JP2017079580A - Controller for dynamo-electric machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To propose a new method when applying a configuration for detecting the turning angle of a rotor, based on the periodic voltage change of the neutral point of an armature winding, for a multiplex winding dynamo-electric machine.SOLUTION: Provided is a controller 40 for a dynamo-electric machine performing synchronous control of a motor 10 based on a turning angle. The controller is applied to a motor 10 including a stator 12 having an armature wining, and a rotor 11 having a permanent magnet 14 for the field, where the armature wining has a plurality of winding groups 13a, 13b, the winding groups 13a, 13b has a plurality of coils Lua, Lub, Lva, Lvb, Lwa, Lwb connected with actual neutral points M1, M2, and the permanent magnet 14 has non-sinusoidal magnetic flux characteristics for the turning angle of the rotor 11. The first winding group 13a and second winding group 13b have a phase difference, and the turning angle is detected based on the voltage at the actual neutral point M1 of the first winding group 13a, and the voltage at the actual neutral point M2 of the second winding group 13b.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a control device for a rotating electrical machine that controls a synchronous rotating electrical machine. In particular, it relates to detection of the rotation angle of the rotor.

  A control device in a synchronous rotating electrical machine such as a brushless DC motor controls the rotating electrical machine by operating a voltage supplied to the rotating electrical machine based on the rotation angle of the rotor. In a control device for a synchronous rotating electrical machine, a configuration is known in which a rotational angle of a rotor is detected based on a periodic voltage change at a neutral point of an armature winding. For example, in the configuration described in Patent Document 1, a three-phase Y-connected resistance circuit is provided in parallel with a three-phase Y-connected armature winding. Then, the induced voltage generated in the armature winding is acquired based on the deviation between the neutral point voltage of the armature winding and the neutral point voltage of the resistance circuit. The rotation angle of the rotor is detected based on the acquired induced voltage.

Japanese Patent No. 3424307

  In recent years, a double-winding type rotating electrical machine in which three-phase windings are arranged in a double with a phase difference of 30 degrees so as to cancel each other out the sixth-order components of the reaction magnetomotive force, which is the main cause of the magnetic noise of the rotating electrical machine for vehicles, It is used. When this type of multi-winding rotating electrical machine is applied with a configuration that detects the rotational angle of the rotor based on the periodic voltage change at the neutral point of the armature winding, a new method has been proposed. desired.

  The present invention has been made in view of the above problems, and a configuration for detecting a rotation angle of a rotor based on a periodic voltage change at a neutral point of an armature winding with respect to a multi-winding type rotating electric machine. The main purpose is to propose a new method when applying.

  The first configuration includes a stator (11) having an armature winding, and a rotor (12) having at least one of a field winding and a field permanent magnet, and the armature winding Has a plurality of winding groups (13a, 13b; 15a, 15b), and the winding groups are connected to a real neutral point (M1, M2) provided for each winding group. (Lua, Lva, Lwa, Lub, Lvb, Lwb; L1ua to L1wa, L1ub to L1wb, L2ua to L2wa, L2ub to L2wb), and the field winding and the permanent magnet for the field are the rotor A rotating electrical machine control device (40) that is applied to a multi-winding rotating electrical machine (10) having a non-sinusoidal magnetic flux characteristic with respect to a rotational angle of the rotating electrical machine and controls the rotating electrical machine based on the rotational angle. A first of the plurality of winding groups. The winding group and the second winding group have a phase difference, the voltage of the real neutral point of the first winding group, and the voltage of the real neutral point of the second winding group, And a rotation angle detecting means for detecting the rotation angle.

  In a rotating electrical machine having a plurality of winding groups as armature windings, based on the actual neutral point voltage of the first winding group and the actual neutral point voltage of the second winding group, Detect the rotation angle. Specifically, the actual neutral point corresponds to the difference between the average value of the applied voltage to the plurality of coils constituting the winding group and the average value of the induced voltage generated in the plurality of coils constituting the winding group. Voltage is applied. Since the induced voltage changes according to the rotation angle of the rotor, it is possible to calculate the rotation angle of the rotor based on the voltage at the actual neutral point. Further, in this configuration, angle detection is performed using two different actual neutral point voltages. Thereby, for example, it is possible to obtain effects such as an improvement in angle detection accuracy and an increase in the angle detection opportunity in one rotation of the rotating electrical machine.

The figure showing the electric constitution of a 1st embodiment. The model figure showing the acquisition method of the rotation angle in 1st Embodiment. The figure showing the induced voltage and the voltage difference of a real neutral point voltage and a virtual neutral point voltage. The figure showing voltage difference (DELTA) V1, (DELTA) V2 of the real neutral point voltage and virtual neutral point voltage in a 1st coil group and a 2nd coil group. The figure showing the response | compatibility with the actual value and detected value of a rotation angle in 1st Embodiment. The model figure showing the acquisition method of the rotation angle in 2nd Embodiment. The figure showing voltage difference (DELTA) V1, (DELTA) V2 of the real neutral point voltage and virtual neutral point voltage in a 1st coil group and a 2nd coil group. The figure showing a response | compatibility with the actual value and detected value of the rotation angle in 2nd Embodiment. The model figure showing the acquisition method of the rotation angle in 3rd Embodiment. The figure showing the voltage difference of voltage difference (DELTA) V1 and voltage difference (DELTA) V2. The figure showing a response | compatibility with the actual value and detected value of the rotation angle in 3rd Embodiment. The model figure showing the acquisition method of the rotation angle in 4th Embodiment. The figure showing the voltage difference of the actual neutral point voltage VM1 in a 1st coil group, and the actual neutral point voltage VM2 in a 2nd coil group. The model figure showing the acquisition method of the rotation angle in 5th Embodiment. The model figure showing the acquisition method of the rotation angle in 6th 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 rotary electric machine having a multiphase multiple winding, and specifically, a 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.

