JP2012239302A - Rotary electric machine controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technology capable of limiting the adjustment amount of phase between rotors for field adjustment, while controlling the adjustment of a field magnetic flux optimally by taking account of the operational state of a variable magnetic flux rotary electric machine or the change in magnetic resistance on the rotor surface due to adjustment of the field magnetic flux.SOLUTION: The rotary electric machine controller has: a low rotational speed range phase map 7L where a phase command γindicating the relative position of a first rotor 41 and a second rotor 42 is defined as a phase map 70 defined depending on a target torque Tand a rotational speed ω, within a phase range set so as to include the relative position where the field magnetic flux is maximized; and a high rotational speed range phase map 7H where the phase command γis defined within a phase range set so as to include the relative position where the field magnetic flux is minimized. A relative phase control unit 7 switches the low rotational speed range phase map 7L and the high rotational speed range phase map 7H on the basis of the rotational speed ω, determines the phase command γwith reference to the phase map thus switched, and adjusts the relative position.

Description

  The present invention includes a rotor unit having a first rotor and a second rotor capable of adjusting a circumferential relative position within a certain range, and a stator having a stator coil, and a permanent magnet provided in the rotor unit. The present invention relates to a rotating electrical machine control device that controls a variable magnetic flux type rotating electrical machine that can adjust a field magnetic flux generated and interlinked with a stator coil according to a relative position.

  Today, a permanent magnet synchronous motor (PMSM) is widely used. In PMSM, since the permanent magnet is usually fixed to the rotor core, the magnetic flux generated from the rotor is constant. For this reason, in PMSM, the induced voltage generated in the stator coil increases as the rotational speed of the rotor increases, but it is necessary to control the induced voltage so as not to exceed the drive voltage. For this reason, at a certain rotational speed or higher, field weakening control is performed in which a current that does not contribute to torque is passed through the stator coil to cancel the magnetic flux from the permanent magnet, and the magnetic field from the rotor is substantially weakened. However, if field-weakening control is performed, the current flowing through the stator coil increases with respect to the torque output from the rotating electrical machine, resulting in increased copper loss and reduced efficiency. Further, if the magnetic flux reaching the stator from the permanent magnet remains constant, the iron loss generated in the stator core also increases in the region where the rotational speed of the rotor is high, and the efficiency decreases. Therefore, a variable magnetic flux type rotating electrical machine has been proposed in which the magnetic flux reaching the stator from the permanent magnet provided in the rotor is changed according to the rotational speed of the rotor. Japanese Patent Application Laid-Open No. 2007-159219 (Patent Document 1) discloses a variable magnetic flux type rotation constituted by an inner circumferential rotor (11), an outer circumferential rotor (12), and a planetary gear mechanism (14) arranged coaxially. An electric machine (10) is disclosed (see FIGS. 1 to 4, abstracts and the like. Reference numerals in parentheses are those of Patent Document 1).

  By the way, in an interior magnet type rotating electrical machine (IPMSM: interior PMSM), the magnetic resistance of the rotor surface often differs depending on the position in the rotor rotating direction. For this reason, in IPMSM, in addition to the magnet torque due to the attractive repulsive force between the armature magnetic flux generated by the current flowing through the stator coil and the field magnetic flux of the permanent magnet, the reluctance torque due to the attractive repulsive force between the armature magnetic flux and the rotor core also rotates. It can be used as the torque of the electric machine. In a rotating electrical machine that is not a variable magnetic flux type, the distribution of the magnetic resistance on the rotor surface is substantially constant, whereas in the variable magnetic flux type rotating electrical machine, the distribution of the magnetic resistance on the rotor surface changes. That is, in the variable magnetic flux type rotating electric machine, not only the magnet torque but also the reluctance torque is changed by adjusting the field magnetic flux. Therefore, when adjusting the field magnetic flux of the variable magnetic flux type rotating electrical machine, it is preferable to consider the magnetic resistance of the rotor surface that affects the reluctance torque. The rotating electrical machine can function as an electric motor (power running operation) and a generator (regenerative operation). When adjusting the field magnetic flux, the operating state of the rotating electrical machine (power running operation state or regenerative operation state), etc. Is also preferably taken into account.

  However, simply adjusting the field magnetic flux according to the torque and rotation speed takes into consideration the change in the magnetic resistance of the rotor surface due to the operating state of the rotating electrical machine and the adjustment of the field magnetic flux. In some cases, the adjustment of the magnetic flux cannot be optimally controlled. Also, when adjusting the field magnetic flux in consideration of these, if a situation occurs in which the amount of phase adjustment between the two rotors becomes large, the time required to obtain the required field magnetic flux becomes longer, and the response There is a possibility that the loss of the rotating electrical machine may increase due to the deterioration of the performance or the increase in mechanical loss.

JP 2007-159219 A

  In view of the above background, it is possible to optimally control the adjustment of the field magnetic flux in consideration of the operating state of the variable magnetic flux type rotating electrical machine and the change in the magnetic resistance of the rotor surface due to the adjustment of the field magnetic flux, It is desired to provide a technique capable of suppressing the amount of adjustment of the phase between the rotors for field adjustment.

In view of the above problems, the characteristic configuration of the rotating electrical machine control device according to the present invention is as follows.
A rotor unit having a first rotor and a second rotor capable of adjusting a relative position in a circumferential direction within a certain range; and a stator having a stator coil; and the stator generated by a permanent magnet provided in the rotor unit. A rotating electrical machine control device for controlling a variable magnetic flux type rotating electrical machine capable of adjusting a field magnetic flux linked to a coil according to the relative position,
The phase command indicating the relative position for adjusting the field magnetic flux is determined on the basis of a phase map defined according to a target torque and a rotational speed, and the first rotor and the second rotor are determined. A relative phase control unit that adjusts the relative position with the rotor is provided.
The phase map includes a low rotational speed region phase map in which the phase command is defined within a first phase range set so as to include the relative position where the field magnetic flux is maximum, and the field magnetic flux is minimum. A high rotational speed region phase map in which the phase command is defined within a second phase range set to include the relative position
The relative phase control unit switches and refers to the low rotational speed range phase map and the high rotational speed range phase map based on the rotational speed, and determines the phase command.

  As described above, in PMSM, the induced voltage generated in the stator coil increases as the rotational speed of the rotor increases. It is necessary to control the induced voltage so as not to exceed the drive voltage. For this reason, the field magnetic field from a rotor is adjusted according to a rotational speed. However, since the magnetic resistance of the rotor surface also changes due to the adjustment of the field magnetic flux, the adjustment of the field magnetic flux affects not only the magnet torque but also the reluctance torque. For this reason, it is preferable that the phase command indicating the relative position between the first rotor and the second rotor is determined based on the phase map defined in accordance with the target torque and the rotational speed as in this feature configuration. is there. Here, when the rotating electrical machine is operating in a low rotational speed range, it is highly likely that the field magnetic flux is not greatly limited, so that the relative position where the field magnetic flux is maximized is set. It is preferable that the phase command is determined based on a low rotational speed region phase map in which the phase command is defined within the first phase range. On the other hand, when the rotating electrical machine is operating in a high rotational speed range, it is highly possible that the field magnetic flux is greatly restricted, so that the relative position at which the field magnetic flux is minimized is set. It is preferable that the phase command is determined based on a high rotational speed region phase map in which the phase command is defined within the second phase range. According to this feature configuration, the relative phase control unit switches and refers to the low rotational speed region phase map and the high rotational speed region phase map based on the rotational speed, and determines the phase command. Accordingly, the relative phase control unit can determine a phase command in which the adjustment amount of the inter-rotor phase is suppressed according to each rotation speed region. As described above, according to this feature configuration, by using the phase map, the operating state of the variable magnetic flux type rotating electrical machine and the change in the magnetic resistance of the rotor surface due to the adjustment of the field magnetic flux are taken into account. While making it possible to optimally control the adjustment, it is possible to reduce the amount of adjustment of the phase between the rotors for field adjustment.

  By the way, when the rotational speed of the rotating electrical machine shifts from the low rotational speed range to the high rotational speed range, to suppress the back electromotive force in the powering operation state and to adjust the power generation amount in the regenerative operation state There is a high possibility that the field magnetic flux needs to be limited. On the other hand, when the rotation speed of the rotating electrical machine shifts from the high rotation speed region to the low rotation speed region, the necessity for limiting the field magnetic flux decreases. Therefore, as described above, it is preferable that a phase map suitable for each rotation speed region is referred to based on the rotation speed and the phase command is determined. Here, considering one form in which the rotational speed shifts from the high rotational speed range to the low rotational speed range, when the power running operation in the high rotational speed range is stopped and the regenerative operation is performed by inertial force. In some cases, the rotational speed decreases to shift to a low rotational speed range. For example, when the rotating electrical machine is a vehicle driving force source or the like, the operating state of the rotating electrical machine becomes a regenerative operating state by loosening acceleration means such as an accelerator pedal, and the rotational speed is reduced. At this time, the rotating electric machine may be switched to the power running operation state by operating the acceleration means again. Then, when the power running operation is resumed, the rotational speed increases, and there is a possibility that the rotational speed again shifts from the low rotational speed region to the high rotational speed region. In such a case, both the rotational speed and the target torque change. For example, from the high rotational speed range in the power running state, the high rotational speed range in the regenerative operation state, the low rotational speed range in the regenerative operation state, and the power running operation. There is a possibility that the low rotational speed region is switched in the state, the high rotational speed region is switched in the power running state, and the operation state and the rotational speed region are switched in combination. On the other hand, when the rotational speed simply increases, switching from the low rotational speed range in the power running state to the high rotational speed range in the power running state, or from the low rotational speed range in the regenerative operation state, to the regenerative operation state. Since switching to the high rotation speed range is performed, the possibility that the operating state and the rotation speed range are switched in a complex manner is relatively low. If the operating state and the rotational speed range are switched in combination, the stability of the control may decrease, or the amount of adjustment of the relative position of both rotors may increase, resulting in an increase in loss.

