JP2017131043A - Controller for rotary electric machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To achieve precise control of a rotor-to-rotor phase angle.SOLUTION: The controller for rotary electric machine includes: a torque command generation part 102 for generating a torque command of changing a rotor-to-rotor phase angle between a first rotor element and a second rotor element; a current command generation part 110 for converting the torque command into a current command. The current command generation part 110 changes the current command according to a rotor rotating speed or a rotor-to-rotor phase angle, or both of the rotor rotating speed and the rotor-to-rotor phase angle.SELECTED DRAWING: Figure 3

Description

  The present invention includes a first rotor element and a second rotor element that are arranged to face each other in the direction of the rotation axis, the first and second rotor elements being relatively rotatable, a stator that generates a magnetic field for the rotor, The control apparatus of the rotary electric machine which controls a rotary electric machine provided with.

  2. Description of the Related Art A rotating electric machine is known in which two rotors each having a permanent magnet are provided on one shaft so as to be relatively movable. According to this rotating electrical machine, the field by the rotor can be changed by adjusting the relative position of the two rotors.

  For example, Patent Document 1 shows that the relative position (phase difference: inter-rotor phase angle) of two rotors is changed by advancing the electrical angle of the stator with respect to the rotor.

JP 2009-38860 A

  Patent Document 1 describes that the phase angle between the rotors of the two rotors can be moved in the range of 0 to 90 °, but there is no description about changing the phase angle in the range of 0 to 180 °. In addition, the effect on the phase angle control between the rotors is not considered in the induced voltage generated according to the rotation speed.

  The present invention includes a first rotor element and a second rotor element that are arranged to face each other in the direction of the rotation axis, the first and second rotor elements being relatively rotatable, a stator that generates a magnetic field for the rotor, A rotating electrical machine control device for controlling a rotating electrical machine comprising: a torque command generating unit that generates a torque command for changing a rotor phase angle between the first rotor element and the second rotor element; A current command generator that converts a torque command into a current command, the current command generator according to the rotor rotation speed or the phase angle between the rotors, or both the rotor rotation speed and the phase angle between the rotors. The current command is changed.

  In addition, the present invention includes a first rotor element and a second rotor element that are arranged to face each other in the rotation axis direction, the first and second rotor elements being relatively rotatable, and a stator that generates a magnetic field for the rotor. A controller for a rotating electrical machine that controls the rotating electrical machine, and changes a phase angle between the rotors between the first rotor element and the second rotor element over time based on a pre-recorded map. A torque command generating unit that generates a torque command for performing, and a current command generating unit that converts the torque command into a current command based on a pre-recorded map, the torque command generating unit rotating the rotor The torque command is changed according to the number, and the current command generation unit changes the current command according to both the rotor rotational speed and the inter-rotor phase angle. The features.

  In addition, the present invention includes a first rotor element and a second rotor element that are arranged to face each other in the rotation axis direction, the first and second rotor elements being relatively rotatable, and a stator that generates a magnetic field for the rotor. A controller for a rotating electrical machine that controls the rotating electrical machine, and changes a phase angle between the rotors between the first rotor element and the second rotor element over time based on a pre-recorded map. A torque command generating unit that generates a torque command for performing, and a current command generating unit that converts the torque command into a current command based on a pre-recorded map, the current command generating unit rotating the rotor The current command is changed according to the number or the phase angle between the rotors, or both the rotor rotational speed and the phase angle between the rotors.

  Further, it is preferable that the torque command generation unit multiplies a different coefficient depending on whether the torque command is a positive side or a negative side.

  In addition, it is preferable that a phase angle generation unit that generates an estimated value of the inter-rotor phase angle according to the passage of time based on a pre-recorded map is provided, and the estimated value is supplied to the current command generation unit. It is.

  In addition, the present invention includes a first rotor element and a second rotor element that are arranged to face each other in the rotation axis direction, the first and second rotor elements being relatively rotatable, and a stator that generates a magnetic field for the rotor. A control device for a rotating electrical machine that controls a rotating electrical machine comprising: a current command generating unit that generates a current command as time elapses based on a pre-recorded map; and based on the current command A current control unit that controls a current of the rotating electrical machine, wherein the current command generation unit changes the current command in accordance with a rotor rotational speed.

