JP2019213328A - Control device for rotary electric machine - Google Patents

Abstract

To provide a control device for a rotary electric machine that can suppress variations in electromagnetic force even in a case where an output voltage of a DC power supply runs short to such a degree that a current flowing in stator winding cannot be turned into an assumed driving current.SOLUTION: The control device calculates a fundamental wave command value for flowing a fundamental wave current to stator winding and a harmonic command value which is a command value to be superimposed on the fundamental wave command value and is intended for flowing a harmonic current for reducing variations in electromagnetic force in the radial direction to be exerted on a rotor to the stator winding. In a case where a current obtained by superimposing the harmonic current determined on the basis of the harmonic command value on the fundamental wave current determined on the basis of the fundamental wave command value is used as a driving current, the control device determines whether or not an output voltage of a DC power supply runs short to such a degree that a current flowing in the stator winding cannot be used as the driving current. In a case where it is determined that the output voltage runs short, the control device operates an inverter so as to flow the driving current or a current equivalent to the driving current to the stator winding in an operation mode of the inverter different from a mode when it is determined that the output voltage does not run short.SELECTED DRAWING: Figure 3

Description

  The present invention includes a rotating electrical machine having a stator and a rotor around which a winding is wound, and a power converter that is electrically connected to the rotating electrical machine and drives the rotating electrical machine by passing a current through the winding. The present invention relates to a control device for a rotating electrical machine applied to a system.

  As this type of control device, as seen in Patent Document 1, the radial electromagnetic force fluctuation acting on the rotor is reduced, and the generation of noise (magnetic sound) caused by the electromagnetic force fluctuation is suppressed. Things are known. Specifically, the control device superimposes the harmonic current for reducing the electromagnetic force fluctuation on the fundamental wave current, and operates the power converter to flow the fundamental wave current on which the harmonic current is superimposed on the winding. The control device calculates a fundamental wave current based on the fundamental wave command value, and calculates a harmonic current based on the harmonic command value. Hereinafter, a current in which a harmonic current determined based on a harmonic command value is superimposed on a fundamental wave current determined based on the fundamental command value is referred to as a drive current.

Japanese Patent No. 5835450

  A current flows through the winding by using a DC power source electrically connected to the power converter as a power supply source. Here, depending on the driving state of the rotating electrical machine, the output voltage of the DC power supply may be insufficient to such an extent that the current flowing through the winding cannot be made the driving current. In this case, the current flowing through the winding is distorted with respect to the initially assumed drive current, and the effect of suppressing electromagnetic force fluctuations can be reduced.

  The main object of the present invention is to provide a control device for a rotating electrical machine that can suppress fluctuations in electromagnetic force even when the output voltage of a DC power supply is insufficient to such an extent that the current flowing in the winding cannot be made a drive current. Objective.

  The present invention relates to a rotating electric machine having a stator and a rotor around which a winding is wound, and to the rotating electric machine and a DC power source, and a current is passed through the winding using the DC power source as a power supply source. In a control device for a rotating electrical machine applied to a system comprising a power converter that drives the rotating electrical machine, a fundamental wave calculating unit that calculates a fundamental wave command value for flowing a fundamental wave current through the winding; A command value superimposed on the fundamental wave command value for flowing a harmonic current in the winding to reduce a radial electromagnetic force fluctuation acting on at least one of the rotor and the stator. A harmonic calculation unit that calculates a harmonic command value of the current, and a current obtained by superimposing the harmonic current determined based on the harmonic command value on the fundamental current determined based on the fundamental command value If the winding A determination unit that determines whether or not the output voltage of the DC power supply is insufficient to an extent that the generated current cannot be the drive current, and the basic unit when the determination unit does not determine that the output voltage is insufficient Based on the wave command value and the harmonic command value, when it is determined by the first operation unit that operates the power converter so that the drive current flows through the winding and the determination unit is insufficient The second operation of operating the power converter in an operation mode different from the operation mode of the power converter by the first operation unit so that the drive current or a current equivalent to the drive current flows through the winding. A section.

  In the present invention, when it is not determined that the determination unit is deficient, the first converter controls the power converter so that the drive current flows through the winding based on the fundamental wave command value and the harmonic wave command value. Operated. On the other hand, when it is determined that the determination unit is insufficient, in the operation mode different from the operation mode of the power converter by the first operation unit, so that the drive current or a current equivalent to the drive current flows in the winding, The power converter is operated by the second operation unit. As described above, according to the present invention, even when the driving current cannot be passed through the winding by the operation by the first operating unit, the driving current or the driving current equivalent to the winding by the operation by the second operating unit is obtained. Current can flow. As a result, even if the output voltage of the DC power supply is insufficient to such an extent that the current flowing through the winding cannot be made the drive current, fluctuations in electromagnetic force can be suppressed.

The whole block diagram of the control system of a rotary electric machine. Sectional drawing of a rotary electric machine. The flowchart which shows the procedure of the drive control process of a rotary electric machine. The time chart which shows transition of the phase voltage in the case of Vta <= Vlim. The time chart which shows transition of the command voltage in the case of Vta> Vlim. The figure which shows command voltage. The figure which shows the drive area | region of a rotary electric machine. The flowchart which shows the procedure of the calculation process of magnitude | size Vadd of additional voltage, and additional voltage phase (delta). The figure which shows the outline | summary of 1st map information. The figure which shows the outline | summary of 2nd set R2. The figure which shows the outline | summary of 1st duplication set Rv1. The figure which shows the outline | summary of 3rd set R3. The figure which shows the outline | summary of 2nd duplication set Rv2. The figure which shows the area | region which can reduce electromagnetic force. The figure which shows an example of an electromagnetic force reduction aspect. The figure which shows the command voltage which concerns on other embodiment.

  Hereinafter, an embodiment in which a control device according to the present invention is applied to a blower motor constituting an in-vehicle air conditioner will be described with reference to the drawings.