  In order to suppress the switching between the operating state and the rotational speed range in this way as much as possible, and to control the relative position with high stability and as little adjustment as possible, the rotating electrical machine control device according to the present invention is as follows. It is preferable to be configured as follows. That is, as one preferable aspect, the relative phase control unit of the rotating electrical machine control device according to the present invention is configured such that the rotation speed changes from a low rotation speed to a high rotation speed and becomes equal to or greater than a predetermined rotation speed threshold value. In this case, the phase map of the reference destination is switched from the low rotational speed range phase map to the high rotational speed range phase map, and the rotational speed is changed from the high rotational speed to the low rotational speed and the rotational speed is increased. When the threshold value is less than the threshold value, the phase map to be referred to is switched from the high rotational speed region phase map to the low rotational speed region phase map on condition that the rotating electrical machine is in a power running state. It may be configured.

  As described above, when the rotating electrical machine is operating in the low rotational speed region, the necessity for greatly limiting the field magnetic flux is low. On the other hand, when the rotating electrical machine is operating at a high speed, the necessity of greatly limiting the field magnetic flux becomes relatively high. Therefore, as described above, the low rotational speed region phase map corresponding to the low rotational speed region has the phase command defined within the first phase range set so as to include the relative position where the field magnetic flux becomes maximum. It is preferable. On the other hand, the rotational speed region phase map corresponding to the high rotational speed region preferably has a phase command defined within a second phase range set so as to include a relative position where the field magnetic flux is minimized. Furthermore, when the first phase range and the second phase range are quantitatively set on the basis of the relative position where the field magnetic flux is maximized or the relative position where the field magnetic flux is minimized, the reproducibility is good, Deployment to various types of rotating electrical machines becomes easy. As one aspect, in the rotating electrical machine control device according to the present invention, the first phase range is such that the field magnetic flux on both sides in the circumferential direction is minimum with the relative position at which the field magnetic flux is maximized as the center. The relative position is set to a range having the outer edge as the outer edge, and the second phase range is set to maximize the field flux on both sides in the circumferential direction around the relative position where the field flux is minimized. It is preferable that the relative position is set in a range having an outer edge.

  As described above, when the rotating electrical machine is operating in a high rotational speed range, the phase command is defined within the second phase range set so as to include the relative position where the field magnetic flux is minimized. A phase command is determined based on the rotation speed region phase map. The relative position at which the field magnetic flux is minimized is a relative position at which the torque in the power running operation state and the regenerative operation state of the rotating electrical machine is minimized. The second phase range is such that the relative position is substantially in the center, and the torque in the powering operation state of the rotating electrical machine increases as it goes to one outer edge, and the torque in the regenerative operation state increases as it goes to the other outer edge. When set to, an optimum phase command can be defined according to the operating state of the rotating electrical machine, which is preferable. In other words, when the second phase range is quantitatively set based on the relative position according to the torque in the power running state and the regenerative operation state, the reproducibility is good and the development to various types of rotating electrical machines is easy. It becomes.

  By the way, in the rotating electric machine that is not a variable magnetic flux type, the magnetic resistance on the surface of the rotor (rotor unit) does not change, but in the variable magnetic flux type rotating electric machine, the magnetic resistance on the surface of the rotor (rotor unit) also changes. In such a rotating electrical machine in which the magnetic resistance of the surface of the rotor (rotor unit) changes, a position electrically orthogonal to the center of the magnetic pole constituted by the permanent magnet on the surface of the rotor (rotor unit); In some cases, the armature magnetic flux induced by the current flowing through the stator coil has a different magnetic flux density maximum position on the surface of the rotor (rotor unit). As a method for controlling a rotating electrical machine, vector control in a vector space in which an axis passing through the center of a magnetic pole constituted by a permanent magnet and an axis electrically orthogonal to the axis is an orthogonal axis based on a permanent magnet is used. Are known. However, the position of the rotor (rotor unit) on the surface of the rotor (rotor unit) that is electrically orthogonal to the center of the magnetic pole constituted by the permanent magnet and the surface of the rotor (rotor unit) of the armature magnetic flux induced by the current flowing through the stator coil When the magnetic flux density maximum position in is different, vector control may be performed in a rotation vector space having a rotation deviation in electrical angle with respect to the permanent magnet-based vector space. When the rotating electrical machine is controlled in this rotation vector space, a phenomenon occurs in which, for example, a regenerative torque is generated in a part of the magnet torque due to the influence of the rotation deviation. This is also a loss for the rotating electrical machine. Therefore, the second phase range corresponding to the operation in the high rotation speed region, which often limits the field magnetic flux, is quantitatively set according to the torque and loss in the power running state and the regenerative operation state. Is preferred. Such a quantitative setting is, for example, a phase range in a graph in which the entire variable range of the phase indicating the relative position in the circumferential direction of the first rotor and the second rotor is represented by a 360 ° drawing range centered on the origin. Can be defined by Since the phase range suitable for power running and the phase range suitable for regenerative operation appear for each 90 ° drawing range in the graph, these phase ranges are quadrants when an appropriate orthogonal axis is set in the graph. It may be specified.

  As a specific aspect, the rotating electrical machine control device according to the present invention is configured such that the rotating electrical machine is electrically connected to the center of the magnetic pole formed by the permanent magnet on the surface of the rotor unit by adjusting the relative position. And the position where the armature magnetic flux induced by the current flowing through the stator coil is different from the maximum magnetic flux density position on the surface of the rotor unit, and the second phase range is the rotation The relative position where the field magnetic flux in the phase range suitable for the power running operation is minimized from the relative position where the field magnetic flux in the phase range suitable for the power running operation of the electric machine is maximum, and the phase suitable for the regenerative operation. The range is set to a range up to the relative position where the field magnetic flux in the phase range suitable for the regenerative operation is maximized through the relative positions where the field magnetic flux in the range is minimum. It is preferable to have that.

Skeleton diagram showing an example of configuration of variable magnetic flux type rotating electrical machine The figure which shows an example of the relationship between the magnetic pole and the salient pole in one electrical angle period The figure which shows an example of magnetic flux distribution of the relative phase (0 degree) in which field magnetic flux becomes the maximum The figure which shows an example of magnetic flux distribution of the relative phase (90 degree | times) where field magnetic flux becomes the minimum The figure which shows an example of magnetic flux distribution of the armature magnetic flux of relative phase 90 degrees The figure which shows an example of magnetic flux distribution of the armature magnetic flux of relative phase 45 degree | times Block diagram schematically showing an example of the configuration of a rotating electrical machine control device Diagram showing relative relationship in vector space The figure which shows an example of a 1st phase range and a 2nd phase range Figure showing an example of a low rotation speed region phase map Figure showing an example of a high rotation speed region phase map The figure which shows an example of the adjustment width (phase difference) of the relative position at the time of field magnetic flux adjustment Graph showing an example of torque characteristics when the relative phase is 0 degree Graph showing an example of torque characteristics when the relative phase is 45 degrees Graph showing an example of torque characteristics when the relative phase is 67 degrees The figure which shows the other example of a 1st phase range and a 2nd phase range

  Hereinafter, an embodiment of the present invention will be described by way of an example of a rotating electrical machine control device that controls a variable magnetic flux rotating electrical machine. First, the structure and electrical characteristics (particularly, the asymmetric saliency of the rotor) of the variable magnetic flux type rotating electrical machine exemplified in the present embodiment will be described with reference to FIGS.

  As shown in FIG. 1, the variable magnetic flux type rotating electrical machine 100 exemplified in this embodiment includes a rotating mechanism unit 20 and a relative position adjusting mechanism 50. The rotation mechanism unit 20 includes a rotor unit 40 having a first rotor 41 and a second rotor 42 capable of adjusting a relative position in the circumferential direction within a certain range, and a stator 30 having a stator coil 32. Yes. In this example, the rotation mechanism unit 20 has an inner rotor type structure in which the rotor unit 40 is relatively provided inside the stator 30. The rotor unit 40 includes an inner rotor (first rotor 41) disposed relatively inside and an outer rotor (second rotor 42) disposed relatively outside. The relative position between the first rotor 41 and the second rotor 42 can be adjusted by the relative position adjustment mechanism 50. The field magnetic flux interlinked with the stator coil 32 changes according to the adjustment of the relative position, that is, according to the relative position in the circumferential direction (rotor rotation direction) between the first rotor 41 and the second rotor 42. That is, the rotating electrical machine 100 can adjust the field magnetic flux generated by the permanent magnet provided in the rotor unit 40 and interlinked with the stator coil 32 in accordance with the relative position between the first rotor 41 and the second rotor 42. This is a variable magnetic flux type rotating electrical machine.

