JP2021078176A - Control device for rotary electric machine - Google Patents

Abstract

To cause a torque of a rotary electric machine to promptly achieve a torque command value.SOLUTION: A control device 12 is applied to a rotary electric machine comprising a field coil and a three-phase coil and controls a field converter which causes a field current to flow to the field coil, and an inverter which causes a three-phase current to flow to the three-phase coil. The control device 12 comprises: a torque estimation unit 82 which acquires a torque estimate Test of the rotary electric machine on the basis of dq-axis currents id and iq corresponding to a field current if and the three-phase current; a correction value calculation unit 100 which calculates a torque command correction value Tco by performing proportional integration control on a deviation between the torque estimate Test and a torque command value Tr of the rotary electric machine; and a current command value setting unit which sets a field current command value and a dq-axis current command value on the basis of a corrected torque command value Trc obtained by adding the torque command correction value Tco and the torque command value Tr. The control device controls the field converter on the basis of the field current command value and controls the inverter on the basis of the dq-axis current command value.SELECTED DRAWING: Figure 2A

Description

The present invention relates to a control device for a rotary motor including a field winding and a three-phase winding.

As a rotary motor, a field winding that passes a direct current (field current) that creates a field in the rotor and a three-phase current that flows an alternating current (three-phase current) that generates torque in the rotor by interacting with the field. Those equipped with windings are known. The field winding generates a field magnetic flux, and the three-phase winding generates a rotating magnetic field. Such a system of a rotary motor includes a field converter that allows a field current to flow through a field winding, an inverter that allows a three-phase current to flow through a three-phase winding, and a control device that controls the field converter and the inverter. To be equipped. The control device controls according to the torque command value of the rotary motor, and in the control, the three-phase alternating current (three-phase current, three-phase voltage) of the three-phase winding in the fixed coordinate system is controlled by the dq axis (dq) in the rotational coordinate system. It is generally handled by converting it into shaft current (shaft current, dq shaft voltage).

In Patent Document 1, three phases are described in the period from when the field current starts to flow through the field winding until when the field current increases and reaches the target value, rather than the timing when the field current starts to flow. A controller for a rotating electric machine is disclosed, which delays the timing of increasing the d-axis current of the winding in the negative direction and then sharply increases the d-axis current in the negative direction. According to this configuration, the time required for the field current to reach the target value can be shortened, and the torque of the rotary electric machine can be quickly increased.

Japanese Unexamined Patent Publication No. 2016-59152

By the way, if the field current flowing through the field winding is reduced and the current flowing through the field converter is reduced, a switching element having a small current capacity can be used as the switching element constituting the field converter, thus reducing the cost. Become. However, in this case, since the current flowing through the field winding is small, it is necessary to increase the number of turns (also referred to as the number of turns) of the field winding in order to generate a desired magnetic flux from the field winding. When the number of turns of the field winding is large, the self-inductance of the field winding and the mutual inductance between the three-phase winding become high, so that it takes a long time for the field current to reach the target value. , It takes a long time for the torque of the rotary motor to reach the torque command value.

Even when the number of turns of the field winding is large, it is desired to control the rotary motor so that the torque of the rotary motor can quickly reach the torque command value.

An object of the present invention is to quickly bring the torque of a rotary motor to a torque command value.

The control device for a rotary motor of the present invention is applied to a rotary motor including a field winding and a three-phase winding, and is applied to a field converter for passing a field current through the field winding and three to the three-phase winding. A control device that controls an inverter that flows a phase current, a torque estimation unit that acquires a torque estimation value of the rotary motor based on the field current and a dq-axis current corresponding to the three-phase current, and the torque. A correction value calculation unit that calculates the torque command correction value by proportionally integrating and controlling the deviation between the estimated value and the torque command value of the rotary motor, and the corrected torque command value obtained by adding the torque command correction value and the torque command value. A field command value setting unit that sets the field current command value and the dq axis current command value based on the above, and a field converter control that controls the switching element of the field converter based on the field current command value. It is characterized by including a unit and an inverter control unit that controls a switching element of the inverter based on the dq-axis current command value.

According to this configuration, in addition to the torque command value, the field current command value and the dq axis current command value are set in consideration of the deviation between the torque estimated value (current torque estimated value) and the torque command value of the rotary motor. Therefore, the torque of the rotary motor can reach the torque command value in a shorter time than when the field current command value and the dq axis current command value are set based only on the torque command value. For example, when the torque command value increases sharply, the deviation between the torque estimate value and the torque command value becomes large, so the field current command value and the dq axis current command value are set based only on the torque command value. Compared to the case where the field current command value and the dq-axis current command value (when the rotary motor is an SPM (surface magnet type motor) and the d-axis current is controlled at 0 A, the q-axis current command value, hereinafter, The same) is set to a large value in this paragraph, and the torque can reach the torque command value in a shorter time. At this time, even if the field current command value reaches the maximum value, the dq-axis current command value is set large, so that the torque can be increased quickly. Further, even when the number of turns of the field winding is large and the time required for the field current to reach the field current command value is long, the dq axis current (the rotary motor is SPM (surface magnet type motor)). Yes When the d-axis current is controlled at 0 A, the q-axis current) increases, so the torque increases rapidly.

