JP2016059152A - Control device of rotary electric machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a control device of a rotary electric device that can appropriately shorten a time it takes for a field current to achieve a target current If* after the field current begins to be flowed.SOLUTION: A control device is applied to a motor comprising a rotor having a field winding and a stator having an armature winding. The control device determines whether a field current achieves a target current If* if a d-axis current is increased in a negative direction after the field current begins to be flowed. The control device increases the d-axis current in the negative direction when it is determined that the target current If* is achieved. The timing when the d-axis current is increased in the negative direction is set to be after the timing when the field current begins to be flowed.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a control device applied to a rotating electric machine including a rotor having field windings and a stator having armature windings.

  As this type of control device, as seen in Patent Document 1 below, field current control means for controlling the field current supplied from the DC power source to the field winding, and the power of the DC power source to AC power. What is provided with the power converter which converts and supplies electric power to an armature winding is known. Specifically, in this control device, when the internal combustion engine is started, the magnetic field generated by flowing the current to the field winding at the same time as or immediately before starting the feeding by the field current control means by the field current control means. The armature winding is energized from the power converter so that a magnetic flux in the opposite direction is generated.

JP 2004-144019 A

  Here, with the field current control method described in Patent Document 1, the time from when the field current starts to flow until the field current reaches its target value cannot always be minimized. For this reason, the field current control technique still leaves room for improvement.

  The main object of the present invention is to provide a control device for a rotating electrical machine that can suitably shorten the time from when a field current is first applied until the field current reaches its target value.

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

  The present invention is applied to a rotating electric machine (10) including a rotor (12) having a field winding (11) and a stator (13) having an armature winding (10a, 10b). Magnetic field current control means (40j, 40k) for controlling the field current flowing through the magnetic winding, and the magnetic flux generated by passing the current through the armature winding from the field magnetic flux generated by flowing the field current The armature current control means (40c, 40d, 40f, 40h, 40i) for controlling the current to flow through the armature winding and the field current control means start to cause the field current to flow so as to cancel at In the period until the field current increases and reaches its target value, the timing of increasing the current flowing through the armature winding by the armature current control means in the direction of canceling the field magnetic flux, Field electricity By the control means, characterized in that it comprises delay means for delaying the timing at which begins to conduct the field current.

  After the field current starts to flow, the field current rises toward its target value, but the field current rise rate gradually decreases with time. This is because as the field current increases, the amount of voltage drop in the resistance component of the field winding increases, and the applied voltage to the inductance component of the field winding decreases. Here, the inventor of the present invention has a relatively high field current rising rate in a period immediately after the start of flowing the field current in the period from the start of flowing the field current until the field current reaches the target value. Focused on that. Then, after a period when the field current rise rate is relatively high after the field current starts to flow, the field current is passed by increasing the current passed through the armature winding in the direction to cancel the field magnetic flux. From the beginning, we found that the time required for the field current to reach its target value can be shortened.

  Therefore, in the above invention, the timing for increasing the current flowing through the armature winding in the direction of canceling the field magnetic flux in the period from when the field current starts to flow until before the field current reaches the target value, It is delayed from the timing at which the magnetic current starts to flow. For this reason, for example, compared to a configuration in which the increase timing of the current flowing through the armature winding in the direction of canceling the field magnetic flux and the distribution start timing of the field current are set at the same time, the field current is first applied. The time until the current reaches the target value can be shortened. Thereby, the torque of the rotating electrical machine can be quickly started up.

1 is an overall configuration diagram of an in-vehicle motor control system according to a first embodiment. The block diagram which shows the various processes in a control apparatus. The flowchart which shows the d-axis current switching process which increases a field weakening current. The figure which shows equivalent circuits, such as a field winding. The time chart for demonstrating the effect of 1st Embodiment. The figure which modeled transition of field current with a primary delay element. The flowchart which shows the d-axis current switching process concerning 2nd Embodiment. The flowchart which shows the d-axis current switching process concerning 3rd Embodiment. The flowchart which shows the d-axis current switching process concerning 4th Embodiment.

(First embodiment)
Hereinafter, a first embodiment in which a control device according to the present invention is applied to a vehicle including an engine as an in-vehicle main machine will be described with reference to the drawings.

  As shown in FIG. 1, the motor 10 is a wound field type rotary electric machine having a multiphase multiple winding, and more specifically, a wound field type synchronous motor having a three-phase double winding. . In the present embodiment, an ISG (Integrated Starter Generator) that integrates the functions of a starter and an alternator (generator) is assumed as the motor 10. In particular, in the present embodiment, in addition to starting the engine 20 for the first time, the engine 20 is automatically stopped when a predetermined automatic stop condition is satisfied, and then the engine 20 is automatically started when a predetermined restart condition is satisfied. The motor 10 also functions as a starter when executing the idling stop function for restarting.

