JP2016116313A - Current estimation device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a current estimation device capable of suitably suppressing an estimation error of an electric current running through between a battery and an inverter.SOLUTION: A control apparatus, which takes a starter generator as a controlled object, includes a current estimation section and an applied voltage calculation section. The current estimation section estimates an electric current running through a battery and an inverter on the basis of a predetermined d-axis inductance of the starter generator. The applied voltage calculation section operates a voltage amplitude Vamp after operating a voltage phase δ to make a q-axis component 'Vamp×cosδ' of a voltage vector of an inverter follow an induced voltage component 'ωc×Ψa' of the starter generator, provided that a d-axis current in a dq coordinate system is larger than 0.SELECTED DRAWING: Figure 11

Description

  The present invention relates to a power conversion circuit and a current estimation device applied to a system including a rotating electrical machine that performs power transmission with a DC power supply by energization operation to the power conversion circuit.

  Conventionally, as can be seen in Patent Document 1 below, a control device that calculates d and q axis currents in a dq coordinate system based on a voltage equation of a rotating electrical machine is known. Specifically, in this control device, the d and q axis currents are calculated based on the d axis inductance.

Japanese Patent No. 5396906

  Incidentally, there is a technique for estimating a current flowing between a DC power supply and a power conversion circuit in a system including a power conversion circuit and a rotating electrical machine that transmits electric power to the DC power supply by energizing the power conversion circuit. In this technique, the d and q axis currents are calculated based on a predetermined d axis inductance, and the current flowing between the DC power supply and the power conversion circuit is estimated based on the calculated d and q axis currents. To do.

  Here, the d-axis inductance changes due to the influence of abrupt magnetic saturation that occurs when the d-axis current is greater than zero. In this case, there is a concern that an actual d-axis inductance greatly deviates from a predetermined d-axis inductance, and an estimation error of a current flowing between the DC power supply and the power conversion circuit becomes large. It is also conceivable to accurately grasp the characteristics of the d-axis inductance when the above-described sudden magnetic saturation occurs. However, it is difficult to accurately grasp this characteristic.

  An object of the present invention is to provide a current estimation device that can suitably suppress an estimation error of a current flowing between a DC power source and a power conversion circuit.

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

  The present invention is applied to a system including a power conversion circuit (13) and a rotating electrical machine (12) that performs power transmission with a DC power source (14) by energization operation of the power conversion circuit. Current estimation for estimating a current flowing between the DC power supply and the power conversion circuit based on a predetermined d-axis inductance of the rotating electrical machine, with an amplitude as a voltage amplitude and a phase of the voltage vector as a voltage phase. The deviation between the q-axis component of the voltage vector and the induced voltage component of the rotating electrical machine is less than 0 on the condition that the d-axis current in the dq coordinate system of the rotating electrical machine is a predetermined value larger than 0. Phase operation means for manipulating the voltage phase in a direction in which the voltage vector is rotated clockwise with respect to the positive q-axis until the value becomes less than a large specified value. On the condition that the d-axis current becomes the predetermined value, the q-axis component of the voltage vector is converted to the induced voltage component in a region where the deviation between the q-axis component and the induced voltage component is less than the specified value. And an amplitude operation means for operating the voltage amplitude so as to follow.

  In a state where the q-axis component of the voltage vector matches the induced voltage component, the d-axis current is zero. In view of this point, in the above invention, first, on the condition that the d-axis current becomes a predetermined value larger than 0, until the deviation between the q-axis component and the induced voltage component becomes a value less than the specified value, The voltage phase is manipulated in the direction in which the voltage vector is rotated clockwise with respect to the q axis. Further, the q-axis component is made to follow the induced voltage component by the operation of the voltage amplitude. For this reason, it can be avoided that the actual d-axis inductance greatly deviates from a predetermined d-axis inductance used for current estimation. Thereby, the estimation error of the current by the current estimation means can be suitably suppressed.

  Furthermore, in the above invention, the voltage amplitude is manipulated so that the q-axis component follows the induced voltage component in a region where the deviation between the q-axis component and the induced voltage component is less than the specified value. Manipulating the voltage phase in the direction of rotating the voltage vector clockwise increases the power generated by the rotating electrical machine. On the other hand, when the voltage amplitude operation for causing the q-axis component to follow the induced voltage component is performed prior to the voltage phase operation, the generated power may be reduced. For this reason, in order to suppress the reduction | decrease in generated electric power, the one where the operation amount of a voltage amplitude is small is good. Therefore, by manipulating the voltage amplitude in a region where the deviation between the q-axis component and the induced voltage component is less than the specified value, the q-axis component is brought close to the induced voltage component without reducing the generated power. Thereby, the reduction | decrease in the generated electric power accompanying suppressing the estimation error of an electric current can be suppressed.

  Here, in the above invention, the system includes magnetic pole position detecting means (19) for detecting the magnetic pole position of the rotating electrical machine at a predetermined period, and the voltage phase is larger than 0 ° and smaller than 90 °. Phase calculation means for calculating the voltage phase for controlling the rotating electrical machine on condition that the phase is equal to or less than a prescribed phase, the voltage phase calculated by the phase calculation means, and the magnetic pole position detection means Voltage control means for controlling the voltage applied to the rotating electrical machine based on the magnetic pole position, and the phase operation means takes the prescribed period as a control period and the deviation is less than the prescribed value. The amplitude phase calculating means sets the q-axis component to a control period that is shorter than the specified period. The voltage amplitude operation for following the induced voltage component may be performed by adjusting the applied voltage.

  Since the detection period of the magnetic pole position by the magnetic pole position detection means is a specified period, the control period of the phase operating means is also set to the specified period. On the other hand, the control period of the amplitude operation means that does not require voltage phase information is set to a period shorter than the control period of the phase operation means. For this reason, the follow-up accuracy of the q-axis component to the induced voltage component by the amplitude operation unit is higher than the follow-up accuracy by the phase operation unit. Therefore, by operating a voltage amplitude with high tracking accuracy in a region where the deviation between the q-axis component and the induced voltage component is less than a specified value, the q-axis component can be made to follow the induced voltage component quickly and with high accuracy. . As a result, it is possible to more suitably suppress the current estimation error.