  According to the present invention, it is possible to appropriately control the phase angle between the rotors according to the rotational speed of the rotor or the phase angle between the rotors of the first rotor element and the second rotor element.

It is a basic lineblock diagram of a rotation electrical machinery. It is phase explanatory drawing of a main rotor and a subrotor. It is a block diagram of feedback control. It is a current pattern figure in the case of making a transition from the opposite pole (180 °) to the same pole (0 °). It is a current pattern figure in the case of making a transition from the same polarity to the opposite polarity. It is a figure which shows the point sequence (inter-rotor phase angle (gamma) = 0deg) of the torque current table which added the voltage restriction | limiting. It is a figure which shows the point sequence (inter-rotor phase angle (gamma) = 90deg) of the torque current table which applied the voltage restriction | limiting. It is a figure which shows the torque current table (4000 rpm) according to the phase angle between rotors. It is a figure which shows the torque current table (8000 rpm) according to the phase angle between rotors. It is a figure which shows the structure of the feedforward control using an electric current map. It is a figure which shows the structure (phase angle measurement between rotors) of the feedforward control using a torque map. It is a figure which shows the structure (phase angle estimation between rotors) of the feedforward control using a torque map. It is a figure which shows the relationship between the rotation speed in the case of no coefficient adjustment, and a target rotor phase angle. It is a figure which shows the relationship between the rotation speed at the time of coefficient adjustment, and a target rotor phase angle. It is a figure which shows the waveform of each part at the time of changing a rotor phase angle.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the present invention is not limited to the embodiments described herein.

Basic configuration
First, the basic configuration of the system according to the present invention will be described. The applicant has applied for Japanese Patent Application No. 2015-008939 (prior application) in relation to this case, and the basic configuration is the same.

  FIG. 1 is a cross-sectional view seen from a direction orthogonal to the rotation axis direction of the rotating electrical machine. The rotating electrical machine includes a rotor 28 that is opposed to the stator 24 in the radial direction with a predetermined gap and is rotatable relative to the stator 24. The stator 24 includes a stator core 36 and three-phase stator coils 38u, 38v, and 38w of U phase, V phase, and W phase disposed on the stator core 36 along the circumferential direction thereof, and the stator coils 38u, 38v, and 38w. When a three-phase alternating current flows through the rotor, a rotating magnetic field that rotates in the circumferential direction of the stator 24 is generated.

  The rotor 28 includes a main rotor (first rotor element) 40 and a sub-rotor (second rotor element) 42 in a state adjacent to the rotation axis direction. The main rotor 40 and the sub-rotor 42 are arranged to face each other with a gap in the direction of the rotation axis, and are relatively movable.

  The main rotor 40 includes a main rotor core 46 in which a plurality of electromagnetic steel plates are stacked in the rotation axis direction, and a plurality of main permanent magnets 48n and 48s disposed on the main rotor core 46 at equal intervals along the circumferential direction. . The main permanent magnet 48n has an N pole on the outer peripheral side, and the main permanent magnet 48s has an S pole on the outer peripheral side. Since the main permanent magnets 48n and 48s are alternately arranged in the circumferential direction, the polarities of the main permanent magnets 48n and 48s are alternately different in the circumferential direction.

  The sub-rotor 42 includes a sub-rotor core 54 in which a plurality of electromagnetic steel plates are stacked in the rotation axis direction, and a plurality of sub-permanent magnets 56n and 56s disposed on the sub-rotor core 54 at equal intervals along the circumferential direction. . The auxiliary permanent magnet 56n has an N pole on the outer peripheral side, and the auxiliary permanent magnet 56s has an S pole on the outer peripheral side. Since the secondary permanent magnets 56n and 56s are alternately arranged in the circumferential direction, the polarities of the secondary permanent magnets 56n and 56s are alternately different in the circumferential direction. The circumferential interval between the sub permanent magnets 56n and 56s is equal to the circumferential interval between the main permanent magnets 48n and 48s.

