JP2018186627A - Rotary electric machine control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a rotary electric machine control device capable of estimating a disturbance torque applied to drive wheels of a vehicle.SOLUTION: A control device includes a disturbance torque estimating section 81 to which a rotational speed and an output torque of a rotating electrical machine is input and that estimates a disturbance torque applied to a driving wheel of a vehicle based on the following equation. It is assumed that a rotational speed of the rotating electrical machine is ωm, the estimated rotational speed is ωm_est, the output torque is Tm, the estimated disturbance torque is ΔT_est, an inertia of the rotating electrical machine is Jm, a viscous friction coefficient is Dm, a first control gain is G1, and a second control gain is G2.SELECTED DRAWING: Figure 4

Description

  This specification discloses the technique regarding the control apparatus of a rotary electric machine.

  The control device for a rotating electrical machine described in Patent Literature 1 includes a filter unit, a control unit, a characteristic setting unit, and a gradual change unit. The filter means performs a filtering process for attenuating the vibration frequency component of the drive system with respect to the target torque of the rotating electrical machine. The control means performs drive control of the rotating electrical machine based on the target torque that has been subjected to the filter processing. The characteristic setting means variably sets the frequency transfer characteristic of the filter used in the filter processing. The gradual change means performs a gradual change process for gradually changing the degree of attenuation changed by the characteristic setting means. As a result, the invention described in Patent Document 1 attempts to eliminate the inconvenience caused by applying the filter process to the target torque of the rotating electrical machine.

Japanese Patent Laid-Open No. 2006-46905

  However, the invention described in Patent Document 1 is intended to suppress the vibration of the drive system due to the output torque of the rotating electrical machine, and the vibration of the drive system due to the disturbance torque applied to the drive wheels of the vehicle. Not considered. Therefore, the invention described in Patent Document 1 cannot estimate the disturbance torque applied to the drive wheels of the vehicle.

  In view of such circumstances, the present specification discloses a rotating electrical machine control device capable of estimating disturbance torque applied to drive wheels of a vehicle.

  A rotating electrical machine control device disclosed in the present specification includes a power converter that converts opening and closing of each of a plurality of switching elements to convert DC power into AC power, and from the AC power converted by the power converter, A rotating electrical machine that generates power for driving the driving wheels, a power transmission device that transmits the power generated by the rotating electrical machine to the driving wheels of the vehicle, and each of the plurality of switching elements of the power converter. A control device for controlling opening and closing. The control device includes a disturbance torque estimation unit that receives a rotation speed and an output torque of the rotating electrical machine and estimates a disturbance torque applied to the driving wheel of the vehicle based on the following equation (1).

  However, the rotational speed of the rotating electrical machine is the rotational speed ωm, and the estimated value of the rotational speed of the rotating electrical machine is the estimated rotational speed ωm_est. Further, the output torque of the rotating electrical machine is set as an output torque Tm, and the estimated value of the disturbance torque is set as an estimated disturbance torque ΔT_est. Further, the inertia of the rotating electrical machine is inertia Jm, and the viscous friction coefficient of the rotating electrical machine is a viscous friction coefficient Dm. The first control gain is the first control gain G1, and the second control gain is the second control gain G2.

  According to the rotating electrical machine control device, the control device includes the disturbance torque estimation unit. Thus, the control device forms an observer that receives the rotational speed ωm and the output torque Tm of the rotating electrical machine and outputs the estimated rotational speed ωm_est and the estimated disturbance torque ΔT_est, and the disturbance torque applied to the drive wheels of the vehicle. Can be estimated.

1 is a configuration diagram illustrating an example of a rotating electrical machine control device 10 according to a first embodiment. 3 is a configuration diagram showing an example of a rotor 52. FIG. 3 is a configuration diagram illustrating an example of control devices 70 and 170. FIG. 3 is a configuration diagram illustrating an example of a control block of a control device 70. FIG. It is a flowchart which shows an example of the procedure which calculates torque instruction Tm_tgt. It is a figure which shows an example of a time-dependent change of the output torque Tm when it concerns on a comparison form and torque adjustment amount Tm_adj is 0 (zero). It is a figure which shows an example of a time-dependent change of the output torque Tm when torque adjustment amount Tm_adj is set using a 1st differential value. It is a figure which shows an example of the time-dependent change of the output torque Tm when torque adjustment amount Tm_adj is set using a 2nd differential value. FIG. 6 is a configuration diagram illustrating an example of a rotating electrical machine control device 110 according to a second embodiment. It is a block diagram which shows an example of the control block of control apparatus 170 concerning 2nd embodiment. 12 is a flowchart illustrating an example of a procedure for interrupting transmission of power in the power transmission device 60 according to the second embodiment.

  In the present specification, embodiments are described based on the drawings. In the drawings, common portions are denoted by common reference numerals for each embodiment, and redundant description is omitted in this specification. In addition, what has already been described in one embodiment can be applied to other embodiments as appropriate. Further, the drawings are conceptual diagrams and do not define the dimensions of the detailed structure.

<First embodiment>
(Schematic configuration of the rotating electrical machine control device 10)
As shown in FIG. 1, the rotating electrical machine control device 10 of the present embodiment includes a DC power supply 20, a smoothing capacitor 30, a power converter 40, a rotating electrical machine 50, a power transmission device 60, a control device 70, It has.

  The DC power supply 20 outputs DC power. The DC power supply 20 is not limited as long as it can output DC power. As the DC power source 20, for example, a lead storage battery (battery), a lithium ion battery, a power generation device (for example, a fuel cell), or the like can be used. The DC power supply 20 can also generate DC power using a known AC generator or the like. In this case, the DC power source 20 can generate DC power by rectifying and smoothing AC power output from the AC generator using a known rectifier circuit and smoothing circuit.

  The DC power supply 20 can also boost low-voltage DC power using, for example, a known boost converter. In this case, the DC power supply 20 can use, for example, a non-insulated boost converter such as a known boost chopper. Further, the DC power supply 20 may be an insulating boost converter such as a known flyback converter or forward converter.

