JP2012257359A - Controller of rotary machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve a problem that, if torque is estimated based on a map which assumes a torque formula "φ*id+P(Ld-Lq)*id*iq" or a specific value for an armature interlinkage flux constant φ, estimation accuracy of torque is largely reduced, because the armature interlinkage flux constant φ varies in such a case where an error, in which magnetic force of a permanent magnet of a motor generator 10 is reduced, occurs.SOLUTION: On MGECU30, diagnostic estimated torque Tde is calculated by dividing effective power EP(=Vn*Ia*cosΔ) with electric angular velocity ω. Here, a norm Vn is a norm of a vector of output voltage of an inverter INV, a norm Ia is a norm of a vector of actual currents id and iq, and a phase difference Δ is a phase difference between a current vector and a voltage vector. The presence or absence of a torque error is diagnosed based on whether or not the diagnostic estimated torque Tde is largely deviated from a torque command value Tr.

Description

  The present invention relates to a control device for a rotating machine that controls the torque of the rotating machine by manipulating an output voltage of an AC voltage application circuit connected to the rotating machine.

  As this type of control device, for example, as seen in Patent Document 1 below, based on the difference between the torque estimated based on the formula “φ · id + P (Ld−Lq) · id · iq” and the torque command value, Some have been proposed for diagnosing the presence or absence of abnormality in torque control. There are other torque estimation methods based on, for example, a map that assumes a specific value as the armature flux linkage number φ.

JP 2007-166821 A

  However, when the above formula or map is used, if there is an abnormality in which the magnetic force of the permanent magnet of the motor decreases, the armature linkage magnetic flux constant φ changes, so the torque estimation accuracy is greatly reduced. For this reason, there is a possibility that the accuracy of diagnosing the presence or absence of abnormality in torque control may be reduced.

  The present invention has been made in the process of solving the above-described problems, and its object is to perform a new rotation for controlling the torque of the rotating machine by manipulating the output voltage of an AC voltage application circuit connected to the rotating machine. It is to provide a control device for a machine.

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

  The invention according to claim 1 is a control device for a rotating machine that controls the torque of the rotating machine by manipulating an output voltage of an AC voltage application circuit connected to the rotating machine. In response, the voltage operation means for operating the output voltage of the AC voltage application circuit, the vector norm of the current according to the detected value of the current flowing through the rotating machine, the operated output voltage, the current vector and the operation Of the AC voltage application circuit that is obtained from the phase difference between the phase difference from the output voltage vector and the rotation speed of the rotating machine and is obtained from the product of the vector norm of the current and the output voltage to be operated and the phase difference. Torque estimating means for estimating the torque of the rotating machine based on a value obtained by dividing effective power by the electrical angular velocity of the rotating machine, torque estimated by the torque estimating means, Based on the comparison of the torque information of the rotary machine which does not depend on the torque estimation means, characterized in that it comprises a diagnostic means for diagnosing the presence or absence of abnormality of the rotating machine.

  In the said invention, it is thought that the torque estimated by a torque estimation means shows the actual torque of a rotary machine. For this reason, if there is a deviation from the torque information, it can be determined that an abnormality has occurred in the rotating machine. In the above invention, in view of this point, the diagnostic means is configured.

  According to a second aspect of the invention, in the first aspect of the invention, the vector norm of the current is calculated from a dq coordinate component.

  In the above invention, the current vector norm can be easily calculated by using the DC component.

  According to a third aspect of the present invention, in the first or second aspect of the invention, the diagnosis unit uses the command value as torque information of the rotating machine that does not depend on the torque estimation unit.

  In the above invention, it is possible to diagnose whether or not the actual torque of the rotating machine is controlled according to the command value by comparing the torque estimated by the torque estimating means with the command value.

