JP2017195662A - Rotary electric machine control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a rotary electric machine control device that hinders a sudden change of output torque of a rotary electric machine.SOLUTION: A rotary electric machine control device for controlling drive of an MG 80 comprises: a rotation angle detecting section 51 that is able to detect a rotation angle of the MG 80; a collection correction value calculating section 54; a correction value adding section 55, and an electric current control section. The collection correction value calculating section 54 calculates a correction value Vc for correcting a rotation angle detection value θd, on the basis of a simultaneous error Δθ calculated by the error calculating section 52 and a deviation error AveΔθ calculated by a deviation error calculating section 53. The correction value adding section 55 calculates separate correction values obtained by dividing an amount of change in correction value into at least two or more, which are smaller than the absolute value of a predetermined value when the absolute value of the amount of change in correction value, i.e., a difference between the correction value Vc immediately before and the current correction value Vc, is equal to or higher than the absolute value of the predetermined value. The correction value adding section then simultaneously calculate a post-correction rotation angle θvc in which the separate correction values are added to the rotation angle detection value θd. The electric current control section controls drive of the MG 80 on the basis of the post-correction rotation angle θvc.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a rotating electrical machine control device that controls driving of a rotating electrical machine.

  2. Description of the Related Art Conventionally, a rotating electrical machine control device that controls a current supplied to a motor via an inverter is known. In the rotating electrical machine control device, the operation of a plurality of switching elements constituting the inverter is controlled according to the rotation angle of the rotor output from the combination of the resolver capable of detecting the rotation angle of the motor and the resolver digital converter. For example, Patent Literature 1 discloses an error average calculation unit that calculates an average value of errors included in a rotation angle detection value based on a difference between a rotation angle detection value output from a resolver and a rotation angle reference signal, and a rotation angle detection value. A rotating electrical machine control device comprising: a correction value calculating means for calculating a difference between an error included in each time and an average value of the errors as a correction value; and a correcting means for correcting the rotation angle detection value based on the correction value. Have been described.

Japanese Patent No. 5549553

  However, in the rotating electrical machine control device described in Patent Document 1, when the change amount of the correction value is relatively large, the corrected rotation angle calculated by correcting the rotation angle detection value based on the correction value changes suddenly. For this reason, since the current and voltage of the rotating electrical machine controlled based on the corrected rotational angle vary greatly, the output torque of the rotating electrical machine changes suddenly. When the output torque changes abruptly, the usability of the rotating electrical machine is reduced, and there is a risk of discomfort for the user using the rotating electrical machine.

  The present invention has been made in view of the above-described problems, and an object thereof is to provide a rotating electrical machine control device that suppresses a sudden change in output torque of the rotating electrical machine.

The present invention is a rotating electrical machine control device, and includes a rotation angle detection unit, a correction value calculation unit, a correction value successive addition unit, and a control unit.
The rotation angle detector can detect the rotation angle of the rotating electrical machine.
The correction value calculation unit is electrically connected to the rotation angle detection unit, and calculates a correction value for correcting the rotation angle detection value of the rotating electrical machine detected by the rotation angle detection unit.
The correction value successive addition unit is electrically connected to the correction value calculation unit. The correction value successive addition unit compares the correction value change amount with the absolute value of the predetermined value when the absolute value of the correction value change amount, which is the difference between the previous correction value and the current correction value, is equal to or greater than the absolute value of the predetermined value. A division correction value divided into at least two smaller is calculated, and a corrected rotation angle obtained by adding the division correction value to the rotation angle detection value is sequentially calculated.
The control unit controls driving of the rotating electrical machine based on the corrected rotation angle.

  In the rotating electrical machine control device of the present invention, the correction value successive addition unit, when the absolute value of the correction value change amount is equal to or larger than the absolute value of the predetermined value, the correction value change amount is at least smaller than the absolute value of the predetermined value. A division correction value divided into two or more is calculated. The correction value sequential addition unit sequentially calculates a corrected rotation angle obtained by adding the calculated plurality of division correction values to the rotation angle detection value. The control unit controls driving of the rotating electrical machine based on the corrected rotation angle calculated by the correction value successive addition unit. As a result, since the absolute value of the correction value change amount is suppressed from changing relatively large, the value of the voltage for driving the rotating electrical machine and the value of the current flowing through the rotating electrical machine are suppressed from changing relatively large. . Therefore, it is possible to prevent the output torque of the rotating electrical machine from changing suddenly.

It is a block diagram of the rotation angle calculating part which the rotary electric machine control apparatus by 1st embodiment of this invention has. It is a schematic diagram of the rotary electric machine control apparatus by 1st embodiment of this invention. It is a characteristic view explaining the calculation method of the rotation angle in the rotary electric machine control apparatus by 1st embodiment of this invention. It is a flowchart of the calculation method of the rotation angle in the rotary electric machine control apparatus by 1st embodiment of this invention. It is a characteristic view of the rotation angle calculated in the rotary electric machine control apparatus by 1st embodiment of this invention. It is a characteristic view explaining the effect of the rotary electric machine control device by a first embodiment of the present invention. It is a characteristic view of the rotation angle calculated in the rotary electric machine control apparatus by 2nd embodiment of this invention. It is a characteristic view of the rotation angle calculated in the rotary electric machine control apparatus by 2nd embodiment of this invention, Comprising: It is a characteristic view in the condition different from FIG. It is a characteristic view of the rotation angle calculated in the rotary electric machine control apparatus by 3rd embodiment of this invention. It is a table | surface used for the calculation of a rotation angle in the rotary electric machine control apparatus by 4th embodiment of this invention. It is a block diagram of the rotation angle calculating part which the rotary electric machine control apparatus by 5th embodiment of this invention has. It is a flowchart of the calculation method of the rotation angle in the rotary electric machine control apparatus by 5th embodiment of this invention. It is a characteristic view of the rotation angle calculated in the rotary electric machine control apparatus by 5th embodiment of this invention. It is a characteristic view of the rotation angle calculated in the rotary electric machine control apparatus by 6th embodiment of this invention. It is a characteristic view of the rotation angle calculated in the rotary electric machine control apparatus by 6th embodiment of this invention, Comprising: It is a characteristic view in the condition different from FIG.

  Hereinafter, a plurality of embodiments of the present invention will be described with reference to the drawings.

(First embodiment)
A rotating electrical machine control apparatus according to a first embodiment of the present invention will be described with reference to FIGS. A rotating electrical machine control device 10 according to the first embodiment is a device that controls energization of an MG that is a three-phase AC motor in a system that drives a motor generator (hereinafter, “MG”) that is a power source of a hybrid vehicle or an electric vehicle. is there.