  The smoothing capacitor 30 smoothes the DC power output from the DC power supply 20. The positive electrode side 20 p of the DC power supply 20 is connected to the positive electrode side 30 p of the smoothing capacitor 30. The negative electrode side 20n of the DC power supply 20 is connected to the negative electrode side 30n of the smoothing capacitor 30, and is connected to a power ground (a reference potential of a circuit on the high voltage side including the DC power supply 20). As the smoothing capacitor 30, for example, an electrolytic capacitor can be used. The DC power supplied from the DC power supply 20 is smoothed by the smoothing capacitor 30 to reduce ripples.

  In the power converter 40, DC power (DC power smoothed by the smoothing capacitor 30 in this embodiment) is controlled by opening and closing each of a plurality of switching elements (in this embodiment, three pairs of switching elements 41). ) To AC power. As shown in FIG. 1, the three pairs of switching elements 41 are connected by a full bridge. Each of the three pairs of switching elements 41 includes a positive side switching element 4xp connected to the positive side 30p of the smoothing capacitor 30 and a negative side switching element 4xn connected to the negative side 30n of the smoothing capacitor 30. They are connected in series. Note that the power converter 40 of the present embodiment is a three-phase power converter, and x is any one of u, v, and w. For example, the positive electrode side switching element 4up indicates a U phase positive electrode side switching element, and the negative electrode side switching element 4un indicates a U phase negative electrode side switching element.

  As the positive side switching element 4xp and the negative side switching element 4xn, known power switching elements can be used. As the positive electrode side switching element 4xp and the negative electrode side switching element 4xn, for example, a known insulated gate bipolar transistor (IGBT: Insulated Gate Bipolar Transistor), a field effect transistor (FET: Field Effect Transistor), or the like can be used.

  As shown in FIG. 1, each of the plurality (three) of positive electrode side switching elements 4xp includes a control terminal 4g, an input terminal 4c, an output terminal 4e, and a free wheeling diode 4d. For example, in an insulated gate bipolar transistor (IGBT), the control terminal 4g corresponds to a gate terminal, the input terminal 4c corresponds to a collector terminal, and the output terminal 4e corresponds to an emitter terminal. The control terminal 4g is connected to the control device 70 via a drive circuit 71b described later. Each of the plurality (three) of the positive electrode side switching elements 4xp is controlled to open and close based on a drive signal output from the control device 70.

  A voltage between the control terminal 4g and the output terminal 4e is defined as a control voltage Vge. For example, when the control voltage Vge is at a low level (a state equal to or lower than a predetermined voltage value), the input terminal 4c and the output terminal 4e are controlled to be in an open state in which they are electrically disconnected. On the other hand, when the control voltage Vge is at a high level (a state exceeding a predetermined voltage value), the input terminal 4c and the output terminal 4e are controlled to be in a closed state in which electrical connection is established.

  As the freewheeling diode 4d, for example, a body diode (parasitic diode) of the positive switching element 4xp can be used. Further, instead of the body diode, a freewheeling diode can be separately provided and connected in parallel between the input terminal 4c and the output terminal 4e. The freewheeling diode 4d forms a current path from the output terminal 4e side to the input terminal 4c side when the positive side switching element 4xp is in an open state. Thereby, the said positive electrode side switching element 4xp can be protected from the reverse current which arises with opening and closing of the positive electrode side switching element 4xp. What has been described above for the plurality (three) of the positive electrode side switching elements 4xp can be similarly applied to the plural (three) negative electrode side switching elements 4xn.

  The control device 70 controls opening and closing of each of the plurality of switching elements (three pairs of switching elements 41) of the power converter 40. For example, the power converter 40 includes one positive switching element 4xp and a plurality (three) negative switching elements among the multiple (three) positive switching elements 4xp based on a command from the control device 70. One negative side switching element 4xn of 4xn is closed, and the other switching element is opened. The phases (U phase, V phase, W phase) of one positive-side switching element 4xp and one negative-side switching element 4xn that are closed are different. The power converter 40 can convert the DC power smoothed by the smoothing capacitor 30 into AC power by sequentially changing the combination of switching elements that are closed by the control device 70.

  As shown in FIG. 1, an output terminal 42x is provided between the positive side switching element 4xp and the negative side switching element 4xn. Further, the output terminal 42x and the phase terminal 43x of the rotating electrical machine 50 are connected by a power cable 44x. The power cable 44 x supplies the rotating electrical machine 50 with the AC power converted by the power converter 40. x is any one of u, v, and w.

  The rotating electrical machine 50 generates power for driving the driving wheels 6T of the vehicle from the AC power converted by the power converter 40. As shown in FIGS. 1 and 2, the rotating electrical machine 50 includes a stator 51 and a rotor 52. As the rotating electrical machine 50, for example, a radial gap type cylindrical rotating electrical machine in which the stator 51 and the rotor 52 are coaxially disposed can be used. The rotating electrical machine 50 may be an axial gap type cylindrical rotating electrical machine. The rotating electrical machine 50 may be an inner cylindrical rotating electrical machine in which the rotor 52 is provided inside the stator 51 (on the axial center side of the rotating electrical machine 50). It may be an outer cylindrical rotating electrical machine provided outside.

  The stator 51 includes a stator core (not shown) in which a plurality of slots are formed, and armature windings (U-phase coil 51u, V-phase coil 51v, W-phase coil 51w). . The stator iron core is formed by laminating a plurality of thin electromagnetic steel plates (for example, silicon steel plates) along the axial direction. Armature windings are wound around the plurality of slots. The armature winding is formed by winding a conductor (coil) such as copper, and the conductor surface is covered with an insulating layer such as enamel.

  The cross-sectional shape of the armature winding is not limited and can be any cross-sectional shape. For example, the armature winding may use conductors (coils) having various cross-sectional shapes such as a round wire having a circular cross section and a square wire having a polygonal cross section. In addition, the armature winding may be a parallel thin wire that is a combination of a plurality of thinner coil wires. When the parallel thin wires are used, the eddy current loss generated in the armature winding is reduced as compared with the single wire, and the efficiency of the rotating electrical machine 50 is improved. In addition, since the force required for coil forming can be reduced, the moldability of the coil is improved and the coil can be manufactured easily.

  The armature winding can be wound by a known method such as distributed winding (for example, concentric winding, wave winding, lap winding, etc.) or concentrated winding. Further, as shown in FIG. 1, the armature windings (U-phase coil 51u, V-phase coil 51v, W-phase coil 51w) can be connected by Y connection. In the figure, the neutral point is indicated by a neutral point 51n. The armature windings (U-phase coil 51u, V-phase coil 51v, and W-phase coil 51w) can be connected by Δ connection.