  According to a fourth aspect of the present invention, in the third aspect of the invention, a control arithmetic processing device that performs arithmetic processing for operating the AC voltage application circuit, and a monitoring arithmetic processing device that monitors the control arithmetic processing device, The command value is calculated by the monitoring arithmetic processing unit, the control arithmetic processing unit includes the torque estimating means, and the monitoring arithmetic processing unit is configured to control the control arithmetic processing unit. And a function of diagnosing the presence or absence of abnormality of the rotating machine based on a comparison between the torque estimated in step 1 and the command value.

  In the above invention, the monitoring arithmetic processing means can diagnose the presence or absence of abnormality. Moreover, since the torque estimation means is provided in the control arithmetic processing unit that operates the AC voltage application circuit, it is not necessary for the monitoring arithmetic processing unit to acquire the operated output voltage.

  According to a fifth aspect of the present invention, in the third or fourth aspect of the present invention, a control arithmetic processing device that performs arithmetic processing for operating the AC voltage application circuit, and a monitoring arithmetic processing that monitors the control arithmetic processing device And the command value is calculated by the monitoring arithmetic processing unit, and the control arithmetic processing unit serves as the voltage operating means to rotate the command current to a command current according to the torque command value. Means for operating the output voltage of the AC voltage application circuit to feedback control the current flowing through the machine, wherein the monitoring arithmetic processing unit is calculated by the control arithmetic processing unit as the torque estimating unit. Means for estimating the torque by inputting an output voltage as an operation amount for feedback control, a detected value of a current flowing through the rotating machine, and the electrical angular velocity; Obtain together, as the diagnostic means, characterized in that it comprises means for diagnosing the presence or absence of abnormality of the rotating machine based on a comparison between the torque the estimated the command value.

  In the above invention, when the torque estimating means is constituted by the monitoring arithmetic processing unit, the output voltage calculated by the control arithmetic processing unit is acquired. Then, by estimating the torque while obtaining the detected current value and the like, the torque estimation means can be configured in cooperation with the monitoring arithmetic processing unit and the control arithmetic processing unit.

  According to a sixth aspect of the present invention, in the invention according to any one of the third to fifth aspects, the basic command value of the torque command value is corrected to compensate for electrical loss in the rotating machine. The diagnostic means performs the diagnosis based on a comparison between a basic command value corrected for compensating for the electrical loss and the estimated torque.

  The invention according to claim 7 is the invention according to any one of claims 3 to 6, wherein the command value of the torque is obtained by correcting a basic command value to compensate for mechanical loss of the rotating machine. And the diagnosis means performs the diagnosis based on a comparison between the basic command value corrected for compensating the mechanical loss and the estimated torque.

  The invention according to claim 8 is the invention according to any one of claims 3 to 7, wherein the rotating shaft of the rotating machine is provided with a load torque that varies according to the rotation of the rotating shaft, The torque command value is obtained by correcting the basic command value to compensate for the load torque, and the diagnostic means estimates the basic command value corrected for compensating the load torque and the estimated value. The diagnosis is performed based on a comparison with torque.

  The invention according to claim 9 is the invention according to any one of claims 1 to 8, wherein the rotating machine includes a permanent magnet.

  In the case of a rotating machine equipped with a permanent magnet, if a means for estimating the torque is used on the assumption that the armature flux linkage constant is a certain value, the torque can be accurately calculated in an abnormal time when the magnetic flux of the permanent magnet decreases. It becomes impossible to estimate. In this regard, when the effective power is used as described above, the torque can be estimated with high accuracy even if the magnetic flux of the permanent magnet decreases.

1 is a system configuration diagram according to a first embodiment. FIG. The block diagram which shows the process of MGECU concerning the embodiment. The flowchart which shows the procedure of the calculation process of the estimated torque for diagnosis concerning the embodiment. The flowchart which shows the procedure of the abnormality diagnosis process concerning the embodiment. The system block diagram concerning 2nd Embodiment. The system block diagram concerning 3rd Embodiment. The flowchart which shows the procedure of the process which the microcomputer for monitoring concerning the embodiment performs.