  As shown in FIG. 1, the in-vehicle control system includes a rotating electrical machine 10, a three-phase inverter 20 as a power converter, and a control device 30. The rotating electrical machine 10 is electrically connected to a battery 40 as a DC power source via an inverter 20.

  The inverter 20 includes a series connection of upper arm switches SUp, SVp, SWp and lower arm switches SUn, SVn, SWn for three phases. In the U, V, and W phases, the connection points of the upper and lower arm switches are the first ends of the U, V, and W phase stator windings 12U, 12V, and 12W that constitute the stator 12 (stator) of the rotating electrical machine 10. It is connected to the. The second ends of the U, V, and W-phase stator windings 12U, 12V, and 12W are connected at a neutral point N to form a star connection. Each freewheel diode DUp, DVp, DWp, DUn, DVn, DWn is connected in antiparallel to each switch SUp, SVp, SWp, SUn, SVn, SWn. Incidentally, as each of the switches SUp to SWn, for example, a voltage control type semiconductor switching element (for example, IGBT or N-channel MOSFET) can be used.

  In this embodiment, a concentrated-winding permanent magnet synchronous machine is used as the rotating electrical machine 10. In particular, in the present embodiment, as the rotating electrical machine 10, an outer rotor type is used as shown in FIG. FIG. 2 shows a cross-sectional view of the rotating electrical machine 10 cut along a plane orthogonal to the axial direction of the rotating electrical machine 10 (the rotational axis direction of the rotor 14). Note that the center point O shown in FIG. 2 is a point through which the rotation axis passes. In FIG. 2, hatching indicating a cross section is omitted.

  The rotating electrical machine 10 includes a stator 12 and an annular rotor 14 arranged to be rotatable with respect to the stator 12. The rotor 14 is disposed outside the stator 12 with a gap from the stator 12 in the radial direction of the rotor 14 and the stator 12. The rotor 14 includes a plurality (ten) of permanent magnets 14a and a back yoke 14b made of a soft magnetic material that connects the permanent magnets 14a. The back yoke 14b has an annular shape. Each permanent magnet 14a has the same shape as each other and constitutes one magnetic pole. The permanent magnets 14a are magnetized in the radial direction of the rotor 14, and the polarities of the permanent magnets 14a adjacent in the circumferential direction are different from each other, that is, S poles and N poles are alternately arranged. In addition, in FIG. 2, the part of the arrow of the arrow described in the permanent magnet 14a has shown the N pole.

  The stator 12 includes a plurality (12) of teeth 12a. As a result, the same number of slots 12b as the teeth 12a are formed in the stator 12. The teeth 12a are arranged at an equal pitch in the circumferential direction of the stator 12 via the slots 12b.

  Returning to the description of FIG. 1, the control device 30 is mainly composed of a microcomputer, and operates the inverter 20 to control the control amount of the rotating electrical machine 10 to the command value. In the present embodiment, the control amount is the rotational angular velocity, and the command value is the command angular velocity ωtgt. The control device 30 constitutes the inverter 20 and operates the upper arm switches SUp, SVp, SWp to operate the upper arm switches SUp, SVp, SWp, and the lower arm switches SUn. , SVn, SWn, lower arm operation signals gUn, gVn, gWn are generated. In each phase, the upper arm operation signal and the lower arm operation signal are complementary signals. That is, in each phase, the upper arm switch and the lower arm switch are alternately turned on. Incidentally, the function provided by the control device 30 can be provided by, for example, software recorded in a substantial memory device and a computer that executes the software, hardware, or a combination thereof. Further, the command angular velocity ωtgt is provided, for example, outside the control device 30 in the vehicle, and is output from an external device higher than the control device 30.

  The control system includes a voltage sensor 41 and a rotation angle sensor 42. Voltage sensor 41 detects the terminal voltage of battery 40 as power supply voltage VDC. The rotation angle sensor 42 outputs an angle signal corresponding to the magnetic pole position of the rotor 14. The rotation angle sensor 42 is, for example, a Hall element or a resolver. Detection values of the voltage sensor 41 and the rotation angle sensor 42 are input to the control device 30.

  Next, drive control of the rotating electrical machine 10 executed by the control device 30 will be described.

  The electrical angle calculator 30 a calculates the electrical angle θe of the rotating electrical machine 10 based on the angle signal of the rotation angle sensor 42. The angular velocity calculator 30b calculates the rotational angular velocity ωm (mechanical angular velocity) of the rotating electrical machine 10 based on the electrical angle θe calculated by the electrical angle calculator 30a. The deviation calculating unit 30c calculates the speed deviation Δω by subtracting the rotational angular velocity ωm calculated by the angular velocity calculator 30b from the command angular velocity ωtgt.

  The fundamental wave calculating unit 30d is represented by the following equation (eq1) as an operation amount for feedback-controlling the rotational angular velocity ωm to the command angular velocity ωtgt based on the speed deviation Δω, the electrical angle θe, and the rotational angular velocity ωm. U, V, and W phase fundamental wave voltages VUB, VVB, and VWB in the phase-fixed coordinate system are calculated. In the following equation (eq1), Val represents a fundamental wave amplitude that is an amplitude of the fundamental wave voltage.

