The angle calculation unit 64 calculates the rotation angle θ by an integral calculation of the rotation speed ω. The rotation angle θ calculated in this way is an operation amount for performing feedback control of the error correlation amount Δθ to zero.

  Here, the calculation process of the error correlation amount Δθ will be described.

  When the above equation (c1) is converted into a rotation coordinate system by a rotation matrix having “θ + Δθ” as a rotation angle, the following equation (c7) is obtained.

上記の式（ｃ７）に基づき、上記の式（ｃ２）〜（ｃ４）と同様の計算を行うと、以下の式（ｃ８）が得られる。ただし、これは条件「Σｖｄｈ・ｖｑｈ＝０」の成立が前提となる。

Based on the above formula (c7), the following formula (c8) is obtained by performing the same calculations as the above formulas (c2) to (c4). However, this assumes that the condition “Σvdh · vqh = 0” is satisfied.

したがって、誤差相関量Δθは、下記の式（ｃ９）にて表現できる。

Therefore, the error correlation amount Δθ can be expressed by the following equation (c9).

図６（ａ）〜図６（ｃ）に、本実施形態において１度の誤差相関量Δθの推定に際して利用される高周波電圧信号を示す。これら図６（ａ）〜図６（ｃ）は、先の図２（ａ）〜図２（ｃ）に対応しており、上記の条件「Σｖｄｈ・ｖｑｈ＝０」を満たすものである。
＜第４の実施形態＞
以下、第４の実施形態について、先の第１の実施形態との相違点を中心に図面を参照しつつ説明する。

FIG. 6A to FIG. 6C show high-frequency voltage signals used in estimating the error correlation amount Δθ once in the present embodiment. FIG. 6A to FIG. 6C correspond to the previous FIG. 2A to FIG. 2C and satisfy the above condition “Σvdh · vqh = 0”.
<Fourth Embodiment>
Hereinafter, the fourth embodiment will be described with reference to the drawings with a focus on differences from the first embodiment.

  FIG. 7 shows a high-frequency voltage signal superposition method according to the present embodiment. Each of the high-frequency voltage signals shown in FIGS. 7A to 7C is used for estimating the rotation angle θ of 1 degree. These are set so as to satisfy “Σvdh · vdh = Σvqh · vqh”. In this case, the rotation angle θ is expressed by the following equation (c10) by the above equation (c9).

図８に、本実施形態にかかるシステム構成を示す。なお、図６において先の図４に示した処理に対応するものについては、便宜上同一の符号を付している。
＜第５の実施形態＞
以下、第５の実施形態について、先の第１の実施形態との相違点を中心に図面を参照しつつ説明する。

FIG. 8 shows a system configuration according to the present embodiment. In FIG. 6, the same reference numerals are assigned for convenience to the processing corresponding to the processing shown in FIG.
<Fifth Embodiment>
Hereinafter, a fifth embodiment will be described with reference to the drawings, focusing on differences from the first embodiment.

  FIG. 9 shows a system configuration according to the present embodiment. In FIG. 9, the same reference numerals are assigned for convenience to those corresponding to the processing shown in FIG.

  In the present embodiment, the following equation (c11) using the matrix components a12 and a21 of the above equation (c8) is used as the error correlation amount Δθ.

上記の式（ｃ１１）において、誤差相関量Δθが小さい場合、以下の式（ｃ１２）が成立する。

In the above equation (c11), when the error correlation amount Δθ is small, the following equation (c12) is established.

なお、上記の式（ｃ１２）を誤差相関量Δθが略ゼロでないところで使用したとしても、誤差相関量Δθの絶対値が「π／４」以下である限り、誤差が大きいほど誤差相関量Δθが大きい値となるという関係を満足する。このため、本実施形態にかかる誤差相関量推定部６０では、この式（ｃ１２）を用いて誤差相関量Δθを算出する。
＜第６の実施形態＞
以下、第６の実施形態について、先の第１の実施形態との相違点を中心に図面を参照しつつ説明する。

Even if the above equation (c12) is used where the error correlation amount Δθ is not substantially zero, as long as the absolute value of the error correlation amount Δθ is equal to or smaller than “π / 4”, the error correlation amount Δθ increases as the error increases. Satisfies the relationship of large values. Therefore, the error correlation amount estimation unit 60 according to the present embodiment calculates the error correlation amount Δθ using this equation (c12).
<Sixth Embodiment>
Hereinafter, the sixth embodiment will be described with reference to the drawings with a focus on differences from the first embodiment.