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

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

  As shown in the figure, the motor generator 10 is a three-phase electric motor / generator as an in-vehicle main machine, and is mechanically coupled to the drive wheels 14. Specifically, the rotating shaft 10a of the motor generator 10 is mechanically coupled to the drive wheels 14 via an electronically controlled clutch C1 and a transmission 12. In the present embodiment, an embedded magnet synchronous machine (IPMSM) is assumed as the motor generator 10.

  The rotating shaft 10a of the motor generator 10 is further mechanically coupled to an internal combustion engine (engine 16) via an electronically controlled clutch C2.

  The motor generator 10 is connected via an inverter INV to a high voltage battery 18 whose terminal voltage is a predetermined high voltage (for example, 100 V or more). On the other hand, the inverter INV includes three sets of series connection bodies of switching elements S * p, S * n (* = u, v, w), and the connection points of these series connection bodies are U, They are connected to the V and W phases, respectively. In the present embodiment, insulated gate bipolar transistors (IGBTs) are used as the switching elements S * p and S * n. In addition, diodes D * p and D * n are connected in antiparallel to these.

  In the present embodiment, the following is provided as detection means for detecting the state of the motor generator 10 and the inverter INV. First, a voltage sensor 20 that detects an input voltage (power supply voltage VDC) of the inverter INV is provided. Further, current sensors 22 and 24 for detecting currents iv and iw flowing through the V-phase and W-phase of motor generator 10 are provided. Furthermore, a rotation angle sensor 26 such as a resolver for detecting the rotation angle θ (electrical angle) of the motor generator 10 is provided.

  The detection values of the various sensors are taken into the motor generator electronic control unit (MGECU 30) constituting the low-pressure system via an interface (not shown). The MGECU 30 includes a central processing unit (CPU 32a), an arithmetic processing unit (microcomputer 32) including a ROM 32b and a RAM 32c. The microcomputer 32 in the MGECU 30 exchanges data with the hybrid electronic control device (HVECU 38), which is a host control device, by CAN communication or the like. In particular, the microcomputer 32 controls the torque of the motor generator 10 based on the torque basic command value Tr0 notified from the HVECU 38. This is executed by generating and outputting an operation signal for operating the inverter INV based on the detection values of the various sensors. Here, signals for operating the switching elements S * p and S * n of the inverter INV are the operation signals g * p and g * n.

  FIG. 2 shows a block diagram of processing relating to generation of the operation signal of the inverter INV.

As illustrated, the present embodiment includes a current feedback control unit 50 and a torque feedback control unit 60. In the following, “processing of the current feedback control unit 50” and “processing of the torque feedback control unit 60” will be described in this order, and then “abnormality diagnosis processing” will be described in detail.
“Processing of Current Feedback Control Unit 50”
The currents iv and iw flowing through the motor generator 10 are converted into an actual current id on the d axis and an actual current iq on the q axis, which are actual currents in the rotating two-dimensional coordinate system, in the two-phase conversion unit 40. Specifically, the high-frequency component of the q-axis component of the output of the two-phase conversion unit 40 is cut by the low-pass filter 52, and the high-frequency component of the d-axis component output by the two-phase conversion unit 40 is converted by the low-pass filter 53. Cut. On the other hand, the command current setting unit 51 sets a command current idr on the d axis and a command current iqr on the q axis, which are current command values of the rotating two-dimensional coordinate system, based on the torque command value Tr.

  The feedback control unit 54 calculates a command voltage vdr on the d axis as an operation amount for performing feedback control of the actual current id on the d axis to the command current idr. On the other hand, the feedback control unit 55 calculates a command voltage vqr on the q axis as an operation amount for performing feedback control of the actual current iq on the q axis to the command current iqr. Specifically, the feedback control units 54 and 55 perform the above calculation by adding the output of the proportional element and the output of the integral element.