本実施形態において、基本波算出部３０ｄは、速度偏差Δωに基づく比例積分制御によってＵ，Ｖ，Ｗ相基本波電圧ＶＵＢ，ＶＶＢ，ＶＷＢを算出する。各基本波電圧ＶＵＢ，ＶＶＢ，ＶＷＢは、基本波指令値に相当し、回転角速度ωｍを指令角速度ωｔｇｔに制御するために要求される電圧である。基本波算出部３０ｄは、上記比例積分制御により、電気角θｅ１周期に渡る各基本波電圧ＶＵＢ，ＶＶＢ，ＶＷＢを算出する。ここでは、各基本波電圧ＶＵＢ，ＶＶＢ，ＶＷＢの変動角速度の算出に、電気角速度ωｅが用いられる。電気角速度ωｅは、入力された回転角速度ωｍに回転電機１０の極対数Ｐを乗算した値として算出されればよい。そして、算出された各基本波電圧ＶＵＢ，ＶＶＢ，ＶＷＢを、入力された電気角θｅに対応させて出力する。各基本波電圧ＶＵＢ，ＶＶＢ，ＶＷＢは、波形形状が互いに同一であってかつ、電気角θｅで位相が互いに２π／３ずれた波形となっている。

In the present embodiment, the fundamental wave calculation unit 30d calculates U, V, and W phase fundamental wave voltages VUB, VVB, and VWB by proportional-integral control based on the speed deviation Δω. Each fundamental wave voltage VUB, VVB, VWB corresponds to a fundamental wave command value, and is a voltage required to control the rotational angular velocity ωm to the command angular velocity ωtgt. The fundamental wave calculation unit 30d calculates the fundamental wave voltages VUB, VVB, and VWB over the electrical angle θe1 period by the proportional integral control. Here, the electrical angular velocity ωe is used to calculate the fluctuation angular velocity of each fundamental wave voltage VUB, VVB, VWB. The electrical angular velocity ωe may be calculated as a value obtained by multiplying the input rotational angular velocity ωm by the number of pole pairs P of the rotating electrical machine 10. Then, the calculated fundamental wave voltages VUB, VVB, VWB are output in correspondence with the input electrical angle θe. Each fundamental wave voltage VUB, VVB, VWB has the same waveform shape, and has a waveform whose phase is shifted by 2π / 3 at the electrical angle θe.

  The harmonic calculation unit 30e calculates U, V, and W phase harmonic voltages VUH, VVH, and VWH in the three-phase fixed coordinate system of the following equation (eq2) based on the electrical angle θe and the command angular velocity ωtgt. Each harmonic voltage VUH, VVH, VWH corresponds to a harmonic command value. In the following equation (eq2), Vah indicates a harmonic amplitude that is the amplitude of the harmonic voltage, and γ indicates a harmonic phase that is a phase difference with respect to the fundamental voltage of the above equation (eq1). Each of the harmonic voltages VUH, VVH, VWH has the same waveform shape, and has a waveform whose phase is shifted by 2π / 3 at the electrical angle θe.

本実施形態において、高調波算出部３０ｅは、記憶部としてのメモリ３０ｆに記憶されている高調波マップ情報と、入力される指令角速度ωｔｇｔ及び電気角θｅとに基づいて、Ｕ，Ｖ，Ｗ相高調波電圧ＶＵＨ，ＶＶＨ，ＶＷＨを算出する。高調波マップ情報は、各高調波電圧ＶＵＨ，ＶＶＨ，ＶＷＨ、指令角速度ωｔｇｔ及び電気角θｅが関係付けられたマップ情報である。なお、メモリ３０ｆは、制御装置３０に備えられる非遷移的実体的記録媒体（例えば、不揮発性メモリ）である。

In the present embodiment, the harmonic calculation unit 30e is based on the harmonic map information stored in the memory 30f serving as a storage unit, and the command angular velocity ωtgt and the electrical angle θe that are input. Harmonic voltages VUH, VVH, and VWH are calculated. The harmonic map information is map information in which each harmonic voltage VUH, VVH, VWH, command angular velocity ωtgt, and electrical angle θe are related. Note that the memory 30f is a non-transitional tangible recording medium (for example, a nonvolatile memory) provided in the control device 30.

  In the present embodiment, each harmonic voltage VUH, VVH, VWH is a waveform in which the harmonic amplitude Val and the harmonic phase γ are adjusted so as to reduce the electromagnetic force of a specific order acting in the radial direction of the rotor 14. It has become. In the present embodiment, each harmonic voltage VUH, VVH, VWH is a harmonic voltage of Kth order (a positive integer, for example, 11th order). The K-th order harmonic voltage is a harmonic voltage having a variation angular velocity obtained by multiplying K by the basic angular velocity. The basic angular velocity is the fluctuation angular velocity (electrical angular velocity ωe) of the fundamental wave current that flows through the stator winding.

  The harmonic adjustment unit 30g outputs each harmonic voltage VUH, VVH, VWH calculated by the harmonic calculation unit 30e as it is, or calculates a command voltage used in energization width control described later. The harmonic adjustment unit 30g will be described in detail later.

  The U, V, and W phase superimposing units 30hU, 30hV, and 30hW are added to the U, V, and W phase fundamental wave voltages VUB, VVB, and VWB output from the fundamental wave calculating unit 30d, and the U output from the harmonic adjustment unit 30g. , V, W phase harmonic voltages VUH, VVH, VWH are added. The output values of the U, V, and W phase superimposing units 30hU, 30hV, and 30hW become U, V, and W phase command voltages VU *, VV *, and VW *.

  The modulator 30h includes operation signals gUp, gUn, gVp, gVn, gWp, UV, VW, and WW * for setting the U, V, W phase voltages of the inverter 20 to U, V, W phase command voltages VU *, VV *, VW *, Generate gWn. In the present embodiment, each operation signal gUp, gUn, gVp, gVn, gWp, gWn is obtained by PWM processing based on the magnitude comparison between each command voltage VU *, VV *, VW * and a carrier signal (for example, a triangular wave signal). Generate. Each switch SUp, SUn, SVp, SVn, SWp, SWn is turned on / off by the generated operation signals gUp, gUn, gVp, gVn, gWp, gWn.

  FIG. 3 shows a procedure of drive control processing of the rotating electrical machine 10. This process is repeatedly executed by the control device 30 at a predetermined control cycle, for example.

  In step S10, the fundamental wave calculation unit 30d calculates U, V, and W phase fundamental wave voltages VUB, VVB, and VWB.

  In step S11, the U, V, and W phase harmonic voltages VUH, VVH, and VWH are calculated by the harmonic calculation unit 30e.