  First, the configuration of the entire MG drive system will be described with reference to FIG. FIG. 1 illustrates a system including one MG. The MG drive system 99 mounted on the hybrid vehicle is a system for driving the MG 80 by converting the DC power of the battery 25 that is a chargeable / dischargeable secondary battery into three-phase AC power by the inverter 40 and supplying it to the MG 80. . The rotating electrical machine control device 10 includes a current control unit 30, an inverter 40, and a rotation angle calculation unit 50. The rotating electrical machine control apparatus 10 can be similarly applied to an MG drive system including two or more MGs. The current control unit 30 and the inverter 40 correspond to a “control unit” described in the claims.

  In the inverter 40, six switching elements 41, 42, 43, 44, 45, and 46 of the upper and lower arms are bridge-connected. Switching elements 41, 42, and 43 are U-phase, V-phase, and W-phase upper arm switching elements, respectively, and switching elements 44, 45, and 46 are U-phase, V-phase, and W-phase lower arm switching elements, respectively. It is an element. The switching elements 41, 42, 43, 44, 45, 46 are made of, for example, IGBTs, and freewheeling diodes that allow current flowing from the low potential side to the high potential side are connected in parallel.

In the inverter 40, the switching elements 41, 42, 43, 44, 45, 46 operate according to the drive signal output from the current control unit 30 to convert DC power into three-phase AC power. Inverter 40 applies phase voltages Vu, Vv, Vw according to the voltage command calculated by current control unit 30 to each phase winding 81, 82, 83 of MG 80.
A smoothing capacitor 47 that smoothes the input voltage is provided at the input portion of the inverter 40. The input voltage sensor 48 detects the inverter input voltage Vinv. Note that a boost converter may be provided between the battery 25 and the inverter 40.

The MG 80 is, for example, a permanent magnet type synchronous three-phase AC motor. In the present embodiment, the MG 80 is mounted on a hybrid vehicle including the engine 91. The MG 80 has a function as an electric motor that generates torque for driving the drive wheels 95 and a function as a generator that recovers energy from the torque transmitted from the engine 91 and the drive wheels 95 by power generation. The MG 80 is connected to the axle 94 via a gear 93 such as a transmission. The torque generated by the MG 80 drives the driving wheel 95 by rotating the axle 94 via the gear 93.
A current sensor for detecting a phase current is provided in a current path connected to the two-phase winding among the three-phase windings 81, 82, and 83 of the MG 80. In FIG. 1, current sensors 62 and 63 for detecting phase currents Iv and Iw are provided in current paths connected to the V-phase winding 82 and the W-phase winding 83, respectively.

  The MG 80 is provided with a rotation angle detection unit 51 including a resolver and a resolver digital converter that can detect the rotation angle of a rotor (not shown) of the MG 80. The rotation angle detection unit 51 converts an analog electric signal corresponding to the rotation angle of the rotor into a digital electric signal (hereinafter referred to as “rotation angle detection value”) θd, and outputs it to the rotation angle calculation unit 50. The rotation angle calculation unit 50 calculates the rotation angle of the rotor based on the rotation angle detection value θd output from the rotation angle detection unit 51. The rotation angle calculation unit 50 outputs the calculation result to the current control unit 30 as the corrected rotation angle θvc. Details of the configuration and functions of the rotation angle calculation unit 50 will be described later.

  The current control unit 30 acquires the inverter input voltage Vinv, the phase currents Iv and Iw, and the corrected rotation angle θvc output from the rotation angle calculation unit 50. The current control unit 30 also determines the torque command value of the MG 80 generated by the torque command generator 20 which is one of the vehicle control circuits that comprehensively determine the driving state of the vehicle based on various input signals and controls the driving of the vehicle. Trq * is input. Based on this information, the current control unit 30 calculates PWM signals UU, UL, VU, VL, WU, WL including a one-pulse signal as drive signals for driving the inverter 40. The inverter 40 converts power by operating the switching elements 41, 42, 43, 44, 45, 46 according to the PWM signals UU, UL, VU, VL, WU, WL, and responds to a command from the current control unit 30. Electric power is output to MG80. In the first embodiment, the current control unit 30 performs angle matching control based on the corrected rotation angle θvc output from the rotation angle calculation unit 50.

Next, the configuration and function of the rotation angle calculation unit 50 will be described with reference to FIGS. FIG. 1 is a block diagram showing the relationship between the components constituting the rotation angle calculation unit 50. FIG. 3 is a characteristic diagram illustrating a rotation angle calculation method in the rotation angle calculation unit 50.
The rotation angle calculation unit 50 is provided between the rotation angle detection unit 51 and the current control unit 30, and is electrically connected to each. The rotation angle calculation unit 50 includes an error calculation unit 52, a bias error calculation unit 53, a summary correction value calculation unit 54, and a correction value addition unit 55 as a “correction value successive addition unit”. The error calculation unit 52, the bias error calculation unit 53, and the summary correction value calculation unit 54 correspond to a “correction value calculation unit” recited in the claims.
The rotation angle calculation unit 50 includes a sinusoidal cyclic error that varies for every predetermined period included in the rotation angle detection value θd output from the rotation angle detection unit 51, and an offset error that is a deviation from the true value of the rotation angle. Are corrected together, and the corrected rotation angle θvc is output to the current controller 30.

  The error calculation unit 52 is electrically connected to the rotation angle detection unit 51. The error calculation unit 52 receives the rotation angle detection value θd output from the rotation angle detection unit 51 (the solid line Lθd in FIGS. 3A and 3D), and the rotor of the MG 80 is set in advance. A rotation angle reference signal (hereinafter referred to as “NM signal”) θstd indicating the position of “reference angle” is input (solid line Lstd in FIG. 3B). In the first embodiment, the “reference angle” is set to an angle at which the rotation angle detection value θd is 0 degrees and 360 degrees as shown in FIG. In FIG. 3A, the change over time of the true value of the rotation angle is indicated by a dotted line Lt.

  In the error calculation unit 52, when the NM signal θstd is input, for example, the rotation angle detection value θd1 at the time t1 when the rotation angle detection value θd becomes 0 degrees and the rotation angle detection value θd becomes 360 degrees. An ideal angle line (dotted line Ls12 in FIG. 3A) that connects the rotation angle detection value θd2 at time t2 with a straight line is created. The error calculation unit 52 sequentially calculates the difference between the rotation angle detection value θd and the ideal angle line at each time as the error Δθ. For example, the difference between the solid line Lθd and the dotted line Ls at time t12 is calculated as the successive error Δθ12 between time t1 and time t2 shown in FIG. The error calculation unit 52 outputs the sequential error Δθ to the bias error calculation unit 53 and the summary correction value calculation unit 54.

  In the first embodiment, an ideal angle line in the time between two NM signals is created. For example, in FIG. 3A, ideal square lines are created between time t2 and time t3 and between time t3 and time t4 (dotted lines Ls23 and Ls34 in FIG. 3A). .