  The rotor 12 constituting the motor 10 includes a field winding 11 and can transmit power to the crankshaft 20 a of the engine 20. In the present embodiment, the rotor 12 is connected (more specifically, directly connected) to the crankshaft 20a via the belt 21.

  Two armature winding groups (hereinafter referred to as a first winding group 10 a and a second winding group 10 b) are wound around the stator 13 of the motor 10. The rotor 12 is common to the first and second winding groups 10a and 10b. Each of the first winding group 10a and the second winding group 10b includes three-phase windings having different neutral points. In the present embodiment, the number of turns N1 of the windings constituting the first winding group 10a is set equal to the number of turns N2 of the windings constituting the second winding group 10b.

  Two inverters (hereinafter referred to as a first inverter INV1 and a second inverter INV2) corresponding to the first winding group 10a and the second winding group 10b are electrically connected to the motor 10, respectively. Specifically, a first inverter INV1 is connected to the first winding group 10a, and a second inverter INV2 is connected to the second winding group 10b. Each of the first inverter INV1 and the second inverter INV2 is connected in parallel with a high-voltage battery 22 that is a common DC power source. The high voltage battery 22 can be applied with the output voltage of the low voltage battery 24 boosted by the boost DCDC converter 23. The output voltage of the low voltage battery 24 (for example, lead acid battery) is set lower than the output voltage of the high voltage battery 22 (for example, lithium ion storage battery).

  The first inverter INV1 is a series connection of the first U, V, W phase high potential side switches SUp1, SVp1, SWp1 and the first U, V, W phase low potential side switches SUn1, SVn1, SWn1. Three sets are provided. The connection point of the series connection body in the U, V, and W phases is connected to the U, V, and W phase terminals of the first winding group 10a. In the present embodiment, N-channel MOSFETs are used as the switches SUp1 to SWn1. The diodes DUp1 to DWn1 are connected in antiparallel to the switches SUp1 to SWn1, respectively. The diodes DUp1 to DWn1 may be body diodes of the switches SUp1 to SWn1. The switches SUp1 to SWn1 are not limited to N-channel MOSFETs, but may be IGBTs, for example.

  Similarly to the first inverter INV1, the second inverter INV2 includes the second U, V, W phase high potential side switches SUp2, SVp2, SWp2, and the second U, V, W phase low potential side switches SUn2, SVn2. , SWn2 and three series connection bodies are provided. The connection point of the series connection body in the U, V, and W phases is connected to the U, V, and W phase terminals of the second winding group 10b. In the present embodiment, in this embodiment, N-channel MOSFETs are used as the switches SUp2 to SWn2. The diodes DUp2 to DWn2 are connected in antiparallel to the switches SUp2 to SWn2, respectively. Each diode DUp2-DWn2 may be a body diode of each switch SUp2-SWn2. Further, the switches SUp2 to SWn2 are not limited to N-channel MOSFETs, but may be IGBTs, for example.

  The positive terminal of the high voltage battery 22 is connected to the high potential side terminals (the drain side terminals of the high potential side switches) of the first and second inverters INV1, INV2. The negative terminal of the high voltage battery 22 is connected to the low potential side terminal (the source side terminal of each low potential side switch).

  A DC voltage can be applied to the field winding 11 by a field circuit 36. The field circuit 36 controls the field current flowing through the field winding 11 by adjusting the DC voltage applied to the field winding 11.

  The control system according to the present embodiment includes a rotation angle sensor 30, a voltage sensor 31, a field current sensor 32, and a phase current detection unit 33. The rotation angle sensor 30 is a rotation angle detection unit that detects the rotation angle (electrical angle θ) of the motor 10. The voltage sensor 31 detects the power supply voltage (also referred to as input voltage) of the first and second inverters INV1, INV2. The field current sensor 32 detects a field current flowing through the field winding 11. The phase current detector 33 detects each phase current of the first winding group 10a (current flowing through the first winding group 10a in the fixed coordinate system) and each phase current of the second winding group 10b. For example, a resolver can be used as the rotation angle sensor 30. In addition, as the field current sensor 32 and the phase current detection unit 33, for example, a device including a current transformer or a resistor can be used.