In the control device for the rotary motor of the present invention, the rotary motor is selectively applied with PWM control and square wave control according to torque and rotation speed, and the correction is made when PWM control is applied to the rotary motor. When the switching elements of the field converter and the inverter are controlled based on the rear torque command value and the square wave control is applied to the rotary motor, the field converter and the field converter and the field converter based on the torque command value. The switching element of the inverter may be controlled.

Further, the control device for the rotary motor of the present invention is applied to a rotary motor including a field winding and a three-phase winding, and is a field converter for passing a field current through the field winding and the three-phase winding. A control device that controls an inverter that flows a three-phase current to a torque estimation unit that acquires a torque estimation value of the rotary motor based on the field current and the dq-axis current corresponding to the three-phase current. , The correction value calculation unit that calculates the d-axis current command correction value by proportionally integrating and controlling the deviation between the torque estimation value and the torque command value of the rotary motor, and the field current command value based on the torque command value. , The current command value setting unit for setting the d-axis current command value and the q-axis current command value, the corrected d-axis current command value obtained by adding the d-axis current command correction value and the d-axis current command value, and the above. An inverter control unit that controls the switching element of the inverter based on the q-axis current command value, and a field converter control unit that controls the switching element of the field converter based on the field current command value. It is characterized by having.

According to this configuration, in addition to the d-axis current command value, the inverter is based on the corrected d-axis current command value that takes into account the deviation between the torque estimate value (current torque estimate value) of the rotary motor and the torque command value. Since it is controlled, the torque of the rotary motor can reach the torque command value in a shorter time than when the inverter is controlled based on the d-axis current command value in which the deviation is not taken into consideration.

In the control device for the rotary motor of the present invention, the PWM control and the square wave control are selectively applied to the rotary motor according to the torque and the rotation speed, and the PWM control is applied to the rotary motor. The switching element of the inverter is controlled based on the corrected d-axis current command value, and when the square wave control is applied to the rotary motor, the switching element of the inverter is controlled based on the torque command value. , May be.

In the control device for the rotary motor of the present invention, the field converter includes a first arm and a second arm connected between a pair of bus wires to which the voltage of the battery is directly or boosted and applied. Each of the 1st arm and the 2nd arm is configured by connecting two switching elements in series, and one end of the field winding is connected between the two switching elements of the 1st arm. The other end of the second arm may be connected between the two switching elements of the second arm.

According to the present invention, the torque of the rotary motor can be quickly reached to the torque command value.

It is a circuit diagram of the rotary motor system which concerns on embodiment. It is a block diagram of a part of the control device of the rotary motor which concerns on embodiment. It is a block diagram of a part of the control device of the rotary motor which concerns on embodiment. It is a figure which shows each sensor detection value with respect to the torque command value in the control which concerns on embodiment. It is a figure which shows the graph of the period tw of FIG. 3A enlarged. It is a figure which shows each sensor detection value with respect to the torque command value in the control of the prior art. It is a figure which shows the graph of the period tw of FIG. 4A enlarged. It is a figure which shows each sensor detection value with respect to the torque command value in the control of Patent Document 1. FIG. It is a figure which shows the graph of the period tw of FIG. 5A enlarged. It is a block diagram of a part of the control device of the rotary motor which concerns on another embodiment. It is a block diagram of a part of the control device of the rotary motor which concerns on another embodiment. It is a figure which shows each sensor detection value with respect to the torque command value in the control which concerns on another embodiment. It is a figure which shows the graph of the period tw of FIG. 7A enlarged. It is a figure which shows an example of the torque characteristic when the field current is 0A. It is a figure which shows an example of the torque characteristic when the field current is 1/2 of the maximum value. It is a figure which shows an example of the torque characteristic at the time of the maximum value of a field current. It is a circuit diagram of another rotary motor system. It is a figure for demonstrating the control mode of a rotary motor.

Hereinafter, each embodiment of the present invention will be described in detail with reference to the accompanying drawings. The configuration described below is an example for explanation, and can be appropriately changed according to the specifications of the rotary motor system and the like. Similar elements are designated by the same reference numerals in all drawings, and duplicate description will be omitted. Further, when a plurality of embodiments and modifications are included in the following, it is assumed from the beginning that those characteristic portions are used in appropriate combinations.

FIG. 1 is a circuit diagram of the rotary motor system 10 according to the present embodiment. The rotary motor system 10 includes a battery 14 (also referred to as a DC power supply), capacitors 17 and 22, a boost converter 18, a field converter 24, an inverter 26, a rotary motor 30, and a control device 12.

The rotary motor 30 includes a stator and a rotor, and the stator applies torque to the rotor by the interaction between the field winding 34, which passes a direct current (also called a field current) that creates a field in the rotor, and the field. It includes a three-phase winding 32 (also referred to as an armature winding) through which an alternating current (also referred to as a three-phase current) to be generated flows. The field winding 34 generates a field magnetic flux, and the three-phase winding 32 generates a rotating magnetic field. Although it is assumed here that the stator is provided with the field winding 34, the rotor or a member around the rotor may be provided with the field winding 34. The rotary motor 30 of this embodiment is an SPM (surface magnet type motor).