  At least one of the first rotor 41 and the second rotor 42 constituting the rotor unit 40 is provided with a permanent magnet. In the present embodiment, only the first rotor 41 is provided with a permanent magnet. As shown in FIGS. 2, 3, etc., the first rotor 41 is embedded in the rotor core (first rotor core 43) and provides a permanent magnet 24 (24 N, 24 N, which provides a field magnetic flux interlinking with the stator coil 32. 24S). On the other hand, the second rotor 42 is configured by providing the rotor core (second rotor core 44) with an air gap 48 as a magnetic resistance portion that becomes a magnetic resistance against the field magnetic flux. The field magnetic flux interlinking with the stator coil 32 changes according to the relative positions of the two rotors 41 and 42 in the circumferential direction, so that the variable magnetic flux type rotating mechanism 20 is realized. As shown in FIG. 1, the rotating mechanism unit 20 constitutes a variable magnetic flux type rotating electrical machine 100 together with a relative position adjusting mechanism 50 that adjusts the relative position of the first rotor 41 and the second rotor 42 in the circumferential direction. The driving force (synonymous with torque) of the rotating electrical machine 100 is configured to be transmitted to the output shaft X.

  The stator 30 constituting the armature of the rotation mechanism unit 20 includes a stator core 31 and a stator coil 32 wound around the stator core 31. In this example, the stator core 31 is formed by laminating a plurality of electromagnetic steel plates, is formed in a cylindrical shape, and is fixed to a case (not shown). The rotor unit 40 constituting the field is supported by the case (not shown) so as to be rotatable about the rotation axis with respect to the stator 30 on the radial inner side R1 side of the stator 30. In the present example, the first rotor core 43 of the first rotor 41 and the second rotor core 44 of the second rotor 42 are configured by laminating a plurality of electromagnetic steel plates in the same manner as the stator core 31. The second rotor 42 constituting the rotor unit 40 is formed in a cylindrical shape having a certain radial thickness, and includes a first rotor 41 on the inner side. The first rotor 41 and the second rotor 42 are arranged coaxially. As shown in FIG. 1, the first rotor core 43 and the second rotor core 44 are arranged so as to overlap in the radial direction R view. In this example, the first rotor core 43 and the second rotor core 44 have the same length (axial length) in the axial direction L, and are disposed so as to completely overlap in the radial direction R view. The first rotor 41 includes a first rotor core support member 45 that supports the first rotor core 43 and rotates integrally with the first rotor core 43. The second rotor 42 includes a second rotor core support member 46 that supports the second rotor core 44 and rotates integrally with the second rotor core 44.

  In the present embodiment, as shown in FIGS. 2 and 3, the second rotor core 44 is arranged in the circumferential direction in a state where the relative positions of the rotors 41 and 42 are at a predetermined reference position (relative phase γ = 0 degrees). It is disposed between the magnetic pole ends FT of the adjacent magnetic poles F (that is, between the magnetic poles), and includes a gap (magnetic gap between magnetic poles, magnetoresistive portion) 48 that becomes a magnetic resistance against the field magnetic flux. The gap 48 changes the interlinkage magnetic flux that reaches the stator coil 32 according to the circumferential relative position between the first rotor 41 and the second rotor 42.

  3 and 4 exemplify the field magnetic flux (d-axis magnetic flux) related to the magnet torque corresponding to the relative position (relative phase γ) between the first rotor 41 and the second rotor 42 by broken lines. The relative phase γ is indicated by an electrical angle. 3 and 4 show a cross-section perpendicular to the axis of the rotor unit 40, and are partial cross-sectional views corresponding approximately to one cycle of an electrical angle. For example, FIG. 3 illustrates a state in which the magnetic flux (field magnetic flux) reaching the stator 30 is increased by suppressing the leakage magnetic flux from the permanent magnet 24 through the second rotor core 44. On the other hand, FIG. 4 illustrates a state in which the leakage magnetic flux passing through the second rotor core 44 increases and the magnetic flux reaching the stator 30 decreases. As described above, the permanent magnet 24 and the air gap 48 are in a state where the magnetic flux reaching the stator 30 (field magnetic flux) increases (FIG. 3: γ = 0 degrees) and in a state where the magnetic flux reaching the stator 30 decreases (FIG. 4: γ = 90 degrees). That is, the linkage flux reaching the stator coil 32 can be adjusted by adjusting the relative position in the circumferential direction between the first rotor 41 and the second rotor 42.

  As shown in FIG. 1, the relative position adjusting mechanism 50 has a circumferential direction between a first rotor core support member 45 that rotates integrally with the first rotor core 43 and a second rotor core support member 46 that rotates integrally with the second rotor core 44. This is a mechanism for adjusting the relative position. In the present embodiment, the relative position adjusting mechanism 50 is configured to include two differential gear devices (differential gear mechanisms), a first differential gear device 51 and a second differential gear device 52. In the present embodiment, the first differential gear device 51 and the second differential gear device 52 are configured by a single pinion type planetary gear mechanism including three rotating elements. The first differential gear device 51 includes a first carrier 51b that supports a plurality of pinion gears, and a first sun gear 51a and a first ring gear 51c that mesh with the pinion gears, respectively, as rotating elements. The second differential gear device 52 includes a second carrier 52b that supports a plurality of pinion gears, and a second sun gear 52a and a second ring gear 52c that mesh with the pinion gears, respectively, as rotating elements.

  The first sun gear 51a is drive-coupled to rotate integrally with the first rotor core support member 45, and the second sun gear 52a is drive-coupled to rotate integrally with the second rotor core support member 46. The first carrier 51b and the second carrier 52b are drivingly connected so as to rotate integrally with the output shaft X. Thus, the first rotor core support member 45 and the second rotor core support member 46 are drivingly connected to the output shaft X via the relative position adjustment mechanism 50. That is, in this example, both the first rotor core support member 45 and the second rotor core support member 46 are drivingly connected to the common output shaft X via the relative position adjustment mechanism 50. The second ring gear 52c is fixed to the inner wall 80 of the case via a ring-shaped member.

  A worm wheel 54b is provided on the outer peripheral surface of the first ring gear 51c (the surface facing the radially outward direction R2, hereinafter the same). The worm wheel 54b meshes with a worm gear 54a for adjusting the rotational position (circumferential position) of the first ring gear 51c. The worm gear 54a is connected to a driving force source (actuator) 56 such as a motor (see FIG. 7). By rotating the worm gear 54a by the driving force source 56, the rotational position (circumferential position) of the first ring gear 51c can be changed via the worm wheel 54b. When the rotational position of the first ring gear 51c is adjusted, the worm gear 54a is rotationally driven by the driving force source 56, and the worm gear 54a is fixed via the stopped driving force source 56 except during the adjustment. That is, the first ring gear 51c is in a fixed state except when the rotational position is adjusted.

  In the present embodiment, the first carrier 51b and the second carrier 52b integrally form an integral carrier 53, and the integral carrier 53 is drivingly connected so as to rotate integrally with the output shaft X. In the present embodiment, the first differential gear device 51 and the second differential gear device 52 are configured to have the same diameter, and the gear ratio of the first differential gear device 51 (= the teeth of the first sun gear 51a). Number / the number of teeth of the first ring gear 51c) and the ratio of the number of teeth of the second differential gear device 52 (= the number of teeth of the second sun gear 52a / the number of teeth of the second ring gear 52c) are set to be equal to each other. Then, except when adjusting the rotational position of the first ring gear 51c, both the first ring gear 51c and the second ring gear 52c are in a fixed state. Therefore, the first rotor core support member 45 drivingly connected to the first sun gear 51a and the second rotor core support member 46 drivingly connected to the second sun gear 52a rotate at the same rotational speed (rotor rotational speed). In the present embodiment, the rotation speed of the output shaft X is reduced with respect to the rotor rotation speed, and the torque of the rotation mechanism unit 20 is amplified and transmitted to the output shaft X.

  As described above, in the present embodiment, the second ring gear 52c is fixed to the inner wall 80 of the case, whereas the rotational position of the first ring gear 51c can be adjusted. That is, in two planetary gear mechanisms in which carriers are integrally formed, one ring gear can be relatively moved (that is, relatively rotated) in the circumferential direction with respect to the other ring gear. With this relative rotation, one sun gear rotates relative to the other sun gear. Therefore, the relative position in the circumferential direction between the first sun gear 51a and the second sun gear 52a can be adjusted by adjusting the rotational position of the first ring gear 51c. As a result, the circumferential relative position between the first rotor core support member 45 and the second rotor core support member 46 can be adjusted.

  As described above, the rotation mechanism unit 20 of the present embodiment adjusts the interlinkage magnetic flux reaching the stator coil 32 by adjusting the relative position in the circumferential direction between the first rotor 41 and the second rotor 42. It is possible. As a suitable method for controlling the rotation mechanism unit 20, d-q between the d-axis which is the direction of the magnetic flux (field magnetic flux) of the permanent magnet and the q-axis which is the direction orthogonal to the d-axis by an electrical angle. Vector control using a vector space is known. As shown in FIG. 2, the d-axis is a magnetic pole center axis FC (magnetic pole axis) along the direction from the rotational axis of the rotor unit 40 toward the magnetic pole center position PD that is the position of the center of the magnetic pole F on the surface of the rotor unit 40. ). The q axis is a magnetic pole center orthogonal axis FX along a direction from the rotation axis of the rotor unit 40 toward a magnetic pole center orthogonal position PQ that is a position electrically orthogonal to the center of the magnetic pole F on the surface of the rotor unit 40. It is.