1 is an overall configuration diagram of a motorcycle. The whole block diagram of the control system of a starter generator. The time chart which shows the output signal of a magnetic pole position detection sensor. The block diagram which shows the process of an applied voltage calculation part. The figure which shows the 180 degree electricity supply control aspect in the case of Duty100%. The figure which shows the 180 degree electricity supply control aspect in the case of less than Duty 100%. The block diagram which shows the process of an electric current estimation part. The figure which shows an example of the increase aspect of the electric current estimation error in an idling state. A dq coordinate system indicating that the d-axis current becomes 0 by causing the q-axis voltage to follow the induced voltage. A dq coordinate system indicating that the d-axis current becomes 0 by causing the q-axis voltage to follow the induced voltage. The flowchart which shows the procedure of an induced voltage tracking control process. The time chart which shows the rotation fluctuation in 1 combustion cycle. The flowchart which shows the procedure of a voltage phase operation process. The figure which shows the guard process aspect of a voltage phase. The figure which shows an example of induced voltage tracking control. The figure which shows the 120 degree electricity supply control aspect concerning other embodiment. The figure which shows the 120 degree electricity supply control aspect at the time of the induced voltage tracking control concerning other embodiment.

  DESCRIPTION OF EMBODIMENTS Hereinafter, an embodiment in which a current estimation device according to the present invention is applied to a motorcycle (motorcycle) equipped with an engine as an in-vehicle main machine will be described with reference to the drawings.

  As shown in FIG. 1, a motorcycle 10 includes an engine 11, a starting generator 12 as a rotating electric machine, an inverter 13 as a power conversion circuit, a battery 14 as a DC power source, a transmission 15, a clutch 16, and driving wheels. 17 and a control device 20. The engine 11 is an in-vehicle main unit of the motorcycle 10, and is a single-cylinder four-stroke engine in the present embodiment. The combustion control of the engine 11 may be performed by another control device (not shown) different from the control device 20, or may be performed by the control device 20.

  An input side (specifically, for example, an engine-side pulley) of the transmission 15 is connected to a first end of an output shaft of the engine 11 (hereinafter referred to as a crankshaft 11a). In the present embodiment, an automatic transmission (specifically, a continuously variable transmission) is used as the transmission 15. Drive wheels 17 are connected to the output side of the transmission 15 (specifically, for example, a drive wheel pulley) via a clutch 16 and a secondary reduction mechanism (not shown).

  The clutch 16 is in a state capable of transmitting power between the output side of the transmission 15 and the drive wheel 17 (hereinafter referred to as a clutch meet state), and the power between the output side of the transmission 15 and the drive wheel 17 is cut off. It is possible to switch to one of the following states (hereinafter referred to as the clutch disengaged state). In the present embodiment, an automatic centrifugal clutch is used as the clutch 16. The automatic centrifugal clutch according to the present embodiment includes a clutch shoe connected to the output side of the transmission 15, a clutch spring, and a clutch outer connected to the drive wheel 17 side. In this configuration, when the engine 11 is rotating at a low speed, the clutch shoe is reduced in diameter by the elastic force of the clutch spring, and the clutch shoe and the clutch outer are brought into a non-contact state. As a result, the clutch is disengaged. On the other hand, when the rotational speed of the engine 11 increases and the centrifugal force acting on the clutch shoe increases, the clutch shoe expands by overcoming the elastic force of the clutch spring, and the clutch shoe comes into contact with the clutch outer. As a result, the clutch meet state is established. In particular, in the present embodiment, the clutch 16 is configured so that the clutch meet state is established when the rotational speed of the crankshaft 11a becomes equal to or higher than a predetermined rotational speed (> 0). In the present embodiment, the predetermined rotational speed is set to a rotational speed higher than the idle rotational speed of the engine 11.

  A rotating shaft of a rotor constituting the starter / generator 12 is directly connected to the second end of the crankshaft 11a. For this reason, the rotor of the starting generator 12 rotates integrally with the crankshaft 11a. The starter generator 12 can operate as an electric motor (starter for starting the engine) and a generator, and is attached to the engine block. In this embodiment, the starter generator 12 is a three-phase AC permanent magnet type synchronous machine, and includes the rotor provided with a permanent magnet and a stator around which each phase winding is wound.

  Then, the control system of the starting generator 12 is demonstrated using FIG. The starter / generator 12 is electrically connected to the battery 14 via the inverter 13. The inverter 13 includes a series connection body of upper arm switches Sup, Svp, Swp and lower arm switches Sun, Svn, Swn. A first end of a U-phase winding (not shown) of the starter / generator 12 is connected to a connection point between the U-phase upper and lower arm switches Sup and Sun, and a connection point between the V-phase upper and lower arm switches Svp and Svn. A first end of a V-phase winding (not shown) is connected to a connection point between the W-phase upper and lower arm switches Swp and Swn. The second ends of the U, V, and W phase windings are short-circuited. That is, in this embodiment, the starter generator 12 is Y-connected. The positive terminal of the battery 14 is connected to the high potential side terminal of each upper arm switch Sup, Svp, Swp, and the negative terminal of the battery 14 is connected to the low potential side terminal of each lower arm switch Sun, Svn, Swn. Is connected.

  Incidentally, as each of the switches Sup to Swn, for example, a voltage-controlled semiconductor switching element such as a MOS-FET or IGBT can be used. Each freewheel diode Dup-Dwn is connected in antiparallel to each switch Sup-Swn. Each freewheel diode Dup to Dwn may be a body diode or an external diode when each switch is a MOS-FET, for example.

  The control system includes a voltage sensor 18 and a magnetic pole position detection sensor 19. In the present embodiment, the voltage sensor 18 detects the voltage between the terminals of the battery 14. Further, the magnetic pole position detection sensor 19 (for example, a hall sensor, more specifically, a hall IC) is provided corresponding to each phase, and outputs an output signal as shown in FIG. 3 according to the rotation of the rotor. To do. Thereby, the magnetic pole position (electrical angle θ) of the starting generator 12 can be grasped at an electrical angle interval of 60 °. In FIG. 3, output signals corresponding to the U, V, and W phases are shown as SigU, SigV, and SigW.

  Returning to the description of FIG. 2, the output signals of the voltage sensor 18 and the magnetic pole position detection sensor 19 are input to the control device 20. The control device 20 is configured mainly with a microcomputer. In the present embodiment, the control device 20 controls the inter-terminal voltage of the battery 14 (hereinafter referred to as the battery voltage VDC) detected by the voltage sensor 18 to the target voltage Vtgt when the starter generator 12 is operated as a generator. Therefore, the inverter 13 is operated. Specifically, the control device 20 calculates U, V, and W phase applied voltages Vu, Vv, and Vw for driving the starter generator 12 by a known three-phase 180 ° energization method based on the detection values of the various sensors. To do. The control device 20 turns on / off the switches Sup to Swn based on the calculated applied voltage.