The bias error calculation unit 53 is electrically connected to the error calculation unit 52 and the summary correction value calculation unit 54. The bias error calculation unit 53 calculates the bias error AveΔθ as the “average value at every predetermined interval” of the sequential error Δθ in the time between two NM signals based on the sequential error Δθ output from the error calculation unit 52. To do.
FIG. 3C shows a time change of the sequential error Δθ in each case by a solid line LΔθ. For example, the bias error AveΔθ12 is calculated as an average value of the successive error Δθ from the time t1 to the time t2 (the chain line LaΔθ12 in FIG. 3C). The bias error calculation unit 53 collectively outputs the calculated bias error AveΔθ to the correction value calculation unit 54. In the first embodiment, bias errors AveΔθ23 and AveΔθ34 are calculated between time t2 and time t3, and between time t3 and time t4 (one-dot chain lines LaΔθ23, LaΔθ34, FIG. 3C). ). In FIG. 3, since the bias errors AveΔθ12, AveΔθ23, and AveΔθ34 have the same value, the alternate long and short dash lines LaΔθ12, LaΔθ23, and LaΔθ34 are formed linearly.

  The summary correction value calculation unit 54 is electrically connected to the error calculation unit 52, the bias error calculation unit 53, and the correction value addition unit 55. The summary correction value calculator 54 calculates the difference (Δθ−AveΔθ) between the sequential error Δθ output from the error calculator 52 and the bias error AveΔθ output from the bias error calculator 53 as the correction value Vc each time. At this time, for the bias error AveΔθ, the correction value Vc is calculated using the bias error AveΔθ of the previous cycle. For example, the correction value Vc23 at time t23 in FIG. 3C is calculated as the difference between the solid line LΔθ and the alternate long and short dash line LaΔθ12. The calculated correction value Vc is output to the correction value adding unit 55.

The correction value addition unit 55 is electrically connected to the rotation angle detection unit 51, the summary correction value calculation unit 54, and the current control unit 30. The correction value adding unit 55 calculates a corrected rotation angle θvc in which the rotation angle detection value θd is corrected according to the magnitude of the correction value Vc output from the summary correction value calculation unit 54.
A time change of the corrected rotation angle θvc is indicated by a one-dot chain line Lvc in FIG. The corrected rotation angle θvc calculated by the method described above matches the true value of the rotation angle (dotted line Lt in FIG. 3D). As a result, the sinusoidal cyclic error and the offset error that is a deviation from the true value of the rotation angle are corrected together.
The calculated rotation angle θvc after correction is output to the current control unit 30, and a drive signal for driving the inverter 40 in the current control unit 30 is calculated.

  In the first embodiment, the correction value Vc calculated in a certain cycle is used for correcting the rotation angle detection value θd in the next cycle of the cycle. Specifically, the correction value Vc calculated at time t12 shown in FIG. 3 is the time when the rotation angle detection value θd23 having the same magnitude as the rotation angle detection value θd12 at time t12 between time t2 and time t3. Used to calculate the corrected rotation angle θvc of t23. That is, the correction value Vc in a certain period is the correction value Vc calculated in the period immediately before the certain period.

  For this reason, when the amount of change of the sequential error Δθ changes greatly depending on the period, for example, when the amplitude of the solid line LΔθ shown in FIG. 3C changes greatly depending on the period, the value of the one-dot chain line LaΔθ is output as the NM signal. Since it changes suddenly in a step shape at the time, the correction value Vc changes greatly every period. When the correction value Vc changes greatly every period, if the period changes, the correction value Vc changes greatly, and thus the post-correction rotation angle θvc may change suddenly. When the corrected rotation angle θvc changes suddenly, the control of the MG 80 by the current control unit 30 that calculates the drive signal of the inverter 40 based on the corrected rotation angle θvc becomes unstable.

A change in the control stability of the MG 80 due to a sudden change in the corrected rotation angle θvc will be described with reference to FIG.
FIG. 6 is a characteristic diagram for explaining the relationship between the voltage pulse command value and voltage pulse output value in the current control unit 30 and the corrected rotation angle θvc. FIG. 6A shows a voltage pulse command value with respect to the corrected rotation angle θvc. FIG. 6B shows a voltage pulse output value when the amount of change in the corrected rotation angle θvc is smaller than a predetermined value. FIG. 6C shows a voltage pulse output value when the amount of change in the corrected rotation angle θvc is greater than or equal to a predetermined value. 6A to 6C, the horizontal axis represents the corrected rotation angle θvc with the unit expressed in degrees, and the vertical axis represents the command voltage value or the output voltage value. 6B and 6C, a change with respect to the corrected rotation angle of the voltage pulse command value shown in FIG. 6A is indicated by a two-dot chain line Lc.

As shown in FIG. 6A, the current control unit 30 is set to turn off the voltage pulse when the corrected rotation angle θvc is the angle α1, and to turn on the voltage pulse when the angle is the angle α2.
In the rotary electric machine control device 10 according to the first embodiment, when the correction value Vc changes, the corrected rotation angle θvc may change suddenly. Specifically, as shown in FIG. 6B, in the vicinity of the angle at which the voltage pulse is turned on / off, the corrected rotation angle θvc is larger than the angle β1 smaller than the angle α1 but larger than the angle α1 and smaller than the angle α2. When the angle β2 changes suddenly, the voltage pulse is turned off only when the angle β2 is reached. For this reason, as shown in FIG. 6B, the voltage pulse output is turned off later than the setting in the current control unit 30.

  The delay in the change in the voltage pulse output shown in FIG. 6B is when the interval of the angle at which the corrected rotation angle θvc flies is relatively short. However, when the distance between the corrected rotation angles θvc is relatively long so that the corrected rotation angle θvc flies from an angle γ1 smaller than the angle α1 to an angle γ2 larger than the angle α2, the distance shown in FIG. Thus, the voltage pulse is not controlled so that the voltage pulse output is turned off. For this reason, the control of the MG 80 may become unstable.

Therefore, in the rotary electric machine control device 10, when the amount of change in the corrected rotation angle θvc is greater than or equal to a predetermined value, that is, in the case where the amount of change in the correction value Vc added to the rotation angle detection value θd is greater than or equal to a predetermined value, The correction value Vc calculated by the value calculation unit 54 is divided into at least two or more divided correction values Vcd that are smaller than a predetermined value. The correction value adding unit 55 adds the division correction value Vcd to the immediately preceding rotation angle detection value θd.
Here, the details of the calculation process of the rotation angle in the rotating electrical machine control device 10 will be described with reference to FIGS. In FIG. 4, the flowchart of the calculation process in the rotation angle calculating part 50 is shown. In the first embodiment, the arithmetic processing shown in FIG. 4 is continuously performed when the rotational speed of the rotor of the MG 80 is constant in a state where the vehicle on which the rotating electrical machine control device 10 is mounted is ready.