  Restraint plates 61 and 62 are fixed to the main rotor shaft 26 by welding or the like. The restraint plates 61 and 62 are arranged at intervals in the rotational axis direction, the restraint plate 62 is disposed on one side of the restraint plate 61 in the rotational axis direction, and the main rotor 40 is disposed on the restraint plates 61 and 62 in the rotational axis direction. Sandwiched between. The main rotor 40 is engaged with the main rotor shaft 26 by a keyway, a spline, or the like, and rotates integrally with the main rotor shaft 26 and the restraining plates 61 and 62.

  Restraint plates 63 and 64 are fixed to the sub-rotor shaft 52 by welding or the like. The restraint plates 63 and 64 are arranged at a distance from each other in the rotational axis direction, the restraint plate 63 is disposed on one side of the restraint plate 64 in the rotational axis direction, and the auxiliary rotor 42 is disposed on the restraint plates 63 and 64 in the rotational axis direction. Sandwiched between. The sub-rotor 42 is engaged with the sub-rotor shaft 52 by a keyway, a spline, or the like, and rotates integrally with the sub-rotor shaft 52 and the restraining plates 63 and 64. The auxiliary rotor shaft 52 is supported by the bearing 50 so as to be rotatable relative to the main rotor shaft 26, and the auxiliary rotor 42 is rotatable relative to the main rotor 40. A stopper that limits the phase angle between the rotors may be provided in accordance with the range that can be taken by the phase angle (phase difference) between the sub-rotor 42 and the main rotor 40.

  As the phase relationship between the main rotor 40 and the sub-rotor 42 changes, the field magnetic flux of the rotor 28 acting on the stator 24 changes. When the main rotor 40 and the sub rotor 42 have the same polarity of the main permanent magnet 48n and the sub permanent magnet 56n (or the main permanent magnet 48s and the sub permanent magnet 56s) arranged in the same phase in the circumferential direction, Magnetic flux is maximized. On the other hand, when the sub-rotor 42 rotates relative to the main rotor 40, the main permanent magnet 48n and the sub-permanent magnet 56n (or the main permanent magnet 48s and the sub-permanent magnet 56s) are in the opposite polar state where the electrical angle is shifted by 180 °. The field magnetic flux is minimized or zero.

  FIG. 2 is a perspective view in which only the main rotor 40 and the sub-rotor 42 are taken out. FIG. 2A shows a state in which the main rotor 40 and the sub-rotor 42 face each other with the same polarity, and the phase angle between the rotors is γ = 0 ° (deg). At this time, the field magnetic flux of the rotor 28 acting on the stator 24 is maximized. FIG. 2B shows a state in which the main rotor 40 and the sub-rotor 42 are opposite to each other and γ = 180 ° (deg). At this time, the field magnetic flux of the rotor 28 acting on the stator 24 is minimized.

  As described above, the rotating electrical machine according to the present embodiment changes the phase relationship between the main rotor 40 and the sub-rotor 42, that is, by rotating the main rotor 40 and the sub-rotor 42 relatively to change the inter-rotor phase angle γ. 24 functions as a variable field type rotating electrical machine that changes the field magnetic flux of the rotor 28 acting on the rotor 24.

  The variable field type rotating electrical machine is used as a motor generator (MG) of an electric vehicle such as a hybrid vehicle. When the on-vehicle electronic control unit (ECU) 70 operates the MG, the inter-rotor phase angle γ of the main rotor 40 and the sub-rotor 42 is controlled to be 0 ° to maximize the interlinkage magnetic flux of the stator 24. When the MG is not operated, the inter-rotor phase angle γ of the main rotor 40 and the sub-rotor 42 is controlled to be 180 ° to minimize the linkage flux of the stator 24.

  In the present embodiment, when the ECU 70 controls the inter-rotor phase angle γ of the main rotor 40 and the sub-rotor 42 to a desired value, the inter-rotor phase angle γ is controlled to either 0 ° or 180 °. The present invention can also be applied to control at an arbitrary angle between 0 ° and 180 °.

“Control of the phase angle γ between the rotors of the main rotor 40 and the sub-rotor 42”
Next, the control of the inter-rotor phase angle γ in the ECU 70 will be described. In this example, the current command I ^* for the stator current is generated in consideration of only the rotation of the sub-rotor 42.