  Detection values of the various sensors are taken into the control device 40. The control device 40 includes a central processing unit (CPU) and a memory, and is software processing means that executes a program stored in the memory by the CPU. The control device 40 operates the first inverter INV1 and the second inverter INV2 based on the detection values of these various sensors in order to control the control amount (torque) of the motor 10 to the command value (command torque Trq *). Generate and output a signal. In detail, the control device 40 sets the switches SUp1 to SWn1, so that the command current for realizing the command torque Trq * and the current flowing through the first and second winding groups 10a, 10b of the motor 10 coincide. The SUp2 to SWn2 are turned on / off. In the present embodiment, independent motor control (vector control) is performed for each of the first winding group 10a and the second winding group 10b. In FIG. 1, signals for operating the switches SUp1 to SWn1 of the first inverter INV1 are shown as first operation signals gUp1 to gWn1, and signals for operating the switches SUp2 to SWn2 of the second inverter INV2 are shown as second operations. Signals gUp2 to gWn2 are shown. The field circuit 36 may be built in the control device 40 or may be externally attached to the control device 40.

  Next, motor control will be described with reference to FIG. In the present embodiment, the motor control method is the same for each of the first and second inverters INV1, INV2. For this reason, in FIG. 2, the first inverter INV1 will be described as an example.

  Based on the command torque Trq *, the command current setting unit 40a obtains d and q-axis command currents Id * and Iq *, which are current command values of the rotational coordinate system (dq coordinate system) corresponding to the first winding group 10a. Set. Specifically, the d-axis is defined as a direction along the direction of the field magnetic flux, and the q-axis is defined as a direction orthogonal to the d-axis. In the present embodiment, the d-axis command current Id * is set to 0 from the viewpoint of reducing loss.

  The two-phase conversion unit 40b corresponds to the first winding group 10a based on the electrical angle θ detected by the rotation angle sensor 30 and the phase currents IU, IV, IW detected by the phase current detection unit 33. The U, V, and W phase currents in the fixed coordinate system are converted into a d-axis current Idr and a q-axis current Iqr in the rotating coordinate system.

  The switching unit 40c selects either the d-axis command current Id * output from the command current setting unit 40a or the switching d-axis current Idc and outputs it as a d-axis command current.

  The d-axis deviation calculation unit 40d calculates a d-axis deviation ΔId that is a deviation between the d-axis command current output from the switching unit 40c and the d-axis current Idr output from the two-phase conversion unit 40b. Specifically, the d-axis deviation ΔId is calculated by subtracting the d-axis current Idr from the d-axis command current output from the switching unit 40c. The q-axis deviation calculating unit 40e calculates a q-axis deviation ΔIq that is a deviation between the q-axis command current Iq * and the q-axis current Iqr output from the two-phase conversion unit 40b. Specifically, the q-axis deviation ΔIq is calculated by subtracting the q-axis current Iqr from the q-axis command current Iq *.

  Based on the d-axis deviation ΔId, the d-axis controller 40f calculates the d-axis command voltage Vd * as an operation amount for feedback control of the d-axis current Idr to the d-axis command current output from the switching unit 40c. In the present embodiment, the d-axis command voltage Vd * is calculated by proportional-integral control based on the d-axis deviation ΔId. Based on the q-axis deviation ΔIq, the q-axis controller 40g calculates the q-axis command voltage Vq * as an operation amount for feedback control of the q-axis current Iqr to the q-axis command current Iq *. In the present embodiment, the q-axis command voltage Vq * is calculated by proportional-integral control based on the q-axis deviation ΔIq.

  The three-phase conversion unit 40h converts the d and q-axis command voltages Vd * and Vq * into the three-phase command voltages VU *, VV *, and VW * in the fixed coordinate system based on the electrical angle θ. The modulation unit 40i generates first operation signals gUp1 to gWn1 for setting the phase voltages of the first inverter INV1 to command voltages VU *, VV *, and VW *. In the present embodiment, the triangular wave PWM process based on the comparison of the command voltages VU *, VV *, and VW * with the power supply voltage VINV detected by the voltage sensor 31 and the carrier (for example, a triangular wave signal) is used. First operation signals gUp1 to gWn1 are generated. The modulation unit 40i outputs the generated first operation signals gUp1 to gWn1 to the first inverter INV1. As a result, sinusoidal voltages that are 120 degrees out of phase with each other in electrical angle are applied to the U, V, and W phases of the first winding group 10a, and sinusoidal waveforms that are 120 degrees out of phase with each other in electrical angle. Current will flow.