First, in step (hereinafter referred to as “S”) 101, the error calculation unit 52 acquires the rotation angle detection value θd output from the rotation angle detection unit 51.
Next, in S102, the error calculation unit 52 sequentially calculates the error Δθ.
Next, in S103, the bias error calculation unit 53 calculates the bias error AveΔθ.
Next, in S104, the summary correction value calculation unit 54 calculates the correction value Vc.

  Next, in S105, it is determined whether or not the correction value Vc has changed from the previous time. Specifically, the correction value adding unit 55 to which the correction value Vc is input determines the magnitude relationship between the previous correction value Vc (−) and the correction value Vc (0) calculated this time. When the correction value Vc (0) has changed from the correction value Vc (−), the process proceeds to S106. When the correction value Vc (0) has not changed from the correction value Vc (−), the process proceeds to S110.

Next, in S106, it is determined whether or not the absolute value of the change amount of the correction value Vc as the “correction value change amount” from the previous time is equal to or larger than the absolute value of the predetermined value. Here, the “predetermined value” is, for example, when the control of the MG 80 becomes unstable due to a control in which the voltage pulse output is different from the voltage pulse command in the current control unit 30, as described with reference to FIG. This refers to the amount of change in the correction value Vc.
Specifically, in S106, the correction value adding unit 55 changes the correction value Vc (0) with respect to the correction value Vc (−) {Vc (0) −Vc (−)} (hereinafter referred to as “correction value change amount”). It is determined whether or not the absolute value of “Vch” is equal to or greater than the predetermined absolute value. If it is determined that the absolute value of the correction value change amount Vch is greater than or equal to the predetermined absolute value, the process proceeds to S107. If it is determined that the absolute value of the correction value change amount Vch is smaller than the absolute value of the predetermined value, the process proceeds to S109.

  If it is determined in S106 that the absolute value of the correction value change amount Vch is equal to or larger than the absolute value of the predetermined value, the number of times that the correction value change amount Vch is added to the rotation angle detection value is calculated in S107. At this time, it divides | segments according to the frequency | count of adding correction value variation | change_quantity Vch. The absolute value of the divided correction value Vcd calculated by dividing the correction value change amount Vch is smaller than the absolute value of the predetermined value.

  Next, in S108, the timing for adding the division correction value Vcd is set. Specifically, a timing for adding a plurality of division correction values Vcd to the correction value Vc with a predetermined interval is set according to the detected rotation angle detection value θd.

  If it is determined in S106 that the absolute value of the correction value change amount Vch is smaller than the absolute value of the predetermined value, the timing for adding the correction value change amount Vch to the previous correction value Vc (0) is set in S109. To do.

  Next to S108 or S109, in S110, it is determined whether or not it is time to add the division correction value Vcd or the correction value change amount Vch set in S108 or S109. When it is determined that it is time to add the division correction value Vcd or the correction value change amount Vch, the process proceeds to S111. When it is determined that it is not time to add the division correction value Vcd or the correction value change amount Vch, the process proceeds to S112.

  If it is determined in S110 that it is time to add the divided correction value Vcd or the correction value change amount Vch, in S111, the divided correction value Vcd or the correction value change amount Vch is added to the correction value Vc. Thereby, a correction error correction value is calculated.

Next, in S112, a corrected rotation angle θvc is calculated. Specifically, the correction error correction value calculated in S111 is added to the rotation angle detection value θd. The calculated post-correction rotation angle θvc is output to the current control unit 30.
In the rotating electrical machine control device 10 according to the first embodiment, the corrected rotation angle θvc is calculated in this way, and the drive of the MG 80 is controlled by the current control unit 30.

  Next, the effect of the rotary electric machine control device 10 according to the first embodiment will be described.

  (1) FIG. 5 shows changes in the corrected rotation angle θvc with respect to the rotation angle detection value θd. In the first embodiment, as shown in FIG. 5A, when the rotation angle detection value θd is 360 degrees, the correction value Vc is the correction value Vc (0) calculated this time from the previous correction value Vc (−). To change. At this time, in the rotating electrical machine control device 10, when the absolute value of the correction value change amount Vch is equal to or larger than the absolute value of the predetermined value, the correction value change amount Vch is set to prevent the post-correction rotation angle θvc from changing greatly. At least two or more divided correction values Vcd whose absolute value is smaller than the absolute value of the predetermined value are set. In FIG. 5, the correction value change amount Vch is divided into two divided correction values Vcd11 and Vcd12.

  In the rotary electric machine control device 10, the two divided correction values Vcd11 and Vcd12 are added to the rotation angle detection value θd with a certain interval. For example, as shown in FIG. 5B, when the rotation angle detection value θd becomes the rotation angle detection value θd11 larger than 0 degrees, the division correction value Vcd11 is added, and the rotation angle detection value θd becomes the rotation angle detection value. The division correction value Vcd12 is added when the rotation angle detection value θd12 is greater than θd11. As a result, the correction value change amount Vch is added to the rotation angle detection value θd all at once when the rotation angle detection value θd becomes 0 degrees (two-dot chain line L0 in FIG. 5B) after correction. Since the jump of the rotation angle θvc is small (two-dot chain line L1 in FIG. 5B), there is no time zone in which the voltage pulse output cannot be controlled as shown in FIG. 6C. Therefore, it is possible to suppress a relatively large fluctuation in the value of the voltage for driving MG 80 and the value of the current flowing through MG 80, and to prevent the output torque of MG 80 from changing suddenly.

  (2) Further, the value of the voltage for driving the MG 80 is prevented from fluctuating relatively greatly. This eliminates the need for a relatively large-capacity smoothing capacitor for suppressing large fluctuations in voltage, and thus the size of the smoothing capacitor can be reduced. Therefore, the manufacturing cost of the rotating electrical machine control device 10 can be reduced.

  (3) The rotating electrical machine control device 10 calculates the correction value Vc each time based on the deviation of the sequential error Δθ with respect to the bias error AveΔθ. The bias error AveΔθ is an average value of the sequential error Δθ in one period based on the sequential error Δθ output from the error calculation unit 52, and can correct an offset error included in the rotation angle detection value θd. As a result, the rotating electrical machine control device 10 can collectively correct the sinusoidal cyclic error and the offset error, so that the error between the corrected rotation angle θvc and the true value can be reduced. Therefore, the rotating electrical machine control device 10 can improve the control accuracy of the MG 80.

(Second embodiment)
Next, the rotary electric machine control apparatus by 2nd embodiment of this invention is demonstrated based on FIG. The second embodiment differs from the first embodiment in the arithmetic processing for the amount of change in the corrected rotation angle θvc. In addition, the same code | symbol is attached | subjected to the site | part substantially the same as 1st embodiment, and description is abbreviate | omitted.