  Here, the control system according to the present embodiment does not include a current sensor that detects the DC current IDC flowing in the electrical path connecting the battery 14 and the inverter 13. For this reason, in this embodiment, the control apparatus 20 performs the electric current estimation process which estimates the direct current IDC. Hereinafter, after the control of the starter generator 12 is described, the current estimation process will be described.

  The control device 20 includes a speed calculation unit 21, an applied voltage calculation unit 22, a current estimation unit 23 (corresponding to “current estimation unit”), and an SOC calculation unit 24 (corresponding to “charge rate calculation unit”). The speed calculation unit 21 calculates the rotational speed ω (electrical angular speed) of the starter generator 12 based on the output signal of the magnetic pole position detection sensor 19 (specifically, for example, the interval of the logical inversion timing of the output signal).

  The applied voltage calculation unit 22 calculates each phase applied voltage Vu, Vv, Vw that is a command value of the applied voltage for each phase winding. Hereinafter, the applied voltage calculation unit 22 will be described with reference to FIG. In the applied voltage calculation unit 22, the voltage deviation calculation unit 22 a (corresponding to “voltage deviation calculation unit”) calculates the voltage deviation ΔV by subtracting the battery voltage VDC from the target voltage Vtgt of the battery 14. Phase calculation unit 22b (corresponding to “phase calculation means”) calculates voltage phase δ, which is the phase of output voltage vector Vn of inverter 13, based on voltage deviation ΔV. In the present embodiment, the voltage phase δ is calculated as an operation amount for performing feedback control of the voltage deviation ΔV to 0. Specifically, for example, the voltage phase δ may be calculated by proportional control or proportional integral control using the voltage deviation ΔV as an input. Here, in the present embodiment, the voltage phase δ when the voltage vector Vn rotates clockwise with the positive q axis in the dq coordinate system as a reference is defined as a positive value. In particular, in the present embodiment, rotating the voltage vector Vn clockwise is referred to as retarding the voltage phase δ, and rotating the voltage vector Vn counterclockwise is referred to as advancing the voltage phase δ. I will do it. Further, the voltage amplitude that is the amplitude of the voltage vector Vn is assumed to be “Vamp”.

  The phase calculation unit 22b calculates the voltage phase δ within a range from 0 ° to a specified phase when the starter generator 12 is operated as a generator. The prescribed phase is set to a value larger than 0 ° and smaller than 90 °. In the present embodiment, the prescribed phase is set to 30 ° due to restrictions on the mounting position of the magnetic pole position detection sensor 19 on the stator teeth. However, the prescribed phase is not limited to 30 °, and may be set to other values as long as the value is larger than 0 ° and smaller than 90 °.

  The voltage phase δ calculated by the phase calculator 22b is input to the rectangular wave signal generator 22c. The rectangular wave signal generation unit 22c calculates the applied voltages Vu, Vv, and Vw as rectangular wave signals based on the input voltage phase δ, the battery voltage VDC, and the output signal of the magnetic pole position detection sensor 19. To do. Specifically, first, the voltage amplitude Vamp is calculated by multiplying the battery voltage VDC by the voltage utilization rate Mr. Here, the voltage utilization rate Mr is the ratio of the command value of the voltage amplitude Vamp to the battery voltage VDC. Then, based on the calculated voltage amplitude Vamp and voltage phase δ, each phase applied voltage Vu, Vv, Vw for 180 ° energization is calculated. The rectangular wave signal generation unit 22 c outputs the calculated phase applied voltages Vu, Vv, Vw to the inverter 13.

  In the present embodiment, the phase applied voltages Vu, Vv, Vw (on / off operation states of the switches Sup to Swn) are maintained over a period of 60 ° electrical angle. That is, each phase application voltage Vu, Vv, Vw is updated at an electrical angle interval of 60 °. This is because the detection period of the electrical angle θ by the magnetic pole position detection sensor 19 is 60 ° as described above.

  In the present embodiment, the voltage utilization rate Mr is set to the basic utilization rate Mb, and the basic utilization rate Mb is set to a value greater than 0 and less than the upper limit utilization rate Mlimit (0.78). . Hereinafter, calculation modes of the applied voltages Vu, Vv, and Vw of each phase will be described with reference to FIGS. 5 and 6.

  FIG. 5 shows the operating states of the switches Sup to Swn (corresponding to the applied voltages Vu, Vv, Vw) when the voltage usage rate Mr is set to the upper limit usage rate Mlimit. In this embodiment, the duty ratio Duty when the voltage utilization rate Mr becomes the upper limit utilization rate Mlimit is 100%. The duty ratio Duty is the ratio (Ton / Tsw) of the on operation time Ton to one cycle of the on / off operation of each switch (one switching period Tsw).

  In the present embodiment, the voltage utilization rate Mr is set to a basic utilization rate Mb that is less than the upper limit utilization rate Mlimit. For this reason, the operation states of the switches Sup to Swn are actually based on 180 ° energization control, as shown in FIG. 6, but combined 180 ° energization control with duty control (also referred to as PWM control). It will be a thing. In the present embodiment, for the lower arm switches Sun, Svn, Swn (corresponding to “target switch”), the ON period defined by the 180 ° energization control is set as the ON operation possible period, and the ON / OFF operation is performed within this ON operation possible period. repeat. Here, the voltage amplitude Vamp can be adjusted by adjusting the duty ratio Duty. Specifically, the voltage amplitude Vamp decreases as the duty ratio becomes smaller. Incidentally, the basic utilization rate Mb in the present embodiment is a value corresponding to the duty ratio of 90%.

  The rectangular wave signal generation unit 22c further generates a d-axis voltage Vd that is a d-axis component of the voltage vector Vn and a q-axis voltage that is a q-axis component of the voltage vector Vn based on the voltage phase δ and the voltage amplitude Vamp. Vq is calculated. Note that the voltage phase δ used to calculate the d and q-axis voltages Vd and Vq is a value corrected by the process when a voltage phase operation process to be described later is performed. Further, the voltage amplitude Vamp used for calculating the d and q-axis voltages Vd and Vq is a value corrected by the processing when the voltage amplitude operation processing described later is performed.

  Returning to the description of FIG. 2, the current estimating unit 23 calculates the rotational speed ω calculated by the speed calculating unit 21, the battery voltage VDC, and the d and q axis voltages Vd and Vq calculated by the rectangular wave signal generating unit 22c. Is used to estimate the direct current IDC. Hereinafter, the current estimation process performed by the current estimation unit 23 will be described with reference to FIG. In the current estimation unit 23, the dq axis current estimation unit 23a receives the rotation speed ω and estimates the d and q axis currents id and iq based on the following equation (eq1).