  A rotor 11 (rotor) constituting the motor 10 includes a permanent magnet 14 for field, and can transmit power to the crankshaft 20 a of the engine 20. In the present embodiment, the rotor 11 is connected (more specifically, directly connected) to the crankshaft 20a via the belt 21.

  The field permanent magnet 14 provided in the rotor 11 has a non-sinusoidal magnetic flux characteristic with respect to the rotation angle θ of the rotor 11. Specifically, the permanent magnet 14 is trapezoidal wave magnetized. The permanent magnet 14 is provided on the surface of the rotor 11, and the motor 10 is an SPMSM (Surface Permanent Magnet Synchronous Motor). For simplicity of explanation, the field permanent magnet 14 is shown as two poles, but it may be changed to four poles or six poles.

  Two armature winding groups (hereinafter, a first winding group 13a and a second winding group 13b) are wound around the stator 12 (stator) of the motor 10. The first winding group 13a and the second winding group 13b constitute an armature winding. The first winding group 13a and the second winding group 13b have a phase difference of 30 degrees. The rotor 11 is common to the winding groups 13a and 13b. Each of the first winding group 13a and the second winding group 13b includes three-phase windings having different neutral points. In the present embodiment, the number of turns T1 of the windings constituting the first winding group 13a is set equal to the number of turns T2 of the windings constituting the second winding group 13b.

  Two inverters (hereinafter referred to as a first inverter INV1 and a second inverter INV2) corresponding to the first winding group 13a and the second winding group 13b are electrically connected to the motor 10, respectively. Specifically, a first inverter INV1 is connected to the first winding group 13a, and a second inverter INV2 is connected to the second winding group 13b. 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 includes a series connection body of the first U, V, W phase high voltage side switches SUp1, SVp1, SWp1 and the first U, V, W phase low voltage 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 13a. 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 voltage side switches SUp2, SVp2, SWp2, and the second U, V, W phase low voltage 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 13b. In the present 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 voltage side terminals (the drain side terminals of the high voltage side switches) of the inverters INV1 and INV2. The negative terminal of the high voltage battery 22 is connected to the low voltage side terminal (the source side terminal of each low voltage side switch).

  The control system according to the present embodiment includes a voltage sensor 31 and a phase current detection unit 32. The voltage sensor 31 detects the power supply voltage of the inverters INV1 and INV2. The phase current detector 32 detects each phase current of the first winding group 13a (current flowing through the first winding group 13a in the fixed coordinate system) and each phase current of the second winding group 13b. Moreover, as the phase current detection unit 33, for example, a unit 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 generates and outputs an operation signal for operating 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 of the motor 10 to the command value. Here, the control amount of the motor 10 during power running is the output torque T output to the crankshaft 20a, and its command value is the torque command value T *.

  Furthermore, the control device 40 according to the present embodiment is based on the neutral point voltage of the first winding group 13a and the neutral point voltage of the second winding group 13b. The rotation angle θ of the rotor 11 is acquired. Then, vector control of the motor 10 is performed based on the rotation angle θ in addition to the detection values by the voltage sensor 31 and the phase current detector 32.

  FIG. 2 is a model diagram illustrating a method for obtaining the rotation angle θ by the control device 40.

  The first winding group 13a is configured by three-phase Y-connection of coils Lua, Lva, and Lwa with respect to the neutral point M1 (actual neutral point). The second winding group 13b is configured by three-phase Y-connection of coils Lub, Lvb, and Lwb with respect to the neutral point M2 (actual neutral point). The actual neutral point M1 of the first winding group 13a and the actual neutral point M2 of the second winding group 13b are insulated.

  In the present embodiment, the first resistance circuit R1 is provided between the first winding group 13a and the first inverter INV1, and the second resistance circuit R2 is provided between the second winding group 13b and the second inverter INV2. The configuration. The resistance circuit R1 includes a first virtual neutral point N1 and a plurality of resistors Rua, Rva, Rwa connected to the first virtual neutral point N1, and is connected in parallel to the first winding group 13a. Yes. More specifically, the resistors Rua, Rva, Rwa are configured by three-phase Y-connection.

  Similarly, the resistance circuit R2 includes a second virtual neutral point N2 and a plurality of resistors Rub, Rvb, Rwb connected to the second virtual neutral point N2, and is in parallel with the second winding group 13b. It is connected. More specifically, the resistors Rub, Rvb, and Rwb are configured by three-phase Y-connection.

Here, terminal voltages of the U-phase terminal, V-phase terminal, and W-phase terminal of the first winding group 13a connected to the inverter INV1 are VU1, VV1, and VW1, respectively. The induced voltages of the U-phase coil, V-phase coil, and W-phase coil of the first winding group 13a are denoted by EU1, EV1, and EW1, respectively. When the voltage of the real neutral point M1 of the first winding group 13a is VM1, and the voltage of the virtual neutral point N1 of the first resistor circuit R1 is VN1, the neutral point voltages VM1 and VN1 are respectively
VM1 = (1/3) (VU1-EU1 + VV1-EV1 + VW1-EW1)
VN1 = (1/3) (VU1 + VV1 + VW1)
It becomes.
That is, the voltage difference ΔV1 (first voltage difference) between the neutral point voltages VN1 and VM1 is
ΔV1 = VN1−VM1 = (1/3) (EU1 + EV1 + EW1)
It becomes.