  As shown in FIG. 2, the rotor 52 includes a rotor core 52a, a plurality (eight in the present embodiment) of permanent magnets 52b, and a shaft 52c. This figure is a schematic view of the rotor 52 as viewed in the axial direction (perpendicular to the paper surface in the figure), and the arrangement thereof is schematically shown. The rotor core 52a is formed in a cylindrical shape by laminating a plurality of thin electromagnetic steel plates (for example, silicon steel plates) in the axial direction (in the direction perpendicular to the drawing in the drawing). The rotor core 52a is provided with a shaft 52c, and the shaft 52c penetrates the axis of the rotor core 52a along the axial direction. Both ends in the axial direction of the shaft 52c are rotatably supported by bearing members (not shown) such as bearings.

  A plurality (eight) of permanent magnets 52b are embedded in the rotor core 52a. Specifically, the rotor core 52a is provided with a plurality of magnet housing portions (not shown) at equal intervals in the circumferential direction. In the plurality of magnet housing portions, permanent magnets 52b corresponding to predetermined magnetic pole pairs (in this embodiment, four magnetic pole pairs, eight) are embedded. For the plural (eight) permanent magnets 52b, for example, a known ferrite magnet or rare earth magnet can be used. The manufacturing method of the plural (eight) permanent magnets 52b is not limited. For the plural (eight) permanent magnets 52b, for example, resin-bonded magnets or sintered magnets can be used. The resin-bonded magnet can be formed by, for example, mixing ferrite raw material magnet powder and resin, and casting the rotor core 52a by injection molding or the like. The sintered magnet can be formed, for example, by pressing a rare earth-based material magnet powder in a magnetic field and baking it at a high temperature. Note that the number of slots of the stator 51 and the number of magnetic poles of the rotor 52 are not limited. Moreover, the rotary electric machine 50 is not limited to a three-phase machine.

  The power transmission device 60 transmits the power generated by the rotating electrical machine 50 to the drive wheels 6T of the vehicle. Specifically, one end side of the shaft 61 shown in FIG. 1 is connected to the shaft 52c shown in FIG. 2 that is the output shaft of the rotating electrical machine 50, and the other end side of the shaft 61 is connected to the drive wheels 6T of the vehicle. It is connected. Thereby, the power generated by the rotating electrical machine 50 can be transmitted to the drive wheels 6T of the vehicle via the shaft 61. The shaft 61 forms a power transmission path 62 between the rotating electrical machine 50 and the drive wheel 6T of the vehicle.

  In FIG. 1, in order to make it easy to understand the torsional resonance generated in the shaft 61, for convenience of explanation, the power transmission path 62 is schematically illustrated by one shaft 61, and one drive wheel 6 </ b> T of the vehicle is provided. It is shown in the figure. The actual power transmission device 60 includes a known transmission (manual transmission or automatic transmission), a propeller shaft (for example, front engine / rear drive), a differential gear, a drive shaft, and the like. An actual vehicle includes a plurality of drive wheels 6T.

  The control device 70 controls opening and closing of each of the plurality of switching elements (three pairs of switching elements 41) of the power converter 40. The method of opening / closing control is not limited. For example, the control device 70 can control the opening and closing of each of the plurality of switching elements (three pairs of switching elements 41) by pulse width modulation (PWM) control.

  As shown in FIG. 3, the control device 70 includes a known central processing unit 70a, a storage device 70b, and an input / output interface 70c, which are connected via a bus 70d. The central processing unit 70a is a CPU (Central Processing Unit), and can perform various arithmetic processes. The storage device 70b includes a first storage device 70b1 and a second storage device 70b2. The first storage device 70b1 is a readable / writable volatile storage device (RAM: Random Access Memory), and the second storage device 70b2 is a read-only nonvolatile storage device (ROM: Read Only Memory). is there.

  As shown in FIG. 1, the control device 70 includes a DC voltage detector 71a, a drive circuit 71b, a current detector 71c, and a rotational speed detector 71d. The DC voltage detector 71 a detects the DC voltage of the DC power smoothed by the smoothing capacitor 30. Specifically, the DC voltage detector 71 a divides the DC voltage by, for example, a plurality of resistors whose resistance values are known, and outputs the divided DC voltage to the control device 70. The control device 70 obtains a DC voltage value divided by a known A / D converter (not shown) or the like, and is input to the power converter 40 as a DC voltage of DC power smoothed by the smoothing capacitor 30. DC voltage) can be obtained.

  The drive circuit 71b is a drive circuit that amplifies the drive signal output from the control device 70. For example, a known driver circuit can be used. In FIG. 1, the connection between the control terminal 4g of each switching element of the power converter 40 and the drive circuit 71b is not shown.

  The current detector 71 c detects the output current output from the power converter 40. In the present embodiment, the current detector 71c is provided in the power cable 44u and the power cable 44v, and detects the U-phase current and the V-phase current. The U-phase current detected by the current detector 71c is set as a U-phase current detection value, and the V-phase current detected by the current detector 71c is set as a V-phase current detection value. The W-phase current detection value can be calculated by subtracting the U-phase current detection value and the V-phase current detection value from 0 (zero). As the current detector 71c, a known current detector (for example, a current detector using a current transformer, a current detector using a shunt resistor, or the like) can be used.

  The rotational speed detector 71d detects the rotational speed of the rotating electrical machine 50 (the rotational speed of the rotor 52 with respect to the stator 51). As the rotation speed detector 71d, a known speed detector (for example, a resolver, an encoder, a hall sensor, etc.) can be used. The control device 70 can also estimate the position of the rotor 52 relative to the stator 51 and estimate the rotational speed of the rotating electrical machine 50 from the estimated position of the rotor 52. The control device 70 of the present embodiment includes a rotational speed detector 71d. In this specification, the rotational speed of the rotating electrical machine 50 detected by the rotational speed detector 71d is defined as a rotational speed ωm. The control device 70 can include various detectors other than the detectors described above.