  5 and 6 illustrate the armature magnetic flux (q-axis magnetic flux) corresponding to the relative position between the first rotor 41 and the second rotor 42 by broken lines. That is, the illustrated magnetic flux is excited by the current flowing through the stator coil 32. 5 and 6 are also partial cross-sectional views in the direction perpendicular to the axis of the rotor unit 40 corresponding to approximately one cycle of the electrical angle, similarly to FIGS. 3 and 4 illustrating the field magnetic flux. The relative position shown in FIG. 5 is a relative position (γ = 90 degrees) shifted by 90 degrees in electrical angle with respect to the reference position as in FIG. 4, and the relative position shown in FIG. It is a relative position (γ = 45 degrees) shifted by 45 degrees in the corner. When γ = 90 degrees, the air gap 48 is located substantially at the magnetic pole center position PD. A so-called salient pole between adjacent magnetic poles F, for example, in the range of the symbol M2 or M3 in FIG. 2, there is no air gap 48, and is almost filled with the first rotor core 43 and the second rotor core 44 made of magnetic material. Accordingly, the armature magnetic flux is distributed symmetrically with respect to the center of the salient pole in the rotor rotation direction on the surface of the rotor unit 40 on the side facing the stator 30.

  The center of the salient poles on the surface of the rotor unit 40 in the rotor rotation direction corresponds to the maximum magnetic flux density position (armature magnetic flux maximum position PL) between the magnetic poles F (the salient poles). The armature magnetic flux maximum position PL coincides with the magnetic pole center orthogonal position PQ described above. As described above, the d axis when the field magnetic flux is used as a reference is the magnetic pole center axis FC passing through the magnetic pole center position PD, and the q axis is the magnetic pole center orthogonal axis FX passing through the magnetic pole center orthogonal position PQ. When the armature magnetic flux is used as a reference, the q axis is a magnetic flux density maximum axis (armature magnetic flux maximum axis FL) along the direction from the rotation axis of the rotor unit 40 toward the armature magnetic flux maximum position PL. As shown in FIG. 5, in the relative position where γ is 90 degrees, the q-axis (magnetic pole center orthogonal axis FX) when the field magnetic flux is used as a reference and the q-axis when the armature magnetic flux is used as a reference. The axis (the armature magnetic flux maximum axis FL) coincides, and the deviation δ of both axes becomes zero.

  On the other hand, as shown in FIG. 6, when γ = 45 degrees, the air gap 48 becomes a magnetic resistance in a part of the salient pole. For this reason, the distribution of the armature magnetic flux on the surface of the rotor unit 40 is asymmetric with respect to the center of the salient pole in the rotor rotation direction. That is, the armature magnetic flux maximum position PL does not coincide with the magnetic pole center orthogonal position PQ described above. Therefore, between the armature magnetic flux maximum axis FL, which is the q axis when the armature magnetic flux is the reference, and the magnetic pole center orthogonal axis FX, which is the q axis when the field magnetic flux is the reference, FIG. As shown, a deviation δ occurs.

  The rotating electrical machine control device of the present invention is thus excited on the surface of the rotor unit 40 by the position PQ electrically orthogonal to the center of the magnetic pole F (magnetic pole center position PD) and the current flowing through the stator coil 32. Unlike the armature magnetic flux maximum position PL between the adjacent magnetic poles F of the armature magnetic flux to be controlled, a variable magnetic flux type rotating electrical machine having an asymmetrical saliency is controlled. The rotating electrical machine control apparatus according to the present invention controls such a rotating mechanism 20 by vector control in an orthogonal vector space set in a rotating coordinate system that rotates at the same speed as the rotor unit 40. The rotating electrical machine control device of the present invention controls the relative position of the rotor unit 40 having the first rotor 41 and the second rotor 42 that can adjust the relative position in the circumferential direction within a certain range. Hereinafter, a preferred embodiment of such a rotating electrical machine control device will be described with reference to FIGS.

  As shown in FIG. 7, the rotating electrical machine control apparatus includes a relative phase control unit 7, a γ map 70 (phase map), and a coordinate deviation map 7a as functional units that mainly control the relative position adjustment mechanism 50. It is configured. The differential gear devices 51 and 52 (particularly the first differential gear device 51) are driven and controlled by driving the driving force source 56 via the drive circuit 75. The rotating electrical machine control device mainly functions as a functional unit that controls the rotation mechanism unit 20 as a torque control unit (current command calculation unit) 1, a current command map 1 a, a spatial coordinate conversion unit 2, and a current control unit (voltage). (Command calculation unit) 3, feedback current coordinate conversion unit 4, voltage control unit (drive command calculation unit) 5, position detection unit 93, and speed detection unit 94. The inverter 6 that performs DC / AC conversion between the DC voltage source 8 and the stator coil 32 is driven and controlled. In the present embodiment, the rotation mechanism unit 20 is driven and controlled using the deviation δ of the orthogonal vector space calculated by the relative phase control unit 7, and the current command map 1a determines the current based on the relative phase γ indicating the relative position. Since the command is acquired, the relative phase control unit 7 may be included in the functional unit that controls the rotation mechanism unit 20.

  Each functional unit that controls the rotation mechanism unit 20 and the relative position adjustment mechanism 50 preferably includes hardware such as a microcomputer or a DSP (digital signal processor) and software such as a program executed on the hardware. Realized by collaboration. Accordingly, some or all of the functional units may share the same hardware or the same program module.

  Here, a vector space used for vector control in the rotating electrical machine control apparatus of the present embodiment will be described. The α axis and β axis shown in FIG. 8 are fixed axes set in the stator 30, and the α-β vector space is a fixed coordinate system. When the position of the rotor unit 40 with respect to the stator 30 is a predetermined reference position, the α axis coincides with the d axis, and the β axis coincides with the q axis. That is, the α-β vector space of the fixed coordinate system matches the dq vector space of the rotating coordinate system. In the present embodiment, since the relative phase γ of the first rotor 41 and the second rotor 42 varies, the d-axis and the q-axis are defined based on the position of any one of the rotors, for example, the first rotor 41. Here, a direction from the rotation axis of the first rotor 41 including the permanent magnet 24 toward the center of the magnetic pole F is defined as a dM axis, and a direction electrically advanced 90 degrees with respect to the dM axis is defined as a qM axis. An orthogonal vector space having the dM axis and the qM axis as orthogonal axes is defined as a first vector space. That is, the first vector space has a direction along the magnetic pole axis (magnetic pole central axis FC) set in a direction from the rotation axis of the rotor unit 40 toward the center of the magnetic pole F (magnetic pole center position PD) as one axis ( dM axis), and the direction toward the position (magnetic pole center orthogonal position PQ) that is electrically orthogonal to the center of the magnetic pole F is the other axis (qM axis).

  When the rotor unit 40 rotates with respect to the stator 30, a rotation angle θ in electrical angle is generated between the α axis of the fixed coordinate system and the dM axis of the rotary coordinate system (the same is true between the β axis and the qM axis). ). The rotation angle θ of the rotor unit 40 is measured using a rotation sensor 92 such as a resolver, and is detected by the position detection unit 93 as an angle between the α axis and the dM axis (see FIG. 7). Of course, the rotation sensor 92 may be configured to output the rotation angle θ. Using this rotational angle θ, coordinate conversion of the electrical signal is performed between the three-phase stator coil 32 and the two-phase vector space.

  With respect to the first vector space defined by the dM axis and the qM axis, the vector space defined by the dL axis and the qL axis shown in FIG. 8 is defined as a second vector space. The second vector space is also a rotating coordinate system, and rotates in the same direction at the same speed as the first vector space. As shown in FIG. 8, the dL axis and the qL axis have a deviation δ from the dM axis and the qM axis, respectively. As described above with reference to FIG. 6, the armature magnetic flux maximum axis FL corresponding to the q axis when the armature magnetic flux is used as a reference, and the magnetic pole center orthogonal axis corresponding to the q axis when the field magnetic flux is used as a reference. There may be a deviation δ between FX. The second vector space is a vector space in which the deviation δ is corrected with respect to the first vector space, and the dL axis and the qL axis are orthogonal axes. That is, in the second vector space, a direction along the direction from the rotation axis of the rotor unit 40 toward the magnetic flux density maximum position (armature magnetic flux maximum position PL) is one axis (qL axis), and the axis (qL axis) ) Is a space having the other axis (dL axis) as a direction orthogonal to (in this case, a direction electrically delayed by 90 degrees). In the present embodiment, the deviation δ is determined according to the relative phase γ between the first rotor 41 and the second rotor 42. As will be described later, the relative phase control unit 7 calculates the deviation δ based on a coordinate deviation map 7a in which the relationship between the relative phase γ and the deviation δ is set in advance through experiments and simulations.

Hereinafter, each functional unit of the rotating electrical machine control device will be described with reference to the block diagram of FIG. The relative phase control unit 7 includes a γ map 70 (phase map) in which a phase command γ ^* indicating a relative position (relative phase γ) for adjusting a field magnetic flux is defined according to a target torque T ^* and a rotational speed ω. Is a functional unit that determines the phase command γ ^* based on the above and adjusts the relative position between the first rotor 41 and the second rotor 42. The γ map 70 includes a low rotational speed region phase map 7L in which a phase command γ ^* is defined within a first phase range set so as to include a relative position (relative phase γ) at which the field magnetic flux is maximum, A high rotational speed region phase map 7H in which a phase command γ ^* is defined within a second phase range set so as to include a relative position (relative phase γ) at which the field magnetic flux is minimized. The relative phase control unit 7 switches and refers to the low rotational speed region phase map 7L and the high rotational speed region phase map 7H based on the rotational speed ω, and determines the phase command γ ^* .