Similarly, terminal voltages of the U-phase terminal, V-phase terminal, and W-phase terminal of the second winding group 13b connected to the inverter INV2 are VU2, VV2, and VW2. The induced voltages of the U-phase coil, V-phase coil, and W-phase coil of the second winding group 13b are EU2, EV2, and EW2. When the voltage of the real neutral point M2 of the second winding group 13b is VM2 and the voltage of the virtual neutral point N2 of the second resistor circuit R2 is VN2, the neutral point voltages VM2 and VN2 are respectively
VM2 = (1/3) (VU2-EU2 + VV2-EV2 + VW2-EW2)
VN2 = (1/3) (VU2 + VV2 + VW2)
It becomes.
That is, the voltage difference ΔV2 (second voltage difference) between the neutral point voltages VN2 and VM2 is
ΔV2 = VN2-VM2 = (1/3) (EU2 + EV2 + EW2)
It becomes.

  As a result of the first winding group 13a and the second winding group 13b having a phase difference of 30 degrees, the sixth-order components (and 6n-order components of the induced voltages EU1, EV1, and EW1 generated in the first winding group 13a). Is a natural number of 2 or more) and the 6th order components (and 6nth order components) of the induced voltages EU2, EV2 and EW2 generated in the second winding group 13b cancel each other. Therefore, the third order components of the induced voltages EU1, EV1, EW1, EU2, EV2, and EW2 are mainly output as the voltage differences ΔV1 and ΔV2. As shown in FIG. 3, the voltage differences ΔV1 and ΔV2 are substantially trapezoidal. The induced voltages EU1, EV1, EW1, EU2, EV2, and EW2 are substantially sine waves having a frequency three times that of the induced voltages EU1, EV1, EW1, EU2, EV2, and EW2.

  Here, the induced voltages EU1, EU1, EW1 in the first winding group 13a and the induced voltages EU2, EV2, EW2 in the second winding group 13b are the first winding group 13a and the second winding group 13b, respectively. It has an equal phase difference, that is, a phase difference of 30 degrees (electrical angle). Since the voltage differences ΔV1 and ΔV2 each have a fundamental frequency three times that of the fundamental wave, the phase difference between the voltage difference ΔV1 and the voltage difference ΔV2 is 90 degrees as shown in FIG.

That is, the voltage difference ΔV1 is
ΔV1 = Amp · sin3θ
When the voltage difference ΔV2 is expressed as
ΔV2 = Amp · sin3 (θ + 30 °) = Amp · sin (3θ + 90 °) = Amp · cos3θ
Can be expressed as Amp is the amplitude of the voltage difference ΔV1, ΔV2. That is, the ratio ΔV1 / ΔV2 between the voltage difference ΔV1 and the voltage difference ΔV2 is
ΔV1 / ΔV2 = sin3θ / cos3θ = tan3θ
It becomes. That is, 3θ can be acquired as a continuous value by calculating the arc tangent of the voltage difference ratio ΔV1 / ΔV2. FIG. 5 shows the angle 3θ calculated based on the voltage difference ratio ΔV1 / ΔV2 and the actual value (true value) θr of the rotation angle θ.

The control device 40 as the rotation angle acquisition unit of the present embodiment includes an arc tangent calculation unit 41 that is a unit that calculates an arc tangent of the voltage difference ratio ΔV1 / ΔV2 (FIG. 2). The arctangent calculation unit 41 calculates a voltage difference ratio ΔV1 / ΔV2 and calculates the rotation angle θ by calculating the arctangent of the calculated ratio.
atan (ΔV1 / ΔV2) = 3θ
Furthermore, in the present embodiment, the division unit 42 of the control device 40 acquires the rotation angle θ by multiplying the arc tangent of the voltage difference ratio ΔV1 / ΔV2 by 1/3.

  The ground voltage in inverters INV1, INV2 and motor 10 is different from the ground voltage in control device 40. Therefore, the actual neutral point voltages VM1 and VM2 and the virtual neutral point voltages VN1 and VN2 are input to the control device 40 via a differential amplifier circuit (not shown). By making the ground voltage of the differential amplifier circuit common to the ground voltage of the control device 40, the control device 40 acquires the voltage differences ΔV1 and ΔV2, respectively.

  The effects of this embodiment will be described below.

  In the case where the armature winding is a three-phase winding, a ternary component of a sinusoidal induced voltage is generated in the armature winding. Therefore, the voltages VN1 and VN2 at the virtual neutral points N1 and N2 (the neutral point of the resistance circuit) where the third component of the induced voltage does not occur and the voltage VM1 at the real neutral points M1 and M2 of the winding groups 13a and 13b. , VM2 and the difference ΔV1, ΔV2 are detected, and the rotation angle θ is detected based on the detected value.

  When the first winding group 13a and the second winding group 13b have a phase difference of 30 degrees, the third component (3θ) of the induced voltage generated in the first winding group 13a and the second winding group 13b The third component (3 (θ + 30 °)) of the induced voltage generated has a phase difference of 90 degrees (3 (θ + 30 °) -3θ = 90 °). Therefore, the ratio of the tertiary component of the induced voltage generated in the first winding group 13a and the tertiary component of the induced voltage generated in the second winding group 13b is calculated, and the arctangent of the ratio of the calculation results is calculated. A rotation angle (a value that is three times the rotation angle θ) can be obtained. Thus, according to the configuration of the present embodiment, unlike the conventional configuration (Japanese Patent No. 3424307) that acquires the rotation angle θ every 60 degrees, the rotation angle θ can be acquired as a continuous value. By acquiring the rotation angle θ as a continuous value, it is possible to suppress an error that occurs when the load on the motor 10 fluctuates abruptly, and to suppress a decrease in power efficiency and a deterioration in vibration noise.

(Second Embodiment)
FIG. 6 is a model diagram showing a method for obtaining the rotation angle θ by the control device 40a of the second embodiment. The electrical configuration in the second embodiment is the same as the electrical configuration in the first embodiment shown in FIG. The control device 40a as the “rotation angle detection means” of the present embodiment detects the rotation angle θ when the voltage difference ΔV1 and the voltage difference ΔV2 cross each zero.