The three-phase converter 56 converts the command voltages vdr and vqr of the rotating two-dimensional coordinate system into three-phase command voltages vur, vvr and vwr. The PWM signal generation unit 57 generates operation signals g * p, g * n by PWM processing based on the three-phase command voltages vur, vvr, vwr and the power supply voltage VDC. In the present embodiment, in particular, an operation signal is generated based on a magnitude comparison between a signal obtained by two-phase modulation of the three-phase command voltages vur, vvr, and vwr and normalized by the power supply voltage VDC and a triangular wave carrier.
“Processing of Torque Feedback Control Unit 60”
The control torque estimation unit 61 calculates an estimated torque Te based on the q-axis current and the d-axis current (outputs of the low-pass filters 52 and 53) flowing through the motor generator 10. Specifically, the vector norm (amplitude) of the actual currents id and iq and the phase of the vector are calculated, and the estimated torque value (estimated torque for control Te) is calculated based on these values. For example, this map is based on the following formula (c1), and if a value considering that the d-axis inductance Ld and the q-axis inductance Lq change according to the current is calculated: Good.

Te = φ · id + P (Ld−Lq) · id · iq (c1)
However, instead of this, a map created by obtaining the relationship between current and torque by experiments or the like may be used.

  Then, the phase setting unit 62 calculates the phase δ as an operation amount for performing feedback control of the estimated torque Te to the torque command value Tr. This phase δ is calculated as the sum of the outputs of the proportional element and the integral element, which receives the difference between the control estimated torque Te and the torque command value Tr.

  The norm setting unit 63 uses a map storing the relationship between the torque command value Tr and the electrical angular velocity ω and the norm Vn of the output voltage vector of the inverter INV, and sets the norm Vn with the torque command value Tr and the electrical angular velocity ω as inputs. .

  Then, the operation signal generation unit 64 operates the operation signal g * p based on the phase δ set by the phase setting unit 62, the norm Vn output by the norm setting unit 63, the power supply voltage VDC, and the rotation angle θ. , G * n. Specifically, the operation signal generation unit 64 stores an operation signal waveform for one rotation period of the electrical angle as map data for each modulation factor. However, in view of the symmetry of the operation signal waveform, map data for “1/4” period may be stored, and the operation signal waveform for one rotation period may be calculated based on the symmetry.

  The operation signal generation unit 64 calculates a modulation rate based on the power supply voltage VDC and the norm Vn, and selects a corresponding operation signal waveform accordingly. Here, the upper limit of the modulation rate is set to “1.27”, which is the modulation rate during rectangular wave control. For this reason, when the modulation rate is the maximum value “1.27”, the switching element S * p on the high potential side is turned on as one operation signal waveform in one rotation period of the electrical angle that is the waveform at the time of the rectangular wave control. A waveform (one pulse waveform) is selected for each of a pair of periods of a period in which the switching element S * n on the low potential side is turned on and a period in which the switching element S * n is turned on.

  When the operation signal waveform is selected in this way, the operation signal generation unit 64 generates an operation signal by setting the output timing of this waveform based on the phase δ set by the phase setting unit 62.

"Abnormality diagnosis processing"
According to the processing of the current feedback control unit 50 and the torque feedback control unit 60, the torque of the motor generator 10 can be controlled to the torque command value Tr. However, it is desirable from the viewpoint of reliability of the MGECU 30 or the like to determine whether there is an abnormality in which the actual torque of the motor generator 10 deviates greatly from the torque command value Tr. Therefore, in this embodiment, the presence or absence of abnormality is diagnosed based on the degree of deviation between the estimated torque value and the torque command value Tr.

  Here, torque that is different from the control estimated torque Te estimated by the control torque estimating unit 61 is used for torque estimation. This is because the estimated control torque Te does not represent the actual torque with high accuracy in an abnormal time when the magnetic flux of the permanent magnet of the motor generator 10 decreases.

  FIG. 3 shows a procedure for calculating the estimated torque (diagnostic estimated torque Tde) used for diagnosis according to the present embodiment. This process is repeatedly executed in the microcomputer 32, for example, at a predetermined cycle.