<Feedback control of rotor phase angle γ>
FIG. 3 is a feedback control configuration diagram provided in the ECU 70 for controlling the phase angle γ between the rotors to a desired value by rotating the sub-rotor 42 relative to the main rotor 40. The feedback controller includes differentiators 100, 104, 118, differentiator 106, amplifiers 102, 108, torque / current conversion map storage unit 110, and current controller 112.

The difference between the command value γ ^* of the inter-rotor phase angle γ ^* and the current inter-rotor phase angle γ is calculated by the differentiator 100, and the amplifier 102 multiplies the coefficient Kγ. On the other hand, the change speed of the current rotor phase angle γ is calculated by the differentiator 106 and multiplied by the coefficient Kf by the amplifier 108. The difference between the two is calculated by the differentiator 104, and this difference becomes the torque command τ ^* of the auxiliary rotor 42.

The torque / current conversion map storage unit 110 is a table that defines the correspondence relationship between the torque command τ ^* of the sub-rotor 42 and the current command I ^*, and is determined in advance through experiments or simulations and stored in the memory of the ECU 70. The torque / current conversion map storage unit 110 is defined such that, for example, the torque per current is maximized. The ECU 70 uses the torque / current conversion map storage unit 110 to eliminate the difference based on the difference between the torque command τ ^* of the sub-rotor 42, that is, the command value γ ^* of the inter-rotor phase angle and the current inter-rotor phase angle γ. Current command I ^* corresponding to torque command τ ^* for generating the current command I ^* is converted into voltage command V ^* by current controller 112, and stator current is supplied to stator coils 38u, 38v, 38w. Then, the rotating electric machine (motor) 114 is driven. The inter-rotor phase angle γ = θs−θm between the rotation angle (phase angle) θm of the main rotor 40 and the rotation angle (phase angle) θs of the sub-rotor 42 is detected by a subtractor 118 as an inter-rotor phase angle detector. It is fed back to the value γ ^* . The detected value of the motor current is fed back to the current controller 112, and the current controller 112 performs feedback control of the motor current.

  FIG. 4 is a current pattern when viewed from the auxiliary rotor 42 when controlled by the feedback controller shown in FIG. It is a current pattern in the case of transition from the opposite pole (180 °) to the same pole (0 °), and shows time changes of the d-axis current id and the q-axis current iq.

  FIG. 5 shows a current pattern when viewed from the sub-rotor 42 when controlled by the feedback controller shown in FIG. Contrary to the case of FIG. 4, it is a current pattern in the case of transition from the same polarity (0 °) to the opposite polarity (180 °).

  Here, it is possible to control the effective current value so as not to exceed a predetermined value by adjusting a coefficient, that is, a gain in the amplifiers 102 and 108.

  Here, in the feedback control described above, a sensor for detecting the phase angle of the main rotor 40 and the sub-rotor 42 is required.

  Therefore, the current patterns shown in FIGS. 4 and 5 are previously detected or obtained by simulation and mapped. As a result, a map showing temporal changes in the id current and iq current of the sub-rotor 42 when transitioning from the reverse polarity to the same polarity, and the id current and iq current of the sub-rotor 42 when transitioning from the same polarity to the reverse polarity are performed. A map showing the change over time is obtained. The obtained current map is stored in the memory, and the subrotor 42 is relatively rotated by feedforward control with reference to these maps to control the inter-rotor phase angle γ to a desired value. By using feedforward control, it is not necessary to feed back the current rotor phase angle γ, and the number of detectors is reduced.

  In addition, by making the inertias of the main rotor 40 and the sub-rotor 42 different, a relative rotational force in a predetermined direction can be applied during the rotation, and even when the inter-rotor phase angle γ is 0 ° or 180 °. Relative driving is possible.

"Consideration of rotation speed"
As described above, the inter-rotor phase angle γ can be controlled from 0 ° to 180 ° and from 180 ° to 0 ° by using the feedback controller shown in FIG. Further, it is possible to control the phase angle between the rotors with a target phase angle γ as a target.

  Then, by collecting data at the time of feedback control, d and q axis currents (Id, Iq) can be determined when the phase angle between the rotors is targeted, and feedforward control can be performed.