  Specifically, the configuration of the present embodiment includes a comparator Cmp1 to which the neutral point voltage VM1 of the first winding group 13a and the neutral point voltage VN1 of the first resistor circuit R1 are input. When the neutral point voltage VM1 is greater than the neutral point voltage VN1, a high state signal is output from the comparator Cmp1, and when the neutral point voltage VM1 is smaller than the neutral point voltage VN1, a low state signal is output from the comparator Cmp1. .

  Further, the configuration of the present embodiment includes a comparator Cmp2 to which the neutral point voltage VN2 of the second winding group 13b and the neutral point voltage VM2 of the second resistor circuit R2 are input. Thus, when the neutral point voltage VN2 is larger than the neutral point voltage VM2, a high state signal is output from the comparator Cmp2, and when the neutral point voltage VN2 is smaller than the neutral point voltage VM2, a low state signal is output from the comparator Cmp2. Entered.

  The zero cross detector 43 of the control device 40a acquires the time at which the voltage differences ΔV1 and ΔV2 zero cross based on the output signals of the comparators Cmp1 and Cmp2. That is, the zero cross detection unit 43 performs angle acquisition based on the time when the output signals of the comparators Cmp1 and Cmp2 change from high to low and the time when the output signal changes from low to high.

  As shown in FIG. 7, the voltage difference ΔV1 and the voltage difference ΔV2 have a phase difference of 90 degrees and zero-cross every 60 degrees. That is, one of the voltage difference ΔV1 and the voltage difference ΔV2 zero-crosses every 30 degrees. Therefore, as shown in FIG. 8, the control device 40a updates the value of the rotation angle θ by increasing the value of the rotation angle θ by 30 degrees each time the state of the output signals of the comparators Cmp1 and Cmp2 changes. .

  The third-order component of the induced voltage of each phase has an electrical angle of 120 degrees as one cycle, and zero-crosses twice in that cycle. That is, the rotation angle θ can be detected as a discrete value every 60 degrees based on the timing at which the tertiary component of the induced voltage zero-crosses. Here, the tertiary component of the induced voltage generated in the first winding group 13a and the tertiary component of the induced voltage generated in the second winding group 13b have a phase difference of 90 degrees. Therefore, it is possible to detect that the rotation angle θ is 0 degree, 60 degrees, 120 degrees, 180 degrees, 240 degrees, and 300 degrees based on the third component of the induced voltage generated in the first winding group 13a. Based on the third component of the induced voltage generated in the second winding group 13b, it can be detected that the rotation angle θ is 30 degrees, 90 degrees, 150 degrees, 210 degrees, 270 degrees, and 330 degrees. That is, the rotation angle θ can be detected every 30 degrees.

(Third embodiment)
FIG. 9 is a model diagram illustrating a method for obtaining the rotation angle θ by the control device 40b of the third embodiment. The electrical configuration in the third embodiment is the same as the electrical configuration in the first embodiment shown in FIG. The control device 40b as the “rotation angle detection means” of the present embodiment detects the rotation angle θ when the difference between the voltage difference ΔV1 and the voltage difference ΔV2 crosses zero.

  Specifically, the configuration of the present embodiment includes a comparator Cmp3 to which the voltage difference ΔV1 and the voltage difference ΔV2 are input. When the voltage difference ΔV1 is larger than the voltage difference ΔV2, a high state signal is output from the comparator Cmp3, and when the voltage difference ΔV1 is smaller than the voltage difference ΔV2, a low state signal is output from the comparator Cmp3.

  Based on the output signal of the comparator Cmp3, the zero-cross detection unit 44 of the control device 40b acquires the time at which the difference between the voltage difference ΔV1 and the voltage difference ΔV2 is zero-crossed. That is, the zero cross detection unit 44 performs angle acquisition based on the time when the output signal of the comparator Cmp3 changes from high to low and the time when the output signal changes from low to high.

  As shown in FIG. 10, the difference between the voltage difference ΔV1 and the voltage difference ΔV2 zero-crosses every 60 degrees. Therefore, as shown in FIG. 11, the control device 40b increases the value of the rotation angle θ by 60 degrees and updates the value of the rotation angle θ every time the state of the output signal of the comparator Cmp3 changes.

  According to the configuration of the present embodiment, it is possible to cancel the influence of the offset error generated in the tertiary component of the induced voltage generated in the first winding group 13a and the tertiary component of the induced voltage generated in the second winding group 13b. And the detection accuracy of the rotation angle θ can be improved. Moreover, compared with the structure of 2nd Embodiment, the number of comparators can be reduced and the number of components used for an apparatus can be reduced.

(Fourth embodiment)
FIG. 12 is a model diagram illustrating a method for obtaining the rotation angle θ by the control device 40c of the fourth embodiment. The electrical configuration in the fourth embodiment is common to the electrical configuration in the first embodiment shown in FIG. The control device 40c as the “rotation angle detecting means” of the present embodiment includes the voltage VM1 at the actual neutral point M1 of the first winding group 13a and the voltage VM2 at the actual neutral point M2 of the second winding group 13b. The rotation angle θ is detected based on the difference (VM1-VM2).

  Specifically, the configuration of the present embodiment includes a comparator Cmp4 to which the voltage VM1 and the voltage VM2 are input. When the voltage VM1 is greater than the voltage VM2, a high state signal is output from the comparator Cmp4. When the voltage VM1 is smaller than the voltage VM2, a low state signal is output from the comparator Cmp4.

  Based on the output signal of the comparator Cmp4, the zero-cross detection unit 45 of the control device 40c acquires the time at which the difference between the voltage VM1 and the voltage VM2 each zero-crosses. The zero-cross detector 45 performs angle acquisition based on the time when the output signal of the comparator Cmp4 changes from high to low and the time when the output signal changes from low to high.