上式（ｅｑ１）において、「Ｒａ」は電機子巻線抵抗を示し、「Ｌｄ」，「Ｌｑ」はｄ，ｑ軸インダクタンスを示し、「Ψａ」は誘起電圧定数を示す。上式（ｅｑ１）は、永久磁石同期機の電圧方程式を表す下式（ｅｑ２）に対して、過渡現象を無視するとの条件を課し、ｄ，ｑ軸電流ｉｄ，ｉｑについて変形することで導くことができる。なお、下式（ｅｑ２）において、「ｐ」は微分演算子を示す。

In the above equation (eq1), “Ra” represents an armature winding resistance, “Ld” and “Lq” represent d and q axis inductances, and “Ψa” represents an induced voltage constant. The above equation (eq1) imposes a condition that the transient phenomenon is ignored with respect to the following equation (eq2) representing the voltage equation of the permanent magnet synchronous machine, and is derived by modifying the d and q axis currents id and iq. be able to. In the following equation (eq2), “p” represents a differential operator.

上式（ｅｑ１）において、ｄ，ｑ軸インダクタンスＬｄ，Ｌｑ、巻線抵抗Ｒａ及び誘起電圧定数Ψａは、制御対象とする回転電機の仕様や実験データ等で予め定められた固定値であり、記憶手段としての機器定数記憶部２３ｂ（例えば、不揮発性メモリ）に記憶されている。なお、巻線抵抗Ｒａ及び誘起電圧定数Ψａが温度依存性を有することから、巻線抵抗Ｒａ及び誘起電圧定数Ψａを温度と関係付けたテーブルやマップを予め作成しておき、テーブルやマップを用いて巻線抵抗Ｒａ及び誘起電圧定数Ψａを設定してもよい。

In the above equation (eq1), d, q-axis inductances Ld, Lq, winding resistance Ra, and induced voltage constant Ψa are fixed values determined in advance by the specifications of the rotating electrical machine to be controlled, experimental data, etc. It is memorize | stored in the apparatus constant memory | storage part 23b (for example, non-volatile memory) as a means. Since the winding resistance Ra and the induced voltage constant Ψa are temperature dependent, a table or map relating the winding resistance Ra and the induced voltage constant Ψa to the temperature is created in advance, and the table or map is used. The winding resistance Ra and the induced voltage constant Ψa may be set.

  The direct current estimation unit 23c uses the battery voltage VDC, the d and q axis currents id and iq estimated by the dq axis current estimation unit 23a, and the d and q axis voltages Vd and Vq calculated by the rectangular wave signal generation unit 22d. As an input, the DC current IDC is estimated based on the following equation (eq3).

先の図２の説明に戻り、ＳＯＣ算出部２４は、直流電流推定部２３ｃによって推定された直流電流ＩＤＣの積算値に基づいて、バッテリ１４の充電率ＳＯＣを算出する。算出された充電率ＳＯＣは、例えば車両の各種処理に用いられる。

Returning to the description of FIG. 2, the SOC calculation unit 24 calculates the charging rate SOC of the battery 14 based on the integrated value of the DC current IDC estimated by the DC current estimation unit 23c. The calculated charging rate SOC is used for various processes of the vehicle, for example.

  By the way, when the d-axis current has a positive value, the estimation error ΔIerr of the direct current IDC increases as shown in FIG. Here, FIG. 8 shows changes in the estimated value of the DC current IDC, the measured value of the DC current, the d-axis current id, and the engine speed N. FIG. 8 shows that the operation state of the engine 11 shifts to the idle operation state after time t1, the d-axis current shifts from a negative value to a positive value, and the estimation error ΔIerr increases. The estimated error ΔIerr increases when the d-axis current is a positive value because the actual d-axis inductance is reduced due to the influence of abrupt magnetic saturation, and the actual d-axis inductance is stored in the device constant storage unit 23b. This is because it greatly deviates from the d-axis inductance Ld. In particular, when the engine rotational speed (the rotational speed of the crankshaft 11a) is in the vicinity of the idle rotational speed, when the voltage phase δ reaches the specified phase, the rotational speed ω of the starter generator 12 is low and the starter generator 12 is induced. Since the voltage is small, the d-axis current becomes a positive value and the estimation error ΔIerr is likely to increase.

  Therefore, in the present embodiment, when the current estimation process is being performed, when the d-axis current has a positive value, the process of setting the d-axis current to 0 is performed in the rectangular wave signal generation unit 22c. Hereinafter, the reason why the d-axis current can be set to 0 will be described with reference to FIGS. 9 and 10, and then the processing performed by the rectangular wave signal generation unit 22c will be described.

  The reason why the d-axis current can be reduced to 0 by operating the voltage phase δ will be described with reference to FIG. In FIG. 9, the voltage vector when the voltage phase δ becomes the specified phase (30 °) is indicated by “Vn0”, and the voltage vector when the q-axis voltage Vq matches the induced voltage “ω × Ψa” is expressed as “ The voltage vector when the voltage phase δ is larger than the voltage vector Vn1 is indicated by “Vn2”. Further, each current vector corresponding to each voltage vector Vn0, Vn1, Vn2 is indicated by “In0, In1, In2”.

  As shown in the figure, the d and q-axis armature reactions occur depending on the positional relationship between the induced voltage vector and the voltage vector. Specifically, when the q-axis component of the voltage vector Vn0 is larger than the induced voltage, the current vector is a current vector In0 in which a positive d-axis current flows due to the d-axis armature reaction. Here, when the q-axis component of the voltage vector Vn1 matches the induced voltage, the d-axis armature reaction disappears, so the current vector becomes a current vector In1 such that the d-axis current becomes zero. In the voltage vector Vn2 whose voltage phase is larger than the voltage vector Vn1, the sign of the d-axis current is inverted, and the current vector becomes a current vector In2 in which a negative d-axis current flows.

  Next, the reason why the d-axis current can be reduced to 0 by operating the voltage amplitude Vamp will be described with reference to FIG. FIG. 10 shows voltage vectors Vn0, Vn1, and Vn2 when the voltage phase δ becomes the specified phase (30 °). Here, the voltage vector Vn0 is a voltage vector when the q-axis component is higher than the induced voltage “ω × Ψa”, and the voltage vector Vn1 is a voltage vector when the q-axis component matches the induced voltage. is there. The voltage vector Vn2 is a voltage vector when the q-axis component is lower than the induced voltage. Further, each current vector corresponding to each voltage vector Vn0, Vn1, Vn2 is indicated by “In0, In1, In2”.