Here, although the d and q axis currents in FIGS. 4 and 5 are determined with respect to time, it can be said that they are determined with respect to the torque command τ ^{* at} each time.

  In FIG. 6A, the torque map of the sub-rotor 42 is shown in shades. Basically, the torque increases as the q-axis current increases. In FIG. 6A, white circles are continuously displayed as q-axis and d-axis currents determined to obtain a predetermined torque when 0 rpm and γ = 0 ° (indicated as ECU map). Thereby, the relationship between torque and current is obtained, and one of the lines shown in FIGS. 8 and 9 is determined.

Here, in the rotating electrical machine, the induced current increases as the rotational speed increases. Therefore, the voltage for obtaining the target d and q axis currents is increased. In FIG. 6 (b), the phase voltage (V / rpm) for obtaining the d and q-axis currents is shown in different colors. The required phase voltage is low when the d-axis current is on the negative side (weak field), and the required phase voltage near the q-axis current 0A around d-axis current −50 to −100 A is the lowest. If the power supply voltage is about 650V, the upper limit phase voltage in PWM control is about 228V. Therefore, when the rotational speed is 10,000 rpm, the phase voltage needs to be 0.0228 V / rpm or less. When such a restriction is added, when the rotational speed is 10,000 rpm, it is necessary to select d and q axis currents inside the line connecting the black circles in FIG. 6B. This limitation on the d and q axis currents is also shown as a line connecting black circles in FIG. When the rotational speed is 10,000 rpm, the d and q axis currents corresponding to the torque command τ ^* can be determined by the line connecting the black circles in FIG. By having such a limitation on the number of rotations as a map according to the number of rotations, it is possible to select appropriate d and q-axis currents according to the number of rotations. In addition, when the restriction | limiting by rotation speed is located in the phase voltage side higher than the line written ECUmap, such a restriction | limiting is unnecessary.

In addition, with respect to the induced voltage, when driving with a limited DC voltage, the voltage for controlling the current becomes insufficient. On the other hand, if the induced voltage is small, this can be dealt with by generating a current command I ^* that takes into account the field weakening current. However, if the induced voltage increases, the necessary current cannot flow, so a large torque command τ ^* Therefore, it is necessary to control by limiting the value of the original torque command τ ^* so as not to occur. It is possible to control within the voltage limit by generating the torque command τ ^* to which this limit is applied in advance.

"Consideration of phase angle"
FIG. 7A shows the relationship between d, q-axis current and torque when the inter-rotor phase angle γ = 90 °, and FIG. 7B shows d when the inter-rotor phase angle γ = 90 °. The relationship between the q-axis current and the phase voltage is shown.

Thus, the relationship between the d and q-axis currents and the torque changes according to the rotor phase angle γ. Therefore, it is necessary to change the d and q axis currents for obtaining a predetermined torque in accordance with the interrotor phase angle γ, and a map for determining the d and q axis currents for the torque command τ ^* is set as the interrotor phase angle γ. It is preferable to change accordingly.

  Furthermore, the relationship between the d and q axis currents and the phase voltage also changes depending on the rotor phase angle γ. Accordingly, it is necessary to change the torque limit in accordance with the rotational speed. As shown in FIG. 7 (b), the limitation on the d and q axis currents required when the rotational speed is 10,000 rpm also needs to be changed according to the inter-rotor phase angle γ.

6 and 7, the relationship between each rotation speed and the d, q-axis current and torque of each rotor phase angle γ can be obtained. 8 and 9 are obtained.
FIG. 8 shows the relationship between the rotor torque and the optimum d and q axis currents when the rotational speed is 4000 rpm, and FIG. 9 shows the rotor torque and the optimum d, q when the rotational speed is 8000 rpm. The relationship of q-axis current is shown.

Thus, the torque generated according to the d- and q-axis currents varies depending on the rotor phase angle γ. Therefore, a map for determining the d and q axis currents according to the torque command τ ^* is prepared according to the phase angle γ between the rotors. At that time, the d and q axis currents are converted into the torque command τ ^* and the phase angle γ between the rotors. It is preferable to decide according to.