  FIG. 9 shows the concept of the first phase range and the second phase range described above, and shows the relative phase γ corresponding to the electrical angle in the rotor unit 40. The axis of γ = 0 ° corresponds to the relative phase γ (= 0 °) between the first rotor 41 and the second rotor 42 shown in FIG. Similarly, the axis of γ = 90 ° corresponds to the relative phase γ (= 90 °) between the first rotor 41 and the second rotor 42 shown in FIG. As described above with reference to FIGS. 3 and 4, γ = 0 ° is the relative position (relative phase γ) at which the field magnetic flux is maximum, and γ = 90 ° is the minimum field magnetic flux. Relative position (relative phase γ). For example, in FIG. 9, a phase range (phase range indicated by a symbol YL) set so as to include γ = 0 ° corresponds to the first phase range. Similarly, in FIG. 9, the phase range (phase range indicated by symbol YH) set so as to include γ = 90 ° corresponds to the second phase range. When the first phase range YL and the second phase range YH are set to a phase range including a broken line portion in FIG. 9, the first rotor 41 and the second rotor 42 have at least a relative phase γ = −90 ° (270 °). The range of ˜ + 180 ° is defined as a certain range in the circumferential direction, and the relative position can be adjusted within the certain range.

For example, when the rotating electrical machine 100 is performing a power running operation in a low rotational speed region, the necessity for greatly limiting the field magnetic flux is relatively low. On the other hand, when the rotating electrical machine 100 is performing a power running operation in a high rotational speed region, the necessity of greatly limiting the field magnetic flux is relatively high from the viewpoint of suppressing the counter electromotive force. Therefore, in the low rotational speed region phase map 7L corresponding to the low rotational speed region, the phase command γ ^* is defined within the first phase range YL set so as to include the relative position where the field magnetic flux is maximum. It is preferable. On the other hand, the high rotational speed region phase map 7H corresponding to the high rotational speed region gives priority to the restriction of the field magnetic flux, and the second phase range is set to include the relative position where the field magnetic flux is minimized. It is preferable that the phase command γ ^* is defined in YH. In the present embodiment, an example in which the first phase range YL and the second phase range YH each include a phase range of about 180 ° including the portion indicated by the broken line in FIG. 9 is shown. It may be set in a range of less than 180 °. That is, it is sufficient that the first phase range YL is set so as to include a relative position where the field magnetic flux becomes maximum, and the second phase range YH includes a relative position where the field magnetic flux becomes minimum. Is sufficient.

  However, when the first phase range YL and the second phase range YH are quantitatively set based on the relative position where the field magnetic flux is maximum or the relative position where the field magnetic flux is minimum, the reproducibility is also improved. It is easy to develop into various types of rotating electrical machines. As a preferred aspect, the first phase range YL is preferably set around a relative position (relative phase γ = 0 °) at which the field magnetic flux is maximum. The second phase range YH is preferably set around the relative position (relative phase γ = 90 °) at which the field magnetic flux is minimized. As described above, even when the phase range is set by determining the center position, the first phase range YL and the second phase range YH are set to a range of less than 180 ° without having a phase range of about 180 °. May be. In the present embodiment, an example in which the first phase range YL and the second phase range YH are set around γ = 0 ° and 90 °, respectively. It may be set around 5 ° and 95 °).

  However, as long as the first phase range YL and the second phase range YH each have a phase range of about 180 °, either the low rotational speed region phase map 7L or the high rotational speed region phase map 7H can be used. It becomes possible to cover the entire adjustment range of the field magnetic flux. That is, since the adjacent magnetic poles F have opposite polarities, the interval between the adjacent magnetic poles F corresponds to a half cycle of the electrical angle, that is, 180 °. Thus, for example, the relative phase γ = 180 ° corresponds to a state in which the air gap 48 has substantially reached the same relative position as in the example shown in FIG. 3 by further rotating by 90 ° from the example shown in FIG. . Therefore, considering the addition of the fail-safe function by providing redundancy and the flexibility of control, each of the first phase range YL and the second phase range YH has a phase range of about 180 °. It is preferable that Furthermore, as described above, it is preferable that the first phase range YL and the second phase range YH are set with a quantitative reference in consideration of reproducibility and developability. Therefore, the first phase range YL and the second phase range YH are preferably set as follows as one aspect.

That is, as one aspect, the first phase range YL is centered on the relative position where the field magnetic flux is maximum (relative phase γ = 0 °), and the relative position where the field magnetic flux on both sides in the circumferential direction is minimum ( Relative phase γ = 90 ° and −90 °) may be set in a range having an outer edge. In FIG. 9, the first phase range YL including the broken line portion corresponds to this range. Since one cycle of the electrical angle is 360 °, the relative phase γ = 270 ° in FIG. 9 corresponds to −90 °. Further, the relative phase γ = −90 ° indicates a case where the relative rotation is 90 ° in the opposite direction to the example shown in FIG. As will be described later, the phase range Y1 of the relative phase γ = 0 ° to 90 ° is a loss (total loss of iron loss, copper loss, mechanical loss, etc.) when the rotating electrical machine 100 performs a power running operation compared to the phase range Y4. , The same applies hereinafter)). When the rotating electrical machine 100 performs a power running operation, the phase command γ ^* is selected from this range. In addition, the phase range Y4 of the relative phase γ = −90 ° to 0 ° is a phase range with less loss when the rotating electrical machine 100 performs a regenerative operation compared to the phase range Y1. When the rotating electrical machine 100 performs a regenerative operation, the phase command γ ^* is selected from this range.

Similarly, as a preferable aspect, the second phase range YH is relative to the relative position where the field magnetic flux on both sides in the circumferential direction is the maximum, with the relative position (relative phase γ = 90 °) at which the field magnetic flux is minimum. It is good to set to the range which makes a phase ((gamma) = 0 degrees and 180 degrees) an outer edge. In FIG. 9, the second phase range YH including the broken line portion corresponds to this range. As described above, the relative phase γ = 180 ° corresponds to a state in which the air gap 48 has substantially reached the same relative position as in the example shown in FIG. 3 by further rotating by 90 ° from the example shown in FIG. To do. As described above, the phase range Y1 of the relative phase γ = 0 ° to 90 ° is a phase range with less loss when the rotating electrical machine 100 performs a power running operation compared to the phase range Y2. When the rotating electrical machine 100 performs a power running operation, the phase command γ ^* is selected from this range. Further, the phase range Y2 of the relative phase γ = 90 ° to 180 ° is a phase range in which the loss is less when the rotating electrical machine 100 performs the regenerative operation than the phase range Y1. When the rotating electrical machine 100 performs a regenerative operation, the phase command γ ^* is selected from this range.

  Here, it supplements about the relationship between each quadrant S1-S4 in the graph of the relative phase (gamma) shown in FIG. The relative phase γ graph shown in FIG. 9 represents the entire range of the relative phase γ variable range indicating the relative positions in the circumferential direction of the first rotor 41 and the second rotor 42 as a 360 ° drawing range centered on the origin. It can be said that it is defined by the phase range. As described with reference to FIG. 8, when the magnetic resistance of the surface of the rotor unit 40 changes, a position electrically orthogonal to the center of the magnetic pole formed by the permanent magnet 24 on the surface of the rotor unit 40 In some cases, the armature magnetic flux induced by the current flowing through the stator coil 32 differs from the maximum magnetic flux density position on the surface of the rotor unit 40. That is, there may be a deviation δ between the first vector space based on the permanent magnet 24 and the second vector space, which is a space where current feedback control is actually performed as will be described later. Due to the influence of the deviation δ, for example, a phenomenon occurs in which the regenerative side torque is generated as a part of the torque when the rotating electrical machine 100 is in the power running state. This is a loss for the rotating electrical machine 100. For this reason, each quadrant S1-S4 in the graph of the relative phase γ shown in FIG. 9 is a power running operation and a regenerative operation from the viewpoint of a quadrant in which the loss is smaller than other quadrants in relation to the power running or regenerative operation state. It is possible to classify according to which one is suitable. In the present embodiment, the first quadrant S1 and the third quadrant S3 are quadrants (phase ranges) suitable for power running, and the second quadrant S2 and the fourth quadrant S4 are quadrants (phase ranges) suitable for regenerative operation. ).

  As one preferred mode derived from the relationship between each of the quadrants S1 to S4 and the operating state of the rotating electrical machine 100, the first phase range YL and the second phase range YH may be set as follows. Here, the rotating electrical machine 100 is induced by a position that is electrically orthogonal to the center of the magnetic pole F formed by the permanent magnet 24 on the surface of the rotor unit 40 and a current flowing through the stator coil 32 by adjusting the relative position. Thus, the armature magnetic flux is different from the maximum magnetic flux density position on the surface of the rotor unit 40. The first phase range YL is used for the regenerative operation from the relative position (for example, γ = −90 °) at which the field magnetic flux is minimum in the phase range (fourth quadrant S4) suitable for the regenerative operation of the rotating electrical machine 100. The relative position (for example, γ = 0 °) at which the field magnetic flux in the suitable phase range (fourth quadrant S4) is maximized and the field magnetic flux in the phase range (first quadrant S1) suitable for power running are maximized. The range up to the relative position (for example, γ = 90 °) at which the field magnetic flux in the phase range (first quadrant S1) suitable for powering operation is minimized through the relative positions (for example, γ = 0 °). It is preferable to set to. The second phase range YH is suitable for powering operation from the relative position (for example, γ = 0 °) at which the field magnetic flux is maximum in the phase range (first quadrant S1) suitable for powering operation of the rotating electrical machine 100. The relative position (for example, γ = 90 °) at which the field magnetic flux in the phase range (first quadrant S1) is minimum and the field magnetic flux in the phase range suitable for regenerative operation (second quadrant S2) are minimized. Through the relative position (for example, γ = 90 °) in order, the relative field position (for example, γ = 180 °) in which the field magnetic flux in the phase range (second quadrant S2) suitable for the regenerative operation is maximized. Preferably it is set.