As shown in FIG. 1, the capacitor 17 and the boost converter 18 are connected in parallel with the battery 14. The battery 14 is a power source for the rotary motor 30. The boost converter 18 is supplied with power from the battery 14 and makes the voltage between the bus 28a and 28b variable. A capacitor 22, a field converter 24, and an inverter 26 are connected between the buses 28a and 28b. The field converter 24 passes a field current if through the field winding 34, and the inverter 26 passes a three-phase current through the three-phase winding 32 of the rotary motor 30. The control device 12 controls the boost converter 18, the field converter 24, and the inverter 26.

The boost converter 18 includes an arm A0 in which two switching elements Su1 and Su2 are connected in series, and a reactor 20. Diodes are connected in parallel to both ends of the switching elements Su1 and Su2. The arm A0 of the boost converter 18 is connected between the bus bars 28a and 28b, one end of the reactor 20 is connected to the midpoint between the two switching elements Su1 and Su2 of the arm A0, and the other end of the reactor 20 is the battery 14. It is connected to the positive side (positive electrode) of. The control device 12 boosts the output voltage vb of the battery 14 by controlling the on / off of the two switching elements Su1 and Su2 of the boost converter 18, and applies a voltage vc between the bus bars 28a and 28b. The ratio of the voltage vc to the voltage vb (boosting ratio) changes depending on the on / off period of the switching elements Su1 and Su2.

The field converter 24 includes a first arm A11 in which two switching elements S1 and S2 are connected in series, and a second arm A12 in which two switching elements S3 and S4 are connected in series. Diodes are connected in parallel to both ends of the switching elements S1, S2, S3, and S4 so that a current in the direction opposite to the current direction of the switching elements S1, S2, S3, and S4 flows. The first arm A11 and the second arm A12 are connected between the bus lines 28a and 28b. One end of the field winding 34 is connected to the midpoint a between the two switching elements S1 and S2 of the first arm A11, and the other end of the field winding 34 is the two switching elements S3 of the second arm A12. It is connected to the midpoint bp between S4. The field converter 24 having this configuration is also referred to as an H-arm converter. A current sensor 40 is provided in the current path of the field current if. The detected value of the field current if detected by the current sensor 40 (hereinafter, also referred to as the field current detected value if) is transmitted to the control device 12.

When the switching elements S1 and S4 of the field converter 24 are turned on and S2 and S3 are turned off, the ap point is electrically connected to the bus 28a (positive side) and the bp point is electrically connected to the bus 28b (negative side). Is connected. Therefore, the potential at the ap point is higher by vc than the potential at the bp point (potential at the ap point> potential at the bp point), and a positive voltage vc is applied to the field winding 34. The field current if flows from the ap point to the bp point, and a current in the positive direction (direction indicated by the solid arrow of if shown in FIG. 1) flows through the field winding 34.

On the other hand, when the switching elements S1 and S4 of the field converter 24 are turned off and S2 and S3 are turned on, the bp point is electrically connected to the bus 28a (positive side) and the ap point is the bus 28b (negative side). Is electrically connected to. Therefore, the potential at the bp point is higher by vc than the potential at the ap point (potential at the bp point> potential at the ap point), and a negative voltage vc (−vc) is applied to the field winding 34. The field current if flows from the bp point to the ap point, and a current flows in the field winding 34 in the negative direction (the direction opposite to the direction indicated by the solid arrow of if shown in FIG. 1).

The control device 12 uses the gate signals GS1, GS2, GS3, and GS4 of the switching elements S1, S2, S3, and S4 of the field converter 24 to set the period t1 in which S1 and S4 are on and S2 and S3 are off. , S1 and S4 are off and S2 and S3 are on, and the ratio df (= t1 / t2, also referred to as duty ratio df) with t2 is controlled. As a result, the control device 12 sets the field current if to 0 (A) and controls the magnitudes of the currents in the positive and negative directions of the field current if.

The inverter 26 is a three-phase inverter. Specifically, the inverter 26 includes a U-phase arm B1, a V-phase arm B2, and a W-phase arm B3 connected between the bus lines 28a and 28b. Two switching elements Sa and Sb are connected in series to each arm B1, B2 and B3, and a diode is connected to both ends of each switching element Sa and Sb so that a current in a direction opposite to the current direction of each switching element flows. Are connected in parallel. The three-phase winding 32 includes a U-phase winding through which a U-phase current flows, a V-phase winding through which a V-phase current flows, and a W-phase winding through which a W-phase current flows. In FIG. 1, the U-phase winding, the V-phase winding, and the W-phase winding are designated by u, v, and w, respectively. The control device 12 controls the three-phase current of the three-phase winding 32 by controlling the on / off of each switching element of the inverter 26. In FIG. 1, the winding of each phase of the three-phase winding 32 is shown in a simplified manner, and only one is used for each phase. However, in reality, a plurality of windings are connected in series in each phase. To.

One end of the U-phase winding is connected to the midpoint between the switching elements Sa and Sb of the U-phase arm B1. One end of the V-phase winding is connected to the midpoint between the switching elements Sa and Sb of the V-phase arm B2. One end of the W-phase winding is connected to the midpoint between the switching elements Sa and Sb of the W-phase arm B3. The other ends of the U-phase winding, the V-phase winding and the W-phase winding are commonly connected at the neutral point G.