  The central processing unit 70a shown in FIG. 3 reads the control program for the power converter 40 stored in the second storage device 70b2 into the first storage device 70b1 and executes the control program. Further, the detection value detected by the detector described above is input to the control device 70 via the insulating unit (not shown) and the input / output interface 70c. The central processing unit 70a outputs an opening / closing signal to each switching element of the power converter 40 via the input / output interface 70c, the insulating section, and the drive circuit 71b shown in FIG. The insulating unit electrically insulates the low voltage side circuit including the control device 70 from the high voltage side circuit including the DC power supply 20. For the insulating part, for example, a known photocoupler or the like can be used.

(Control by control device 70)
For example, when the vehicle travels on a rough road, a road load is applied to the drive wheels 6T of the vehicle. Examples of the load load include spike torque transmitted from the road surface. In the present specification, various load loads (disturbances) transmitted from the road surface via the drive wheels 6T of the vehicle are referred to as disturbance torque ΔT. The disturbance torque ΔT applied to the drive wheels 6T of the vehicle propagates through the shaft 61 of the power transmission device 60, and the shaft 61 vibrates. If the vibration frequency of the shaft 61 due to the disturbance torque ΔT coincides with the torsional resonance frequency of the shaft 61, the torsional resonance occurs and the vibration of the shaft 61 increases. As a method for suppressing torsional resonance, for example, a mechanical torque limiter mechanism may be provided. However, if a torque limiter mechanism or the like is provided, the system may be increased in size and cost. Therefore, the rotating electrical machine control device 10 of the present embodiment suppresses vibration (particularly torsional resonance) caused by the disturbance torque ΔT without providing a torque limiter mechanism or the like.

  As shown in FIG. 4, the control device 70 includes a disturbance torque estimation unit 81 when viewed as a control block. The control device 70 preferably further includes a torque adjustment unit 82. As shown in the figure, the control device 70 of the present embodiment includes a disturbance torque estimation unit 81 and a torque adjustment unit 82. The control device 70 executes the control program according to the flowchart shown in FIG. The disturbance torque estimation unit 81 performs the processes of step S11 and step S12. The torque adjustment unit 82 performs the process of step S13. In addition, the control apparatus 70 of this embodiment performs the process of step S14, and calculates torque command Tm_tgt. Further, the control program is repeatedly executed at predetermined time intervals as necessary.

(Disturbance torque estimation unit 81)
The disturbance torque estimation unit 81 receives the rotational speed and output torque of the rotating electrical machine 50, and estimates the disturbance torque ΔT applied to the drive wheels 6T of the vehicle based on the following equation 1 (step S11 and step shown in FIG. 5). S12). However, the rotational speed of the rotating electrical machine 50 is defined as the rotational speed ωm, and the estimated rotational speed of the rotating electrical machine 50 is defined as the estimated rotational speed ωm_est. Further, the output torque of the rotating electrical machine 50 is set as the output torque Tm, and the estimated value of the disturbance torque ΔT is set as the estimated disturbance torque ΔT_est. Furthermore, the inertia of the rotating electrical machine 50 is assumed to be inertia Jm, and the viscous friction coefficient of the rotating electrical machine 50 is assumed to be a viscous friction coefficient Dm. The first control gain is the first control gain G1, and the second control gain is the second control gain G2.

  When the disturbance torque ΔT is not taken into consideration, the output torque Tm of the rotating electrical machine 50 can be expressed by an added value obtained by adding the inertia component and the viscous friction component. The inertia component can be expressed by the product of the inertia Jm of the rotating electrical machine 50 and the differential value of the rotational speed ωm. The viscous friction component can be expressed by the product of the viscous friction coefficient Dm of the rotating electrical machine 50 and the rotational speed ωm. When the disturbance torque ΔT is applied, the rotational speed ωm of the rotating electrical machine 50 is determined by the added torque obtained by adding the output torque Tm of the rotating electrical machine 50 and the disturbance torque ΔT. In view of these, the relationship between the output torque Tm of the rotating electrical machine 50 and the disturbance torque ΔT is expressed by the following formula 2. That is, the output torque Tm of the rotating electrical machine 50 can be represented by an added value obtained by adding the inertia, viscous friction, and disturbance torque ΔT.

  As described above, the rotational speed ωm of the rotating electrical machine 50 can be detected by the rotational speed detector 71d shown in FIG. Further, the rotational speed ωm of the rotating electrical machine 50 can be estimated from the estimated position of the rotor 52. Furthermore, the output torque Tm of the rotating electrical machine 50 can be estimated from the target torque (required torque) of the rotating electrical machine 50. The output torque Tm of the rotating electrical machine 50 can also be estimated (converted) from the current (armature current) flowing through the armature winding (U-phase coil 51u, V-phase coil 51v, W-phase coil 51w). Therefore, the control device 70 of the present embodiment constitutes an observer that receives the rotational speed ωm and the output torque Tm of the rotating electrical machine 50 and outputs the estimated rotational speed ωm_est and the estimated disturbance torque ΔT_est.

  It is considered that the difference (torque difference) between the actual disturbance torque ΔT and the estimated disturbance torque ΔT_est increases as the difference (rotation speed difference) between the rotation speed ωm and the estimated rotation speed ωm_est increases. Therefore, as shown in the following equation 3, the observer adds a torque component proportional to the rotational speed difference to the output torque Tm as a correction term. In the following formula 3, the control gain multiplied by the rotational speed difference is indicated by the control gain G10.

  Further, it is considered that the difference (rotational speed difference) between the actual rotational speed ωm and the estimated rotational speed ωm_est increases as the amount of change in the disturbance torque ΔT per unit time increases. Therefore, the amount of change per unit time of the disturbance torque ΔT (the differential value of the estimated disturbance torque ΔT_est) and the rotational speed difference can be expressed by the following formula 4. That is, the differential value of the estimated disturbance torque ΔT_est is proportional to the rotational speed difference. In the following equation 4, the control gain multiplied by the rotational speed difference is indicated by the second control gain G2.