  In step S12, a composite wave of the calculated U, V, W phase fundamental voltages VUB, VVB, VWB and U, V, W phase harmonic voltages VUH, VVH, VWH is calculated. Taking the U phase as an example, the combined wave of the U phase is “VUB + VUH”.

  In step S13, it is determined whether or not the amplitude Vta of the combined wave calculated in step S12 is larger than the voltage limit value Vlim. In the present embodiment, the voltage limit value Vlim is set to VDC / √3 (= VDC / 2 × (2 / √3)), and is set based on the power supply voltage VDC detected by the voltage sensor 41.

  In the process of step S13, the command voltage applied to the U, V, and W phase stator windings 12U, 12V, and 12W is obtained by adding the fundamental wave voltage and the harmonic voltage calculated in steps S10 and S11 [VUB + VUH, VVB + VVH, VWB + VWH. It corresponds to a determination unit that determines whether or not the output voltage of the battery 40 is insufficient to such an extent that it cannot be set. When a fundamental voltage is applied to the stator winding, the current flowing through the stator winding is a fundamental current. When a harmonic voltage is applied to the stator winding, the current flowing through the stator winding is a harmonic current. is there. A current obtained by superimposing the harmonic current on the fundamental wave current corresponds to a drive current.

  If it is determined in step S13 that the combined wave amplitude Vta is equal to or smaller than the voltage limit value Vlim, it is determined that the output voltage of the battery 40 is not insufficient, and the process proceeds to step S14. In step S14, sine wave control is performed. In the sine wave control, the harmonic adjustment unit 30g directly converts the U, V, and W phase harmonic voltages VUH, VVH, and VWH calculated by the harmonic calculation unit 30e into U, V, and W phase superimposing units 30hU, 30hV, and 30hW. This is the output control. Thus, the U, V, and W phase harmonic voltages VUH, VVH, and VWH calculated by the harmonic calculation unit 30e are added to the U, V, and W phase fundamental wave voltages VUB, VVB, and VWB calculated by the fundamental wave calculation unit 30d. The added values are used as U, V, and W phase command voltages VU *, VV *, and VW *. FIG. 4 shows the transition of the phase voltage applied to the stator winding when sine wave control is performed. In addition, the process of step S14 comprises a 1st operation part.

  On the other hand, if it is determined in step S13 that the amplitude Vta of the combined wave has exceeded the voltage limit value Vlim, it is determined that the output voltage of the battery 40 is insufficient, and the process proceeds to step S15, and the conduction width control is performed from the sine wave control. Switch to. This switching is performed in view of the fact that the U, V, and W phase command voltages VU *, VV *, and VW * used in the sine wave control cannot be realized when the output voltage of the battery 40 is insufficient. In the case of the U phase as an example, when the output voltage of the battery 40 is insufficient, an ideal command voltage (solid line in FIG. 5) that can flow a phase current that can reduce electromagnetic force fluctuations is indicated by a dotted line in FIG. As shown, the command voltage is distorted. In addition, the process of step S15-S17 comprises a 2nd operation part.

  As shown in FIG. 6, the energization width control mainly includes 120-degree energization control. FIG. 6 shows the command voltage for one phase among the U, V, and W phases.

  A period of 120 ° in electrical angle is defined as a first period LA, and a period shorter than a period of 60 ° obtained by subtracting the first period LA from 180 ° is defined as a second period LB. A command voltage in a period from 0 ° to the first timing T1 in which the first period LA elapses in one electrical angle cycle from 0 ° to 360 ° is a main voltage Vbase that is a positive constant voltage. The command voltage in the period from the first timing T1 to the second timing T2 when the second period LB elapses is set as the positive additional voltage Vadd having an absolute value smaller than the main voltage. The command voltage in the period from the second timing T2 to 180 ° is set to 0. The command voltage in the period from 180 ° to the third timing T3 when the first period LA elapses is assumed to be a negative main voltage “−Vbase”. The command voltage in the period from the third timing T3 to the fourth timing T4 after the second period LB elapses is set as a negative additional voltage “−Vadd” having an absolute value smaller than the main voltage. The command voltage in the period from the fourth timing T4 to 360 ° is set to 0. Hereinafter, the second period LB is referred to as an additional voltage phase δ.

  In the present embodiment, the command voltage shown in FIG. 6 is calculated by the harmonic adjustment unit 30g. The command voltage shown in FIG. 6 is calculated for each phase. The phase of the command voltage of each phase is shifted by a value (= 360 ° / M) obtained by dividing one electrical angle period (360 °) by the number of phases M of the rotating electrical machine 10. In this embodiment, since M = 3, the phase of the command voltage of each phase is shifted by 120 °.

  The command voltage shown in FIG. 6 includes a voltage component in which the harmonic voltage calculated in step S11 is superimposed on the fundamental wave voltage calculated in step S10 in FIG. 3 or a voltage component equivalent to this voltage component. ing. Thus, even in the region indicated by hatching in FIG. 7 where it is determined that the voltage of the battery 40 is insufficient, the fluctuation of the electromagnetic force acting on the rotor 14 is reduced. Here, the horizontal axis of FIG. 7 indicates the rotational speed of the rotor 14, and the vertical axis indicates the torque of the rotating electrical machine 10. Moreover, Mr shown in FIG. 7 is a modulation rate, and the modulation rate Mr of the present embodiment is expressed by the following equation (eq3) using the fundamental wave amplitude Va1 and the power supply voltage VDC.

図８に、付加電圧の大きさＶａｄｄ及び付加電圧位相δの算出処理の手順を示す。図８に示す処理は、主に高調波調整部３０ｇにより実行される。

FIG. 8 shows a procedure for calculating the additional voltage magnitude Vadd and the additional voltage phase δ. The process shown in FIG. 8 is mainly executed by the harmonic adjustment unit 30g.