The current iu flowing in the U-phase winding is detected by the current sensor 38u, the detected value is transmitted to the control device 12, and the current iv flowing in the V-phase winding is detected by the current sensor 38v, and the detected value is controlled. It is transmitted to the device 12. Since the windings of each phase of the three-phase windings are commonly connected at the neutral point G, the sum of the currents iu, iv, and iw flowing through the windings of each phase becomes zero. Therefore, the control device 12 Can acquire the current iwa flowing through the W-phase winding from the detected values iu and iv.

The rotary motor 30 is provided with a rotary angle sensor 36 (for example, a resolver). The rotation angle position (hereinafter referred to as rotation angle) θe of the rotor detected by the rotation angle sensor 36 is sent to the control device 12.

Based on the generated or input torque command value, the control device 12 of the switching elements Su1 and Su2 of the boost converter 18 and the gate signals GSu1 and GSu2 of the boost converter 18 and the switching elements S1, S2, S3 and S4 of the field converter 24. The gate signals GS1, GS2, GS3, GS4 and the gate signal GI of the switching element of the inverter 26 (here, the gate signals of the six switching elements of the inverter 26 are collectively indicated by the reference numeral GI) are generated. The torque command value is derived from the accelerator opening degree and the vehicle speed by referring to a map or the like in the control device 12, for example, when the rotary motor system 10 is mounted on the vehicle. The unit including the boost converter 18, the field converter 24, the inverter 26, and the control device 12 is called a power control unit (PCU).

2A and 2B are block diagrams of the control device 12. In FIGS. 2A and 2B, the generation circuits of the gate signals GSu1 and GSu2 of the boost converter 18 are omitted. As shown in FIG. 2A, the control device 12 has band stop filters (also referred to as BSF) 80a, 80b, 80c and BSF 80a, 80b, 80c to which the dq axis current id, iq and the field current if are input, respectively. The torque estimation unit 82 that acquires the torque estimation value Test of the rotary motor 30 based on the passed dq axis currents id_bsf, iq_bsf and the field current if_bsf, and the torque estimation value Test are proportional to the deviation of the torque command value Tr of the rotary motor 30. A correction value calculation unit 100 that calculates the torque command correction value Tco by integral control, and an adder 84b that adds the torque command correction value Tco and the torque command value Tr and outputs the corrected torque command value Trc are provided. The dq-axis currents id and iq are the detected values (acquired values for the w phase) of the three-phase current in the fixed coordinate system by the control device 12 using the rotation angle θe of the rotating motor 30 (rotor), iu, iv, and iwa. Is converted to a value on the dq axis in the rotating coordinate system. Hereinafter, the dq-axis current id and iq are also referred to as dq-axis current detection values id and iq.

Further, as shown in FIG. 2B, the control device 12 includes a field command value setting unit 102 that sets the field current command value ifr and the dq axis current command values idr and iqr based on the corrected torque command value Trc, and a field. The field converter control unit 104 that generates the gate signals GS1, GS2, GS3, and GS4 of the switching elements S1, S2, S3, and S4 of the field converter 24 based on the magnetic current command value ifr, and the dq-axis current command value. An inverter control unit 106 that generates a gate signal GI of the switching element of the inverter 26 based on idr and qr is provided.

BSF80a, 80b, 80c shown in FIG. 2A are the sixth and twelfth harmonic frequencies of the three-phase current flowing through the three-phase winding 32 from the dq-axis current detection values id and iq and the field current detection value if, respectively. The harmonic component (order of multiplication of 6) is removed. The reason for removing the 6th and 12th order components in this way is that in the rotary motor 30, the component of the order of multiplication of 6 of the fundamental wave frequency of the three-phase current is the dq axis current detection values id, iq and field current detection. This is because it tends to appear in the value if, and if these components appear in the dq-axis current detection values id, iq and the field current detection value if, the torque estimation unit 82 may not be able to accurately perform the torque estimation process. .. The BSF 80a, 80b, and 80c may also have a configuration in which harmonic components having a multiplication order of 6 (18th, 24th, etc.) other than the 6th and 12th orders are also removed. Further, for example, when the harmonic component is difficult to appear, BSF80a, 80b, 80c may be omitted.

The torque estimation unit 82 receives the dq-axis current detection values id_bsf, iq_bsf and the field current detection values if_bsf from which the harmonic components have been removed. Hereinafter, in the description of the torque estimation unit 82, the “_bsf” of id_bsf, iq_bsf and if_bsf will be omitted and will be referred to as id, iq and if. The torque estimation unit 82 includes a torque estimation map that defines the torque estimation value Test for the dq-axis current detection value id, iq and the field current detection value if. The torque estimation unit 82 acquires the torque estimation value Test corresponding to the received dq-axis current detection values id, iq and field current detection value if using the torque estimation map. The torque estimation value Test is an estimation of the torque value of the current rotary motor 30. The torque estimation unit 82 may acquire the torque estimation value Test by using the torque estimation formula instead of the torque estimation map. The torque estimation formula (Equation 1) is shown below.

In the torque estimation formula (Equation 1), P is the number of pole pairs of the rotary motor 30, Φmg is the armature interlinkage magnetic flux, Mf is the mutual inductance of the field winding 34 and the three-phase winding 32, and Ld is the d-axis. Inductance is indicated by Lq, and q-axis inductance is indicated by Lq.