FIG. 10 shows an example of the low rotational speed region phase map 7L, and FIG. 11 shows an example of the high rotational speed region phase map 7H. The positive torque indicates the torque in the powering operation state, and the negative torque indicates the torque in the regenerative operation state. As described above, the phase command γ ^* is defined in the low rotational speed region phase map 7L with γ = −90 ° to 90 ° as the first phase range YL. The high rotational speed region phase map 7H defines a phase command γ ^* with γ = 0 ° to 180 ° as the second phase range YH.

  10 and 11 indicates the rotational speed ω (predetermined rotational speed threshold) that is a boundary between the high rotational speed region and the low rotational speed region. That is, the high rotational speed region phase map 7H is substantially selected at the rotational speed ω equal to or higher than the rotational speed threshold TH, and the low rotational speed region phase map 7L is selected at the rotational speed ω less than the rotational speed threshold TH. Is selected. Other selections, for example, the high rotational speed region phase map 7H may be selected at a rotational speed ω less than the rotational speed threshold TH, which will be described later. Basically, when the rotational speed ω changes from the low rotational speed to the high rotational speed and becomes equal to or higher than the predetermined rotational speed threshold value TH, the relative phase control unit 7 refers to the reference destination γ map 70 ( The phase map) is switched from the low rotational speed region phase map 7L to the high rotational speed region phase map 7H. When the rotational speed ω changes from the high rotational speed to the low rotational speed and becomes less than the rotational speed threshold TH, the relative phase control unit 7 increases the reference destination γ map 70 (phase map). The rotational speed range phase map 7H is switched to the low rotational speed range phase map 7L.

  Comparing FIG. 10 with FIG. 11, in the rotational speed region below the rotational speed threshold TH, the low rotational speed region phase map 7L changes in the relative phase γ compared to the high rotational speed region phase map 7H. It is moderate. For example, at the rotational speed ω of the arrow A1, the low rotational speed region phase map 7L in FIG. 10 has fewer lines indicating changes in the relative phase γ than the high rotational speed region phase map 7H in FIG. The change of γ is gradual. Therefore, in the low rotational speed region, it is preferable that the relative position adjusting mechanism 50 is controlled based on the low rotational speed region phase map 7L. On the other hand, in the rotational speed range above the rotational speed threshold TH, the change in the high rotational speed range phase map 7H is continuous, whereas the change in the low rotational speed range phase map 7L has discontinuous points. Arise. For example, at the rotational speed ω indicated by the arrow A2, the number of lines indicating the change in the relative phase γ is larger in the low rotational speed region phase map 7L in FIG. 10 than in the high rotational speed region phase map 7H in FIG. . Although it is not possible to express all the detailed changes in the relative phase γ in the diagram of FIG. 10, the change in the relative phase γ may be discontinuous particularly in the vicinity of the torque of 0 [Nm]. . For example, in the low rotational speed region phase map 7L of FIG. 10, at the rotational speed ω of the arrow A2, the relative phase γ changes from γ = 60 ° to γ when shifting from positive torque to negative torque across 0 [Nm]. = Discontinuously changes to -60 °.

  Such gradual change and relative continuity of the relative phase γ affect the response of phase adjustment and mechanical loss when driving the relative position adjustment mechanism 50. Therefore, the high rotational speed region phase map 7H is selected at the rotational speed ω equal to or higher than the rotational speed threshold TH, and the low rotational speed region phase map 7L is selected at the rotational speed ω less than the rotational speed threshold TH. Therefore, it is possible to effectively suppress the deterioration of the position adjustment responsiveness and the loss of the rotating electrical machine 100 (loss including iron loss, copper loss, mechanical loss, etc.).

  FIG. 12 shows a case where field flux adjustment is performed when two types of γ maps 70 are switched and used, as in the present invention, and when one type of γ map 70 is used regardless of the rotational speed ω. An example of the adjustment width (phase difference) of the relative position is shown. The graph of FIG. 12 is a simulation result, in which an operation pattern defining the rotational speed and the torque is given, and the change in the adjustment width (phase difference) when the optimal relative phase γ is calculated in a timely manner is examined. . The solid line in the lower part of FIG. 12 shows a case where two types of γ maps 70 are switched and used as in the present invention, and the broken line uses one type of γ map 70 regardless of the rotational speed ω. Shows the case. It can be seen that when two types of γ maps 70 are switched and used as in the present invention, the change in phase is small and control with lower loss can be realized. According to the result of calculating the loss by simulation, the loss when using one type of γ map 70 is 100%, and the loss when using two types of γ maps 70 is reduced to 96.5%. .

  By the way, when the main use of the rotary electric machine 100 is a generator, the necessity for restricting the field magnetic flux and suppressing the power generation amount is relatively low. For this reason, the variable magnetic flux type rotating electrical machine has a relatively main use as an electric motor, and may perform a regenerative operation using a mechanical inertia force when the power running operation is stopped to function as a generator. Become more. In such an application, the possibility that the rotational speed increases during the regenerative operation is not high, and the rotational speed ω increases exclusively during the power running operation. As described above, the relative phase control unit 7 switches the γ map 70 (phase map) to be referred to based on the rotational speed ω. For example, when the rotational speed ω increases and shifts from the low rotational speed range to the high rotational speed range, there is a high possibility that the power running state is present. Therefore, there is a high possibility that the field magnetic flux needs to be limited as the rotational speed further increases. For this reason, in a situation where the rotational speed ω is increasing, it is preferable that the γ map 70 referred to from the low rotational speed region phase map 7L to the high rotational speed region phase map 7H is quickly switched.

  On the other hand, as one form of the case where the rotational speed ω shifts from the high rotational speed range to the low rotational speed range, as described above, the power running operation in the high rotational speed range is suspended and the regenerative operation by the inertial force is performed. It is conceivable that the rotational speed decreases during the process and shifts to a low rotational speed range. In this case, when the stopped power running operation is resumed, the rotational speed ω increases, and the rotational speed ω may shift from the low rotational speed range to the high rotational speed range again. For example, when the rotating electrical machine 100 is a vehicle driving force source or the like, the operating state of the rotating electrical machine 100 becomes a regenerative operating state by loosening an acceleration means such as an accelerator pedal, and the acceleration means is operated again, thereby causing a powering operating state. May be switched to. That is, there is a possibility that the driving state and the reference destination γ map 70 are switched in a composite manner. On the other hand, when the rotational speed ω decreases while the rotating electrical machine 100 is in a power running operation, and the transition is made from the high rotational speed range to the low rotational speed range, the rotating electrical machine 100 intentionally increases the rotational speed ω. There is a high possibility that it is controlled to be lowered. Even if the rotational speed ω rises again from this state, the operation state is the same, so the operation state and the γ map 70 of the reference destination do not switch in combination.

  Thus, as one suitable mode for suppressing the switching between the operating state and the γ map 70 of the reference destination as much as possible and executing the control of the relative position with high stability, the relative phase control unit 7 includes: The low rotation speed region phase map 7L and the high rotation speed region phase map 7H may be switched as follows. That is, when the rotational speed ω changes from the low rotational speed to the high rotational speed and becomes equal to or greater than the predetermined rotational speed threshold value TH, the relative phase control unit 7 sets the reference γ map 70 to the low rotational speed region phase. The map 7L is switched to the high rotation speed region phase map 7H. On the other hand, when the rotational speed ω changes from the high rotational speed to the low rotational speed and becomes less than the rotational speed threshold TH, the relative phase control unit 7 further provides that the rotating electrical machine 100 is in a power running operation state. As described above, the reference γ map 70 is switched from the high rotational speed region phase map 7H to the low rotational speed region phase map 7L.

As is apparent from FIG. 9, in the present embodiment, the first phase range YL and the second phase range YH are lower in loss than the second quadrant S2 and the fourth quadrant S4 in the powering operation state. The first quadrant S1, which is a quadrant, is included in common. Naturally, the first phase range YL and the second phase range YH can be set with any of the first quadrant S1 to the fourth quadrant S4 as a common quadrant. However, as described above, the switching of the γ map 70 may be performed on the condition that it is in a power running state. In the present embodiment, since the low rotational speed region phase map 7L and the high rotational speed region phase map 7H are both in the power running state, the relative phase γ in the first quadrant S1 is defined as the phase command γ ^* . Smooth switching and smooth control can be realized, and loss is also reduced. From the viewpoint of commonly including a lower-loss quadrant in the power running operation state, the first phase range YL is set to the second quadrant S2 and the third quadrant S3 with the third quadrant S3 as a common quadrant, The two-phase range YH may be set in the third quadrant S3 and the fourth quadrant S4.