  As shown in the figure, the d and q-axis armature reactions occur depending on the positional relationship between the induced voltage vector and the voltage vector. Specifically, when the q-axis component of the voltage vector Vn0 is larger than the induced voltage, the current vector is a current vector In0 in which a positive d-axis current flows due to the d-axis armature reaction. Here, when the q-axis component of the voltage vector Vn1 matches the induced voltage, the d-axis armature reaction disappears, so the current vector becomes a current vector In1 such that the d-axis current becomes zero. In the voltage vector Vn2 whose voltage amplitude is smaller than the voltage vector Vn1, the sign of the d-axis current is inverted, and the current vector becomes a current vector In2 in which a negative d-axis current flows. Thus, the phase of the current vector changes according to the deviation between the q-axis component of the voltage vector and the induced voltage. In this way, the d-axis current can be made zero by operating the voltage phase δ and the voltage amplitude Vamp. Using this, the d-axis current is set to 0 under the situation where the current estimation process is performed.

  FIG. 11 illustrates processing performed by the rectangular wave signal generation unit 22c. This process is repeatedly executed on condition that the current estimation process is performed.

  In this series of processing, first, in step S10, it is determined whether or not the d-axis current id estimated by the dq-axis current estimation unit 23a is larger than zero. This process is a process for determining whether or not the current estimation accuracy is reduced.

  If a negative determination is made in step S10, it is determined that the current estimation accuracy does not decrease and the process proceeds to step S11. In step S11, the normal-time voltage feedback control for calculating the applied voltages Vu, Vv, and Vw for each phase based on the voltage phase δ calculated by the phase calculation unit 22b, the battery voltage VDC, and the output signal of the magnetic pole position detection sensor 19. I do. In this embodiment, when a negative determination is made in step S10, the voltage utilization rate Mr used for calculating the applied voltages Vu, Vv, and Vw is set to the basic utilization rate Mb, and the applied voltages Vu, The voltage phase δ used for calculating Vv and Vw is set to a value calculated by the phase calculation unit 22b.

  If an affirmative determination is made in step S10, it is determined that the current estimation accuracy is in a state of decreasing, and the process proceeds to step S12. In step S12, it is determined whether or not the clutch meet state is established. If it is determined in step S12 that the clutch meet state is not established (the clutch is disengaged), the process proceeds to step S13 where the calculation rotational speed ωc is set to one combustion cycle (720 ° C. A) of the engine 11 as shown in FIG. ) Is the minimum value ωmin of the rotational speed ω. This process is provided in view of the fact that an estimation error of the direct current IDC is likely to occur in the clutch disengaged state. That is, in the clutch meet state, the rotational shaft of the starter generator 12 is connected to the drive wheels 17, so that the rotational inertia increases and the rotational fluctuation of the starter generator 12 is suppressed. On the other hand, in the clutch disengaged state, the rotating shaft of the starter generator 12 is not connected to the drive wheels 17, so that the rotational inertia is reduced, and the rotation fluctuation of the starter generator 12 accompanying the combustion control of the engine 11 is reduced. growing. For this reason, when the induced voltage “ωc × Ψa” is calculated in step S15 to be described later using the rotational speed ω at each time, the calculated induced voltage may be larger than the actual induced voltage. In this case, even if the q-axis voltage Vq follows the calculated induced voltage, the d-axis current cannot be reduced to 0 or less.

  Therefore, in this embodiment, when the clutch is disengaged, the minimum value ωmin of the rotational speed in one combustion cycle of the engine 11 is used for calculation of the induced voltage.

  On the other hand, if it is determined in step S12 that the clutch meet state is reached, the process proceeds to step S14, where the calculation rotational speed ωc is set to the latest rotational speed ωi grasped from the output signal of the magnetic pole position detection sensor 19.

  After completing the processes in steps S13 and S14, the process proceeds to step S15. In step S15, the voltage amplitude Vamp, the calculation rotational speed ωc, the voltage phase δ calculated by the phase calculation unit 22b, and the induced voltage constant Ψa stored in the device constant storage unit 23b are input, and the following equation (eq4) Based on the above, an induced voltage deviation INDEX is calculated.

上式（ｅｑ４）において、電圧振幅Ｖａｍｐは、バッテリ電圧ＶＤＣに基本利用率Ｍｂを乗算することで算出すればよい。ちなみに、本実施形態において、本ステップの処理が「誘起電圧算出手段」及び「誘起偏差算出手段」を含む。

In the above equation (eq4), the voltage amplitude Vamp may be calculated by multiplying the battery voltage VDC by the basic usage rate Mb. Incidentally, in the present embodiment, the processing of this step includes “induced voltage calculation means” and “induced deviation calculation means”.

  In a succeeding step S16, it is determined whether or not the battery voltage VDC is less than the specified voltage Vth (> 0). This process is a process for determining whether or not the battery 14 is insufficiently charged.

  If an affirmative determination is made in step S16, it is determined that charging is insufficient, and the process proceeds to step S17. In step S17, it is determined whether or not the induced voltage deviation INDEX is larger than a predetermined negative value “−K”. This process is a process for determining whether or not the q-axis voltage has decreased to a value less than the induced voltage.

  If an affirmative determination is made in step S17, the process proceeds to step S18 to determine whether or not the calculation rotational speed ωc is equal to or higher than the lower limit speed ω0. Here, the lower limit speed ω <b> 0 is set to a rotational speed (for example, 100 rpm) that cannot be taken as a motorcycle during combustion control of the engine 11. This process is a process for avoiding an excessive retardation of the voltage phase δ. That is, when the rotational speed is excessively low, the amount of retardation of the voltage phase δ becomes excessively large. In this case, there is a concern that the q-axis voltage cannot reach the induced voltage even if the voltage amplitude Vamp is increased to the maximum value by the voltage amplitude operation processing described later. For this reason, when the rotational speed is excessively low, even if the d-axis current is larger than 0, the retardation amount of the voltage phase δ is excessively prohibited by prohibiting the voltage phase manipulation process described later. Avoid getting bigger.

  When a negative determination is made in step S18, the voltage phase operation process is prohibited, and the process proceeds to step S11 to perform normal voltage feedback control. On the other hand, if an affirmative determination is made in step S18, the process proceeds to step S19 to perform voltage phase manipulation processing. Hereinafter, this process will be described with reference to FIG.