The correction value calculation unit 100 includes an adder 84a and a PI controller 86 (also referred to as a proportional integration controller). The correction value calculation unit 100 receives the torque estimation value Test from the torque estimation unit 82, calculates the deviation between the torque estimation value Test and the torque command value Tr of the rotary motor 30 by the adder 84a, and calculates this deviation by the PI controller 86. The torque command correction value Tco is calculated by proportional integration control. Here, the torque command correction value Tco takes a positive or negative value. Then, the torque command correction value Tco and the torque command value Tr are added by the adder 84b, and the corrected torque command value Trc is acquired.

The current command value setting unit 102 shown in FIG. 2B receives the corrected torque command value Trc. The current command value setting unit 102 includes a current command map 60 that defines dq-axis current command values idr, iqr and field current command value ifr with respect to the corrected torque command value Trc. The current command value setting unit 102 uses the current command map 60 to acquire the dq-axis current command values idr, iqr and the field current command value ifr corresponding to the received corrected torque command value Trc. That is, the dq-axis current command values idr, iqr and the field current command value ifr are set based on the corrected torque command value Trc.

The inverter control unit 106 receives dq-axis current command values idr and qr. The inverter control unit 106 includes a plurality of adders 62a, 62b, 62c, 62d, two PI controllers (proportional integration controllers) 64a, 64b, a non-interfering controller 66, and a dq-axis-3 phase converter. 68 and PWM 70a are provided. The inverter control unit 106 calculates the error between the d-axis current command value idr and the d-axis current detection value id with the adder 62a, and performs proportional integration control with the PI controller 64a so that this error approaches zero, and d. The shaft voltage command value vdr is calculated. Similarly, the inverter control unit 106 calculates the error between the q-axis current command value iqr and the q-axis current detection value iq with the adder 62c, and performs proportional integration control with the PI controller 64b so that this error approaches zero. Then, the q-axis voltage command value vqr is calculated. Next, the inverter control unit 106 uses the non-interference controller 66 and the adders 62b and 62d so as to eliminate the error due to the interference between the windings of the rotary motor 30, and the dq axis voltage command values vdr and vqr. To adjust. Then, in the dq-axis-3 phase converter 68, the inverter control unit 106 uses the rotation angle θe of the rotary motor 30 (rotor) to set the dq-axis voltage command values vdr and vqr in the rotating coordinate system to three in the fixed coordinate system. It is converted into the phase voltage command values vur, vvr, and vwr. Then, in PWM70a, the gate signal GI of each switching element of the inverter 26 is generated based on the three-phase voltage command values vur, vvr, and vwr.

Further, the field converter control unit 104 receives the field current command value ifr. The field converter control unit 104 includes an adder 62e, a PI controller (proportional integration controller) 64c, and a PWM 70b. The field converter control unit 104 calculates the error between the field current command value ifr and the field current detection value if with the adder 62e, and proportionally integrates control with the PI controller 64c so that this error approaches zero. To set the field voltage command value vfr. Then, in the PWM70b, the field converter control unit 104 sets the gate signals GS1, GS2, GS3, and GS4 of the switching elements S1, S2, S3, and S4 of the field converter 24 based on the field voltage command value vfr. Generate.

The gate signals GSu1 and GSu2 of the switching elements Su1 and Su2 of the boost converter 18 can be generated by a conventionally known method. In the present embodiment, the command value of the boost converter 18 can be set based on the corrected torque command value Trc, and the gate signals GSu1 and GSu2 of the boost converter 18 can be generated based on the command value.

Next, the operation of the rotary motor system 10 of the present embodiment configured as described above will be introduced. FIG. 3A is a diagram showing each sensor detection value with respect to the torque command value of the rotary motor system 10 of the present embodiment, and FIG. 3B is a diagram showing an enlarged graph of the period tw shown in FIG. 3A. In each of the graphs of FIGS. 3A and 3B, the broken line indicates the command value and the solid line indicates the sensor detection value. The horizontal axis of each graph in FIG. 3A is the same time axis in each graph in the same figure, and the horizontal axis of each graph in FIG. 3B is also the same time axis in each graph in the same figure. In FIG. 3A, in order from the top, a graph of the d-axis current command value idr (broken line) and the d-axis current detection value id (solid line), the q-axis current command value iqr (broken line), and the q-axis current detection value iq (solid line) ), Field current command value ifr (broken line) and field current detection value if (solid line) graph, field voltage detection value (solid line) graph, torque command value Tr (broken line) and torque detection value T ( The solid line) graph is shown. The field voltage is a voltage applied to the field winding 34. Further, in FIG. 3B, in order from the top, a graph of the enlarged field current command value ifr (broken line) and the field current detection value if (solid line), the enlarged torque command value Tr (broken line) and torque detection are shown. A graph of the value T (solid line) is shown. In FIG. 3A, the torque command value (see the graph at the bottom) is increased from 0 to a predetermined value, the torque command value is maintained at the predetermined value for a while, and then the torque command value is returned to 0 again. It is shown.