  The field deviation calculating unit 40j calculates a field deviation ΔIf which is a deviation between the field current Ifr detected by the field current sensor 32 and the target current If *. Specifically, the field deviation ΔIf is calculated by subtracting the field current Ifr from the target current If *. Note that the target current If * may be variably set or may be set to a fixed value.

  The field controller 40k is a field command voltage that is a DC voltage command value applied to the field winding 11 as an operation amount for feedback control of the field current Ifr to the target current If * based on the field deviation ΔIf. Vf is calculated. In the present embodiment, the field command voltage Vf is calculated by proportional-integral control based on the field deviation ΔIf. The field circuit 36 is operated so as to apply the field command voltage Vf to the field winding 11. In the present embodiment, the processing units 40c, 40d, 40f, 40h, and 40i correspond to “armature current control means”. The field deviation calculating unit 40j and the field controller 40k correspond to “field current control means”.

  The determination unit 40l selects either the d-axis command current Id * output from the command current setting unit 40a or the switching d-axis current Idc and outputs it to the d-axis deviation calculation unit 40d. I do. Hereinafter, the reason for providing this processing will be described.

  The torque of the motor 10 is expressed by the following equation (eq1).

上式（ｅｑ１）において、「Ｐｎ」はモータ１０の極対数を示し、「Ｍｆ」は各巻線群１０ａ，１０ｂのそれぞれと界磁巻線１１とのｄ軸上における相互インダクタンスを示し、「Ｉｆ」は界磁巻線１１に流れる界磁電流を示す。また、「Ｉｑ１，Ｉｑ２」は第１，第２インバータＩＮ１，ＩＮＶ２におけるｑ軸電流を示し、「Ｉｄ１，Ｉｄ２」は第１，第２インバータＩＮ１，ＩＮＶ２におけるｄ軸電流を示す。さらに、「Ｌｄ」は第１，第２インバータＩＮ１，ＩＮＶ２におけるｄ軸インダクタンスを示し、「Ｌｑ」は第１，第２インバータＩＮ１，ＩＮＶ２におけるｑ軸インダクタンスを示す。加えて、「Ｍｄ」は第１，第２インバータＩＮＶ１，ＩＮＶ２間におけるｄ軸相互インダクタンスを示し、「Ｍｑ」は第１，第２インバータＩＮＶ１，ＩＮＶ２間におけるｑ軸相互インダクタンスを示す。

In the above equation (eq1), “Pn” represents the number of pole pairs of the motor 10, “Mf” represents the mutual inductance on the d-axis between each of the winding groups 10a and 10b and the field winding 11, and “If "Indicates a field current flowing in the field winding 11. “Iq1, Iq2” indicates the q-axis current in the first and second inverters IN1, INV2, and “Id1, Id2” indicates the d-axis current in the first and second inverters IN1, INV2. Further, “Ld” indicates the d-axis inductance in the first and second inverters IN1 and INV2, and “Lq” indicates the q-axis inductance in the first and second inverters IN1 and INV2. In addition, “Md” represents the d-axis mutual inductance between the first and second inverters INV1 and INV2, and “Mq” represents the q-axis mutual inductance between the first and second inverters INV1 and INV2.

  The above equation (eq1) indicates that the torque T of the motor 10 can be controlled not only by the d and q axis currents Id1, Id2, Iq1, and Iq2, but also by the field current If. However, since the time constant of the field current If is large, the response of torque control by adjusting the field current If is extremely low. Therefore, for example, when the engine 20 is restarted by the idling stop function, there is a concern that the time from the start of the engine 20 to the completion thereof may be increased. Therefore, in the present embodiment, the d-axis current switching process is performed so that the field current quickly reaches the target current If *.

  FIG. 3 shows the procedure of the d-axis current switching process. This process is repeatedly executed by the control device 40 (determination unit 40l), for example, at a predetermined processing cycle.

  In this series of processing, first, in step S10, it is determined whether or not an instruction to start the motor 10 has been issued. In the present embodiment, an affirmative determination is made in this step when an engine 20 restart command is issued by the idling stop function.

  If an affirmative determination is made in step S10, the field current target current If * is stepped up to a specified current (> 0), and the process proceeds to step S11. In step S11, a field deviation ΔIf [k] that is a difference between the target value Itgt [k] in the current processing cycle and the field current Ifr [k] in the current processing cycle is calculated. In the present embodiment, the field deviation ΔIf [k] is calculated by subtracting the field current Ifr [k] in the current processing cycle from the target value Itgt [k] in the current processing cycle. Here, the field current Ifr [k] in the current processing cycle is a field current detected by the field current sensor 32 in the current processing cycle.