  As shown in FIG. 13, the difference between the voltage VM1 and the voltage VM2 crosses zero every 60 degrees. Therefore, as in FIG. 11, the control device 40c increases the value of the rotation angle θ by 60 degrees and updates the value of the rotation angle θ every time the state of the output signal of the comparator Cmp4 changes.

  Further, a phase difference of 30 degrees exists between the first winding group 13a and the second winding group 13b. Therefore, a phase difference of 30 degrees also exists between the output voltage of the inverter INV1 that applies a voltage to the first winding group 13a and the output voltage of the inverter INV2 that applies a voltage to the second winding group 13b. It will be. Here, the drive pattern of the switch SW in the inverter INV1 and the drive pattern of the switch SW in the inverter INV2 are switched each time the rotation angle θ changes by 60 degrees. That is, in the period in which the rotation angle θ changes by 60 degrees, the drive pattern of the switch SW in the inverters INV1 and INV2 is the same in the half, and the drive pattern of the switch SW in the inverters INV1 and INV2 is the other half.

  Therefore, as shown in FIG. 13, the switch pattern determination unit 46 of the control device 40c matches the voltage applied to the first winding group 13a, the second winding, and the drive pattern of the switch SW in the inverters INV1 and INV2. It is determined that the voltage applied to the line group 13b is equal. The zero-cross detection unit 45 detects the rotation angle θ on the condition that the switch pattern determination unit 46 determines that the switch patterns match. In other words, the control device 40c indicates that the drive pattern of the switch SW in the inverters INV1 and INV2 is different, and the voltage applied to the first winding group 13a is different from the voltage applied to the second winding group 13b. As a condition, detection of the rotation angle θ is prohibited.

  The effects of this embodiment will be described below.

  According to the configuration of the present embodiment, unlike the configurations of the first to third embodiments and the configuration of the prior art, the resistor circuit can be omitted, and an increase in the physique of the device can be suppressed.

  There is a phase difference of 30 degrees between the first winding group 13a and the second winding group 13b. For this reason, a phase difference of 30 degrees also exists between the voltages applied to the first winding group 13a and the second winding group 13b. That is, when the voltage vector control is performed, the period in which the voltage applied to the first winding group 13a and the voltage applied to the second winding group 13b coincide with each other and the period in which they do not coincide with each other at a cycle of 30 ° Will be repeated. In view of this, by adopting a configuration in which the rotation angle is detected based on the induced voltage in a period in which the applied voltages coincide with each other, it is possible to suppress deterioration in accuracy of detection of the rotation angle θ.

(Fifth embodiment)
FIG. 14 is a model diagram illustrating a method for obtaining the rotation angle θ by the control device 40 according to the fifth embodiment.

  In the present embodiment, as the first winding group 15a and the second winding group 15b, those connected in Δ-Y are used. In the present embodiment, the first winding group 15a and the second winding group 15b have a phase difference of 30 degrees.

  The first winding group 15a includes first U, V, and W phase Δ coils L1ua, L1va, and L1wa that are Δ-connected. The first winding group 15a further includes first U, V, W phase connection coils L1ub, L1vb, L1wb.

  The first end of the first U-phase connection coil L1ub is connected to the connection point of the first U-phase Δ-section coil L1ua and the first V-phase Δ-section coil L1va. For this reason, the first U-phase Δ part coil L1ua, the first V-phase Δ part coil L1va, and the first U-phase connection coil L1ub are in relation to the first actual neutral point CA1 in the first winding group 15a. Y-connected. A connection point of the first U-phase high-voltage side switch SUp1 and the first U-phase low-voltage side switch SUn1 is connected to the second end of the first U-phase connection coil L1ub.

  A first end of the first V-phase connection coil L1vb is connected to a connection point between the first V-phase Δ-section coil L1va and the first W-phase Δ-section coil L1wa. Therefore, the first V-phase Δ part coil L1va, the first W-phase Δ part coil L1wa, and the first V-phase connection coil L1vb are in relation to the second actual neutral point CA2 in the first winding group 15a. Y-connected. Note that a connection point of the first V-phase high-voltage side switch SVp1 and the first V-phase low-voltage side switch SVn1 is connected to the second end of the first V-phase connection coil L1vb.

  The first end of the first W-phase connection coil L1wb is connected to the connection point of the first U-phase Δ-portion coil L1ua and the first W-phase Δ-portion coil L1wa. Therefore, the first U-phase Δ part coil L1ua, the first W-phase Δ part coil L1wa, and the first W-phase Δ part coil L1wb are in relation to the third actual neutral point CA3 in the first winding group 15a. , Y-connected. Note that a connection point of the first W-phase high-voltage side switch SWp1 and the first W-phase low-voltage side switch SWn1 is connected to the second end of the first W-phase connection coil L1wb.

  On the other hand, the second winding group 15b includes second U, V, and W phase Δ portion coils L2ua, L2va, and L2wa that are Δ-connected. The second winding group 15b further includes second U, V, W phase connection coils L2ub, L2vb, L2wb.

  A first end of the second U-phase connection coil L2ub is connected to a connection point between the second U-phase Δ-section coil L2ua and the second V-phase Δ-section coil L2va. For this reason, the second U-phase Δ part coil L2ua, the second V-phase Δ part coil L2va, and the second U-phase connection coil L2ub are in relation to the first real neutral point CB1 in the second winding group 15b. Y-connected. A connection point of the second U-phase high voltage side switch SUp2 and the second U-phase low voltage side switch SUn2 is connected to the second end of the second U-phase connection coil L2ub.