  FIG. 10 shows a system configuration according to the present embodiment. In FIG. 10, the same reference numerals are assigned for convenience to those corresponding to the processing shown in FIG.

  In the present embodiment, the high frequency voltage signal is as shown in FIG. 7, and the error correlation amount Δθ is set to the following formula (c13) obtained by simplifying the above formula (c12).

＜その他の実施形態＞
なお、上記各実施形態は、以下のように変更して実施してもよい。

<Other embodiments>
Each of the above embodiments may be modified as follows.

About high-frequency voltage signals
The high-frequency voltage signal is not limited to those exemplified in the above embodiments, and may be, for example, a pair of voltage vectors whose polarities are inverted from each other.

“Regular period”
For example, in FIG. 2C, the period in which the points P1 to P6 are superimposed and the period in which the points P3 to P8 are superimposed (a half cycle of the superimposed pattern in which the overlapping direction is uniformly distributed) are set as the predetermined periods. The rotation angle θ may be estimated based on a high-frequency current signal corresponding to the above.

"About estimation means"
In the first embodiment, instead of the condition “Σvαh · vβh = 0”, the condition “| Σvαh · vβh | ≦ specified value” may be used. Even in this case, by reducing the specified value, the rotation angle θ can be calculated with high accuracy while reducing the calculation load using the above equation (c5). Similarly, in the third embodiment, “| Σvdh · vqh | ≦ specified value” may be used instead of the above condition “Σvdh · vqh = 0”.

  In the second embodiment, instead of the condition “Σvαh · vαh = Σvβh · vβh”, “| Σvαh · vαh−Σvβh · vβh | ≦ specified value” may be used. Even in this case, by reducing the specified value, the rotation angle θ can be calculated with high accuracy while reducing the calculation load using the above equation (c6). Similarly, in the fourth embodiment, instead of the above condition “Σvdh · vdh = Σvqh · vqh”, “| Σvdh · vdh−Σvqh · vqh | ≦ specified value” may be used.

  In the third to sixth embodiments, the rotational speed ω is calculated as the sum of the outputs of the proportional element and the integral element having the error correlation amount Δθ as an input. However, the present invention is not limited to this. For example, it may be calculated as the sum of the outputs of the proportional element, the integral element, and the differential element, or may be calculated from only the integral element.

  In the third to sixth embodiments, the rotational speed ω is calculated based on the error correlation amount Δθ, and the rotational angle θ is calculated based on this, but the present invention is not limited to this. For example, the rotational angle θ may be directly calculated from the error correlation amount Δθ, and the rotational speed ω may be calculated by the time differentiation calculation.

  In the fifth and sixth embodiments, sin2Δθ may be used instead of the error correlation amount Δθ.

  In the first and second embodiments, for example, the rotation angle θ may be estimated using the inverse sine function arcsin or the inverse cosine function arccos. Similarly, in the third and fourth embodiments, the rotation angle θ may be estimated using the inverse cosine function arccos.

"About superposition means"
Only what is used for estimation of the rotation angle of 1 degree is not limited to that estimated in a predetermined period. For example, in FIG. 2C, the rotation angle estimation process performed using the points P1 to P6 with the periods in which the points P11, P12, and P1 to P6 are superimposed as a predetermined period, and the points P8 to P10 are superimposed. This period may be set as a next predetermined period, and may be performed by a periodic process with a rotation angle estimation process performed using points P7 to P12.

  However, superposition of high-frequency voltage signals that are not used for estimation of the rotation angle may be interposed.

  Furthermore, even if no superimposing means is provided, a high-frequency voltage vector that satisfies the above condition among high-frequency voltage vectors obtained by subtracting command voltages vdr and vqr from a voltage vector used for controlling the control amount of motor generator 10. The rotation angle may be estimated based on the voltage signal.