  In subsequent step S12, based on the field current Ifr [k], the field command voltage Vf, and the switching d-axis current Idc in the current processing cycle, a predicted value of the field current in the next processing cycle (hereinafter, predicted current). Ifr [k + 1]) is calculated. Specifically, the predicted current Ifr [k + 1] assumes that the d-axis currents of the first and second inverters INV1 and INV2 are increased in the negative direction from 0 (that is, the field weakening current is increased). The field current in the next processing cycle. In the present embodiment, the predicted current Ifr [k + 1] is calculated using the following equation (eq2).

上式（ｅｑ２）において、「Ｌｆ」は界磁巻線１１の自己インダクタンスを示し、「Ｒｆ」は界磁巻線１１の巻線抵抗を示し、「Ｔｓ」は制御装置４０の処理周期（処理タイミングの時間間隔）を示す。また、「Ｖｐｌ」はｄ軸電流と界磁電流との干渉項を示す。上式（ｅｑ２）は、各インバータＩＮＶ１，ＩＮＶ２のそれぞれのｄ軸電流を負方向に変化させることにより、干渉項Ｖｐｌを正の値として増加させ、界磁電流Ｉｆｒを増加できることを示している。上式（ｅｑ２）は、界磁巻線１１の電圧方程式を元にしたモデル式である。より詳しくは、下式（ｅｑ３）の電圧方程式を後退差分によって離散化することで上式（ｅｑ２）が導かれる。下式（ｅｑ３）において、「ｓ」はラプラス演算子（微分演算子）を示す。なお、図４に、界磁巻線１１の等価回路を示した。

In the above equation (eq2), “Lf” represents the self-inductance of the field winding 11, “Rf” represents the winding resistance of the field winding 11, and “Ts” represents the processing period (processing) of the control device 40. Timing interval). “Vpl” represents an interference term between the d-axis current and the field current. The above equation (eq2) shows that the field current Ifr can be increased by increasing the interference term Vpl as a positive value by changing the d-axis current of each of the inverters INV1 and INV2 in the negative direction. The above equation (eq2) is a model equation based on the voltage equation of the field winding 11. More specifically, the above equation (eq2) is derived by discretizing the voltage equation of the following equation (eq3) with a backward difference. In the following equation (eq3), “s” represents a Laplace operator (differential operator). FIG. 4 shows an equivalent circuit of the field winding 11.

先の図３の説明に戻り、続くステップＳ１３では、予測電流Ｉｆｒ［ｋ＋１］から現在の処理周期の界磁電流Ｉｆｒ［ｋ］を減算した値が、ステップＳ１１で算出した界磁偏差ΔＩｆ［ｋ］以上であるか否かを判断する。この処理は、界磁電流を流し始めた後、次回の処理周期において負方向へのｄ軸電流の増加を完了させたと仮定した場合に、次回の処理周期において界磁電流が目標電流Ｉｆ＊に到達するか否かを判断するための処理である。なお、本実施形態において、本ステップの処理が「到達判断手段」に相当する。

Returning to the description of FIG. 3, in step S13, the value obtained by subtracting the field current Ifr [k] of the current processing period from the predicted current Ifr [k + 1] is the field deviation ΔIf [k] calculated in step S11. It is determined whether or not the above is true. In this process, when it is assumed that the increase of the d-axis current in the negative direction is completed in the next processing cycle after the field current starts to flow, the field current becomes the target current If * in the next processing cycle. This is a process for determining whether or not to arrive. In the present embodiment, the processing in this step corresponds to “arrival determining means”.

  If a negative determination is made in step S13, the process returns to step S11. On the other hand, if an affirmative determination is made in step S13, it is determined that the next processing cycle will be reached, and the process proceeds to step S14. In step S14, the d-axis currents of the first and second inverters INV1 and INV2 are changed stepwise from the d-axis command current Id * to the switching d-axis current Idc. In the present embodiment, the switching d-axis current Idc is set to an allowable value in the negative direction of the d-axis current (hereinafter, negative-side allowable value “−Idmaxn”). The negative allowable value “−Idmaxn” is set from the viewpoint of maintaining the reliability of the motor 10. In the present embodiment, the processing in this step corresponds to “delay means”.

  According to the configuration described above, as shown in FIG. 5, it is possible to shorten the time from when the field current starts to flow until the field current reaches the target current If * as compared with the related art. . FIG. 5 shows transitions of the d and q axis currents Idr and Iqr and the field current If in the related art and the present embodiment, respectively. Here, the related technique is a technique in which the timing at which the field current starts to flow and the timing at which the d-axis current is increased in the negative direction from 0 are set to be the same.