As shown in FIG. 3A, since the rotary motor 30 is an SPM (surface magnet type motor), the d-axis current command value idr (broken line) is set to 0 (A). When the torque command value rises sharply from 0 to a predetermined value, the q-axis current command value rises sharply and greatly, and the field voltage also rises sharply and reaches the maximum voltage only during the period of t1. Further, when the torque command value drops sharply from a predetermined value to 0, the field voltage drops sharply and becomes the maximum voltage (maximum voltage in the negative direction) only during the period of t2. Here, referring to FIG. 3B and paying attention to the time when the torque command value suddenly rises from 0 to a predetermined value, the responsiveness of the field current detection value if (solid line) to the field current command value ifr (broken line) is not so great. not good. Even though the field voltage is applied at the maximum voltage, the responsiveness is not very good. This is because, for example, the number of turns of the field winding 34 is large, so that the self-inductance of the field winding 34 and the mutual inductance of the three-phase winding 32 are high. On the other hand, the responsiveness of the torque detection value T (solid line) to the torque command value Tr (broken line) is very good. The torque (torque detection value) quickly follows the torque command value. This is due to the fact that the q-axis current command value iqr and the q-axis current detection value iq (see FIG. 3A) rise sharply and greatly. In addition to the torque command value Tr, the field current command value ifr and the dq axis current command values idr and iqr are calculated in consideration of the deviation between the torque estimate value Test (current torque estimate value) and the torque command value Tr of the rotary motor 30. Since it is set, the q-axis current command value iqr rises sharply and greatly in this way.

Here, the present embodiment and the prior art will be compared. In the prior art, the torque command value Tr is input to the current command value setting unit 102 (see FIG. 2B) of the present embodiment instead of the corrected torque command value Trc. That is, in the prior art, the dq-axis current command values idr, iqr and the field current command value if are set based on the torque command value Tr. 4A and 4B are diagrams showing each sensor detection value with respect to the torque command value of the rotary motor system of the prior art, and those corresponding to the graphs of FIGS. 3A and 3B are shown. As shown in FIG. 4A, when the torque command value rises sharply from 0 to a predetermined value, the q-axis current command value rises sharply, and the field voltage also rises sharply to reach the maximum voltage only during the period of t1. Further, when the torque command value drops sharply from a predetermined value to 0, the field voltage drops sharply and becomes the maximum voltage (maximum voltage in the negative direction) only during the period of t2. This is similar to the embodiment of the present invention in FIG. 3A. However, in the prior art, since the q-axis current command value iqr is set based on the torque command value Tr, the rise amount of the q-axis current command value iqr is smaller than that of the embodiment of the present invention, and the q-axis current command value iqr is set. The rising amount of the detected value iq is small. Therefore, as shown in FIG. 4B, the responsiveness of the torque detection value T (solid line) to the torque command value Tr (broken line) is very poor as compared with the embodiment of the present invention.

According to the rotary motor control device 12 according to the embodiment of the present invention described above, in addition to the torque command value Tr, the deviation between the torque estimated value Test (current torque estimated value) of the rotary motor 30 and the torque command value Tr. The field current command values ifr and the dq axis current command values idr and iqr are set in consideration of the above factors. Therefore, the field current command values ifr and the dq axis current command values idr and iqr are set based only on the torque command value Tr. The torque of the rotary motor 30 can reach the torque command value Tr in a shorter time than in the case where the torque command value is increased. When the torque command value Tr increases sharply, the deviation between the torque estimate value Test and the torque command value Tr becomes large. Therefore, the field current command value ifr and the dq axis current command value are based only on the torque command value Tr. Compared to the case where idr and iqr are set, the field current command value ifr and the dq-axis current command value idr and iqr (q-axis current command value when the d-axis current is controlled at 0A) are set larger. , The torque can reach the torque command value Tr in a shorter time. At this time, even if the field current command value ifr reaches the maximum value, the dq-axis current command values idr and iqr (q-axis current command value when the d-axis current is controlled at 0 A) are set large. , The torque can be increased quickly. Further, even when the number of turns of the field winding 34 is large and the time until the field current if reaches the field current command value ifr is long, the dq-axis current id and iq (d-axis current id) When controlled at 0A, the q-axis current iq) becomes large, so that the torque increases rapidly. Further, since the dq-axis currents id and iq are feedback-controlled by the PI controller, the dq-axis currents id and iq do not increase unnecessarily.

Here, the operation of the rotary motor system of Patent Document 1 will be introduced. 5A and 5B are diagrams showing each sensor detection value with respect to the torque command value of the rotary motor system of Patent Document 1, and those corresponding to the graphs of FIGS. 3A and 3B are shown. The rotary motor system of Patent Document 1 causes a d-axis current to flow according to a torque command value, and delays the timing of increasing the d-axis current with respect to the timing of starting to flow the field current if. As shown in FIG. 5B, it can be seen that the configuration of Patent Document 1 is also inferior in the responsiveness of the torque detection value T (solid line) to the torque command value Tr (broken line) as compared with the embodiment of the present invention. From this result, it can be understood that the configuration of the embodiment of the present invention is excellent.

In the embodiment of the present invention described above, the rotary motor 30 was an SPM. However, the rotary motor 30 may be an IPM (embedded magnet type motor). In this case, the d-axis current command value idr is not fixed to 0A, and various d-axis current command values idr are set based on the corrected torque command value Trc.

Next, the control device 12 of another embodiment will be described. 6A and 6B are block diagrams of the control device 12 of another embodiment. The difference between the control devices of FIGS. 2A and 2B and the control devices of FIGS. 6A and 6B described above is the configuration of the correction value calculation unit 120, the current command value setting unit 122, and the inverter control unit 126. Has the same configuration. In the control devices of FIGS. 6A and 6B, the torque command value Tr is not corrected, but the d-axis current command value idr is corrected.