  A first end of the second V-phase connection coil L2vb is connected to a connection point between the second V-phase Δ-portion coil L2va and the second W-phase Δ-portion coil L2wa. Therefore, the second V-phase Δ part coil L2va, the second W-phase Δ part coil L2wa, and the second V-phase connection coil L2vb are in relation to the second actual neutral point CB2 in the second winding group 15b. Y-connected. A connection point of the second V-phase high voltage side switch SVp2 and the second V-phase low voltage side switch SVn2 is connected to the second end of the second V-phase connection coil L2vb.

  A first end of the second W-phase connection coil L2wb is connected to a connection point between the second U-phase Δ-section coil L2ua and the second W-phase Δ-section coil L2wa. Therefore, the second U-phase Δ part coil L2ua, the second W-phase Δ part coil L2wa, and the second W-phase connection coil L2wb are in relation to the third actual neutral point CB3 in the second winding group 15b. Y-connected. A connection point of the second W-phase high voltage side switch SWp2 and the second W-phase low voltage side switch SWn2 is connected to the second end of the second W-phase connection coil L2wb.

  In the present embodiment, the number of turns of each Δ coil L1ua, L1va, L1wa that constitutes the first winding group 15a and the turn of each Δ coil L2ua, L2va, L2wa that constitutes the second winding group 15b. The number is set equal.

  In the present embodiment, the reference numerals of the resistors constituting the first resistor circuit R1 are R1ua, R1va, and R1wa. Further, the reference numerals of the resistors constituting the second resistance circuit R2 are R2ua, R2va, and R2wa.

  In the present embodiment, a first motor resistance circuit Rm1 is provided corresponding to the first winding group 15a. The first motor resistance circuit Rm1 includes first U, V, and W phase resistors R1ub, R1vb, and R1wb that are three-phase Y-connected. Specifically, the first ends of the first U, V, and W phase resistors R1ub, R1vb, and R1wb are connected by a first motor neutral point Nm1 as a virtual neutral point. First, second, and third neutral points CA1, CA2, and CA3 are connected to the second ends of the first U, V, and W phase resistors R1ub, R1vb, and R1wb.

  In the present embodiment, a second motor resistance circuit Rm2 is provided corresponding to the second winding group 15a. The second motor resistance circuit Rm2 includes second U, V, and W phase resistors R2ub, R2vb, and R2wb that are three-phase Y-connected. Specifically, the first ends of the second U, V, and W phase resistors R2ub, R2vb, and R2wb are connected by a second motor neutral point Nm2 as a virtual neutral point. First, second, and third neutral points CB1, CB2, and CB3 are connected to the second ends of the second U, V, and W phase resistors R2ub, R2vb, and R2wb.

Here, the voltages at the second ends of the first U, V, W phase connection coils L1ub, L1vb, L1wb are VU1, VV1, and VW1. The induced voltages of the first U, V, and W phase Δ coils L1ua, L1va, and L1wa are EUT1, EVT1, and EWT1, and the induced voltages of the first U, V, and W phase connection coils L1ub, L1vb, and L1wb are Let EUP1, EVP1, and EWP1. In the present embodiment, induction voltages EUT1, EVT1, and EWT1 of the first U, V, and W phase Δ coils L1ua, L1va, and L1wa and induction of the first U, V, and W phase connection coils L1ub, L1vb, and L1wb The voltages EUP1, EVP1, and EWP1 are expressed as follows.
EUT1 = α ・ EU1
EVT1 = α · EV1
EWT1 = α ・ EW1
EUP1 = (1-α) · EU1
EVP1 = (1-α) · EV1
EWP1 = (1-α) · EW1
Each voltage EU1, EV1, EW1 is a substantially trapezoidal induced voltage. In the first U, V, and W phase connection coils L1ub, L1vb, and L1wb, an induced voltage corresponding to the induced voltage generated in the first U, V, and W phase Δ coils L1ua, L1va, and L1wa is generated. . Here, the coefficient α is expressed as follows using the number of turns Ntm of the Δ coil and the number of turns Nts of the connecting coil.
α = Nts / (Ntm + Nts)
Further, the potential differences in the first U, V, and W phase resistors R1ub, R1vb, and R1wb are Vua, Vva, and Vwa. Here, the voltage VC1 of the first motor neutral point Nm1 and the voltage VN1 of the virtual neutral point N1 of the first resistor circuit R1 are:
VC1 = (1/3) [VU1-Vua- (1-α) EU1
+ VV1-Vva- (1-α) EV1
+ VW1-Vwa- (1-α) EW1]
VN1 = (1/3) (VU1 + VV1 + VW1)
It becomes. In the voltage VC1, for example, “VU1-Vua- (1-α) EU1” for the U phase is from the first motor neutral point Nm1 through the first U-phase resistor R1ub and the first real neutral point CA1. The potential difference to the 2nd end of 1 U-phase connection coil L1ub is shown.

The potential difference between the first motor neutral point Nm1 and the voltage VN1 of the virtual neutral point N1 of the first resistor circuit R1 is:
ΔV1 = VN1-VC1 = (1/3) (1-α)
× [(EU1 + EV1 + EW1) + (Vua + Vva + Vwa)]
= (1/3) (1-α) (EU1 + EV1 + EW1)
It becomes. Here, the relationship of “Vua + Vva + Vwa = 0” was used.