  In this series of processing, in step S191, an operation for feedback-controlling the induced voltage deviation INDEX to 0 on condition that the voltage phase δ is made equal to or less than the specified phase while expanding the specified phase from 30 ° to 90 °. The voltage phase δ is calculated as a quantity. Here, the larger the induced voltage deviation INDEX, the larger the voltage phase δ is calculated. That is, the voltage phase δ calculated by the phase calculation unit 22b is corrected so as to control the q-axis voltage to the induced voltage. Note that the specified phase after the upper limit expansion is 90 ° because if the voltage phase δ is excessively retarded, the q-axis current decreases and the power generation amount decreases or the d-axis current increases. This is to avoid an increase in loss.

  In the subsequent step S192, when the voltage phase δ exceeds the guard value α, a guard process for limiting the voltage phase δ with the guard value α is performed. In the present embodiment, as shown in FIG. 14, the guard value α is set to be smaller as the voltage phase is larger than the voltage phase when the q-axis voltage matches the induced voltage and the calculation rotational speed ωc is higher. The guard value α is set to a value of 90 ° or less. This process is a process for avoiding an increase in the q-axis current due to an excessive retardation of the voltage phase δ and an excessive increase in the generated power of the starting generator 12. FIG. 14 shows an example in which the voltage vector is changed from Vn1 to Vn2 by the process of step S191, but the voltage vector is changed to Vn3 by the guard process. In the present embodiment, the processing of this step includes “guard value calculation means”.

  Returning to the description of FIG. 11, after completion of the process of step S19, the process proceeds to step S11 to calculate the applied voltages Vu, Vv, and Vw of the respective phases. Specifically, based on the value obtained by correcting the voltage phase δ calculated by the phase calculation unit 22b by the voltage phase manipulation process, the battery voltage VDC, and the output signal of the magnetic pole position detection sensor 19, each phase applied voltage Vu, Vv, Vw is calculated.

  On the other hand, if a negative determination is made in steps S16 and S17, the process proceeds to step S20 to perform voltage amplitude operation processing. Specifically, a duty ratio correction amount ΔDuty (≧ 0) is calculated as an operation amount for performing feedback control of the induced voltage deviation INDEX to 0. Here, the duty ratio correction amount ΔDuty is calculated to be larger as the induced voltage deviation INDEX is a negative value and the absolute value thereof is larger. In the present embodiment, the processing of this step includes “duty ratio setting means”.

  The process of this step is based on the 180 ° energization control as shown in FIG. 6 above, but the process for causing the q-axis voltage to follow the induced voltage by combining the 180 ° energization control with the duty control. It is. The final time ratio “90% + ΔDuty” is set by adding and correcting the time ratio correction amount ΔDuty calculated in step S20 to the time ratio Duty 90% corresponding to the basic usage rate Mb.

  In subsequent step S11, based on the voltage phase δ corrected by the voltage phase operation processing, the final duty ratio “90% + ΔDuty”, the battery voltage VDC, and the output signal of the magnetic pole position detection sensor 19, each phase applied voltage Vu. , Vv, Vw are calculated. Here, the voltage utilization rate Mr used for calculating the voltage amplitude Vamp may be calculated by the following equation (eq5), for example.

続いて、図１１で説明した処理を、図１５に示すベクトル図を用いてさらに説明する。

Next, the process described with reference to FIG. 11 will be further described with reference to the vector diagram shown in FIG.

  FIG. 15A is a diagram before the execution of the voltage phase operation process and the voltage amplitude operation process. Here, the voltage phase δ1 is a specified phase (30 °). After that, as shown in FIG. 15B, the induced voltage deviation INDEX is less than the negative predetermined value “−K”, that is, the q-axis voltage is induced by the voltage phase being delayed to δ2 by the voltage phase manipulation process. The value is less than the voltage. Thereafter, as shown in FIG. 15C, the q-axis voltage is made to follow the induced voltage by the voltage amplitude operation processing.

  As described above, in this embodiment, when the q-axis voltage is made to follow the induced voltage, the q-axis voltage is first brought close to the induced voltage by the retardation of the voltage phase δ. The retarding operation of the voltage phase δ increases the generated power of the starting generator 12. On the other hand, when the operation of the voltage amplitude Vamp for causing the q-axis voltage to follow the induced voltage is performed prior to the operation of retarding the voltage phase δ, the generated power is reduced due to the decrease of the voltage amplitude Vamp. For this reason, in order to suppress the reduction | decrease in generated electric power, it is better that the operation amount of the voltage amplitude Vamp is small. Therefore, first, the q-axis voltage is brought close to the induced voltage without reducing the generated power by operating the voltage phase δ. Thereby, the reduction | decrease in the generated electric power accompanying suppressing the estimation error of an electric current can be suppressed.

  In the present embodiment, since the electrical angle θ can be grasped only at intervals of 60 ° by the magnetic pole position detection sensor 19, the control period ΔT1 of the voltage phase manipulation process is also set at intervals of 60 °. On the other hand, the control period ΔT2 of the voltage amplitude operation process is set to a period shorter than the control period ΔT1 of the voltage phase operation process because the voltage phase δ is not required in this process. In particular, in the present embodiment, the control period ΔT2 of the voltage amplitude operation process is set to one control period of the control device 20. For this reason, the update frequency of the voltage amplitude Vamp by the voltage amplitude operation process is higher than the update frequency of the voltage phase δ by the voltage phase operation process.

  Therefore, the follow-up accuracy of the q-axis voltage to the induced voltage by the voltage amplitude operation process is higher than the follow-up accuracy by the voltage phase operation process. For this reason, first, after the d-axis current is brought close to 0 by the retardation of the voltage phase δ, the voltage amplitude Vamp with high tracking accuracy is operated to quickly follow the q-axis voltage to the induced voltage with high accuracy. Can do.

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

  (1) When the induced voltage deviation INDEX is greater than 0, the voltage phase δ calculated by the phase calculation unit 22b is retarded until the induced voltage deviation INDEX is equal to or less than the specified value “−K”. The voltage amplitude Vamp was increased in order to make the q-axis voltage follow the induced voltage. For this reason, it can be avoided that the actual d-axis inductance greatly deviates from the predetermined d-axis inductance Ld used for current estimation. Thereby, the estimation error of DC current IDC can be suppressed suitably. Therefore, it is possible to avoid a decrease in the calculation accuracy of the charging rate SOC of the battery 14.

  Further, when the q-axis voltage is made to follow the induced voltage by increasing the voltage amplitude Vamp, the q-axis voltage is brought close to the induced voltage by the retardation of the voltage phase δ prior to the operation of the voltage amplitude Vamp. Thereby, the reduction | decrease of the electric power generation of the starter generator 12 accompanying suppressing the estimation error of an electric current can also be suppressed.