Based on the phase command γ ^* set in this way, the relative phase control unit 7 controls the driving force source 56, preferably by feedback control, and drives and controls the relative position adjustment mechanism 50. The actual movement amount of the relative position adjusting mechanism 50 is acquired by the relative phase control unit 7 as an estimated value predicted from an actual relative phase detected by a sensor or the like or a drive signal given to the drive circuit 75. The relative phase control unit 7 transmits the detected relative phase and the relative phase as an estimated value to the torque control unit 1 as a relative phase γ.

The torque control unit 1 (current command calculation unit) is a command for a current to flow through the stator coil 32 with reference to a torque map (current command map 1a) corresponding to the relative phase γ based on the target torque T ^* and the rotational speed ω. A certain current command id_M ^* , iq_M ^* is calculated. These current commands id_M ^* and iq_M ^* are calculated in the first vector space defined by the dM axis and the qM axis. The current command map 1a is a map generated in advance based on torque characteristics (torque map) as exemplified in FIGS. If necessary, the torque control unit 1 is a ratio of the effective value of the three-phase AC voltage of the stator coil 32 to the DC voltage between the positive electrode P and the negative electrode N of the DC voltage source 8 and indicates a conversion rate. The current commands id_M ^* and iq_M ^* are calculated using the rate MI.

In the rotation mechanism unit 20 that is a variable magnetic flux type, the characteristics of the field magnetic flux change depending on the relative position between the first rotor 41 and the second rotor 42. For this reason, the rotary electric machine control device has a plurality of torque maps corresponding to the relative position (relative phase γ) as illustrated in FIGS. 13 to 15. FIG. 13 shows an example of torque characteristics in both vector spaces when the relative phase γ between the first rotor 41 and the second rotor 42 is 0 degrees. Similarly, FIG. 14 shows the torque characteristics when the relative phase γ is 45 degrees, and FIG. 15 shows the torque characteristics when the relative phase γ is 67 degrees. Each part (a) of FIGS. 13 to 15 shows the torque characteristics in the first vector space, and each part (b) of FIGS. 13 to 15 shows the torque characteristics in the second vector space. . The torque control unit 1 calculates current commands id_M ^* and iq_M ^* using a torque map (current command map 1a) corresponding to the relative phase γ transmitted from the relative phase control unit 7.

  A variable magnetic flux type rotating electrical machine such as the rotating mechanism unit 20 (the rotating electrical machine 100) of the present embodiment suppresses a decrease in efficiency due to flowing a d-axis current that does not contribute to torque in order to increase or decrease the field magnetic flux electrically. It is adopted as one purpose. In practice, however, the adjustment of the structural field magnetic flux using the relative position adjusting mechanism 50 and the adjustment of the electric field magnetic flux such as field weakening control and field strengthening control are often used in combination. In field adjustment control such as field weakening control and field strengthening control, the field magnetic flux is electrically adjusted by increasing or decreasing the d-axis current that generates a magnetic flux in the same direction as the field magnetic flux. As will be described later, in the electric field adjustment control, it is sufficient to consider only the d-axis current in the first vector space, but in the second vector space, the difference between the d-axis current and the q-axis current is sufficient. Both need to be considered. For this reason, it is preferable to perform the electric field adjustment control in the first vector space that is easy to control, and the torque control unit (current command calculation unit) 1 calculates the current command in the first vector space.

  13 to 15, thin solid lines are isotorque lines showing a vector locus of a combination of d-axis current and q-axis current that can output a predetermined torque. A dotted line is a voltage limit ellipse (voltage speed ellipse) that is set according to the rotational speed ω and the DC voltage of the rotor unit 40 and indicates a vector locus of a combination of d-axis current and q-axis current that can be set. A thick solid line indicated by MT is a maximum torque line indicating a vector locus of a combination of d-axis current and q-axis current that can output each torque with the highest efficiency. This maximum torque line is an example, and is set as a current command for standard basic control executed inside the voltage limit ellipse, and shows a vector locus for basic control according to torque ( Basic control line) is not limited to the maximum torque line. A thick solid line denoted by LT corresponds to a vector locus of a contact when each equal torque line becomes a tangent of a voltage limit ellipse, and a vector locus of a combination of a limit d-axis current and q-axis current capable of outputting each torque. This is the limit torque line.

In the torque characteristics shown in FIGS. 13 to 15, when the electric field adjustment control is not required, standard basic control is performed, and the current command includes an isotorque line and a maximum corresponding to the torque command T ^*. It becomes the value of the d-axis current and the q-axis current at the intersection with the torque line (basic control line). When the field magnetic flux is electrically adjusted, for example, when performing field weakening control, the d-axis current at the point traveling on the equal torque line from the intersection of the equal torque line and the maximum torque line MT toward the limit torque line, and The value of the q-axis current becomes the current command.

  13A to 15B, in the first vector space, regardless of the relative phase γ, the current changes along the d-axis during field weakening control and the amount of current increases. However, the q-axis current is almost constant and does not change. On the other hand, referring to the respective partial diagrams (b) of FIGS. 13 to 15, in the second vector space, when the relative phase γ increases during the field weakening control, not only the d-axis current but also the q-axis current changes. To do. For example, as shown in FIG. 13B, when the relative phase γ is 0 degree, in the second vector space, only the d-axis current changes and the q-axis current is constant as in the first vector space. However, in FIG. 14B in which the relative phase γ is 45 degrees, the change in the q-axis current is larger than that in the first vector space. In FIG. 15B where the relative phase γ is 67 degrees, the change in the q-axis current is further increased.

As described above, when the current command to be changed for adjusting the field magnetic flux, such as field weakening control, is applied to two axes, the calculation for determining the current command becomes complicated. In the first vector space, it is possible to determine the current command including the electric field adjustment control by considering only the d-axis current. Therefore, in the present embodiment, the torque control unit 1 includes the first The current commands id_M ^* and iq_M ^* in the vector space are calculated.

On the other hand, the current control unit (voltage command calculation unit) 3 at the subsequent stage performs current feedback control in the second vector space to calculate the voltage commands vd_L ^* and vq_L ^* . As described above, the first vector space and the second vector space have a deviation δ on their coordinate axes. Since the current control unit 3 calculates a voltage command in the second vector space, it is necessary to convert the current command into a command in the second vector space. Therefore, the space coordinate conversion unit 2 uses the current command id_M ^* and iq_M ^* calculated in the first vector space by a known coordinate conversion calculation and the current command id_L ^* (= in the second vector space using the deviation δ. coordinate conversion into id_M ^* .cosδ + iq_M ^* .sinδ), iq_L ^* (= iq_M ^* .cosδ−id_M ^* .sinδ).

The current control unit 3 performs current feedback control in the second vector space and calculates voltage commands vd_L ^* and vq_L ^* . Specifically, the actual currents iu, iv, iw actually flowing through the stator coil 32 measured by the current sensor 91 are fed back, and the deviation from the current commands id_L ^* , iq_L ^* is taken to perform proportional integration (PI) control. And proportional calculus (PID) control. In the present embodiment, the current sensor 91 that detects the current in a non-contact manner near the current wiring such as a bus bar using the Hall effect is illustrated. In the present embodiment, an example is shown in which the currents of all three phases are detected. However, since the three phases are balanced, only two phases may be detected and the remaining one phase may be obtained by calculation.

  Since the actual currents iu, iv, iw flowing through the three-phase stator coil 32 of the uvw phase are three-phase alternating current, the feedback current coordinate conversion unit 4 converts them into two-phase feedback currents. Since the current control unit 3 using the feedback current performs PI control and PID control in the second vector space, the feedback current coordinate conversion unit 4 uses a known conversion formula to convert the three-phase current in the second vector space. Conversion into two-phase feedback currents id_L and iq_L. In general, when converting from three phases to two phases, based on the angle between the α-β vector space, which is a fixed coordinate system, and the rotational coordinate system, for example, the rotational angle θ of the rotor unit 40 shown in FIG. The coordinates are converted. However, as shown in FIG. 8, the rotation angle θ is a rotation angle with respect to the first vector space, and the rotation angle φ with respect to the second vector space is (θ + δ). As an example, the feedback current coordinate conversion unit 4 converts the three-phase feedback currents iu, iv, iw into the two-phase currents iα, iβ in the α-β axis vector space, and further converts them into the feedback currents id_L, iq_L in the second vector space. Convert.

  The current control unit 3 performs current feedback control based on a voltage equation (equation (1) shown below) in the second vector space. Here, vdL: dL axis voltage, vqL: qL axis voltage, idL: dL axis current, iqL: qL axis current, Ra: resistance component of stator coil, Ld: d axis inductance, Lq: q axis inductance, Ψa: stator Coil flux linkage, ω: rotational speed of rotor, p: differential operator.

Current control by the current control unit 3 is realized by obtaining a voltage (voltage command) by multiplying the current to be changed by an inductance. If only the change amount of the voltage command for causing the current change is extracted from the above equation (1) and transformed, the following equation (2) is obtained. Here, _{K L} and _{K M} is the gain factor in the PI control or PID control.

Although detailed description is omitted, when the voltage equation in the second vector space is used, the two axes of the d axis (dL axis) and the q axis (qL axis) are independent. That is, the d-axis current changes only with the d-axis voltage, and the q-axis current changes only with the q-axis voltage. On the other hand, in the voltage equation in the first vector space, the d-axis (dM-axis) and the q-axis (qM-axis) are not independent, and the d-axis current and the q-axis current are the d-axis voltage and the q-axis voltage. It changes under the influence of both. For this reason, the calculation for determining the voltage command becomes complicated and the calculation load increases. In the present embodiment, since the voltage commands vd_L ^* and vq_L ^* in the second vector space are calculated in order to change the current, it is possible to reduce the calculation load even for a rotating electrical machine having asymmetric saliency. .