  When both sides of the above equation 3 are divided by the inertia Jm and combined with the above equation 4, the above equation 1 is obtained. The first control gain G1 shown in Equation 1 is a divided value obtained by dividing the control gain G10 shown in Equation 3 by the inertia Jm. The time until the estimated rotational speed ωm_est converges to the actual rotational speed ωm of the rotating electrical machine 50 can be adjusted by the first control gain G1. The time until the estimated disturbance torque ΔT_est converges to the actual disturbance torque ΔT can be adjusted by the second control gain G2. Therefore, for example, the relationship between the convergence time and the first control gain G1 described above may be acquired by simulation or the like, and the first control gain G1 may be set according to the allowable convergence time. The same applies to the second control gain G2. Further, the first control gain G1 and the second control gain G2 are set based on the control cycle (discrete sampling time) or a cycle sufficiently short (for example, 1/10 cycle) with respect to the torsional resonance cycle. It can also be set.

  In addition, in order to perform software processing on the observer described above, it is necessary to perform discrete conversion from the continuous state equation shown in Equation 1 to the discrete state equation. The method of discrete conversion is not limited. For example, discrete conversion by Euler primary conversion or bilinear conversion may be used. Since the discrete conversion by Euler primary conversion sets the amount of change between samplings to 0 (zero), the load of software processing can be reduced compared to discrete conversion by bilinear conversion. On the contrary, the discrete transformation by bilinear transformation performs linear linear interpolation on the amount of change between samplings, so that errors caused by the discrete transformation can be reduced compared to the discrete transformation by Euler primary transformation.

  Specifically, when the continuous state equation shown in Equation 1 is discretely transformed by Euler primary transformation, the discrete state equation shown in Equation 5 below is obtained. Further, when the continuous state equation shown in Equation 1 is discretely transformed by bilinear transformation, the discrete state equation shown in Equation 6 below is obtained. In either case, the current value of the estimated rotational speed ωm_est is the estimated rotational speed current value ωm_est (k), and the next value of the estimated rotational speed ωm_est is the estimated rotational speed next value ωm_est (k + 1). Further, the current value of the estimated disturbance torque ΔT_est is set to the estimated disturbance torque current value ΔT_est (k), and the next value of the estimated disturbance torque ΔT_est is set to the estimated disturbance torque next value ΔT_est (k + 1). Further, the current value of the rotational speed ωm of the rotating electrical machine 50 is defined as a rotational speed current value ωm (k), and the current value of the output torque Tm of the rotating electrical machine 50 is defined as an output torque current value Tm (k). Further, the sampling time is defined as sampling time Ts. In the discrete conversion, the viscous friction component is sufficiently smaller than the inertia component. Therefore, in the following formula 5 and the following formula 6, the viscous friction component is ignored.

(Torque adjustment part 82)
As shown in FIG. 4, the disturbance torque estimating unit 81 preferably calculates an estimated value (estimated disturbance torque ΔT_est) of the disturbance torque ΔT using the target torque Tm_ref of the rotating electrical machine 50 as the output torque Tm. At this time, the torque adjustment unit 82 increases or decreases the target torque Tm_ref of the rotating electrical machine 50 according to the estimated value of the disturbance torque ΔT estimated by the disturbance torque estimation unit 81 (estimated disturbance torque ΔT_est). Note that the target torque Tm_ref of the rotating electrical machine 50 can be set by a control device (not shown) higher than the control device 70, for example.

  Further, it is preferable that the torque adjustment unit 82 sets the first differential value, the second differential value, or the differential addition value as the torque adjustment amount Tm_adj of the target torque Tm_ref (step S13 shown in FIG. 5). The first differential value refers to a differential value obtained by first-order differentiation of the estimated value of the disturbance torque ΔT (estimated disturbance torque ΔT_est). Assuming that the control gain is the control gain Kd1, the torque adjustment amount Tm_adj using the first differential value is expressed by the following formula 7, and the viscous friction component of the output torque Tm can be adjusted. The second differential value refers to a differential value obtained by second-order differentiation of the estimated value of the disturbance torque ΔT (estimated disturbance torque ΔT_est). Assuming that the control gain is the control gain Kd2, the torque adjustment amount Tm_adj using the second differential value is expressed by the following formula 8, and the inertia of the output torque Tm can be adjusted. The differential addition value refers to a differential value obtained by adding the first differential value and the second differential value. The torque adjustment amount Tm_adj using the differential addition value is represented by the following formula 9.

  As shown in FIG. 4, the control device 70 calculates the torque command Tm_tgt by adding the torque adjustment amount Tm_adj adjusted by the torque adjustment unit 82 to the target torque Tm_ref (step S <b> 14 shown in FIG. 5). Here, as shown in FIG. 2, the direction of the main magnetic flux of the permanent magnet 52b is the d-axis direction, and the direction electrically orthogonal to the d-axis direction is the q-axis direction. Further, the current command value in the d-axis direction is a d-axis current command value, and the current command value in the q-axis direction is a q-axis current command value. Further, the voltage command value in the d-axis direction is set as the d-axis voltage command value, and the voltage command value in the q-axis direction is set as the q-axis voltage command value. For example, the control device 70 sets the d-axis current command value and the q-axis current command value so that the armature current is minimized with respect to the torque command Tm_tgt. The d-axis current command value and the q-axis current command value corresponding to the torque command Tm_tgt are calculated in advance and may be converted into, for example, a map, a table, a relational expression (polynomial), or the like.

  The control device 70 performs three-phase / two-phase conversion on the three-phase current detection value (the U-phase current detection value, the V-phase current detection value, and the W-phase current detection value) to obtain a two-phase current calculation value (d-axis current calculation value). And q-axis current calculation value). In addition, the control device 70 calculates a d-axis voltage command value based on the d-axis current command value, and calculates a q-axis voltage command value based on the q-axis current command value. For example, the d-axis voltage command value is calculated by at least proportional control and integral control among proportional control, integral control, and differential control so that the d-axis current calculated value matches the d-axis current command value. Further, the q-axis voltage command value is calculated by at least proportional control and integral control among proportional control, integral control and differential control so that the q-axis current calculated value matches the q-axis current command value.

  The control device 70 performs two-phase / three-phase conversion on the two-phase voltage command value (d-axis voltage command value and q-axis voltage command value) to obtain a three-phase voltage command value (U-phase voltage command value, V-phase voltage command value). And W-phase voltage command value). The control device 70 calculates the modulation rate by dividing the three-phase voltage command value by the DC voltage detection value detected by the DC voltage detector 71a. Based on the three-phase voltage command value, the modulation factor, and the carrier wave (triangular wave), the control device 70 is a pulse signal based on pulse width modulation control (PWM control) (open / close signals of a plurality of switching elements of the power converter 40). Is generated. Specifically, when the three-phase voltage command value is larger than the carrier wave (triangular wave), the switching element is set to the closed state, and when the three-phase voltage command value is smaller than the carrier wave (triangular wave), the switching is performed. The element is set in the open state. The generated pulse signal (open / close signal) is applied to the control terminal 4g of each switching element of the power converter 40 via the drive circuit 71b shown in FIG.