"Voltage application circuit"
The voltage application means is not limited to the DC / AC conversion circuit (inverter 12) including a switching element that selectively connects each of the positive electrode and the negative electrode of the DC voltage source to the terminal of the rotating machine. For example, it may be a voltage applying unit that applies three or more voltages having different values, and may include a switching element that opens and closes between each of the output terminals and the terminal of the rotating machine. As a voltage applying means for applying three or more voltages having different values to each terminal of the rotating machine, there is one exemplified in Japanese Patent Application Laid-Open No. 2006-174697, for example.

"others"
The final control amount of the motor generator 10 is not limited to torque, and may be, for example, a rotational speed. Further, the present invention is not limited to performing current vector control, and for example, torque feedback control may be performed.

  -Instead of using a high frequency voltage signal as a command value, a high frequency current signal may be used as a command value. In this case, the rotation angle is estimated based on the high frequency voltage signal realized by the current feedback control and the command value of the high frequency current signal.

  The structural rotating machine having saliency is not limited to the motor generator 10 described above. For example, a synchronous reluctance motor (SynRM) may be used.

  -The rotating machine is not limited to the in-vehicle main machine. For example, an electric motor mounted on a vehicle-mounted power steering may be used.

  DESCRIPTION OF SYMBOLS 10 ... Motor generator, 12 ... Inverter, 50 ... High frequency voltage signal superimposition part, 54 ... Angle estimation part.

Claims (7)

A voltage application circuit that applies a voltage to a terminal of a rotating machine having saliency is an operation target, and includes an estimation unit that estimates a rotation angle of the rotating machine based on an electrical state quantity of the rotating machine. In a control device for a rotating machine that controls a control amount of the rotating machine based on an estimated rotation angle,
The estimation means is a signal sequence for a high-frequency voltage signal having a frequency higher than the electrical angular frequency of the rotating machine in the output voltage of the voltage application circuit, and the product of two orthogonal components of the vector. Selectively using a signal sequence such that the absolute value of the sum is equal to or less than a specified value, and estimating the rotation angle of the rotating machine based on the signal sequence and a signal sequence of a high-frequency current signal corresponding to the signal sequence. A control device for a rotating machine. Comprising superimposing means for superimposing the high-frequency voltage signal on the output voltage of the voltage application circuit for controlling the control amount of the rotating machine;
The control device for a rotating machine according to claim 1, wherein the estimating means estimates the rotation angle based on the high-frequency voltage signal superimposed by the superimposing means and the high-frequency current signal corresponding thereto. The superimposing means sets the signal sequence of the high-frequency voltage signal to be superimposed in a predetermined period so that the absolute value of the sum of products of two orthogonal components of the vector is equal to or less than a specified value,
3. The rotating machine according to claim 2, wherein the estimating means estimates the rotation angle based on a signal sequence of the high-frequency voltage signal in the predetermined period and a signal sequence of the high-frequency current signal corresponding to the signal sequence. Control device.   The superimposing means sets the high-frequency voltage signal to be superimposed in the predetermined period so that the absolute value of the difference between the sums of squares of two components orthogonal to each other is equal to or less than a specified value. The control device for a rotating machine according to claim 3. The rotating machine is an embedded magnet synchronous machine,
The estimation means is configured such that a self-inductance and a mutual inductance of the stator of the rotating machine have a period of a half of one electrical angle due to a difference in the magnetic permeability in the circumferential direction of the rotor of the rotating machine. 5. The rotating machine control device according to claim 1, wherein the rotation angle is estimated on the basis of a high-frequency component of a voltage equation modeled as a periodic fluctuation. The voltage equation is of a rotating coordinate system,
The said estimation means operates the rotation angle used as estimation object as an operation amount for performing feedback control of the error correlation amount calculated using the said signal sequence to a target value. Control device for rotating machine. The voltage equation is of a fixed coordinate system,
6. The control apparatus for a rotating machine according to claim 5, wherein the estimating means estimates the rotation angle by calculating an independent variable from a value of a trigonometric function calculated using the signal sequence.

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