The correction value calculation unit 120 shown in FIG. 6A includes an adder 94 and a PI controller 96 (proportional integration controller). The correction value calculation unit 120 receives the torque estimation value Test from the torque estimation unit 82, calculates the deviation between the torque estimation value Test and the torque command value Tr of the rotary motor 30 by the adder 94, and calculates this deviation by the PI controller 96. The d-axis current command correction value idco is calculated by proportional integration control. Here, the d-axis current command correction value idco takes a positive or negative value.

The current command value setting unit 122 shown in FIG. 6B sets the dq-axis current command values idr, iqr and the field current command value ifr based on the torque command value Tr. The inverter control unit 126 of the inverter 26 is based on the corrected d-axis current command value idrc obtained by adding the d-axis current command correction value idco and the d-axis current command value idr with the adder 98 and the q-axis current command value iqr. A gate signal GI for each switching element is generated.

7A and 7B are diagrams showing each sensor detection value with respect to the torque command value of the rotary motor system including the control device of this other embodiment, and those corresponding to the graphs of FIGS. 3A and 3B are shown. There is. The graph shown at the top of FIG. 7A is a graph of the corrected d-axis current command value idrc (broken line) and the d-axis current detection value id (solid line). As shown in FIG. 7A, when the torque command value rises sharply from 0 to a predetermined value, the corrected d-axis current command value and the q-axis current command value rise sharply, and the field voltage also rises sharply during the period of t1. Is the maximum voltage. Further, when the torque command value drops sharply from a predetermined value to 0, the field voltage drops sharply and becomes the maximum voltage (maximum voltage in the negative direction) only during the period of t2. As shown in FIG. 7B, it can be seen that the responsiveness of the torque detection value (solid line) to the torque command value (broken line) is also good in this other embodiment.

According to the control device of another embodiment described above, in addition to the d-axis current command value inverter, the deviation between the torque estimated value Test (current torque estimated value) of the rotary motor 30 and the torque command value Tr is taken into consideration. Since the inverter 26 is controlled based on the corrected d-axis current command value idrc, the time required for the inverter 26 to be shorter than that in the case where the inverter 26 is controlled based on the d-axis current command value idr in which the deviation is not taken into consideration. The torque of the rotary motor can reach the torque command value Tr.

By the way, there is a rotary motor (variable field motor) in which the relationship between the d-axis current and the torque changes depending on the magnitude of the field current. 8A to 8C are diagrams showing an example of torque characteristics of such a rotary motor. FIG. 8A is a diagram showing the relationship between the dq-axis current and the torque when the field current is 0A, and FIG. 8B is a diagram showing the relationship between the dq-axis current and the torque when the field current is 1/2 of the maximum value. FIG. 8C is a diagram showing the relationship between the dq-axis current and the torque when the field current is the maximum value. In FIGS. 8A to 8C, the horizontal axis is the d-axis current (indicating that the negative current is larger toward the left end with the right end as 0), and the vertical axis is the q-axis current (the positive current is larger toward the upper end with the lower end as 0). The gray scale indicates the magnitude of torque. On the right side of each of FIGS. 8A to 8C, the magnitude relationship between the shade of gray scale and the torque is shown. The light color indicates the torque value near the center, and the dark color indicates the torque value near the minimum or maximum. Shown. FIG. 8A (field current = 0A) shows that the torque increases as the q-axis current increases (from the lower end to the upper end of the figure), and the torque in the TDR range shown in the figure is increased. Is shown to be output. FIG. 8B (field current = maximum value / 2) also shows that the torque increases as the q-axis current increases (from the lower end to the upper end of the figure). It is shown that the torque value in the range is output. FIG. 8C (field current = maximum value) also shows that the torque increases as the q-axis current increases (from the lower end to the upper end of the figure), and is within the range of TMR shown in the figure. It is shown that torque is output.

Focusing on FIGS. 8A and 8B, the torque increases as the negative current of the d-axis current becomes smaller (closer to 0). On the other hand, focusing on FIG. 8C, the torque hardly changes depending on the d-axis current, or the torque increases as the negative current of the d-axis current increases (the distance from 0). In this way, the relationship between the d-axis current and torque changes depending on the magnitude of the field current. In such a rotary motor, the torque cannot be made to follow the torque command value quickly even if the configuration of Patent Document 1 and another embodiment of the present invention (the configuration of controlling the torque by the d-axis current) is used. On the other hand, according to the first embodiment of the present invention (control devices of FIGS. 2A and 2B), even in such a rotary motor, the torque can be quickly made to follow the torque command value. Although FIGS. 8A to 8C show a rotary motor designed to allow the d-axis current to flow in the negative direction, the rotary motor is designed to allow the d-axis current to flow in both the positive and negative directions, and the magnitude of the field current is large or small. Even in a rotary motor whose relationship between the d-axis current and the torque changes depending on the method, according to the control devices of FIGS. 2A and 2B, the torque can be quickly made to follow the torque command value.

Next, a configuration applicable to the rotary motor system of the present invention will be described. The rotary motor system 10 (see FIG. 1) described above has a configuration including a boost converter 18. However, as shown in FIG. 9, the rotary motor system 90 may be a rotary motor system 90 in which the output voltage vb of the battery 14 is applied between the bus bars 28a and 28b without including the boost converter 18. That is, the voltage vc between the pair of busbars 28a and 28b to which the arm of the field converter 24 and the inverter 26 are connected may be the output voltage vb of the battery 14 (vc = vb).