  As shown in the figure, in the related art, the field current Ifr starts to flow at time t1a, and the d-axis current Idr is increased from 0 to the negative allowable value “−Idmaxn” in a stepwise manner. At time t1a, the q-axis current Iqr that greatly contributes to the torque is also increased stepwise. Here, even if the d-axis current Idr is increased once in the negative direction, the field current Ifr does not reach the target current If *. In this case, the subsequent increase rate of the field current Ifr is excessively decreased. After that, field current Ifr reaches target current If * at time t2a.

  On the other hand, in this embodiment, after starting to flow the field current Ifr at time t2a, the d-axis current Idr is increased stepwise from 0 in the negative direction at time t2b. Thereby, the time TB until the field current Ifr reaches the target current If * can be greatly shortened compared to the arrival time TA in the related art.

  In the present embodiment, the time until the field current Ifr reaches the target current If * can be reduced as compared with the related art for the following reason. As shown in FIG. 6, after the field current Ifr starts to flow, the field current Ifr increases toward the target current If *, but the increasing speed of the field current Ifr gradually decreases with time. In FIG. 6, the transition of the field current Ifr is expressed by a first-order lag element. The rising speed of the field current Ifr gradually decreases because the voltage drop amount “Rf × Ifr” at the winding resistance of the field winding 11 increases as the field current Ifr increases. This is because the applied voltage with respect to the self-inductance Lf decreases. Here, in the period from when the field current Ifr starts to flow until the field current Ifr reaches the target current If *, the rising speed of the field current Ifr immediately after the start of the flow of the field current Ifr is shown in FIG. As shown in FIG. 6, the field current Ifr is sufficiently higher than the rate of increase during the period in which the field current Ifr is close to the target current If *. For this reason, the time until the field current Ifr reaches the target current If * can be shortened by increasing the d-axis current in the negative direction after effectively using a period during which the rising speed of the field current Ifr is sufficiently high. .

  As described above, in this embodiment, the timing for increasing the d-axis current in the negative direction from 0 in the period from when the field current starts to flow until before the field current reaches the target current If *, It was delayed from the timing when the field current started to flow. For this reason, it is possible to suitably shorten the time from when the field current is first applied until the field current reaches the target current If *. Thereby, the torque of the motor 10 can be quickly started up, and for example, restart of the engine 20 can be completed quickly.

  Particularly in the present embodiment, when it is determined that the field current reaches the target current If * in the next processing cycle by increasing the d-axis current Idr in the negative direction, the d-axis current Idr is decreased in the current processing cycle. Increased in the negative direction. Such a configuration greatly contributes to shortening the time until the field current reaches the target current If *.

(Second Embodiment)
Hereinafter, the second embodiment will be described with reference to the drawings with a focus on differences from the first embodiment. In the present embodiment, the d-axis current switching processing method is changed.

  FIG. 7 shows the procedure of the above processing. This process is repeatedly executed by the control device 40 (determination unit 40l), for example, at a predetermined processing cycle. In FIG. 7, the same processes as those in FIG. 3 are given the same reference numerals for the sake of convenience.

  In this series of processes, when an affirmative determination is made in step S10, the process proceeds to step S15. In step S15, after an affirmative determination is made in step S10 (after the target voltage If * is increased in steps from 0 to a specified current), it is determined whether a specified time Tγ has elapsed. Here, the specified time Tγ is shorter than the time from when the field current starts to flow until the field current reaches the target current If *, and the d-axis current is increased once in the negative direction from 0. Thus, the field current is set to the shortest time (time from time t1b to time t2b in FIG. 5) that is assumed to be equal to or greater than the target current If *. In the present embodiment, the specified time Tγ is the target current If *, the field current Ifr [k] in the current processing cycle, and the increase amount ΔIdg of the d-axis current in the negative direction (switching d-axis current Idc). What is necessary is just to calculate using the related map. In the present embodiment, since the switching d-axis current Idc is set to the negative allowable value “−Idmaxn”, the specified time Tγ is substantially equal to the target current If * and the field current in the current processing cycle. It will be related to Ifr [k]. The map is stored in storage means (for example, memory) of the control device 40.

  If a positive determination is made in step S15, the process proceeds to step S14.

  According to the present embodiment described above, switching of the d-axis current in the negative direction can be performed with a simple configuration.

(Third embodiment)
Hereinafter, the third embodiment will be described with reference to the drawings with a focus on differences from the first embodiment. In the present embodiment, the d-axis current switching processing method is changed.