Similarly, the voltages at the second ends of the second U, V, W phase connection coils L2ub, L2vb, L2wb are VU2, VV2, VW2. The induced voltages of the second U, V, and W phase Δ coils L2ua, L2va, and L2wa are EUT2, EVT2, and EWT2, and the induced voltages of the second U, V, and W phase connection coils L2ub, L2vb, and L2wb are represented by EUP2, EVP2, and EWP2. In the present embodiment, induction voltages EUT2, EVT2, and EWT2 of the second U, V, and W-phase Δ part coils L2ua, L2va, and L2wa and induction of the second U, V, and W-phase connection coils L2ub, L2vb, and L2wb The voltages EUP2, EVP2, and EWP2 are expressed as follows.
EUT2 = α ・ EU2
EVT2 = α · EV2
EWT2 = α ・ EW2
EUP2 = (1-α) · EU2
EVP2 = (1-α) · EV2
EWP2 = (1-α) · EW2
Each voltage EU2, EV2, EW2 is a substantially trapezoidal induced voltage. In the second U, V, and W phase connection coils L2ub, L2vb, and L2wb, an induced voltage corresponding to the induced voltage generated in the second U, V, and W phase Δ coils L2ua, L2va, and L2wa is generated. .

Further, the potential differences in the second U, V, and W phase resistors R2ub, R2vb, and R2wb are Vub, Vvb, and Vwb. Here, the voltage VC2 at the second motor neutral point Nm2 and the voltage VN2 at the virtual neutral point N2 of the second resistance circuit R2 are:
VC2 = (1/3) [VU2-Vub- (1-α) EU2
+ VV2-Vvb- (1-α) EV2
+ VW2-Vwb- (1-α) EW2]
VN2 = (1/3) (VU2 + VV2 + VW2)
It becomes. Therefore, the potential difference between the second motor neutral point Nm2 and the voltage VN2 of the virtual neutral point N2 of the second resistor circuit R2 is
ΔV2 = VN2-VC2 = (1/3) (1-α)
× [(EU2 + EV2 + EW2) + (Vub + Vvb + Vwb)]
= (1/3) (1-α) (EU2 + EV2 + EW2)
It becomes. Here, the relationship of “Vub + Vvb + Vwb = 0” was used.

  Here, regarding the sum of the induced voltages EU1, EV1, and EW1 in the potential difference ΔV1, the sum other than the 3n-order component that maintains the three-phase equilibrium relationship is zero. For this reason, as in the first embodiment, as the potential difference ΔV1, the third-order components of the induced voltages EU1, EV1, and EW1 are mainly output. On the other hand, it becomes a substantially sine wave having three times the frequency.

  Similarly, for the sum of the induced voltages EU2, EV2, and EW2 in the potential difference ΔV2, the sum other than the 3n-th order component that maintains the three-phase equilibrium relationship is zero. For this reason, the third-order component of the induced voltages EU2, EV2, and EW2 is mainly output as the potential difference ΔV2, and the voltage difference ΔV2 has a frequency that is three times that of the substantially trapezoidal induced voltages EU2, EV2, and EW2. It becomes a sine wave.

  Here, the induced voltages EU1, EU1, and EW1 in the first winding group 15a and the induced voltages EU2, EV2, and EW2 in the second winding group 15b are a phase difference of 30 degrees as in the first embodiment. Have The voltage differences ΔV1 and ΔV2 each have a fundamental frequency that is three times that of the fundamental wave, and thus are as shown in FIG.

  Therefore, when the voltage difference ΔV1 is expressed as “Amp · sin 3θ”, the voltage difference ΔV2 can be expressed as “Amp · cos 3θ” as in the first embodiment. Therefore, the ratio ΔV1 / ΔV2 between the voltage difference ΔV1 and the voltage difference ΔV2 is “tan3θ”, and the rotation angle θ can be calculated based on the voltage difference ratio ΔV1 / ΔV2 as in the first embodiment.

(Sixth embodiment)
FIG. 15 is a model diagram illustrating a method for obtaining the rotation angle θ by the control device 40c of the sixth embodiment.

  In the fourth embodiment, a phase difference of 30 degrees between the output voltage of the inverter INV1 that applies a voltage to the first winding group 13a and the output voltage of the inverter INV2 that applies a voltage to the second winding group 13b. The switches constituting each of the inverters INV1 and INV2 were controlled so as to exist. In the present embodiment, the switches configuring the inverters INV1 and INV2 are controlled so that the phase difference between the output voltage of the inverter INV1 and the output voltage of the inverter INV2 becomes zero. That is, the drive pattern of the switches that constitute the inverter INV1 is the same as the drive pattern of the switches that constitute the inverter INV2. Various driving patterns can be used. Specifically, for example, a drive pattern defined by a three-phase 180 ° energization method can be used as the drive pattern. In this drive pattern, for each phase, the high voltage side switch and the low voltage side switch are alternately turned on every electrical angle of 180 °, and the high voltage side switch is switched to the off operation for each phase. It is a drive pattern shifted by 120 ° from each other in electrical angle.

  According to this embodiment, the drive patterns of the switches SW in the inverters INV1 and INV2 always match, and the voltage applied to the first winding group 13a is always equal to the voltage applied to the second winding group 13b. Become. For this reason, in the zero cross detection part 45, the restriction | limiting which the detection of rotation angle (theta) shown in previous FIG. 13 is prohibited can be eliminated.

(Other embodiments)
In FIGS. 6 and 9, the voltages VM1 and VM2 may be changed to the voltages VC1 and VC2 of the fifth embodiment.

  In the fifth embodiment, the phase of the induced voltage of the Δ part coil and the phase of the induced voltage of the connecting coil may shift. Even in this case, the rotation angle θ can be detected.

  In the first embodiment, the phase difference between the first winding group 13a and the second winding group 13b is 30 degrees, but this is changed to a configuration having an odd multiple of 30 degrees. May be. For example, the phase difference between the first winding group 13a and the second winding group 13b may be 90 degrees. In this case, the tertiary component of the induced voltage generated in the first winding group 13a and the tertiary component of the induced voltage generated in the second winding group 13b have a phase difference of 270 degrees. Therefore, when the arc tangent of the voltage difference ratio ΔV1 / ΔV2 is calculated, −3θ can be obtained.