The voltage control unit (drive command calculation unit) 5 generates a drive signal for driving a switching element such as an IGBT constituting the inverter 6 based on the voltage commands vd_L ^* and vq_L ^* , and performs switching control of the inverter 6. As is well known, the inverter 6 includes a three-leg bridge circuit corresponding to each of the three phases. Two IGBTs are connected in series between the positive electrode P and the negative electrode N of the DC voltage source 8, and this series circuit is connected in parallel in three lines. That is, a bridge circuit in which one set of series circuits (arms) corresponds to each of the stator coils 32 corresponding to the u phase, the v phase, and the w phase of the motor is configured. The intermediate point of the series circuit composed of the IGBTs of each phase as a pair, that is, the connection point of the IGBT is connected to the stator coil 32. A free wheel diode (regenerative diode) is connected in parallel to each IGBT. The freewheel diode is connected in parallel to the IGBT, with the cathode terminal connected to the collector terminal of the IGBT and the anode terminal connected to the emitter terminal of the IGBT.

  The drive signal is generated as a gate drive signal of each IGBT, for example. In general, a power system voltage for driving an inverter and an electronic circuit such as a microcomputer are greatly different from each other. For this reason, the gate drive signal of the IGBT generated by the low voltage electronic circuit is supplied to each IGBT arranged in the high voltage power system electric circuit via the driver circuit. In FIG. 7, this driver circuit is also shown as being included in the inverter 6. Note that the calculation in the voltage controller 5 may be performed in either the first vector space or the second vector space.

[Other Embodiments]
Hereinafter, other embodiments of the present invention will be described. Note that the configuration of each embodiment described below is not limited to being applied independently, and can be applied in combination with the configuration of other embodiments as long as no contradiction arises.

(1) In the above embodiment, the case where the circumferential relative position is adjusted within a certain range (for example, γ = −90 ° to 180 °) has been described as an example, but the relative position is adjusted beyond 360 °. You may make it do. In other words, when the first rotor 41 and the second rotor 42 are relatively rotatable indefinitely in both circumferential directions, the certain range may be set to an infinite range. For example, when the current relative position is γ = 30 ° and the target relative position is γ = 170 °, the target relative position is read as γ = −10 °. At 30 ° and 170 °, the adjustment width (phase difference) is 140 °. However, at 30 ° and −10 °, the adjustment width is 40 °, and the relative position can be adjusted with a small adjustment width. Similarly, the current relative position may be read as γ = 210 ° while the target relative position remains γ = 170 °. As a result, the response of the phase adjustment can be improved, and the loss such as mechanical loss of the relative position adjustment mechanism 50 can be reduced. However, if there is an error in adjustment because there is no limiter, the error may be accumulated. Therefore, when a certain range is set to an infinite range as described above, it is preferable to add a reset mechanism or the like.

(2) In the above-described embodiment, the variable magnetic flux type rotation mechanism unit 20 has been described as an example in which only the first rotor 41 is provided with the permanent magnet 24. However, the embodiment of the present invention is not limited to this. For example, the permanent magnet 24 may be provided in both the first rotor 41 and the second rotor 42. Alternatively, only the second rotor 42 may be provided with the permanent magnet 24 and a gap may be formed in the first rotor 41. Each rotor 41 and 42 may include a permanent magnet and a gap. Of course, the arrangement direction and shape of the permanent magnet 24, the direction and shape of the air gap, and the like are not limited to the present embodiment. In addition, the mechanism for changing the field magnetic flux is not limited to the above-mentioned forms, and various forms and systems can be used. For example, a variable magnetic flux type rotating electrical machine may be realized by changing the position and orientation of the permanent magnet in the rotor.

(3) In the embodiment of the present invention described above, the permanent magnet 24 is provided only in the first rotor 41 as the rotation mechanism unit 20, and the relative position where the field magnetic flux is the maximum and the relative position where the field magnetic flux is the minimum. Is 90 ° in electrical angle. However, as described above, the rotation mechanism unit 20 may have a configuration in which the permanent magnets 24 are provided in both the first rotor 41 and the second rotor 42. For example, FIG. 4 of Patent Document 1 shows an example of such a rotation mechanism unit. In this case, as is clear from FIG. 4 of Patent Document 1, the phase difference between the relative position where the field magnetic flux is maximum and the relative position where the field magnetic flux is minimum is 180 ° in electrical angle. When the permanent magnet 24 is provided only in the first rotor 41 as in the rotation mechanism unit 20 according to the embodiment of the present invention described above, the relative positions of the two rotors are electric as illustrated in FIG. A relative position equivalent to the original relative position is obtained at an angle of 360 °. However, in the case where the permanent magnet 24 is provided in both the first rotor 41 and the second rotor 42, the relative position of the two rotors is an original relative angle of 720 ° as illustrated in FIG. The relative position is equivalent to the position. Therefore, the first phase range YL and the second phase range YH are also set to a range of 360 °, for example, based on this relationship. Since the above-described embodiment of the present invention can be applied to the central relative phase γ and the like, detailed description thereof will be omitted.

(4) In the above embodiment, the configuration in which the rotor unit and the stator are installed overlapping in the radial direction is illustrated. However, the present invention is not limited to this configuration, and an axial type rotating electrical machine in which the rotor unit and the stator are installed overlapping in the axial direction may be used. In the above-described embodiment, the inner rotor type rotating electrical machine has been described as an example, but the present invention can naturally be applied to an outer rotor type rotating electrical machine. Regarding other configurations as well, the embodiments disclosed herein are illustrative in all respects, and the embodiments of the present invention are not limited thereto. That is, the present invention and a configuration equivalent to the present invention are provided, and a configuration in which a part of the above embodiment is appropriately modified belongs to the technical scope of the present invention without departing from the gist of the invention.

  The present invention includes a rotor unit having a first rotor and a second rotor capable of adjusting a circumferential relative position within a certain range, and a stator having a stator coil, and a permanent magnet provided in the rotor unit. The field magnetic flux generated and interlinked with the stator coil can be applied to a rotating electrical machine control device that controls a variable magnetic flux type rotating electrical machine that can be adjusted according to a relative position.

γ: Relative phase (relative position)
7: Relative phase controller 7H: High rotational speed region phase map 7L: Low rotational speed region phase map 24: Permanent magnet 30: Stator 32: Stator coil 40: Rotor unit 41: First rotor 42: Second rotor 70: γ Map (phase map)
100: Rotating electric machine F: Magnetic pole PD: Magnetic pole center position PL: Armature magnetic flux maximum position PQ: Magnetic pole center orthogonal position YH: Second phase range YL: First phase range

Claims (4)

A rotor unit having a first rotor and a second rotor capable of adjusting a relative position in a circumferential direction within a certain range; and a stator having a stator coil; and the stator generated by a permanent magnet provided in the rotor unit. A rotating electrical machine control device for controlling a variable magnetic flux type rotating electrical machine capable of adjusting a field magnetic flux linked to a coil according to the relative position,
The phase command indicating the relative position for adjusting the field magnetic flux is determined on the basis of a phase map defined according to a target torque and a rotational speed, and the first rotor and the second rotor are determined. A relative phase control unit that adjusts the relative position with the rotor is provided.
The phase map includes a low rotational speed region phase map in which the phase command is defined within a first phase range set so as to include the relative position where the field magnetic flux is maximum, and the field magnetic flux is minimum. A high rotational speed region phase map in which the phase command is defined within a second phase range set to include the relative position
The relative phase control unit is a rotating electrical machine control device that determines the phase command by switching and referring to the low rotational speed region phase map and the high rotational speed region phase map based on the rotational speed.   When the rotational speed changes from a low rotational speed to a high rotational speed and becomes equal to or greater than a predetermined rotational speed threshold, the relative phase control unit displays the phase map as a reference destination in the low rotational speed region phase. When the map is switched from the map to the high rotational speed range phase map and the rotational speed changes from the high rotational speed to the low rotational speed and becomes less than the rotational speed threshold value, the rotating electrical machine is further in a power running operation state. 2. The rotating electrical machine control device according to claim 1, wherein the phase map of the reference destination is switched from the high rotation speed region phase map to the low rotation speed region phase map on the condition that The first phase range is set to a range in which the relative position where the field magnetic flux on both sides of the circumferential direction is the minimum is the outer edge, with the relative position where the field magnetic flux is maximum as the center.
The second phase range is set to a range in which the relative position where the field magnetic flux on both sides in the circumferential direction is the maximum is the outer edge with the relative position where the field magnetic flux is minimum as the center. Item 3. The rotating electrical machine control device according to Item 1 or 2. The rotating electric machine is an electric machine induced by a current flowing through the stator coil and a position electrically orthogonal to the center of the magnetic pole formed by the permanent magnet on the surface of the rotor unit by adjusting the relative position. The magnetic flux density maximum position on the surface of the rotor unit of the child magnetic flux is in a different state,
In the second phase range, the field magnetic flux in the phase range suitable for the power running operation is minimized from the relative position where the field magnetic flux in the phase range suitable for the power running operation of the rotating electrical machine is maximized. The relative position and the relative position at which the field magnetic flux in the phase range suitable for the regenerative operation is minimized to the relative position at which the field magnetic flux in the phase range suitable for the regenerative operation is maximized. The rotating electrical machine control device according to any one of claims 1 to 3, wherein the rotating electrical machine control device is set to a range.

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