  FIG. 8 shows the procedure of the above processing. This process is repeatedly executed by the control device 40 (determination unit 40l), for example, at a predetermined processing cycle. In FIG. 8, the same processes as those in FIG. 3 are given the same reference numerals for the sake of convenience.

  In this series of processes, the process proceeds to step S16 after the process of step S11 is completed. In step S16, the predicted increase amount ΔIfg is calculated. In the present embodiment, the predicted increase amount ΔIfg is the increase amount of the field current Ifr in the period from the current processing cycle to the next processing cycle, assuming that the d-axis current is increased in the negative direction. . In the present embodiment, the predicted increase amount ΔIfg is calculated using a map in which the field current Ifr [k] and the increase amount ΔIdg of the d-axis current are related to each other. This map is stored in the storage means of the control device 40.

  In subsequent step S17, it is determined whether or not the value obtained by adding the predicted increase amount ΔIfg to the field current Ifr [k] in the current processing cycle is equal to or larger than the field deviation ΔIf [k] calculated in step S11. . In the present embodiment, the processing in this step corresponds to “arrival determining means”.

  If a negative determination is made in step S17, the process returns to step S11. On the other hand, if a positive determination is made in step S17, the process proceeds to step S18. In step S18, the d-axis current is switched from the d-axis command current Id * to the switching d-axis current Idc. In the present embodiment, the switching d-axis current Idc is variably set to an arbitrary value that is less than 0 and greater than or equal to the negative allowable value “−Idmaxn”.

  According to the present embodiment described above, the same effect as that of the first embodiment can be obtained.

(Fourth embodiment)
Hereinafter, the fourth embodiment will be described with reference to the drawings with a focus on differences from the first embodiment. In the present embodiment, the d-axis current switching processing method is changed.

  FIG. 9 shows the procedure of the above processing. This process is repeatedly executed by the control device 40 (determination unit 40l), for example, at a predetermined processing cycle. In FIG. 9, the same processes as those in FIG. 3 are given the same reference numerals for the sake of convenience.

  In this series of processes, if an affirmative determination is made in step S13, the process proceeds to step S19. In step S19, the d-axis current in each of the first and second inverters INV1 and INV2 is switched from the d-axis command current Id * to the switching d-axis current Idc. In the present embodiment, the d-axis command current Id * in each of the first and second inverters INV1 and INV2 is set to a positive side allowable value Idmaxp defined by a positive value. The positive allowable value Idmaxp is set from the viewpoint of maintaining the reliability of the motor 10.

  As described above, in this embodiment, on the condition that the d-axis current is within the range of the positive allowable value Idmaxp to the negative allowable value “−Idmaxn”, the negative allowable value “−Idmaxn” is determined from the positive allowable value Idmaxp. The timing at which the d-axis current is increased to "" is delayed from the timing at which the field current starts to flow. For this reason, even when the d-axis current is limited by the allowable value, the increase amount of the d-axis current in the negative direction can be increased.

(Other embodiments)
Each of the above embodiments may be modified as follows.

  In the first, third, and fourth embodiments, when it is determined that the field current reaches the target current If * assuming that the d-axis current is increased in the negative direction, the d-axis current is set in the negative direction. However, it is not limited to this. The d-axis current may be increased in the negative direction before the timing at which it is assumed that the field current reaches the target current If * after the field current starts to flow. Even in this case, the effect according to the effect of the first embodiment can be obtained.

  In the fourth embodiment, the d-axis command current Id * may be set to a value larger than 0 and smaller than the positive allowable value Idmaxp, for example.

  In the third embodiment, the map in which the field current Ifr [k], the d-axis current increase amount ΔIdg and the predicted increase amount ΔIfg are related is used as the increase amount prediction information, but the present invention is not limited to this. For example, if it is possible to create a formula in which the field current Ifr [k] and the increase amount ΔIdg of the d-axis current are related to the predicted increase amount ΔIfg, the predicted increase amount ΔIfg can be created using this formula as the increase amount prediction information. May be calculated.

  The process of step S13 of FIG. 3 of the first embodiment may be replaced with a process of determining whether or not the field current Ifr [k + 1] predicted in step S12 is equal to or greater than the target current If *. .

  The control amount of the motor is not limited to torque, and may be, for example, a rotational speed. Further, the motor is not limited to the multiple winding type synchronous motor, and may be a synchronous motor including one armature winding group. In this case, for example, the second inverter INV2 may be removed. Furthermore, the use of the motor is not limited to starting the engine, but may be other uses such as driving on-vehicle auxiliary machines.