  In this series of processes, first, in step S10, the actual currents id and iq and the rotation angle θ are acquired. In the subsequent step S12, the vector norm of the output voltage of the inverter INV is acquired. This process is a process of acquiring the vector norms of the command voltages vdr and vqr output from the feedback control units 54 and 55 when the current feedback control unit 50 performs control. On the other hand, when the control by the torque feedback control unit 60 is performed, the norm Vn set by the norm setting unit 63 is acquired. In the subsequent step S14, the electrical angular velocity ω is calculated. In subsequent step S16, the phase difference Δ between the vector of the actual currents id and iq and the command voltage is calculated. Here, the phases of the actual currents id and iq may be calculated by, for example, “arctan {iq / (− id)}”. The phase of the command voltage may be the phase δ output from the phase setting unit 62. In the subsequent step S18, the effective power EP is calculated. This is “EP = Vn · Ia · cos Δ”. Here, the norm Ia of the current vector is used. In the subsequent step S20, the diagnostic estimated torque Tde is calculated by dividing the effective power EP by the electrical angular velocity ω. Here, the effective power EP is used because reactive power contributes to the torque among the power output to the motor generator 10, and the reactive power out of the power output to the motor generator 10. This is to exclude minutes.

  When the process of step S20 is completed, this series of processes is temporarily ended.

  FIG. 4 shows a diagnostic processing procedure according to the present embodiment. This process is repeatedly executed by the microcomputer 30 at a predetermined cycle, for example.

  In this series of processes, first, in step S30, a basic torque command value Tr0 is received from the HVECU 32. In the subsequent step S32, the torque command value Tr is calculated by correcting the basic command value Tr0. This is based on the basic command value Tr0, the correction amount Tle for compensating the electric loss of the motor generator 10, the correction amount Tlm for compensating the mechanical loss of the motor generator 10, and the rotation of the motor generator 10 from the engine 16 side. This can be done by adding the correction amount Tb for compensating the periodic load torque applied to the shaft 10a.

  Here, the electrical loss of the motor generator 10 is copper loss, iron loss, or the like of the rotor or the stator. On the other hand, the mechanical loss of the motor generator 10 is a loss caused by mechanical factors such as friction between the rotating shaft 10a and its bearing portion. Further, the load torque is a force that prevents the rotation that occurs when the piston in the engine 16 repeatedly rises and falls as the crankshaft rotates. The load torque is generated only when the clutch C2 is engaged.

  The correction amount Tle for compensating for the electrical loss may be map-calculated according to, for example, the torque of the motor generator 10, the electrical angular velocity ω, and the power supply voltage VDC. Further, the correction amount Tlm for compensating the mechanical loss and the correction amount Tb for compensating the load torque may be subjected to map calculation according to the electrical angular velocity or the like.

  In the subsequent step S34, the norm Vn is calculated during the control by the torque feedback control unit 60, and the command currents idr and iqr are calculated during the control by the current feedback control unit 50. This process is the process of the norm setting unit 63 and the process of the command current setting unit 51 shown in FIG. In the present embodiment, the cycle of a series of processes shown in this figure is set longer than the phase δ and the update cycle of the command voltages vdr and vqr. In other words, the update process of the norm Vn and the command currents idr and iqr is set longer than the update period of the phase δ and the command voltages vdr and vqr. In the subsequent step S36, the estimated diagnosis torque Tde is acquired.

  In step S38, it is determined whether or not the absolute value of the difference between the diagnostic estimated torque Tde and the torque command value Tr is less than a specified value ΔT. This process is for determining whether or not the actual torque of the motor generator 10 is controlled to the torque command value Tr. Here, the specified value ΔT is a value larger than the sum of the upper limit value of the difference between the actual torque and the torque command value Tr that can occur when the feedback control is normally performed and the estimated error of the diagnostic estimated torque Tde. Set to When an affirmative determination is made at step S38, a normal determination is made at step S40, while when a negative determination is made, an abnormality occurs in step S42 in which the actual torque of the motor generator 10 deviates greatly from the torque command value Tr. Judge that Incidentally, when an abnormality is determined, for example, a process of turning off all switching elements g * # of the inverter INV (a shutdown process of the inverter INV), a process of notifying the HVECU 38, and the like are performed.