  Furthermore, as described above, the d and q axis currents are limited according to the number of rotations. Therefore, as shown in FIGS. 8 and 9, the relationship between the rotor torque and the optimum d and q axis currents also changes according to the rotor speed.

By having the relationship shown in FIGS. 8 and 9 according to a predetermined number of rotations, d and q axis currents corresponding to the torque command τ ^* can be appropriately determined. That is, when the target value of the phase angle γ between the rotors of the main rotor 40 and the sub-rotor 42 is determined, a torque command τ ^* corresponding to the passage of time is generated, and the rotational speed at that time is set as the phase angle γ between the rotors. Accordingly, an appropriate d and q axis current command I ^* is generated. Thereby, the inter-rotor phase angle γ of the main rotor 40 and the sub-rotor 42 can be appropriately controlled. This data is stored as map data in the torque / current conversion map storage unit 110.

"Control device using feedforward"
<Current map>
FIG. 10 is a configuration diagram of the feedforward control provided in the ECU 70. The feedforward controller includes a current map storage unit 120 that stores a current map, an amplifier 122, and a current controller 124, and drives the motor 114 with the current from the current controller 124.

The current map storage unit 120 stores the current pattern maps shown in FIGS. 4 and 5 and outputs a current value for each time. That is, for the target rotor phase angle γ = 180 ° → 0 °, a map for outputting the current command I ^* (d-axis current value, q-axis current value) shown in FIG. 4 according to time is stored. Has been. For the target rotor phase angle γ = 0 ° → 180 °, a map for outputting the current command I ^* (d-axis current value, q-axis current value) shown in FIG. 5 according to time is stored. Yes. The current map storage unit 120 is supplied with the rotation speed, and selects a current command I ^* map to be used according to the rotation speed.

The amplifier 122 multiplies the coefficient K and outputs a current command I ^* . The current controller 112 converts the current command I ^* into a voltage command V ^* and outputs the same as the current controller 112 in FIG. As a result, the inter-rotor phase angle γ in the motor 114 is changed according to the target. Here, the current controller 112 is supplied with the phase angle θm of the main rotor 40 of the motor 114 and the motor current, and controls the motor current to match the command value according to the phase angle θm. Note that the current controller 112 may perform feedback control from both of the phase angles θm and θs, or may estimate from the other one of θm and θs, and thus may be controlled from one.

<Torque map (detection of rotor phase angle)>
FIG. 11 is another feedforward control configuration diagram included in the ECU 70. The feedforward controller includes a torque map storage unit 130 that stores a torque map, an amplifier 132, a torque / current conversion map storage unit 134, a current controller 124, and a differentiator 136, and a motor 114 according to a current from the current controller 124. Drive.

The torque map storage unit 130 stores a torque command τ ^* corresponding to the passage of time. Here, the torque map storage unit 130 is also supplied with the rotation speed, and a torque command τ ^* map to be used is selected according to the rotation speed.

A torque command τ ^* is obtained by multiplying the output of the torque map storage unit 130 by K, and this is supplied to the torque / current conversion map storage unit 134. The torque / current conversion map storage unit 134 outputs a current command I ^* in response to the torque command τ ^* , to which the inter-rotor phase angle γ and the rotation speed are supplied. The inter-rotor phase angle γ is obtained by detecting the phase angles θm and θs of the main rotor 40 and the sub-rotor 42 and calculating the difference by the differentiator 136.

From the torque / current conversion map storage unit 134, maps such as FIGS. 8 and 9 are stored according to the number of revolutions, and based on the torque command τ ^* , the number of revolutions, and the rotor phase angle γ, the d-axis current, The q-axis current is determined and output as a current command I ^* . That is, depending on the phase angle γ between the rotors, the limits of the d-axis current and the q-axis current change as shown in FIG. 7, but according to this embodiment, appropriate control can be performed in response to this change. .

<Torque map (estimation of phase angle between rotors)>
FIG. 12 is another feedforward control configuration diagram provided in the ECU 70, and is compared with the example of FIG. The feedforward controller includes a torque map storage unit 130 that stores a torque map, an amplifier 132, a torque / current conversion map storage unit 134, a current controller 124, and a phase angle map storage unit 140, and a current from the current controller 124. To drive the motor 114.