  DESCRIPTION OF SYMBOLS 10 ... Motor, 11 ... Field winding, 12 ... Rotor, 13 ... Stator, 10a, 10b ... 1st, 2nd winding group, 40 ... Control apparatus.

Claims (9)

Applied to a rotating electrical machine (10) comprising a rotor (12) having a field winding (11) and a stator (13) having an armature winding (10a, 10b);
Field current control means (40j, 40k) for controlling the field current flowing in the field winding;
Armature current control means (40c) for controlling the current flowing through the armature winding so as to cancel the field magnetic flux generated by flowing the field current with the magnetic flux generated by flowing current through the armature winding. 40d, 40f, 40h, 40i),
The armature current control means allows the armature current to flow through the armature winding during a period from when the field current starts to flow by the field current control means to before the field current increases to reach the target value. A control device for a rotating electrical machine, comprising: delay means for delaying the timing of increasing the current in the direction of canceling the field magnetic flux from the timing of starting the flow of the field current by the field current control means. After starting to flow the field current, it is determined whether or not the field current reaches the target value when it is assumed that the current flowing in the armature winding is increased in the direction of canceling the field magnetic flux. And an arrival determination means for
2. The control device for a rotating electrical machine according to claim 1, wherein the delay unit increases a current flowing through the armature winding in a direction of canceling the field magnetic flux when it is determined that the delay determination unit reaches the delay unit. 3. Predicting means for predicting the field current in the next processing cycle when it is assumed that the current flowing through the armature winding is increased in the direction of canceling the field magnetic flux after starting to flow the field current Prepared,
The arrival determination means determines that the field current in the next processing cycle reaches the target value based on the field current predicted by the prediction means being equal to or greater than the target value.
The delay means increases the current passed through the armature winding in the direction of canceling the field magnetic flux when the arrival judgment means determines that the field current in the next processing cycle reaches the target value. The control apparatus for a rotating electrical machine according to claim 2.   The prediction means uses a model equation that relates the applied voltage of the field winding, the field current, the resistance component of the field winding, and the inductance component of the field winding, and uses The control device for a rotating electrical machine according to claim 3, wherein the field current is predicted. When it is assumed that the current flowing through the armature winding is increased in the direction of canceling the field magnetic flux, the amount of increase in the field current in the next processing cycle is expressed as the armature in the direction of canceling the field magnetic flux. Information related to the amount of increase in the current flowing through the winding and the field current is assumed as the amount of increase prediction information,
The control device for a rotating electrical machine according to claim 3, wherein the prediction means predicts the field current in a next processing cycle using the increase amount prediction information. The delay means increases the current passed through the armature winding in the direction of canceling the field magnetic flux at a timing when a specified time has passed since the field current started to flow.
The specified time is a time shorter than a time from when the field current starts to flow until the field current increases to reach the target value, and the current flowing through the armature winding is the field current. The control device for a rotating electrical machine according to claim 1, wherein the control unit is set to a time when the field current is assumed to be equal to or greater than the target value by one increase in the direction of canceling the magnetic flux. Among the currents flowing through the armature winding, the current is defined in the rotating coordinate system of the rotating electrical machine, and the current along the direction of the field magnetic flux is defined as a d-axis current,
A d-axis current flowing in a direction to cancel the field magnetic flux is defined as a negative value;
7. The rotating electrical machine according to claim 1, wherein the delay unit delays a timing at which the d-axis current is increased from 0 to a predetermined negative value with respect to a timing at which the field current starts to flow. Control device. Among the currents flowing through the armature winding, the current is defined in the rotating coordinate system of the rotating electrical machine, and the current along the direction of the field magnetic flux is defined as a d-axis current,
A d-axis current flowing in a direction to cancel the field magnetic flux is defined as a negative value;
The delay means is configured so that the d-axis current falls within a range of a positive allowable value defined by a positive value and a negative allowable value defined by a negative value from a positive predetermined value to a negative negative value. The control device for a rotating electrical machine according to any one of claims 1 to 6, wherein a timing at which the d-axis current is increased to a predetermined value is delayed from a timing at which the field current starts to flow.   The amount of increase in the current that flows through the armature winding in the direction of canceling the field magnetic flux is that the current is passed through the armature winding in the direction of canceling the field magnetic flux simultaneously with the timing at which the field current starts to flow. 9. The control device for a rotating electrical machine according to claim 1, wherein the field current is set to an amount that does not reach the target value.

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