  (2) The control cycle by the voltage amplitude operation process is set shorter than the control cycle by the voltage phase operation process. For this reason, it is possible to cause the q-axis voltage to follow the induced voltage quickly and with high accuracy, and thus it is possible to more appropriately suppress the current estimation error.

  (3) The voltage phase manipulation process was performed on condition that the battery voltage VDC was less than the specified voltage Vth. The voltage phase operation process increases the generated power of the starter generator 12. For this reason, under the situation where the estimation error of the current is to be suppressed, insufficient charging of the battery 14 can be quickly resolved.

  (4) Even when the d-axis current is larger than 0, the execution of the voltage phase manipulation process is prohibited on the condition that the rotational speed for calculation ωc is less than the lower limit speed ω0. Thereby, it is possible to avoid an excessively large retardation amount of the voltage phase δ.

  (5) The voltage phase manipulation process is a process of changing the voltage phase δ calculated by the phase calculation unit 22b while expanding the specified phase to 90 °. When there is a restriction that the voltage phase is less than or equal to the specified phase, when the d-axis current is larger than 0, the operation of the voltage phase δ causes a problem that the q-axis voltage cannot be made less than the induced voltage. There is. For this reason, in the situation where the d-axis current is larger than 0, the specified phase is expanded to 90 degrees. Thereby, the inconvenience can be avoided. Here, if the specified phase is expanded beyond 90 °, there is a concern that the power generation efficiency of the starter generator 12 may decrease due to a decrease in power generation due to a decrease in q-axis current and an increase in loss due to an increase in d-axis current. is there. Therefore, a decrease in power generation efficiency can be suppressed by setting the upper limit to 90 °.

  (6) The voltage phase δ is limited by the guard value α. For this reason, it is possible to prevent an excessive retardation of the voltage phase δ and, in turn, avoid an excessive increase in generated power.

  (7) In the clutch disengaged state, the minimum value ωmin of the rotational speed in one combustion cycle of the engine 11 was used for calculation of the induced voltage. In the present embodiment, since the clutch is disengaged when the engine 11 is idling, the clutch disengaged state is a state where the induced voltage is low and the fluctuation of the rotational speed is large. Even under this condition, the q-axis voltage can be made to accurately follow the induced voltage, and the d-axis current can be made zero. Thereby, the estimation error of the direct current IDC can be accurately suppressed even before the clutch meet.

(Other embodiments)
The above embodiment may be modified as follows.

  11, the process of determining whether the d-axis current id is greater than a value exceeding 0, the process of determining whether the induced voltage deviation INDEX is greater than 0, or the induced voltage The process may be replaced with a process for determining whether or not the deviation INDEX is larger than a value exceeding 0.

  The process of step S17 in FIG. 11 may be replaced with a process of determining whether or not the d-axis current id estimated by the dq-axis current estimation unit 23a is larger than a predetermined negative value.

  -You may remove the guard process of step S192 of FIG.

  In the above embodiment, the voltage vector is rotated in the retard direction until the q-axis voltage becomes less than the induced voltage, and then the voltage amplitude Vamp is increased to cause the q-axis voltage to follow the induced voltage. . After rotating the voltage vector in the retarding direction until the q-axis voltage becomes larger than the induced voltage, the voltage amplitude Vamp may be decreased to cause the q-axis voltage to follow the induced voltage. In this case, the basic usage rate Mb may be set to the upper limit usage rate Mlimit, for example.

  The process of step S16 in FIG. 11 may be replaced with a process of determining whether or not the charging rate SOC of the battery 14 calculated by the SOC calculation unit 24 is less than a predetermined SOC.

  In step S191 in FIG. 13, the voltage phase δ may be changed so that the induced voltage deviation INDEX is feedback-controlled to a value Ith that is not zero. That is, the voltage phase δ may be changed so that the d-axis current is a specified current that is not 0 and is less than the value Ith.

  In step S20 of FIG. 11, the duty ratio correction amount ΔDuty may be calculated so that the induced voltage deviation INDEX is feedback-controlled to a value Ith that is not zero. That is, the voltage amplitude Vamp may be manipulated so that the d-axis current is a specified current that is not 0 and is less than the value Ith.

  In the above embodiment, the voltage amplitude Vamp is decreased so that the q-axis voltage follows the induced voltage by turning the lower arm switch on and off according to the time ratio in the period in which the lower arm switch can be turned on. Absent. For example, the voltage amplitude Vamp may be decreased by performing an on / off operation of the upper arm switch according to a time ratio in a period during which the upper arm switch can be turned on.

  Further, the method of increasing the voltage amplitude Vamp for causing the q-axis voltage to follow the induced voltage is not limited to increasing the duty ratio Duty. For example, when the system has a configuration in which the voltage between the terminals of the battery 14 can be made variable, the voltage amplitude Vamp may be increased by increasing the voltage between the terminals of the battery 14.

  The starter / generator 12 is not limited to a permanent magnet type synchronous machine, and may be a field winding type synchronous machine having a field winding on a rotor, for example. The starter generator 12 is not limited to the Y-connected one, and may be a Δ-connected one, for example.

  The driving method of the starter generator 12 is not limited to the three-phase 180 ° energization method, and may be another energization method such as a three-phase 120 ° energization method. Here, FIG. 16 shows basic 120 ° energization control, and FIG. 17 shows control in which duty control is combined with 120 ° energization control.

  The magnetic pole position detection sensor is not limited to the Hall sensor as long as the magnetic pole position can be detected, and other sensors may be used.

  In each of the above embodiments, the rotational speed used for calculating the induced voltage may be calculated as follows. Specifically, for each combustion cycle (720 ° CA) of the engine 11, the rotation speed when the rotation angle position of the crankshaft 11a becomes a preset rotation angle position (hereinafter referred to as a rotation speed at a predetermined angle position) is calculated. To do. Then, based on the calculated rotational speed at the predetermined angular position and the minimum value of the rotational speed of one combustion cycle determined in advance by experiments or the like, the minimum rotational speed value ωmin used for calculating the induced voltage is calculated. Also good. Specifically, for example, the difference or deviation value between the rotational speed at the predetermined angular position and the minimum value of the rotational speed determined in advance through experiments or the like is calculated, and the rotational speed at the predetermined angular position is calculated based on the calculated difference or deviation value. The minimum value ωmin may be calculated by correction.

  In each of the above embodiments, the minimum value ωmin of the rotational speed in one combustion cycle of the engine 11 is used for calculation of the induced voltage. However, the present invention is not limited to this, for example, the rotational speed ω immediately before or after the minimum value ωmin. Alternatively, a rotational speed ω slightly higher than the minimum value ωmin may be used.