  In the example of FIG. 11 described above, the phase angles of the main rotor 40 and the sub-rotor 42 are detected, and the inter-rotor phase angle γ is detected from the difference between them. In the example of FIG. 12, on the premise that the inter-rotor phase angle control can be performed as controlled, an estimated value of the inter-rotor phase angle γ is output from the phase angle map storage unit 140 according to time, and this is the torque / current conversion map storage unit. 134. Therefore, a sensor for detecting the phase angle of the main rotor 40 and the sub-rotor 42 can be omitted. The inter-rotor phase angle γ may be estimated from the phase angle of one rotor.

"Coefficient adjustment"
In the configuration of the feedforward control as described above, the amplifiers 122 and 132 that multiply the coefficient K are provided. This coefficient K is preferably determined from the result of actual control, and by setting the coefficient K so that K> 1, the inter-rotor phase angle γ is reliably set to a desired value, that is, It can be controlled to the same polarity (0 °) or the opposite polarity (180 °).

  Further, as can be seen by comparing FIG. 7 and FIG. 8, in the feedforward control, the transition from the reverse pole (180 °) to the same pole (0 °) and the case where the same pole (0 °) is changed to the reverse pole (180 °). The change depending on the value of the coefficient K differs depending on the transition to (°). That is, when the transition is made from the opposite pole to the same pole, the influence of the magnitude of the coefficient K on the degree of transition is relatively greater than when the transition is made from the same pole to the opposite pole. Therefore, the coefficient K for the transition from the opposite pole to the same pole and the coefficient K for the transition from the same pole to the opposite pole are not the same, but can be different from each other. For example, the coefficient K for transition from the opposite pole to the same pole is K = 1.4, and the coefficient K for transition from the same pole to the opposite pole is K = 1.2.

  Furthermore, the torque (drag torque: friction torque) for maintaining the rotation speed of the rotor differs depending on the rotation speed, and the drag torque increases as the rotation speed increases. Therefore, it is preferable to change the coefficient K in accordance with the rotational speed. That is, if the value of the coefficient K is increased, the amount of movement of the inter-rotor phase angle γ increases. Therefore, the coefficient K should be increased as the rotational speed increases to cancel the drag torque.

At this time, when changing the inter-rotor phase angle γ, the first half (relatively) accelerates the sub-rotor 42 and the second half (relatively) decelerates. Therefore, the torque command τ ^* is also divided into positive and negative in the first half and the second half. The drag torque increases as the rotation speed increases according to the rotation direction.

If the rotation is in the positive direction, the drag torque is subtracted from the acceleration of the sub-rotor 42, and the drag torque is added to the deceleration of the sub-rotor 42. Therefore, in the case of normal rotation, the coefficient K is determined so that the drag torque is added to the torque command τ ^* in the first half, and the coefficient K is determined so as to subtract the drag torque from the torque command τ ^* in the second half. That's fine.

  FIG. 13 shows the relationship between the rotational speed and the inter-rotor phase angle γ when the coefficient K is not adjusted. If the rotation is in the positive direction, drag torque acts on the deceleration side, and the final rotor phase angle γ becomes smaller than the target. If the rotation is in the negative direction, the final inter-rotor phase angle γ is smaller than the target.

  Therefore, it is preferable to find the adjustment amount such that the error approaches 0, and determine the coefficient K of each rotational speed by linearly interpolating with positive and negative.

In this way, by multiplying the torque command τ ^{* by} the positive and negative values and multiplying them by different coefficients K, it becomes possible to separately adjust the drag torque in acceleration and deceleration of the sub-rotor 42, and accurate phase angle control between the rotors can be performed. It becomes possible.

  Thus, when the coefficient was adjusted, as shown in FIG. 14, the inter-rotor phase angle γ could be controlled to the target at each rotational speed, and the error could be eliminated.

"Waveform of each part"
FIG. 15 shows waveforms of respective parts when the inter-rotor phase angle γ is changed from 0 ° to 180 ° by the control as described above. This is an example when a torque map is used.

Thus, the torque command τ ^* is determined according to the time. Based on the torque command τ ^* , the command values for the d-axis and q-axis currents are determined, and the motor current control is performed accordingly. The inter-rotor phase angle γ is changed from 0 ° to 180 ° as desired. .