  In step S20, the fundamental wave voltage modulation factor Mr is calculated based on the above equation (eq3) based on the fundamental wave amplitude Va1 of the fundamental wave voltage calculated in step S10 and the power supply voltage VDC. Then, a modulation rate range that is a predetermined range including the calculated modulation rate Mr is calculated. In the present embodiment, the lower limit value of the modulation rate range is a value obtained by subtracting the allowable error Δm (for example, 0.005) from the calculated modulation rate Mr. The upper limit of the modulation rate range is 1.27. Each of the plurality of modulation rates Mr included in the modulation rate range is referred to as a candidate modulation rate. The candidate modulation rate is a value for determining the magnitude Vbase of the main voltage. In the present embodiment, the lower limit value of the candidate modulation rate is the lower limit value of the modulation rate range, and the upper limit value of the candidate modulation rate is the upper limit value of the modulation rate range.

  In step S20, based on each candidate modulation rate and the first map information shown in FIG. 9A, the modulation rate of the fundamental voltage included in the command voltage over one electrical angular period shown in FIG. A combination of the additional voltage phase δ and the voltage ratio Radd for the rate is selected. The voltage ratio Radd indicates a ratio (Vadd / Vbase or a percentage thereof) of the additional voltage magnitude Vadd to the main voltage magnitude Vbase. When the voltage ratio Radd is 100%, the main voltage magnitude Vbase and the additional voltage magnitude Vadd coincide. When the voltage ratio Radd is 0%, the magnitude Vadd of the additional voltage is zero. The additional voltage phase δ and the voltage ratio Radd are calculated corresponding to each candidate modulation rate.

  The first map information shown in FIG. 9A is map information in which the modulation factor Mr of the fundamental wave voltage, the additional voltage phase δ, and the voltage ratio Radd are related, and is stored in the memory 30f. The horizontal axes 120 to 180 in FIG. 9A indicate the additional voltage phase δ shown in FIG. The vertical axis | shaft of Fig.9 (a) shows voltage ratio Radd.

  FIG. 9B shows a first set R1 that is a set of combinations of the additional voltage phase δ and the voltage ratio Radd selected in step S20.

  In step S21, a phase range that is a predetermined range including the harmonic phase γ of the harmonic voltage calculated in step S11 is calculated. The lower limit value of the phase range is a value obtained by subtracting the first allowable error Δph1 (a positive value, for example, 10 ° / (2π)) from the harmonic phase γ. The upper limit value of the phase range is a value obtained by adding the second allowable error Δph2 (a positive value, for example, 10 ° / (2π)) to the harmonic phase γ. Each of the plurality of harmonic phases γ included in the phase range is referred to as a candidate phase. In the present embodiment, the lower limit value of the candidate phase is the lower limit value of the phase range, and the upper limit value of the candidate phase is the upper limit value of the phase range.

  In step S20, based on each candidate phase and the second map information, an additional voltage phase δ for setting the phase of the harmonic voltage included in the command voltage over one electrical angle period shown in FIG. A combination of voltage ratios Radd is selected. The additional voltage phase δ and the voltage ratio Radd are calculated corresponding to each candidate phase.

  The second map information is map information in which the harmonic phase γ, the additional voltage phase δ, and the voltage ratio Radd are associated with each other, and is stored in the memory 30f. FIG. 10 shows a second set R2 that is a set of combinations of the additional voltage phase δ and the voltage ratio Radd selected in step S21.

  In step S22, it is determined whether or not the first overlapping set Rv1 exists. The first overlapping set Rv1 is the combination of the additional voltage phase δ and the voltage ratio Radd constituting the first set R1 selected in step S20, and the additional voltage phase δ and voltage constituting the second set R2 selected in step S21. This is a set of combinations of the additional voltage phase δ and the voltage ratio Radd that overlap with the combination of the ratio Radd. FIG. 11 shows an example of the first overlapping set Rv1.

  If it is determined in step S22 that the first overlapping set Rv1 exists, the process proceeds to step S23. In step S23, an amplitude range that is a predetermined range including the harmonic amplitude Vah of the harmonic voltage calculated in step S11 is calculated. The lower limit value of the amplitude range is a value obtained by subtracting the first amplitude error Δamp1 (a value larger than 0, for example, 0.01) from the harmonic amplitude Vah. The upper limit value of the amplitude range is a value obtained by adding a second amplitude error Δamp2 (a value larger than 0, for example, 0.01) to the harmonic amplitude Vah. Each of the plurality of harmonic amplitudes Vah included in the amplitude range is referred to as a candidate amplitude. In the present embodiment, the lower limit value of the candidate amplitude is the lower limit value of the amplitude range, and the upper limit value of the candidate amplitude is the upper limit value of the amplitude range.

  In step S23, based on each candidate amplitude and the third map information, an additional voltage phase δ for setting the amplitude of the harmonic voltage included in the command voltage over one electrical angle period shown in FIG. A combination of voltage ratios Radd is selected. The additional voltage phase δ and the voltage ratio Radd are calculated corresponding to each candidate amplitude.

  The third map information is map information in which the harmonic amplitude Vah, the additional voltage phase δ, and the voltage ratio Radd are associated with each other, and is stored in the memory 30f. FIG. 12 shows a third set R3 that is a set of combinations of the additional voltage phase δ and the voltage ratio Radd selected in step S23.

  By using the modulation factor range and phase range in addition to the amplitude range, a command including a voltage component that matches the voltage component in which the harmonic voltage calculated in step S11 is superimposed on the fundamental wave voltage calculated in step S10. Even when the voltage cannot be calculated, a command voltage including a voltage component equivalent to this voltage component can be calculated.

  In step S24, a second overlapping set Rv2 is calculated. The second overlapping set Rv2 is a combination of the additional voltage phase δ and the voltage ratio Radd constituting the third set R3 selected in step S23 among the combinations of the additional voltage phase δ and the voltage ratio Radd constituting the first overlapping set Rv1. Is a set of combinations of the additional voltage phase δ and the voltage ratio Radd that overlap. FIG. 13 shows an example of the second overlapping set Rv2.