  In addition, when the process of said step S40, S42 is completed, this series of processes are once complete | finished.

  Thus, in this embodiment, the use of the diagnostic estimated torque Tde makes it possible to diagnose the presence or absence of torque abnormality with high accuracy. In particular, since the estimated diagnosis torque Tde is calculated using a direct current component, it is easy to suppress the sixth-order pulsation component, for example, when processing by the torque feedback control unit 60 is performed. For this reason, it is because the process which smoothes the pulsation component of a direct current component is easy by using the low-pass filters 52 and 53 grade | etc.,.

Incidentally, the reason why the estimated torque for diagnosis Tde is not adopted as the feedback control amount is that the calculation load becomes large. That is, for calculating the estimated torque for diagnosis Tde, it is desirable to calculate the electrical angular velocity ω that varies at a time interval shorter than one electrical angle cycle, but when the calculation process of the electrical angular velocity ω that varies at a short time interval is performed. , The computation load increases. This is because the detection value of the rotation angle sensor 26 has an error depending on the electrical angle. In order to accurately calculate the electrical angular velocity ω that fluctuates in a short time interval, the error is corrected after correcting this error. This is because it is necessary to calculate the rate of change.
<Second Embodiment>
Hereinafter, the second embodiment will be described with reference to the drawings with a focus on differences from the first embodiment.

  FIG. 5 shows a system configuration of the present embodiment. In FIG. 5, the same reference numerals are given for convenience to those corresponding to the members shown in FIG. 1.

  The MGECU 30 according to the present embodiment includes a control microcomputer 34 and a monitoring microcomputer 36. Here, the control microcomputer 34 includes a central processing unit (CPU 34a), a ROM 32b, a RAM 32c, and the like, and is a software processing unit that performs software processing on a program stored in the ROM 32b by the CPU 32a. Specifically, the detection values of various sensors are input, and the operation signal g * # is generated and output based on the detection values. That is, both the current feedback control unit 50 and the torque feedback control unit 60 shown in FIG.

  On the other hand, the monitoring microcomputer 36 includes a central processing unit (CPU 36a), a ROM 36b, a RAM 36c, and the like, and is a software processing unit that performs software processing on a program stored in the ROM 36b by the CPU 36a. Specifically, it communicates with the HVECU 38 and monitors the control microcomputer 34.

  As shown in the figure, in this embodiment, the control microcomputer 34 calculates the diagnostic estimated torque Tde by executing the diagnostic estimated torque calculation program stored in the ROM 34b. On the other hand, the monitoring microcomputer 36 executes the torque command value Tr calculation program stored in the ROM 36b, calculates the torque command value Tr, and executes the diagnosis program, so that the diagnosis estimated torque Tde is controlled. 34, and the presence or absence of abnormality is diagnosed by comparing it with the torque command value Tr.

Here, for the calculation of the diagnostic estimated torque Tde, a detected current value is required, which is input only to the control microcomputer 34. The output voltage of the inverter INV is an operation amount for controlling the torque of the motor generator 10 and is calculated by the control microcomputer 34. For this reason, when the monitoring microcomputer 36 performs the calculation process of the estimated diagnosis torque Tde that requires these currents and output voltages, the amount of communication data between the control microcomputer 34 and the monitoring microcomputer 36 increases. . In this respect, in the present embodiment, an increase in the amount of communication data can be suppressed by calculating the diagnostic estimated torque Tde by the control microcomputer 34.
<Third Embodiment>
Hereinafter, the third embodiment will be described with reference to the drawings with a focus on differences from the first embodiment.

  FIG. 6 shows the system configuration of this embodiment. In FIG. 6, components corresponding to the members shown in FIG. 5 are given the same reference numerals for convenience.