When the phase angle between the rotors is changed from 0 ° to 180 °, it can be seen that the first half torque command τ ^* is positive and the second half torque command τ ^* is negative.

  By such control, both the d-axis current and the q-axis current are as instructed, and desired control can be achieved for the inter-rotor phase angle γ. That is, appropriate control can be performed even when the rotational speed increases and the induced voltage increases, or when drag torque increases.

24 Stator, 26 Main rotor shaft, 28 Rotor, 36 Stator core, 38u, 38v, 38w Stator coil, 40 Main rotor, 42 Sub rotor, 46 Main rotor core, 48n, 48s Main permanent magnet, 50 Bearing, 52 Sub rotor shaft, 54 Sub rotor core, 56n, 56s Sub permanent magnet, 61, 62, 63, 64 Restraint plate, 100, 104, 118 Differentiator, 102, 108, 122, 132, 136 Amplifier, 106 Differentiator, 110, 134 Torque / current conversion Map storage unit, 112, 124 Current controller, 114 motor, 120 Current map storage unit, 130 Torque map storage unit, 140 Phase angle map storage unit.

Claims (6)

A rotor including a first rotor element and a second rotor element disposed to face each other in a rotation axis direction, wherein the first and second rotor elements are relatively rotatable;
A stator that generates a magnetic field for the rotor;
A control device for a rotating electrical machine that controls the rotating electrical machine comprising:
A torque command generator for generating a torque command for changing the inter-rotor phase angle between the first rotor element and the second rotor element;
A current command generator for converting the torque command into a current command;
With
The current command generation unit changes the current command according to the rotor rotational speed or the inter-rotor phase angle, or both the rotor rotational speed and the inter-rotor phase angle.
Control device for rotating electrical machines. A rotor including a first rotor element and a second rotor element disposed to face each other in a rotation axis direction, wherein the first and second rotor elements are relatively rotatable;
A stator that generates a magnetic field for the rotor;
A control device for a rotating electrical machine that controls the rotating electrical machine comprising:
A torque command generator for generating a torque command for changing a phase angle between the rotors of the first rotor element and the second rotor element as time elapses, based on a pre-recorded map;
A current command generator for converting the torque command into a current command based on a pre-recorded map;
With
The torque command generator changes the torque command according to the rotor rotational speed,
The current command generation unit changes the current command according to both the rotor rotational speed and the inter-rotor phase angle.
Control device for rotating electrical machines. A rotor including a first rotor element and a second rotor element disposed to face each other in a rotation axis direction, wherein the first and second rotor elements are relatively rotatable;
A stator that generates a magnetic field for the rotor;
A control device for a rotating electrical machine that controls the rotating electrical machine comprising:
A torque command generator for generating a torque command for changing a phase angle between the rotors of the first rotor element and the second rotor element as time elapses, based on a pre-recorded map;
A current command generator for converting the torque command into a current command based on a pre-recorded map;
With
The current command generation unit changes the current command according to the rotor rotational speed or the inter-rotor phase angle, or both the rotor rotational speed and the inter-rotor phase angle.
Control device for rotating electrical machines. A control device for a rotating electrical machine according to any one of claims 1 to 3,
The torque command generation unit multiplies a different coefficient depending on whether the torque command is a positive side or a negative side,
Control device for rotating electrical machines. A control device for a rotating electrical machine according to any one of claims 1 to 4,
A phase angle generation unit that generates an estimated value of the phase angle between the rotors as time elapses based on a pre-recorded map,
Supplying the estimated value to the current command generator;
Control device for rotating electrical machines. A rotor including a first rotor element and a second rotor element disposed to face each other in a rotation axis direction, wherein the first and second rotor elements are relatively rotatable;
A stator that generates a magnetic field for the rotor;
A control device for a rotating electrical machine that controls the rotating electrical machine comprising:
Based on a pre-recorded map, a current command generation unit that generates a current command according to the passage of time,
A current control unit for controlling the current of the rotating electrical machine based on the current command;
With
The current command generator changes the current command according to the rotor rotational speed.
Control device for rotating electrical machines.