  -The power conversion circuit is not limited to a three-phase inverter. In short, any other power conversion circuit may be used as long as it is a power conversion circuit that can convert the AC voltage output from the starter generator 12 into a DC voltage and apply it to the battery 14.

  The clutch 16 is not limited to an automatic centrifugal clutch, and may be an intermittent clutch configured to be switchable between a clutch meet state and a clutch disengaged state by a user's clutch lever operation, for example.

  The application target of the present invention is not limited to a motorcycle, but may be other vehicles such as an automobile.

  12 ... Starting generator, 13 ... Inverter, 14 ... Battery, 20 ... Control device.

Claims (12)

Applied to a system including a power conversion circuit (13) and a rotating electrical machine (12) that performs power transmission with a DC power supply (14) by energization operation to the power conversion circuit
The voltage vector amplitude of the power conversion circuit is a voltage amplitude, the phase of the voltage vector is a voltage phase,
Current estimation means for estimating a current flowing between the DC power source and the power conversion circuit based on a predetermined d-axis inductance of the rotating electrical machine;
Definition that the deviation between the q-axis component of the voltage vector and the induced voltage component of the rotating electrical machine is greater than 0, provided that the d-axis current in the dq coordinate system of the rotating electrical machine is a predetermined value greater than 0. Phase manipulation means for manipulating the voltage phase in a direction to rotate the voltage vector clockwise with respect to the positive q axis until a value less than the value is reached;
On the condition that the d-axis current becomes the predetermined value, the q-axis component is caused to follow the induced voltage component in a region where the deviation between the q-axis component and the induced voltage component is less than the specified value. And an amplitude operation means for operating the voltage amplitude. defining the voltage phase as a positive value when the voltage vector rotates clockwise with respect to the positive q-axis in the dq coordinate system;
A phase calculating means for calculating the voltage phase for controlling the rotating electrical machine on condition that the voltage phase is set to be equal to or less than a specified phase that is greater than 0 ° and smaller than 90 °;
Voltage control means for controlling an applied voltage of the rotating electrical machine based on the voltage phase calculated by the phase calculation means;
The phase operation means operates the voltage phase calculated by the phase calculation means until a deviation between the q-axis component and the induced voltage component becomes a value less than the specified value,
The current estimation apparatus according to claim 1, wherein the amplitude operation unit performs the operation of the voltage amplitude for causing the q-axis component to follow the induced voltage component by adjusting the applied voltage. The system includes magnetic pole position detection means (19) for detecting the magnetic pole position of the rotating electrical machine at a predetermined cycle,
The voltage control means controls the applied voltage based on the magnetic pole position detected by the magnetic pole position detection means in addition to the voltage phase;
The phase operation means operates the voltage phase with the specified period as a control period,
The current estimation apparatus according to claim 2, wherein the amplitude operation unit adjusts the applied voltage using a period shorter than the specified period as a control period. The voltage control means sets the voltage amplitude to a value less than the maximum value to control the applied voltage,
The phase manipulating means manipulates the voltage phase calculated by the phase calculating means until the q-axis component becomes a value less than the induced voltage component while expanding the prescribed phase to 90 °,
The current estimation apparatus according to claim 2 or 3, wherein the amplitude operation unit performs the operation of the voltage amplitude by adjusting the applied voltage so as to increase the voltage amplitude toward the maximum value. The power conversion circuit includes a series connection of an upper arm switch (Sup, Svp, Swp) and a lower arm switch (Sun, Svn, Swn),
The voltage control means turns on and off the upper arm switch and the lower arm switch by 180 ° energization control or 120 ° energization control based on the voltage phase calculated by the phase calculation means. Control
One of the upper arm switch and the lower arm switch is a target switch (Sun, Svn, Swn),
The amplitude operation means is a period during which the target switch can be turned on, which is defined by the 180 ° energization control or the 120 ° energization control, for controlling the voltage amplitude for causing the q-axis component to follow the induced voltage component. The current estimation apparatus according to claim 4, wherein the current switch is operated by turning on and off the target switch according to a duty ratio.   The current estimation apparatus according to claim 5, further comprising a time ratio setting unit that sets the time ratio to be larger as the q-axis component is smaller than the induced voltage component. A guard value that is larger than the prescribed phase and set to 90 ° or less, and is set larger when the rotational speed of the rotating electrical machine is lower than when the rotational speed of the rotating electrical machine is high is calculated. A guard value calculating means;
The current estimation apparatus according to claim 2, wherein the phase operation unit operates the voltage phase with the guard value as an upper limit. The phase calculation means includes voltage deviation calculation means for calculating a deviation between the voltage of the DC power supply and its target voltage, and the operation amount for performing feedback control of the deviation calculated by the voltage deviation calculation means to zero. Calculate the voltage phase,
The current estimation apparatus according to claim 2, further comprising a charge rate calculation unit that calculates a charge rate of the DC power source based on the current estimated by the current estimation unit.   The current estimation device according to any one of claims 1 to 8, wherein the phase operation means operates the voltage phase on condition that a charge amount of the DC power supply is less than a predetermined amount greater than zero.   Even when the d-axis current is larger than the predetermined value, the voltage manipulation by the phase manipulation means is performed on condition that the rotational speed of the rotating electrical machine is less than a lower limit speed higher than 0. The current estimation apparatus according to any one of claims 1 to 9, further comprising prohibiting means for prohibiting. The system can transmit power between an engine (11) as an in-vehicle main machine, drive wheels (17) connected to the engine output shaft (11a), and the engine output shaft and the drive wheels. And a clutch (16) configured to be switchable to any one of a state where the power between the output shaft of the engine and the driving wheel is cut off, and mounted on a vehicle (10),
The rotating shaft of the rotating electrical machine is directly connected to the output shaft of the engine,
On the condition that the clutch is in the disengaged state, the induction speed is determined based on the rotation speed of the rotating shaft, which is near the minimum value of the rotation speed in one combustion cycle of the engine. An induced voltage calculating means for calculating a voltage component;
An induced deviation calculating means for calculating an induced voltage deviation by subtracting the induced voltage component calculated by the induced voltage calculating means from the q-axis component;
The phase operation means operates the voltage phase until the induced voltage deviation becomes a value less than 0,
The current estimation device according to any one of claims 1 to 10, wherein the amplitude operation unit operates the voltage amplitude so that the q-axis component follows the induced voltage component calculated by the induced voltage calculation unit. .   The current estimation device according to claim 11, wherein the vehicle is a motorcycle.

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