  7 and 8 show changes in the corrected rotation angle θvc with respect to the rotation angle detection value θd in the rotating electrical machine control apparatus according to the second embodiment.

  In the rotary electric machine control device according to the second embodiment, the correction value adding unit 55 adds the division correction value Vcd when the amount of change per unit time of the corrected rotation angle θvc immediately before adding the division correction value Vcd is positive. The value of the divided correction value Vcd and the timing of adding the divided correction value Vcd so that the value of the corrected rotation angle θvc calculated in this way becomes larger than the value of the corrected rotation angle θvc immediately before adding the divided correction value Vcd. Set at least one.

  In the rotating electrical machine control device according to the second embodiment, as shown in FIG. 7A, the correction value change amount Vch added when the rotation angle detection value θd is 0 degree is a negative value. When the absolute value of the value change amount Vch is equal to or larger than the absolute value of the predetermined value, the correction value change amount Vch is divided into two divided correction values Vcd21 and Vcd22. The division correction values Vcd21 and Vcd22 that are negative values have absolute values smaller than the predetermined absolute value. The post-correction rotation angle θvc immediately before adding the division correction value Vcd21 at this time increases as the rotation angle detection value θd increases as shown in FIG. 7B. That is, the amount of change per unit time of the corrected rotation angle θvc is positive.

In this case, when the rotation angle detection value θd becomes the rotation angle detection value θd21 larger than 0 degrees, the division correction value Vcd21 is added to the corrected rotation angle θvc20. The corrected rotation angle θvc21, which is the sum of the corrected rotation angle θvc20 and the divided correction value Vcd21, is larger than the corrected rotation angle θvc19 immediately before the corrected rotation angle θvc20.
Further, when the rotation angle detection value θd becomes a rotation angle detection value θd22 larger than the rotation angle detection value θd21, the divided correction value Vcd22 is added to the corrected rotation angle θvc22. The corrected rotation angle θvc23, which is the sum of the corrected rotation angle θvc22 and the divided correction value Vcd22, is larger than the corrected rotation angle θvc21 immediately before the corrected rotation angle θvc22.

  In the rotating electrical machine control device according to the second embodiment, the correction value adding unit 55 adds the division correction value when the change amount per unit time of the corrected rotation angle immediately before adding the division correction value is negative. At least one of the magnitude of the division correction value and the timing for adding the division correction value is set so that the value of the rotation angle after correction calculated in this way becomes smaller than the value of the rotation angle after correction just before the division correction value is added.

  In the rotating electrical machine control apparatus according to the second embodiment, as shown in FIG. 8A, the correction value change amount Vch that is added when the rotation angle detection value θd is 0 degrees is a positive value. When the absolute value of the value change amount Vch is equal to or larger than the absolute value of the predetermined value, the correction value change amount Vch is divided into two divided correction values Vcd31 and Vcd32. The division correction values Vcd31 and Vcd32 that are positive values have absolute values smaller than the predetermined absolute value. The post-correction rotation angle θvc immediately before adding the division correction value Vcd31 at this time decreases as the rotation angle detection value θd increases as shown in FIG. 8B. That is, the amount of change per unit time of the corrected rotation angle θvc is negative.

In this case, when the rotation angle detection value θd becomes the rotation angle detection value θd31 larger than 0 degrees, the division correction value Vcd31 is added to the corrected rotation angle θvc30. The corrected rotation angle θvc31, which is the sum of the corrected rotation angle θvc30 and the divided correction value Vcd31, is smaller than the corrected rotation angle θvc29 immediately before the corrected rotation angle θvc30.
When the rotation angle detection value θd becomes a rotation angle detection value θd32 larger than the rotation angle detection value θd31, the divided correction value Vcd32 is added to the corrected rotation angle θvc32. The corrected rotation angle θvc33, which is the sum of the corrected rotation angle θvc32 and the divided correction value Vcd32, is smaller than the corrected rotation angle θvc31 immediately before the corrected rotation angle θvc32.

  In the rotating electrical machine control device according to the second embodiment, the division correction value Vcd is added so that the change amount per unit time of the corrected rotation angle θvc immediately before adding the division correction value Vcd is not reversed by the addition of the division correction value Vcd. . Thereby, the rotational speed information of the rotor of the MG 80 derived from the corrected rotation angle θvc can be prevented from instantaneously reversing. Therefore, the second embodiment has the same effect as the first embodiment, and the drive signal of the inverter 40 and the torque command value Trq * become an inappropriate value due to the instantaneous reverse rotation of the rotational speed information of the rotor. , Current and torque can be prevented from fluctuating greatly.

(Third embodiment)
Next, the rotary electric machine control apparatus by 3rd embodiment of this invention is demonstrated based on FIG. The third embodiment is different from the first embodiment in the calculation processing of the corrected rotation angle. In addition, the same code | symbol is attached | subjected to the site | part substantially the same as 1st embodiment, and description is abbreviate | omitted.

  In the rotating electrical machine control device according to the third embodiment, the timings at which the division correction value Vcd is added to the correction value Vc are set equally.

FIG. 9 shows changes in the corrected rotation angle θvc with respect to the rotation angle detection value θd in the rotating electrical machine control apparatus according to the third embodiment.
In the rotating electrical machine control apparatus according to the third embodiment, for example, as shown in FIG. 9A, four divided correction values Vcd41, Vcd42, Vcd43, and Vcd44 whose absolute value is smaller than the absolute value of a predetermined value are set. ing. In S108, the correction value addition unit 55 sets the timing for adding the division correction value Vcd so that the division correction value Vcd is added to the correction value Vc at equal timing. In the third embodiment, the rotation angle detection value θd is obtained by dividing the reference angle of 360 degrees by 4 which is the number of division correction values Vcd and adding 1 to 1, that is, 72 degrees as a “predetermined angle”. When the change amount becomes 72 degrees from the value of the rotation angle detection value when the previous division correction value Vcd was added, the current division correction value Vcd is added to the rotation angle detection value θd.

  Specifically, as shown in FIG. 9B, the division correction value Vcd41 is added to the correction value Vc when the rotation angle detection value θd is 72 degrees. The division correction value Vcd42 is added to the correction value Vc when the rotation angle detection value θd is 144 degrees. The division correction value Vcd43 is added to the correction value Vc when the rotation angle detection value θd is 216 degrees. The division correction value Vcd44 is added to the correction value Vc when the rotation angle detection value θd is 288 degrees.