  In this embodiment, not only the control microcomputer 34 but also the monitoring microcomputer 36 is configured to receive various sensor values. The monitoring microcomputer 36 has a function of calculating the estimated diagnosis torque Tde.

  FIG. 7 shows a processing procedure when the process of the current feedback control unit 50 is performed by the control microcomputer 34 among the processes for calculating the diagnostic estimated torque performed by the monitoring microcomputer 36. This process is repeatedly executed by the monitoring microcomputer 36, for example, at a predetermined cycle. Note that, in FIG. 7, the same step numbers are assigned for convenience to those corresponding to the processing shown in FIG.

In this series of processing, after the processing in step S10, the command voltages vdr and vqr are received from the control microcomputer 34 in step S12a. As described above, even when the detected current value or the like is input to the monitoring microcomputer 36, the command voltages vdr and vqr are calculated by the control microcomputer 34. For this reason, when this is separately calculated in the monitoring microcomputer 36, there is a possibility that the calculation load is increased unnecessarily. In this regard, in this embodiment, an increase in the calculation load of the monitoring microcomputer 36 can be suppressed as much as possible.
<Other embodiments>
Each of the above embodiments may be modified as follows.

"Torque estimation means"
It is not limited to calculating the vector norm based on the current (actual current id, iq) on the dq axis, and for example, the norm of the current vector may be calculated on the αβ axis. At this time, the phase of the current vector may be calculated as a phase difference between the direction of the current vector and the direction advanced by 90 degrees from the d-axis direction determined from the rotation angle θ.

  Further, the present invention is not limited to the one provided with means for calculating the effective power and means for calculating the estimated torque for diagnosis Tde by dividing the calculated effective power by the electrical angular velocity ω. For example, a map that defines the relationship between the actual current vector norm Ia, norm Vn, phase difference Δ and electrical angular velocity ω and the estimated torque Tde for diagnosis is provided, and the vector norm Ia, norm Vn, phase difference Δ and electrical angular velocity ω May be used for map calculation of the estimated torque for diagnosis Tde.

"About diagnostic tools"
The invention is not limited to the comparison between the estimated diagnosis torque Tde and the torque command value Tr. For example, the control estimated torque Te and the diagnostic estimated torque Tde may be compared. In this case, it is possible to detect an abnormality in the arithmetic system of the feedback control, such that the control estimated torque Te cannot be estimated as a normal torque due to an abnormality in which the magnetic flux of the permanent magnet of the motor generator 10 decreases.

“Torque command value Tr”
The basic command value Tr0 is not limited to the correction amount Tlm for compensating the mechanical loss, the correction amount Tle for compensating the motor loss, and the correction amount Tb for compensating the load torque. For example, it may be corrected by only one of these three correction amounts. Further, for example, when the command from the HVECU 38 is a command value for the rotational speed, the torque command value Tr may be calculated in the MGECU 30 accordingly.

"AC voltage application circuit"
The AC voltage application circuit is not limited to a DC / AC conversion circuit (inverter INV) including a switching element that selectively connects a terminal of a rotating machine to each of a positive electrode and a negative electrode of a DC voltage source. For example, as described in Japanese Patent Application No. 2008-30825, a converter connected to each terminal of the rotating machine may be used.

"About rotating machines"
For example, it may be a main unit of a parallel series hybrid vehicle. Moreover, it is not limited to a hybrid vehicle, but may be a main unit mounted on an electric vehicle or a fuel cell vehicle that includes only means for accumulating electric energy as an energy supply source of the in-vehicle main unit. However, it is not limited to the main aircraft.

  As a synchronous machine provided with a permanent magnet, not only IPMSM but a surface magnet synchronous machine (SPMSM) etc. may be sufficient, for example.

  The rotating machine is not limited to a three-phase rotating machine, and may be a rotating machine having four phases or more, such as a five-phase rotating machine.

  In the above-described embodiment, the rotating machine is assumed to have a stator winding star-connected. However, the rotating machine is not limited to this and may be delta-connected.