  FIG. 6A shows an example of a change with time of the output torque Tm when the torque adjustment amount Tm_adj is 0 (zero) according to the comparative embodiment. In the drawing, the horizontal axis indicates time Ti, and the vertical axis indicates the output torque Tm of the rotating electrical machine 50. A curve L11 shows an example of a change with time of the output torque Tm. It is assumed that the time from time 0 to time T1 and the target torque Tm_ref are set to the torque Trq11. At time T1, the target torque Tm_ref is changed from the torque Trq11 to the torque Trq12, and after the time T1, the target torque Tm_ref is set to the torque Trq12. This is the same in the description of FIGS. 6B and 6C described later.

  When the torque adjustment amount Tm_adj is 0 (zero), the torque command Tm_tgt matches the target torque Tm_ref. Therefore, the torque command Tm_tgt changes in accordance with the change with time of the target torque Tm_ref. In the comparative form shown in FIG. 6A, the target torque Tm_ref is not adjusted according to the disturbance torque ΔT, and therefore, torsional resonance occurs. The amplitude of torsional resonance at this time is defined as amplitude AT1.

  FIG. 6B shows an example of a change with time of the output torque Tm when the torque adjustment amount Tm_adj is set using the first differential value. In the drawing, the horizontal axis indicates time Ti, and the vertical axis indicates the output torque Tm of the rotating electrical machine 50. A curve L21 shows an example of a change with time of the output torque Tm. When the torque adjustment amount Tm_adj is set using the first differential value, the target torque Tm_ref of the rotating electrical machine 50 is increased or decreased according to the change amount (first-order differential value) of the estimated disturbance torque ΔT_est, and the torque command Tm_tgt is set. Is done. As a result, as shown in FIG. 6B, the torsional resonance is suppressed as compared with the comparative embodiment shown in FIG. 6A. The amplitude of torsional resonance at this time is defined as amplitude AT2.

  FIG. 6C shows an example of a change with time of the output torque Tm when the torque adjustment amount Tm_adj is set using the second differential value. In the drawing, the horizontal axis indicates time Ti, and the vertical axis indicates the output torque Tm of the rotating electrical machine 50. A curve L31 shows an example of a change with time of the output torque Tm. When the torque adjustment amount Tm_adj is set using the second differential value, the target torque Tm_ref of the rotating electrical machine 50 is increased or decreased according to the amount of change (second-order differential value) of the estimated disturbance torque ΔT_est, and the torque command Tm_tgt is set. The As a result, as shown in FIG. 6C, the torsional resonance is suppressed as compared with the comparative embodiment shown in FIG. 6A. The amplitude of torsional resonance at this time is defined as amplitude AT3.

  As described above, when the torque adjustment amount Tm_adj is set using the first differential value or the second differential value and the target torque Tm_ref is increased or decreased, the torsional resonance is suppressed as compared with the comparative embodiment. The same applies to the case where the torque adjustment amount Tm_adj is set using the differential addition value. This is thought to be due to the fact that the feedback control system shown in FIG. 4 includes the disturbance torque estimation unit 81 and the torque adjustment unit 82, so that the pole of the transfer function of the feedback control system shifts and the torsional resonance frequency shifts. . Further, comparing FIG. 6B and FIG. 6C, when the first differential value shown in FIG. 6B is used, the response to the change in the target torque Tm_ref at time T1 is greater than when the second differential value shown in FIG. 6C is used. It is moderate. Therefore, when the first differential value is used, there is a possibility that torque transmission to the drive wheels 6T of the vehicle is delayed as compared with the case where the second differential value is used. Since the change in torsion does not change regardless of whether the first differential value or the second differential value is used, when the torque adjustment amount Tm_adj is set using the second differential value, the torque is transmitted to the drive wheels 6T of the vehicle. Thus, the amplitude of torsional resonance can be reduced.

(Deformation)
The torque adjustment unit 82 may increase or decrease the target torque Tm_ref when the estimated value of the disturbance torque ΔT (estimated disturbance torque ΔT_est) exceeds a predetermined torque value set for protection of the power transmission device 60. it can. The predetermined torque value is set to protect the power transmission device 60 from the disturbance torque ΔT, and may be acquired in advance by simulation, verification by an actual machine, or the like. In this modification, the torque adjustment unit 82 increases or decreases the target torque Tm_ref according to the estimated disturbance torque ΔT_est when the estimated disturbance torque ΔT_est exceeds a predetermined torque value, and when the estimated disturbance torque ΔT_est becomes equal to or less than the predetermined torque value. The increase / decrease of the torque Tm_ref can be stopped. Therefore, the torque adjustment unit 82 can start and stop the increase / decrease of the target torque Tm_ref as necessary to protect the power transmission device 60. Therefore, the disturbance torque estimation unit 81 can stop the estimation of the disturbance torque ΔT (calculation of the estimated disturbance torque ΔT_est) during the period in which the torque adjustment unit 82 stops increasing or decreasing the target torque Tm_ref, and the calculation load is reduced. Can be reduced.

<Second embodiment>
The rotating electrical machine control device 110 of the present embodiment is different from the rotating electrical machine control device 10 of the first embodiment in that a torque interrupting device 83 is provided. The control device 170 of the present embodiment is different from the control device 70 of the first embodiment in that the torque adjustment unit 82 is not provided. In the present embodiment, the description is focused on differences from the first embodiment.

  As shown in FIG. 7, the rotating electrical machine control device 110 includes a torque interrupt device 83. The torque cutoff device 83 is provided in the power transmission path 62 of the power transmission device 60 and blocks power transmission in the power transmission device 60. The torque shut-off device 83 is not limited as long as it can block power transmission in the power transmission device 60.