  In the rotating electrical machine control device according to the third embodiment, the four divided correction values Vcd41, Vcd42, Vcd43, and Vcd44 are added to the correction value Vc at equal timing (two-dot chain line L41 in FIG. 9B). . Thus, when the rotation angle detection value θd is 0 degree, the correction value Vc obtained by continuously adding the division correction values Vcd41, Vcd42, Vcd43, and Vcd44 is added to the rotation angle detection value θd (in FIG. 9B). Compared with the two-dot chain line L40), the change in the corrected rotation angle θvc is also relatively small. Therefore, the third embodiment has the same effect as the first embodiment, and the change in the corrected rotation angle θvc is further reduced, so that the variation in the output torque of the MG 80 can be further reduced.

(Fourth embodiment)
Next, a rotating electrical machine control apparatus according to a fourth embodiment of the present invention will be described with reference to FIG. The fourth embodiment differs from the first embodiment in the calculation processing of the corrected rotation angle. In addition, the same code | symbol is attached | subjected to the site | part substantially the same as 1st embodiment, and description is abbreviate | omitted.

In the rotating electrical machine control apparatus according to the fourth embodiment, the magnitude of the division correction value Vcd and the timing for adding the division correction value Vcd to the correction value Vc are set in advance.
FIG. 10 shows an example of a table summarizing the magnitude of the division correction value Vcd and the timing of adding the division correction value Vcd to the correction value Vc in the rotating electrical machine control apparatus according to the fourth embodiment. In the fourth embodiment, the absolute value of the “predetermined value” of the correction value change amount Vch is set to 2LSB. That is, when the absolute value of the correction value change amount Vch is 2LSB or more, the correction value change amount Vch is divided into a plurality of divided correction values Vcd.

In the rotating electrical machine control apparatus according to the fourth embodiment, the division correction value Vcd is added to the correction value Vc according to the setting shown in FIG.
For example, when the correction value change amount Vch is + 3LSB and the rotation angle detection value θd is in the range of 45 to 90 degrees, + 1LSB is added to the correction value Vc as the division correction value Vcd. Further, when the rotation angle detection value θd is in the range of 135 to 180 degrees in the same cycle in which + 1LSB is added to the correction value Vc when the rotation angle detection value θd is in the range of 45 to 90 degrees, the division correction value Vcd is obtained. + 1LSB is added to the correction value Vc. Further, when the rotation angle detection value θd is in the range of 225 to 270 degrees in the same cycle in which + 1LSB is added to the correction value Vc when the rotation angle detection value θd is in the range of 135 to 180 degrees, the division correction value Vcd is obtained. + 1LSB is added to the correction value Vc. These can be arbitrarily set according to the magnitude of the correction value change amount Vch.

  In the rotating electrical machine control device according to the fourth embodiment, when the absolute value of the correction value change amount Vch is equal to or larger than the absolute value of the predetermined value, the timing of adding the division correction value Vcd and the division correction value Vcd set in advance. Is added to the correction value Vc. Thereby, 4th embodiment has the same effect as 1st embodiment.

(Fifth embodiment)
Next, the rotary electric machine control apparatus by 5th embodiment of this invention is demonstrated based on FIGS. The fifth embodiment is different from the first embodiment in the configuration of the rotation angle calculation unit. In addition, the same code | symbol is attached | subjected to the site | part substantially the same as 1st embodiment, and description is abbreviate | omitted.

  FIG. 11 shows a block diagram of the rotation angle calculation unit 60 of the rotating electrical machine control apparatus according to the fifth embodiment. The rotation angle calculation unit 60 is provided between the rotation angle detection unit 51 and the current control unit 30. The rotation angle calculation unit 60 includes a correction value calculation unit 64 and a correction value addition unit 65.

  The correction value calculation unit 64 is electrically connected to the rotation angle detection unit 51. The correction value calculation unit 64 receives the rotation angle detection value θd output from the rotation angle detection unit 51. The correction value calculation unit 64 has a reference map in which the correction value Vc corresponding to the rotation angle detection value θd is shown. In the correction value calculation unit 64, the rotation angle detection input from the rotation angle detection unit 51 is performed. A correction value Vc is calculated based on the value θd. The calculated Vc is output to the correction value adding unit 65.

  The correction value addition unit 65 is electrically connected to the rotation angle detection unit 51, the correction value calculation unit 64, and the current control unit 30. The correction value adding unit 65 calculates a corrected rotation angle θvc obtained by correcting the rotation angle detection value θd according to the magnitude of the correction value Vc output from the correction value calculation unit 64. The calculated post-correction rotation angle θvc is output to the current control unit 30. The current control unit 30 calculates a drive signal for driving the inverter 40 based on the corrected rotation angle θvc.

  Next, with reference to FIGS. 12-14, the detail of the calculation process of the rotation angle in the rotary electric machine control apparatus by 5th embodiment is demonstrated. In FIG. 12, the flowchart of the calculation process in the rotation angle calculating part 60 is shown. In the fifth embodiment, the arithmetic processing shown in FIG. 12 is continuously performed in a state where the vehicle equipped with the rotating electrical machine control device according to the fifth embodiment is ready.

First, in S201, the correction value calculation unit 64 acquires the rotation angle detection value θd output from the rotation angle detection unit 51.
Next, in S202, the correction value calculation unit 64 calculates the correction value Vc.

  Next, in S203, it is determined whether or not the correction value Vc has changed from the previous time. Specifically, the correction value adding unit 65 to which the correction value Vc is input calculates based on the correction value Vc (−) calculated based on the immediately preceding rotation angle detection value θd and the current rotation angle detection value θd. The magnitude relationship with the corrected value Vc (0) is determined. When the correction value Vc (0) has changed from the correction value Vc (−), the process proceeds to S204. When the correction value Vc (0) has not changed from the correction value Vc (−), the process proceeds to S208.

  Next, in S204, as in S106 of the first embodiment, it is determined whether or not the absolute value of the change amount of the correction value Vc from the previous time is greater than or equal to the predetermined absolute value. If it is determined that the absolute value of the correction value change amount Vch is equal to or greater than the absolute value of the predetermined value, the process proceeds to S205. If it is determined that the absolute value of the correction value change amount Vch is smaller than the absolute value of the predetermined value, the process proceeds to S207.

  If it is determined in S204 that the absolute value of the correction value change amount Vch is greater than or equal to the absolute value of the predetermined value, the correction value change amount Vch is added to the rotation angle detection value in S205, as in S107 of the first embodiment. The division correction value Vcd whose absolute value is smaller than the predetermined absolute value is calculated.

  Next, in S206, the timing for adding the division correction value Vcd is set. In the fifth embodiment, for example, as shown in FIG. 13A, the time when the rotation angle detection unit 51 outputs the rotation angle detection value θd after the time t51 when the correction value change amount Vch is calculated and the time t51. It is set when the division correction value Vcd is added to each of t52 and time t53 when the rotation angle detection unit 51 outputs the rotation angle detection value θd next to time t52. However, the timing for adding the division correction value Vcd is not limited to this. For example, time t51, time t53 when the rotation angle detection unit 51 next time at time t51 outputs the rotation angle detection value θd, and time t54 when the rotation angle detection unit 51 outputs the rotation angle detection value θd after time t53. A combination such as

  If it is determined in S204 that the absolute value of the correction value change amount Vch is smaller than the absolute value of the predetermined value, in S207, the correction value change amount Vch is set to the previous correction value, as in S109 of the first embodiment. The timing for adding to Vc (0) is set.