  In step S24, one combination of the additional voltage phase δ and the voltage ratio Radd is selected from the combination of the additional voltage phase δ and the voltage ratio Radd constituting the second overlapping set Rv2. Examples of a method for selecting a combination of one additional voltage phase δ and voltage ratio Radd include the following.

  One combination of the additional voltage phase δ and the voltage ratio Radd that minimizes the candidate modulation rate is selected from the combination of the additional voltage phase δ and the voltage ratio Radd constituting the second overlapping set Rv2.

  Among the combinations of the additional voltage phase δ and the voltage ratio Radd constituting the second overlapping set Rv2, one additional voltage phase δ and voltage whose candidate phase is closest to the harmonic phase γ of the harmonic voltage calculated in step S11 A combination of ratios Radd is selected.

  A combination of the additional voltage phase δ and the voltage ratio Radd that minimizes the amplitude of the electromagnetic force of the specific order is selected from the combinations of the additional voltage phase δ and the voltage ratio Radd constituting the second overlapping set Rv2. . The specific order may be, for example, the fifth order that contributes to the torque ripple of the rotating electrical machine 10.

  In step S25, the main voltage magnitude Vbase is calculated based on the candidate modulation rate Mr corresponding to the combination of one additional voltage phase δ and voltage ratio Radd selected in step S24. Specifically, the main voltage magnitude Vbase (= Va1 / Mr) is calculated by dividing the fundamental wave amplitude Va1 of the fundamental voltage calculated in step S10 by the candidate modulation factor Mr. Then, based on the calculated main voltage magnitude Vbase and the voltage ratio Radd selected in step S24, the additional voltage magnitude Vadd is calculated.

  In step S26, the command voltage VU shown in FIG. 6 for the U, V, and W phases based on the main voltage and the magnitudes Vbase and Vadd of the additional voltage calculated in step S25 and the additional voltage phase δ selected in step S24. *, VV *, and VW * are calculated. The calculated U, V, and W phase command voltages VU *, VV *, and VW * are output to the U, V, and W phase superposition units 30hU, 30hV, and 30hW. At this time, the U, V, and W phase fundamental wave voltages VUB, VVB, and VWB calculated by the fundamental wave calculating unit 30d are set to zero.

  In step S17 of FIG. 3, an operation signal is generated by the modulator 30h based on the command voltages VU *, VV *, and VW * shown in FIG. 6, and each switch of the inverter 20 is operated.

  If it is determined in step S22 of FIG. 8 that the first overlapping set Rv1 does not exist, the process proceeds to step S27. In step S27, the harmonic amplitude Vah of the harmonic voltage included in the command voltage over one electrical angle period in FIG. Then, one combination of the additional voltage phase δ and the voltage ratio Radd is selected from the combination of the additional voltage phase δ and the voltage ratio Radd constituting the first set R1. For example, among the combinations of the additional voltage phase δ and the voltage ratio Radd constituting the first set R1, one combination of the additional voltage phase δ and the voltage ratio Radd that has the candidate modulation rate closest to the modulation rate Mr calculated in step S20. Should be selected.

  When the harmonic phase γ of the harmonic voltage included in the command voltage cannot be set to an appropriate value that can reduce the electromagnetic force fluctuation, the harmonic voltage is applied to the stator winding, resulting in a large electromagnetic force fluctuation. Or the control of the rotating electrical machine 10 may be adversely affected. In order to deal with this problem, a process of step S27 is provided.

  Thereafter, in step S25, the main voltage magnitude Vbase is calculated based on the candidate modulation rate Mr corresponding to the combination of the one additional voltage phase δ and the voltage ratio Radd selected in step S27. Further, based on the calculated main voltage magnitude Vbase and the voltage ratio Radd selected in step S27, the additional voltage magnitude Vadd is calculated. Thereafter, the process proceeds to step S26.

  Next, the electromagnetic force vector acting on the rotor 14 in the case where an affirmative determination is made in step S22 will be described using FIG. 14 and FIG.

  First, the reducible region R will be described with reference to FIG. In the xy orthogonal coordinate system shown in FIG. 14, F <b> 1 represents a first vector that is an electromagnetic force vector generated by superimposing a fundamental wave voltage on which a harmonic voltage is not superimposed on the stator winding. F2 represents a second vector that is an electromagnetic force vector generated by superimposing the harmonic voltage on the stator winding.

  The first vector F1 is a vector extending from the origin O of the coordinate system along the x axis, and the second vector F2 is a vector extending from the origin O. An angle θs formed by the first and second vectors F1 and F2 when the second vector F2 rotates counterclockwise with respect to the x axis is defined as a positive value. In the coordinate system, a reference axis that is an axis extending from the origin O in a direction opposite to the direction in which the first vector F1 extends, and the magnitude (amplitude) Fr of the first vector F1 as a radius and the origin O as the center. The point of intersection with the circle is defined as the reference center A. In the coordinate system, an area (area indicated by hatching in the drawing) inside the circumference of a circle centered on the reference center A with the size Fr of the first vector F1 as a radius can be reduced. R is defined.

  By applying a harmonic voltage that positions the tip of the second vector F2 in the reducible region R to the stator winding, the magnitude of the combined vector Ft of the first and second vectors F1 and F2 is increased to the magnitude of the first vector F1. It can be made smaller than Fr. On the other hand, when a harmonic voltage that positions the tip of the second vector F2 outside the reducible region R is applied to the stator winding, the magnitude of the combined vector Ft is larger than the magnitude Fr of the first vector F1. However, the noise reduction effect cannot be obtained.

  Here, in the present embodiment, as shown in FIG. 15, an area in which the tip of the second vector F <b> 2 can be positioned in the range of the angle θs from 120 ° to 240 ° is used in the reducible region R. .

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

  When it is determined that the amplitude Vta of the combined wave exceeds the voltage limit value Vlim, the sine wave control is switched to the energization width control using the command voltage shown in FIG. Thereby, even if the output voltage of the battery 40 is insufficient to such an extent that the voltage applied to the stator winding cannot be a command voltage for sine wave control, fluctuations in electromagnetic force acting on the rotor 14 are suppressed. Can do. As a result, the rotating electrical machine 10 can be driven while suppressing magnetic noise.