  In the second embodiment, the phase difference between the first winding group 13a and the second winding group 13b is 30 degrees, but this is changed to a configuration having a phase difference that is an odd multiple of 30 degrees. May be. For example, the phase difference between the first winding group 13a and the second winding group 13b may be 90 degrees. In this case, the tertiary component of the induced voltage generated in the first winding group 13a and the tertiary component of the induced voltage generated in the second winding group 13b have a phase difference of 270 degrees.

  In the above-described embodiment, the permanent magnet type synchronous motor is used. However, this may be changed to a wound field type synchronous motor having a field winding on the rotor.

  Instead of SPMSM in which the permanent magnet 14 is provided on the surface of the rotor 11, an IPMSM (Interior Permanent Magnet Synchronous Motor) in which a permanent magnet is embedded in the rotor may be used.

  -Although it was set as the structure which provides a three-phase armature winding, you may change this. For example, it is good also as a structure which provides a 5-phase armature winding.

  -Although it was set as the structure provided only with two winding groups, the 1st winding group 13a and the 2nd winding group 13b, as an armature winding, you may change this. That is, the “rotation angle detection means” detects the rotation angle of a motor having three or more winding groups, and based on the actual neutral point voltage of two winding groups of the winding groups. You may detect the rotation angle of a motor.

  DESCRIPTION OF SYMBOLS 10 ... Motor, 11 ... Rotor (rotor), 12 ... Stator (stator), 13a ... 1st winding group, 13b ... 2nd winding group, 14 ... Permanent magnet, 40 ... Control apparatus, Lua, Lub, Lva, Lvb, Lwa, Lwb ... coil, M1, M2 ... real neutral point.

Claims (10)

A stator (11) having an armature winding; and a rotor (12) having at least one of a field winding and a field permanent magnet, wherein the armature winding has a plurality of winding groups. (13a, 13b; 15a, 15b), and the winding group is connected to real neutral points (M1, M2; CA1 to CA3, CB1 to CB3) provided for each of the winding groups. (Lua, Lva, Lwa, Lub, Lvb, Lwb; L1ua to L1wa, L1ub to L1wb, L2ua to L2wa, L2ub to L2wb), and the field winding and the permanent magnet for the field are the A control device (40) for a rotating electrical machine that is applied to a multi-winding rotating electrical machine (10) having a non-sinusoidal magnetic flux characteristic with respect to the rotational angle of the rotor and that controls the rotating electrical machine based on the rotational angle. Because
The first winding group and the second winding group among the plurality of winding groups have a phase difference,
Rotation angle detection means for detecting the rotation angle based on the voltage at the real neutral point of the first winding group and the voltage at the real neutral point of the second winding group. Control device characterized. The armature winding is a three-phase winding,
A first virtual neutral point (N1) and a plurality of resistors (Rua, Rva, Rwa; R1ua, R1va, R1wa) connected to the first virtual neutral point; and the first winding group A first resistance circuit (R1) connected in parallel to each other;
A second virtual neutral point (N2) and a plurality of resistors (Rub, Rvb, Rwb; R2ua, R2va, R2wa) connected to the second virtual neutral point, and the second winding group A second resistance circuit (R2) connected in parallel to
The difference between the voltage at the real neutral point of the first winding group and the voltage at the first virtual neutral point of the first resistance circuit is defined as a first voltage difference, and The difference between the voltage at the real neutral point and the voltage at the second virtual neutral point of the second resistance circuit is defined as a second voltage difference.
The control device according to claim 1, wherein the rotation angle detection unit detects the rotation angle based on the first voltage difference and the second voltage difference. The armature winding, as the plurality of coils,
Δ-connected three-phase Δ part coils (L1ua to L1wa, L2ua to L2wa),
A connection coil (L1ub to L1wb, L2ub to L2wb) that is connected to a connection point between the Δ part coils and generates an induced voltage corresponding to an induced voltage generated in the Δ part coil;
The voltage of the actual neutral point (CA1 to CA3) of the first winding group (15a) is the voltage at the connection point of the Δ part coil and the connection coil constituting the first winding group,
The voltage at the actual neutral point (CB1 to CB3) of the second winding group (15b) is the voltage at the connection point of the Δ coil and the connection coil constituting the second winding group. The control device according to claim 2. The first winding group and the second winding group have a phase difference of an odd multiple of 30 degrees,
The rotation angle detection means detects the rotation angle by calculating a ratio between the first voltage difference and the second voltage difference and calculating an arctangent of the calculated ratio. The control device according to claim 2 or 3. The first winding group and the second winding group have an electrical angle that is an odd multiple of 30 degrees,
4. The control device according to claim 2, wherein the rotation angle detection unit detects the rotation angle when the first voltage difference and the second voltage difference cross each other at zero crossing. 5.   4. The control device according to claim 2, wherein the rotation angle detection unit calculates the rotation angle when a difference between the first voltage difference and the second voltage difference crosses zero. 5. The armature winding is a three-phase winding,
The rotation angle detection means is configured to detect a difference between the voltage at the neutral point (M1) of the first winding group (13a) and the voltage at the neutral point (M2) of the second winding group (13b). The control device according to claim 1, wherein a rotation angle of the rotating electric machine is detected based on the rotation angle.   The rotation angle detecting means detects the rotation angle of the rotating electrical machine on the condition that the voltage applied to the first winding group is equal to the voltage applied to the second winding group. The control device according to claim 7, wherein the control device is characterized in that:   The voltage applied to the first winding group is connected to each of the first winding group and the second winding group so that the voltage applied to the second winding group is equal. 9. The control device according to claim 8, wherein the control device controls the inverters (INV1, INV2).   The rotation angle detection means calculates the rotation angle when a difference between the voltage at the actual neutral point of the first winding group and the voltage at the actual neutral point of the second winding group crosses zero. The control device according to claim 7, wherein the control device is detected.