"others"
For example, you may perform abnormality diagnosis processing of both the said 2nd Embodiment and the said 3rd Embodiment.

  DESCRIPTION OF SYMBOLS 10 ... Motor generator, 16 ... Engine, 56 ... Torque estimation part for diagnosis.

Claims (9)

In a control device for a rotating machine that controls the torque of the rotating machine by operating an output voltage of an AC voltage application circuit connected to the rotating machine,
Voltage operating means for operating the output voltage of the AC voltage application circuit in accordance with a torque torque command value;
A vector norm of current corresponding to a detected value of current flowing through the rotating machine, the operated output voltage, a phase difference between the current vector and the operated output voltage vector, and a rotation speed of the rotating machine. The rotating machine based on a value obtained by dividing the effective power of the AC voltage application circuit obtained from the vector norm of the current and the operated output voltage and the phase difference by the electric angular velocity of the rotating machine as an input Torque estimation means for estimating the torque of
Diagnosing means for diagnosing the presence or absence of abnormality of the rotating machine based on a comparison between the torque estimated by the torque estimating means and torque information of the rotating machine not based on the torque estimating means;
A control device for a rotating machine.   2. The rotating machine control device according to claim 1, wherein the vector norm of the current is calculated from a dq coordinate component.   3. The rotating machine control device according to claim 1, wherein the diagnosis unit uses the command value as torque information of the rotating machine that does not depend on the torque estimating unit. An arithmetic processing unit for control that performs arithmetic processing to operate the AC voltage application circuit;
A monitoring arithmetic processing device for monitoring the control arithmetic processing device,
The command value is calculated by the monitoring processor.
The control arithmetic processing unit includes the torque estimating means,
4. The monitoring arithmetic processing unit has a function of diagnosing whether there is an abnormality in the rotating machine based on a comparison between a torque estimated by the control arithmetic processing unit and the command value. The control apparatus of the described rotating machine. An arithmetic processing unit for control that performs arithmetic processing to operate the AC voltage application circuit;
A monitoring arithmetic processing device for monitoring the control arithmetic processing device,
The command value is calculated by the monitoring processor.
The control arithmetic processing unit, as the voltage operation means, means for operating the output voltage of the AC voltage application circuit so as to feedback control the current flowing through the rotating machine to a command current corresponding to the torque command value. Prepared,
The monitoring arithmetic processing unit, as the torque estimating means, an output voltage as an operation amount for the feedback control calculated by the control arithmetic processing unit, a detected value of a current flowing through the rotating machine, A means for estimating the torque by inputting an electrical angular velocity, and a means for diagnosing the presence or absence of abnormality of the rotating machine based on a comparison between the estimated torque and the command value as the diagnosis means; The control device for a rotating machine according to claim 3 or 4, characterized in that: The torque command value is a basic command value corrected to compensate for electrical loss in the rotating machine,
6. The diagnosis unit according to claim 3, wherein the diagnosis unit performs the diagnosis based on a comparison between a basic command value corrected for compensating for the electrical loss and the estimated torque. The control device for a rotating machine according to Item 1. The torque command value is a basic command value corrected to compensate for mechanical loss of the rotating machine,
7. The diagnosis unit according to claim 3, wherein the diagnosis unit performs the diagnosis based on a comparison between the basic command value corrected for compensating the mechanical loss and the estimated torque. The control device for a rotating machine according to Item 1. The rotating shaft of the rotating machine is provided with a load torque that varies according to the rotation of the rotating shaft,
The torque command value is a basic command value corrected to compensate for the load torque,
8. The diagnosis unit according to claim 3, wherein the diagnosis unit performs the diagnosis based on a comparison between the basic command value corrected for compensating the load torque and the estimated torque. The control device for a rotating machine according to Item 1.   The said rotating machine is provided with a permanent magnet, The control apparatus of the rotating machine of any one of Claims 1-8 characterized by the above-mentioned.

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