  Whether or not the phase of the harmonic voltage included in the command voltage can be set to the harmonic phase γ of the harmonic voltage calculated in step S11 when it is determined that the amplitude Vta of the synthesized wave exceeds the voltage limit value Vlim When it is determined that the harmonic phase γ cannot be obtained, the harmonic amplitude Vah is set to zero. Thereby, it can suppress that the electromagnetic force fluctuation | variation of the rotor 14 increases, or the bad influence is exerted on control of the rotary electric machine 10. FIG.

  After determining that the amplitude of the harmonic voltage included in the command voltage can be the harmonic amplitude Vah of the harmonic voltage calculated in step S11, the phase of the harmonic voltage included in the command voltage is calculated in step S11. A configuration in which it is determined whether or not the harmonic phase γ of the wave voltage can be made is referred to as a comparative example. In the comparative example, after it is determined that the harmonic amplitude Vah can be obtained, it can be determined that the phase of the harmonic voltage included in the command voltage cannot be the harmonic phase γ of the harmonic voltage calculated in step S11. In this case, the phase of the harmonic voltage included in the command voltage may deviate greatly from an appropriate value for reducing fluctuations in electromagnetic force acting on the rotor 14. In this case, for example, it is required to recalculate the harmonic voltage included in the command voltage. However, when there is a restriction that a predetermined calculation process must be completed within one control cycle of the control device 30, there is a possibility that an opportunity to calculate the harmonic voltage again cannot be secured. At this time, the phase of the harmonic voltage included in the command voltage greatly deviates from an appropriate value for reducing the electromagnetic force fluctuation, so that the electromagnetic force fluctuation cannot be reduced. There is a risk of adverse effects.

  On the other hand, in this embodiment, prior to determining the harmonic amplitude Vah of the harmonic voltage included in the command voltage, the phase of the harmonic voltage included in the command voltage is set to the harmonic phase γ of the harmonic voltage calculated in step S11. It is determined whether or not When it is determined that the harmonic phase γ cannot be obtained, the harmonic amplitude Vah is set to zero. For this reason, it can suppress that the phase of the harmonic voltage contained in the command voltage greatly deviates from an appropriate value for reducing the electromagnetic force fluctuation, and it is possible to suppress the deviation from adversely affecting the control of the rotating electrical machine 10.

<Other embodiments>
The above embodiment may be modified as follows.

  After determining that the amplitude of the harmonic voltage included in the command voltage can be the harmonic amplitude Vah of the harmonic voltage calculated in step S11, the phase of the harmonic voltage included in the command voltage is calculated in step S11. A configuration may be used in which it is determined whether or not the harmonic phase γ of the wave voltage can be achieved.

  In step S13 in FIG. 3, a value obtained by adding the harmonic amplitude Vah of the harmonic voltage calculated in step S11 to the fundamental wave amplitude Va1 of the fundamental wave voltage calculated in step S10 is set as a combined wave amplitude Vta (= Va1 + Vah). It may be calculated.

  If the determination in step S22 of FIG. 8 is negative, the harmonic amplitude Vah of the harmonic voltage included in the command voltage is greater than 0 and greater than the harmonic amplitude Vah of the harmonic voltage calculated in step S11. It may be a small value.

  In the above embodiment, the additional voltage in the range of “120 ° ≦ δ <180 °” by the additional voltage phase δ starting from 120 ° after the main voltage over the period from 0 ° to 120 ° in electrical angle. Was set. Instead of this setting, an additional voltage may be set before the main voltage. Specifically, the main voltage is set over a period from 60 ° to 180 ° in electrical angle, and the additional voltage is within a range of “0 ° <δ ≦ 60 °” by the additional voltage phase δ starting from 60 °. It may be set.

  In FIG. 6, the first period LA is not limited to a period of 120 °.

  Further, the additional voltage of the command voltage is not limited to that shown in FIG. 6, but may be, for example, that shown in FIG. In the command voltage shown in FIG. 16, the magnitude of the additional voltage during the period from the first timing T1 to the second timing T2 gradually decreases linearly from the first timing T1 to the second timing T2, and from the third timing T3 to the second timing T3. The magnitude of the additional voltage during the period up to 4 timing T4 gradually decreases linearly from the third timing T3 to the fourth timing T4. The magnitude of the additional voltage at the first and third timings T1 and T3 coincides with the magnitude of the main voltage. The command voltage shown in FIG. 16 also includes a voltage component in which the harmonic voltage calculated in step S11 is superimposed on the fundamental wave voltage calculated in step S10 in FIG. 3 or a voltage component equivalent to this voltage component. ing.

  The voltage sensor 41 may not be provided in the control system. In this case, for example, the power supply voltage VDC used for the calculation of the control device 30 may be set to a fixed value.

  The harmonic voltage calculated in the harmonic calculation unit 30e is not limited to the voltage for reducing the radial electromagnetic force fluctuation acting on the rotor 14, but for example, the radial electromagnetic force fluctuation acting on the stator 12 The voltage for reducing, or the voltage for reducing the electromagnetic force fluctuation | variation of the radial direction which acts on both the rotor 14 and the stator 12 may be sufficient.

  The fundamental wave command value calculated by the fundamental wave calculating unit 30d is not limited to the fundamental wave voltage, and may be a fundamental wave current. Further, the harmonic command value calculated by the harmonic calculation unit 30e is not limited to the harmonic voltage, and may be a harmonic current. In this case, for example, the fundamental wave and harmonic calculation units 30d and 30e convert the calculated fundamental wave and harmonic current into a fundamental wave and a harmonic voltage based on the voltage equation of the rotating electrical machine 10, and the converted fundamental wave, What is necessary is just to output a harmonic voltage to each superimposition part 30hU, 30hV, and 30hW.