  Next to S206 or S207, in S208, it is determined whether or not it is the timing to add the division correction value Vcd or the correction value change amount Vch set in S206 or S207, as in S110 of the first embodiment. When it is determined that it is time to add the division correction value Vcd or the correction value change amount Vch, the process proceeds to S209. When it is determined that it is not time to add the division correction value Vcd or the correction value change amount Vch, the process proceeds to S210.

  If it is determined in S208 that it is the timing to add the divided correction value Vcd or the correction value change amount Vch, in S209, as in S111 of the first embodiment, the divided correction value Vcd or the correction value change amount is added to the correction value Vc. Add Vch. Thereby, a correction error correction value is calculated.

Next, in S210, the corrected rotation angle θvc is calculated as in S112 of the first embodiment. The calculated post-correction rotation angle θvc is output to the current control unit 30.
In the rotating electrical machine control device according to the fifth embodiment, the corrected rotation angle θvc is calculated in this way, and the drive of the MG 80 is controlled by the current control unit 30.

  In the fifth embodiment, every time the rotation angle is detected, if the absolute value of the correction value change amount Vch is equal to or larger than the absolute value of the predetermined value, the absolute value of the correction value change amount Vch is smaller than the absolute value of the predetermined value. The division correction value Vcd divided into at least two or more is sequentially added to the correction value Vc (−) calculated based on the immediately preceding rotation angle detection value. Thereby, compared with the case where the correction value change amount Vch is added to the rotation angle detection value θd at a time (two-dot chain line L0 and solid arrow F0 in FIG. 13B), the jump of the corrected rotation angle θvc is small ( A two-dot chain line L0 and solid arrows F51, F52, and F53 in FIG. Accordingly, the fifth embodiment has the effects (a) and (b) of the first embodiment.

(Sixth embodiment)
Next, a rotating electrical machine control apparatus according to a sixth embodiment of the present invention will be described with reference to FIGS. The sixth embodiment is different from the fifth embodiment in the calculation processing of the corrected rotation angle. In addition, the same code | symbol is attached | subjected to the site | part substantially the same as 5th embodiment, and description is abbreviate | omitted.

  14 and 15 show changes in the corrected rotation angle θvc with respect to the rotation angle detection value θd in the rotating electrical machine control apparatus according to the sixth embodiment.

  In the rotating electrical machine control apparatus according to the sixth embodiment, as shown in FIG. 14A, the correction value change amount Vch is a negative value, and the absolute value of the correction value change amount Vch is equal to or larger than the absolute value of the predetermined value. In this case, the correction value change amount Vch is divided into at least two divided correction values Vcd. In the sixth embodiment, the correction value change amount Vch is, for example, minus 3LSB, and is divided into three minus correction values Vcd61, Vcd62, and Vcd63 of minus 1LSB. The division correction values Vcd61, Vcd62, and Vcd63 have absolute values smaller than a predetermined value.

  In the rotating electrical machine control apparatus according to the sixth embodiment, as shown in FIG. 14B, the correction value adding unit 65 has a change amount per unit time of the corrected rotation angle θvc immediately before adding the divided correction value Vcd61. In the case of positive, when the rotation angle detection value θd increases by 1 LSB at time t61, the division correction value Vcd61 is added to the rotation angle detection value θd at time t61. Therefore, the corrected rotation angle θvc61 at time t61 and the corrected rotation angle θvc60 at time t60 when the rotation angle detection value θd is detected immediately before time t61 are the same.

When the rotation angle detection value θd increases by 1 LSB at time t62, the division correction value Vcd62 is added to the rotation angle detection value θd at time t62. Therefore, the corrected rotation angle θvc62 at time t62 and the corrected rotation angle θvc61 at time t61 are the same.
The same applies to the addition of the division correction value Vcd63 to the rotation angle detection value θd at time t63.

  In the rotating electrical machine control apparatus according to the sixth embodiment, as shown in FIG. 15A, the correction value change amount Vch is a positive value, and the absolute value of the correction value change amount Vch is an absolute value of a predetermined value. If the value is greater than or equal to the value, the correction value change amount Vch is divided into at least two divided correction values Vcd. In the sixth embodiment, the correction value change amount Vch is, for example, plus 3LSB, and is divided into three divided correction values Vcd71, Vcd72, and Vcd73 of plus 1LSB. The division correction values Vcd71, Vcd72, and Vcd73 have absolute values smaller than a predetermined value.

  In the rotating electrical machine control apparatus according to the sixth embodiment, as shown in FIG. 15B, the correction value adding unit 65 has a change amount per unit time of the corrected rotation angle θvc immediately before adding the divided correction value Vcd71. When negative, when the rotation angle detection value θd decreases by 1 LSB at time t71, the division correction value Vcd71 is added to the rotation angle detection value θd at time t71. Therefore, the corrected rotation angle θvc71 at time t71 and the corrected rotation angle θvc70 at time t70 when the rotation angle detection value θd is detected immediately before time t71 are the same.

When the rotation angle detection value θd decreases by 1 LSB at time t72, the division correction value Vcd72 is added to the rotation angle detection value θd at time t72. Therefore, the corrected rotation angle θvc72 at time t72 and the corrected rotation angle θvc71 at time t71 are the same.
The same applies to the addition of the division correction value Vcd72 to the rotation angle detection value θd at time t72.

  In the rotating electrical machine control apparatus according to the sixth embodiment, the division correction value Vcd is added so that the change amount per unit time of the corrected rotation angle θvc immediately before the division correction value Vcd is added does not reverse. As a result, as shown in FIG. 14B, the amount of change per unit time of the corrected rotation angle θvc changes from positive to negative by adding the correction value change amount Vch to the correction value Vc at one time (FIG. 14). (B) solid line arrow F60) can be prevented. Further, as shown in FIG. 15B, the change amount per unit time of the corrected rotation angle θvc changes from negative to positive by adding the correction value change amount Vch to the correction value Vc at once (see FIG. 15B). The solid line arrow F70) of b) can be prevented. Therefore, the sixth embodiment has the same effect as the first embodiment, and the drive signal and torque command value Trq * of the inverter 40 are not effective due to the instantaneous reverse rotation of the rotation speed information derived from the corrected rotation angle θvc. It becomes an appropriate value, and it can prevent that the voltage of MG80, an electric current, a torque, etc. change greatly.