  As illustrated in FIG. 8, the control device 170 includes a disturbance torque estimation unit 81 and does not include the torque adjustment unit 82. In the present embodiment, the estimated value (estimated disturbance torque ΔT_est) of the disturbance torque ΔT estimated by the disturbance torque estimating unit 81 is output to the torque interrupt device 83. As shown in FIG. 9, the disturbance torque estimating unit 81 receives the rotational speed ωm and the output torque Tm (target torque Tm_ref) of the rotating electrical machine 50, and drives the vehicle based on the equation 1 described in the first embodiment. The disturbance torque ΔT applied to the wheel 6T is estimated (step S21 and step S22). Step S21 is the same as step S11 described in the first embodiment, and step S22 is the same as step S12 described in the first embodiment.

  The torque cutoff device 83 is preferably configured to cut off the transmission of power when the estimated value of the disturbance torque ΔT (estimated disturbance torque ΔT_est) exceeds a predetermined torque value set for protection of the power transmission device 60. Yes (step S23 and step S24 shown in FIG. 9). The predetermined torque value is set to protect the power transmission device 60 from the disturbance torque ΔT, and may be acquired in advance by simulation, verification by an actual machine, or the like. The predetermined torque value may be the same as the predetermined torque value already described in the modification of the first embodiment. Further, the predetermined torque value may be different from the predetermined torque value described in the modification of the first embodiment.

  When the estimated disturbance torque ΔT_est exceeds the predetermined torque value (Yes in step S23), the torque interrupt device 83 interrupts the transmission of power in the power transmission device 60 (step S24). On the other hand, when the estimated disturbance torque ΔT_est is equal to or smaller than the predetermined torque value (No in step S23), the control is temporarily ended. As described above, the torque interrupt device 83 can transmit power in the power transmission device 60 or block power transmission according to the need for protection of the power transmission device 60.

<Effect>
According to the rotating electrical machine control devices 10 and 110 according to aspect 1, the control devices 70 and 170 receive the rotational speed and output torque of the rotating electrical machine 50 and apply them to the drive wheels 6T of the vehicle based on the following formula 1. A disturbance torque estimation unit 81 that estimates the disturbance torque ΔT is provided.

  However, the rotational speed of the rotating electrical machine 50 is defined as the rotational speed ωm, and the estimated rotational speed of the rotating electrical machine 50 is defined as the estimated rotational speed ωm_est. Further, the output torque of the rotating electrical machine 50 is set as the output torque Tm, and the estimated value of the disturbance torque ΔT is set as the estimated disturbance torque ΔT_est. Furthermore, the inertia of the rotating electrical machine 50 is assumed to be inertia Jm, and the viscous friction coefficient of the rotating electrical machine 50 is assumed to be a viscous friction coefficient Dm. The first control gain is the first control gain G1, and the second control gain is the second control gain G2.

  As a result, the control devices 70 and 170 form an observer that receives the rotational speed ωm and the output torque Tm of the rotating electrical machine 50 and outputs the estimated rotational speed ωm_est and the estimated disturbance torque ΔT_est, and supplies the driving wheels 6T of the vehicle. The applied disturbance torque ΔT can be estimated.

  According to the rotary electric machine control device 10 according to aspect 2, in the rotary electric machine control device 10 according to aspect 1, the disturbance torque estimation unit 81 estimates the disturbance torque ΔT using the target torque Tm_ref of the rotary electric machine 50 as the output torque Tm. A value (estimated disturbance torque ΔT_est) is calculated. The control device 70 also includes a torque adjustment unit 82 that increases or decreases the target torque Tm_ref of the rotating electrical machine 50 according to the estimated value of the disturbance torque ΔT estimated by the disturbance torque estimation unit 81 (estimated disturbance torque ΔT_est). Thereby, the control apparatus 70 can suppress the vibration (torsional resonance) resulting from the disturbance torque ΔT applied to the drive wheels 6T of the vehicle.

  According to the rotating electrical machine control device 10 according to aspect 3, in the rotating electrical machine control device 10 according to aspect 2, the torque adjustment unit 82 uses the first differential value, the second differential value, or the differential addition value as the torque adjustment of the target torque Tm_ref. The amount is Tm_adj. The first differential value refers to a differential value obtained by first-order differentiation of the estimated value of the disturbance torque ΔT (estimated disturbance torque ΔT_est). The second differential value refers to a differential value obtained by second-order differentiation of the estimated value of the disturbance torque ΔT (estimated disturbance torque ΔT_est). The differential addition value refers to a differential value obtained by adding the first differential value and the second differential value. Thus, the target torque Tm_ref of the rotating electrical machine 50 is increased or decreased according to the amount of change in the estimated disturbance torque ΔT_est. Therefore, the control device 70 can suppress vibration (torsional resonance) caused by the disturbance torque ΔT applied to the drive wheels 6T of the vehicle.

  According to the rotating electrical machine control device 10 according to aspect 4, in the rotating electrical machine control device 10 according to aspect 2 or aspect 3, the torque adjustment unit 82 determines that the estimated value of the disturbance torque ΔT (estimated disturbance torque ΔT_est) is a power transmission device. When the predetermined torque value set for protection of 60 is exceeded, the target torque Tm_ref is increased or decreased. Thereby, the torque adjustment part 82 can start and stop the increase / decrease of the target torque Tm_ref according to the necessity of protection of the power transmission device 60. Therefore, the disturbance torque estimation unit 81 can stop the estimation of the disturbance torque ΔT (calculation of the estimated disturbance torque ΔT_est) during the period in which the torque adjustment unit 82 stops increasing or decreasing the target torque Tm_ref, and the calculation load is reduced. Can be reduced.

  According to the rotating electrical machine control device 110 according to aspect 5, the rotating electrical machine control device 110 according to aspect 1 includes the torque interrupt device 83 that interrupts transmission of power in the power transmission device 60. The torque interrupt device 83 transmits power in the power transmission device 60 when the estimated value of the disturbance torque ΔT (estimated disturbance torque ΔT_est) exceeds a predetermined torque value set for protection of the power transmission device 60. Shut off. Thereby, the torque interrupt device 83 can transmit the power in the power transmission device 60 or interrupt the transmission of the power according to the need for protection of the power transmission device 60.