  The control amount of the rotating electrical machine is not limited to the rotational angular velocity, and may be torque, for example.

  -The rotating electrical machine is not limited to concentrated winding, but may be distributed winding. Further, the rotating electrical machine is not limited to the outer rotor type, but may be an inner rotor type.

  Furthermore, the rotating electrical machine is not limited to a three-phase one, and may be a four-phase or more multi-phase one. In addition, the rotating electrical machine is not limited to a permanent magnet field type synchronous machine including a permanent magnet in the rotor, and may be a wound field type synchronous machine including a field winding in the rotor, for example. In addition, the rotating electrical machine is not limited to the blower.

  DESCRIPTION OF SYMBOLS 10 ... Rotary electric machine, 20 ... Inverter, 30 ... Control apparatus.

Claims (7)

A rotating electrical machine (10) having a stator (12) and a rotor (14) wound with windings (12U to 12W), and electrically connected to the rotating electrical machine and a DC power source (40), the DC In a control device (30) for a rotating electrical machine applied to a system comprising: a power converter (20) for driving the rotating electrical machine by causing a current to flow through the winding using a power source as a power supply source
A fundamental wave calculation unit (30d) for calculating a fundamental wave command value for causing a fundamental wave current to flow through the winding;
A command value superimposed on the fundamental wave command value for flowing a harmonic current in the winding to reduce a radial electromagnetic force fluctuation acting on at least one of the rotor and the stator. A harmonic calculation unit (30e) for calculating a harmonic command value of
When a current in which the harmonic current determined based on the harmonic command value is superimposed on the fundamental current determined based on the fundamental command value is used as a drive current, the current flowing through the winding is the drive current. A determination unit that determines whether or not the output voltage of the DC power supply is insufficient to the extent that it cannot be
When it is not determined that the determination unit is deficient, based on the fundamental command value and the harmonic command value, the first power converter is operated so that the drive current flows through the winding. An operation unit;
When it is determined that the determination unit is insufficient, the operation mode of the power converter by the first operation unit is different from the first operation unit so that the driving current or a current equivalent to the driving current flows through the winding. A control device for a rotating electrical machine, comprising: a second operation unit that operates the power converter in an operation mode.   When it is determined by the determination unit that the second operation unit is insufficient, the second operation unit determines that the drive current or a current equivalent to the drive current cannot flow through the winding. The fundamental current determined based on a command value is passed through the winding so that a current in which a harmonic current having an amplitude smaller than the amplitude of the harmonic current determined based on the harmonic command value is superimposed is passed through the winding. The control device for a rotating electrical machine according to claim 1, wherein the power converter is operated.   In the case where the determination unit determines that the second operation unit is insufficient, the phase of the harmonic current flowing through the winding is changed to the phase of the harmonic current determined based on the harmonic command value. When it is determined whether or not the phase of the harmonic current cannot be determined, the harmonic current having an amplitude smaller than the amplitude of the harmonic current is passed through the winding so that the current is superimposed on the winding. The control device for a rotating electrical machine according to claim 2, wherein the power converter is operated. The first operation unit calculates, as the command voltage to be applied to the winding, a voltage in which a harmonic voltage as the harmonic command value is superimposed on a fundamental wave voltage as the fundamental wave command value, Operating the power converter based on the command voltage;
When the electrical angle is less than 180 ° as the first period, and when the second period is shorter than the period obtained by subtracting the first period from 180 °, the second operation unit has a range from 0 ° to 360 °. The main voltage (Vbase), which is a positive constant voltage, is calculated as the command voltage in the period from 0 ° to the first timing after the first period in one electrical angle period of A positive additional voltage (Vadd) having an absolute value smaller than the main voltage is calculated as the command voltage in the period up to the second timing after the second period elapses, and from 180 ° to the third timing after the first period elapses. The negative main voltage (−Vbase) is calculated as the command voltage in the period, and the period in the period from the third timing to the fourth timing after the second period elapses. It calculates the small negative polarity the additional voltage absolute value than the mains voltage (-Vadd) as decree voltage, operates the power converter on the basis of the command voltage across first electrical angle period calculated,
The command voltage over one electrical angle cycle used in the second operation unit includes a component of the fundamental voltage and a component of the harmonic voltage. The control apparatus of the rotary electric machine described in 1. In a two-axis orthogonal coordinate system, a vector indicating an electromagnetic force generated by flowing the fundamental current on which the harmonic current is not superimposed is passed through the winding, and a vector extending from the origin (O) of the coordinate system First vector (F1)
In the coordinate system, a vector indicating an electromagnetic force generated by flowing the harmonic current through the winding, and a vector extending from the origin is a second vector (F2),
In the coordinate system, a reference axis that is an axis extending from the origin in a direction opposite to a direction in which the first vector extends, and a circle having the radius (Fr) of the first vector as a radius and the center as the center Let the intersection of the reference center (A),
In the coordinate system, a region inside the circumference of a circle centered on the reference center with the size of the first vector as a radius is defined as a reducible region (R),
5. The control device for a rotating electrical machine according to claim 4, wherein the second operation unit calculates the command voltage under a condition that a tip of the second vector is positioned in the reduction possible region. When the determination unit determines that the amplitude of the fundamental wave voltage as the fundamental wave command value and the combined wave of the harmonic voltage as the harmonic wave command value exceeds a voltage limit value (Vlim), the DC power supply Is determined to be insufficient,
The control apparatus for a rotating electrical machine according to any one of claims 1 to 5, wherein the voltage limit value is set to a value obtained by dividing an output voltage of the DC power source by √3. When the determination unit determines that the value obtained by adding the amplitude of the harmonic voltage as the harmonic command value to the amplitude of the fundamental wave voltage as the fundamental wave command value exceeds a voltage limit value (Vlim), Determine that the output voltage of the DC power supply is insufficient,
The control apparatus for a rotating electrical machine according to any one of claims 1 to 5, wherein the voltage limit value is set to a value obtained by dividing an output voltage of the DC power source by √3.

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