(Other embodiments)
In the above-described embodiment, the rotating electrical machine control device controls energization of the MG mounted on the vehicle as a power source of the hybrid vehicle or the electric vehicle. However, the technology to which the rotating electrical machine control device is applied is not limited to this. It is not limited to vehicles.

  In the above-described embodiment, the current control unit 30 performs angle matching control based on the corrected rotation angle θvc output from the rotation angle calculation unit 50. However, the method by which the current control unit 30 controls the MG 80 is not limited to this. For example, the present invention may be used in a system that controls the current voltage of MG based on a predetermined period of time such as PWM control of triangular wave comparison.

  In the first to third, fifth, and sixth embodiments, the “predetermined value” of the correction value as a reference for determining the amount of change in the correction value is determined by the MG80 by controlling the voltage pulse output different from the voltage pulse command in the current control unit 30 The amount of change in the correction value when the control becomes unstable. However, the magnitude of the “predetermined value” is not limited to this. It is good also as 2LSB or more like 4th embodiment.

  In the above-described embodiment, the magnitudes of the division correction values are different. The size may be the same.

  In the second embodiment, when the amount of change per unit time of the corrected rotation angle θvc immediately before adding the division correction value Vcd is positive, the corrected rotation angle θvc to which the division correction value Vcd is added is equal to the division correction value. It is assumed that it is larger than the post-correction rotation angle θvc just before adding Vcd. When the amount of change per unit time of the corrected rotation angle θvc immediately before adding the division correction value Vcd is negative, the correction rotation angle θvc after adding the division correction value Vcd adds the division correction value Vcd. It is assumed that the rotation angle is smaller than the previous corrected rotation angle θvc. However, the magnitude of the corrected rotation angle θvc before and after the addition may be the same.

  In the third embodiment, the plurality of division correction values Vcd are added each time the amount of change in the rotation angle detection value θd changes by a “predetermined angle” obtained by equally dividing the reference angle. However, the “predetermined angle” at which the addition is performed may not be an angle obtained by equally dividing the reference angle.

  In the fourth embodiment, the division correction value Vcd is added to the correction value Vc in a certain angle range, for example, the rotation angle detection value θd is in the range of 45 to 90 degrees. However, the division correction value Vcd may be set to be added at a specific angle, for example, 45 degrees.

  In the first to fourth embodiments, the offset error among the errors included in the rotation angle detection value θd is corrected by calculating the bias error AveΔθ, which is the average value of the successive errors Δθ. However, the method of correcting the offset error is not limited to this. The correction value calculation unit may have a map related to the offset error, and the offset error may be corrected according to the map.

  In the above-described embodiment, the reference angle is set every 360 degrees. However, the angle at which the reference angle is set is not limited to this. It may be an integer multiple of 360 degrees.

  In the above-described embodiment, the current path connected to the two-phase winding of the three-phase windings 81, 82, 83 of the MG 80 is provided with a current sensor that detects the phase current. However, a three-phase current may be detected. Moreover, you may employ | adopt the technique which estimates the other two-phase electric current based on the electric current detected value of one phase.

  As mentioned above, this invention is not limited to such embodiment, It can implement with a various form in the range which does not deviate from the summary.

DESCRIPTION OF SYMBOLS 10 ... Rotary electric machine control apparatus 30 ... Current control part (control part)
40: Inverter (control unit)
80 ... Motor generator (rotary electric machine)
51 ... Rotation angle detector 52 ... Error detector (correction value calculator)
53... Bias error calculation unit (correction value calculation unit)
54 ... Summary correction value calculation unit (correction value calculation unit)
55, 65... Correction value addition unit (correction value successive addition unit)
64... Correction value calculation unit

Claims (7)

A rotation angle detector (51) capable of detecting the rotation angle of the rotating electrical machine (80);
A correction value calculation unit (52, 53, 54, which is electrically connected to the rotation angle detection unit and calculates a correction value (Vc) for correcting the rotation angle detection value of the rotating electrical machine detected by the rotation angle detection unit. 64)
When the absolute value of the correction value change amount (Vch), which is electrically connected to the correction value calculation unit and is the difference between the previous correction value and the current correction value, is greater than or equal to the absolute value of the predetermined value, the correction value change A division correction value (Vcd) obtained by dividing the amount into at least two smaller than the absolute value of the predetermined value is calculated, and the corrected rotation angle (θvc) obtained by adding the division correction value to the rotation angle detection value is sequentially calculated. A correction value sequential addition unit (55, 65) to be calculated;
A control unit (30, 40) for controlling driving of the rotating electrical machine based on the corrected rotation angle;
A rotating electrical machine control device comprising:   The rotating electrical machine control device according to claim 1, wherein the correction value successive addition unit is capable of setting a timing at which the division correction value is added to the rotation angle detection value.   The correction value successive addition unit, when the change amount per unit time of the post-correction rotation angle immediately before adding the division correction value is positive, of the post-correction rotation angle calculated by adding the division correction value The value is larger than the value of the post-correction rotation angle immediately before adding the division correction value, or the same value as the value of the post-correction rotation angle immediately before adding the division correction value. The rotating electrical machine control device according to claim 1 or 2, wherein at least one of a magnitude of the division correction value and a timing of adding the division correction value is set.   The correction value successive addition unit, when the amount of change per unit time of the corrected rotation angle immediately before adding the divided correction value is negative, adds the divided correction value and calculates the corrected rotation angle. The value is smaller than the value of the post-correction rotation angle immediately before adding the division correction value, or the same value as the value of the post-correction rotation angle immediately before adding the division correction value. The rotating electrical machine control device according to any one of claims 1 to 3, wherein at least one of a size of the division correction value and a timing of adding the division correction value is set. The correction value calculation unit
An error calculation unit (52) electrically connected to the rotation angle detection unit and capable of calculating a successive error (Δθ) for each rotation angle detection value detected by the rotation angle detection unit;
A bias error calculation unit (53) that is electrically connected to the error calculation unit and calculates an average value of the successive errors at predetermined intervals as a bias error (AveΔθ);
Have
The rotating electrical machine control device according to any one of claims 1 to 4, wherein the correction value can be calculated based on the successive error and the bias error. When the angle at which the rotation angle detection value is set as an integer multiple of 360 degrees is a reference angle,
The rotating electrical machine control device according to claim 5, wherein the predetermined interval is between a first reference angle and a second reference angle next to the first reference angle. The correction value successive addition unit, when the amount of change of the rotation angle detection value becomes a predetermined angle from the value of the rotation angle detection value when the previous division correction value was added, the rotation angle detection value To the above-mentioned division correction value,
The rotating electrical machine control device according to claim 6, wherein the predetermined angle is an angle obtained by dividing 360 by a value obtained by adding 1 to the number of the division correction values calculated at the reference angle.

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