<Others>
The embodiment is not limited to the embodiment described above and shown in the drawings, and can be implemented with appropriate modifications within a range not departing from the gist. For example, the control method of the rotating electrical machine 50 is not limited to vector control. The control devices 70 and 170 can perform known drive control (for example, rectangular wave drive). Moreover, the rotary electric machine control devices 10 and 110 are preferably used in a power conversion system including a rotary electric machine for driving a vehicle such as a hybrid vehicle.

<Additional notes>
This embodiment can also be understood as a control method for the rotating electrical machine control devices 10 and 110. The disturbance torque estimation process corresponds to the control performed by the disturbance torque estimation unit 81, the torque adjustment process corresponds to the control performed by the torque adjustment unit 82, and the torque cutoff process corresponds to the control performed by the torque cutoff device 83. Also in the control method of the rotating electrical machine control devices 10 and 110, the same effects as those described above for the rotating electrical machine control devices 10 and 110 can be obtained.

(Additional item 1)
A power converter in which each of the plurality of switching elements is controlled to be opened and closed to convert DC power into AC power;
A rotating electrical machine that generates power for driving driving wheels of the vehicle from the AC power converted by the power converter;
A power transmission device that transmits the power generated by the rotating electrical machine to the drive wheels of the vehicle;
A control device for controlling opening and closing of each of the plurality of switching elements of the power converter;
A control method for a rotating electrical machine control device comprising:
A control method for a rotating electrical machine control device comprising a disturbance torque estimating step of inputting a rotational speed and an output torque of the rotating electrical machine and estimating a disturbance torque applied to the drive wheel of the vehicle based on the following equation (1).

  However, the rotational speed of the rotating electrical machine is the rotational speed ωm, and the estimated value of the rotational speed of the rotating electrical machine is the estimated rotational speed ωm_est. Further, the output torque of the rotating electrical machine is set as an output torque Tm, and the estimated value of the disturbance torque is set as an estimated disturbance torque ΔT_est. Further, the inertia of the rotating electrical machine is inertia Jm, and the viscous friction coefficient of the rotating electrical machine is a viscous friction coefficient Dm. The first control gain is the first control gain G1, and the second control gain is the second control gain G2.

(Appendix 2)
The disturbance torque estimating step calculates the estimated value of the disturbance torque using the target torque of the rotating electrical machine as the output torque,
The control method of the rotating electrical machine control device according to claim 1, further comprising a torque adjustment step of increasing or decreasing the target torque of the rotating electrical machine according to the estimated value of the disturbance torque estimated by the disturbance torque estimating step.

(Additional Item 3)
In the torque adjustment step, a first differential value obtained by first-order differentiation of the estimated value of the disturbance torque, a second differential value obtained by second-order differentiation of the estimated value of the disturbance torque, or the first differential value and the The control method for a rotating electrical machine control device according to Additional Item 2, wherein a differential addition value obtained by adding the second differential value is a torque adjustment amount of the target torque.

(Appendix 4)
Item 2 or Item 3 wherein the torque adjustment step increases or decreases the target torque when the estimated value of the disturbance torque exceeds a predetermined torque value set for protection of the power transmission device. The control method of the rotary electric machine control apparatus described in 1.

(Appendix 5)
A supplementary note comprising a torque shut-off step for shutting off transmission of the power in the power transmission device when the estimated value of the disturbance torque exceeds a predetermined torque value set for protection of the power transmission device. The control method of the rotary electric machine control apparatus of 1.

10, 110: Rotating electrical machine control device,
40: power converter,
41: a plurality of switching elements (three pairs of switching elements),
50: Rotating electric machine,
60: Power transmission device, 6T: Vehicle drive wheel,
70, 170: control device,
81: Disturbance torque estimation unit, 82: Torque adjustment unit, 83: Torque cutoff device,
ΔT: disturbance torque, ωm: rotational speed, ωm_est: estimated rotational speed, Tm: output torque,
ΔT_est: estimated disturbance torque, Jm: inertia, Dm: viscous friction coefficient,
G1: first control gain, G2: second control gain,
Tm_ref: target torque, Tm_adj: torque adjustment amount, Tm_tgt: torque command.

Claims (5)

A power converter in which each of the plurality of switching elements is controlled to be opened and closed to convert DC power into AC power;
A rotating electrical machine that generates power for driving driving wheels of the vehicle from the AC power converted by the power converter;
A power transmission device that transmits the power generated by the rotating electrical machine to the drive wheels of the vehicle;
A control device for controlling opening and closing of each of the plurality of switching elements of the power converter;
With
The control device is a rotating electrical machine control device including a disturbance torque estimating unit that receives a rotational speed and an output torque of the rotating electrical machine and estimates a disturbance torque applied to the driving wheel of the vehicle based on the following equation (1).

However, the rotational speed of the rotating electrical machine is the rotational speed ωm, and the estimated value of the rotational speed of the rotating electrical machine is the estimated rotational speed ωm_est. Further, the output torque of the rotating electrical machine is set as an output torque Tm, and the estimated value of the disturbance torque is set as an estimated disturbance torque ΔT_est. Further, the inertia of the rotating electrical machine is inertia Jm, and the viscous friction coefficient of the rotating electrical machine is a viscous friction coefficient Dm. The first control gain is the first control gain G1, and the second control gain is the second control gain G2. The disturbance torque estimation unit calculates the estimated value of the disturbance torque using the target torque of the rotating electrical machine as the output torque,
The rotating electrical machine control device according to claim 1, wherein the control device includes a torque adjusting unit that increases or decreases the target torque of the rotating electrical machine according to the estimated value of the disturbance torque estimated by the disturbance torque estimating unit.   The torque adjustment unit is a first differential value obtained by first-order differentiation of the estimated value of the disturbance torque, or a second differential value obtained by second-order differentiation of the estimated value of the disturbance torque, or the first differential value and the The rotating electrical machine control device according to claim 2, wherein a differential addition value obtained by adding the second differential value is set as a torque adjustment amount of the target torque.   The said torque adjustment part increases / decreases the said target torque, when the said estimated value of the said disturbance torque exceeds the predetermined torque value set for protection of the said power transmission device. The rotating electrical machine control device according to 1. A torque interrupting device for interrupting transmission of the power in the power transmission device;
2. The torque interrupt device according to claim 1, wherein when the estimated value of the disturbance torque exceeds a predetermined torque value set for protection of the power transmission device, the torque transmission device interrupts transmission of the power. Rotating electrical machine control device.

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