Further, in the rotary motor systems 10 and 90 described above, the field converter 24 is an H-arm converter. However, the field converter 24 is not limited to the H-arm converter, and other configurations may be adopted as appropriate.

Further, as shown in FIG. 10, the sine wave PWM control (sine wave PWM mode) is applied to the rotary motor in order to reduce the torque fluctuation in the low rotation speed region a1, and the rotary motor is applied to the rotary motor in the high rotation speed region a3. It is known that a rectangular wave control (rectangular mode) capable of increasing the applied effective voltage is applied, and an overmodulation PWM control (overmodulation PWM mode) is applied in the intermediate rotation speed region a2. This is applied to the rotary motor by switching the control mode according to the operating conditions (torque and rotational speed) of the rotary motor. When the square wave control is applied to the rotary motor, the inverter 26 is in a state of outputting almost the maximum voltage. Therefore, even if each embodiment of the present invention described above is applied, the torque response Sex may not improve. Therefore, the rotary motor may be controlled as follows. When PWM control (including sinusoidal PWM control and overmodulation PWM control, the same applies hereinafter) is applied to the rotary motor, the switching elements of the field converter and inverter are controlled based on the corrected torque command value Trc (the same applies hereinafter). (Adopting the configuration of FIG. 2B), when the square wave control is applied to the rotary motor, the switching elements of the field converter and the inverter are controlled based on the torque command value Tr (the configuration of the prior art is adopted). .. Note that "controlling the switching elements of the field converter and the inverter based on the torque command value Tr" means controlling the switching elements of the field converter and the inverter without using the corrected torque command value Trc. Means. Further, the rotary motor may be controlled as follows. When PWM control is applied to the rotary motor, the switching element of the inverter is controlled based on the corrected d-axis current command value idrc (the configuration of FIG. 6B is adopted), and the square wave control is applied to the rotary motor. In this case, the switching element of the inverter may be controlled based on the torque command value Tr (the configuration of the prior art may be adopted). Note that "controlling the switching element of the inverter based on the torque command value Tr when the square wave control is applied to the rotary motor" means switching the inverter without using the corrected d-axis current command value idrc. It means controlling the element.

10,90 rotary motor system, 12 controller, 14 battery, 17,22 condenser, 18 boost converter, 20 reactor, 24 field converter, 26 inverter, 28a, 28b bus, 30 rotary motor, 32 armature winding ( Three-phase winding), 34 field winding, 36 rotation angle sensor, 38u, 38v, 40 current sensor, 60 current command map, 62a, 62b, 62c, 62d, 60e adder, 64a, 64b, 64c PI controller , 66 non-interfering controller, 68 dq axis 3-phase converter, 70a, 70b PWM, 80a, 80b, 80c band stop filter (BSF), 82 torque estimator, 84a, 84b adder, 86 PI controller, 94,98 adder, 96 PI controller, 100, 120 correction value calculation unit, 102, 122 current command value setting unit, 104 field converter control unit, 106, 126 inverter control unit, S1, S2, S3, S4 , Sa, Sb, Su1, Su2 switching element, A0 arm, A11 1st arm, A12 2nd arm, B1 U phase arm, B2 V phase arm, B3 W phase arm.

Claims (5)

A control device applied to a rotary motor equipped with a field winding and a three-phase winding to control a field converter that flows a field current through the field winding and an inverter that flows a three-phase current through the three-phase winding. And
A torque estimation unit that acquires a torque estimation value of the rotary motor based on the field current and the dq-axis current corresponding to the three-phase current.
A correction value calculation unit that calculates the torque command correction value by proportionally integrating and controlling the deviation between the torque estimation value and the torque command value of the rotary motor.
A current command value setting unit that sets the field current command value and the dq-axis current command value based on the corrected torque command value obtained by adding the torque command correction value and the torque command value.
A field converter control unit that controls the switching element of the field converter based on the field current command value, and a field converter control unit.
An inverter control unit that controls a switching element of the inverter based on the dq-axis current command value is provided.
A control device for a rotary motor, which is characterized by this. The control device for a rotary motor according to claim 1.
PWM control and square wave control are selectively applied to the rotary motor according to torque and rotation speed.
When PWM control is applied to the rotary motor, the field converter and the switching element of the inverter are controlled based on the corrected torque command value.
When the square wave control is applied to the rotary motor, the switching elements of the field converter and the inverter are controlled based on the torque command value.
A control device for a rotary motor, which is characterized by this. A control device applied to a rotary motor equipped with a field winding and a three-phase winding to control a field converter that flows a field current through the field winding and an inverter that flows a three-phase current through the three-phase winding. And
A torque estimation unit that acquires a torque estimation value of the rotary motor based on the field current and the dq-axis current corresponding to the three-phase current.
A correction value calculation unit that calculates the d-axis current command correction value by proportionally integrating and controlling the deviation between the torque estimation value and the torque command value of the rotary motor.
A current command value setting unit that sets a field current command value, a d-axis current command value, and a q-axis current command value based on the torque command value, and a current command value setting unit.
An inverter control unit that controls the switching element of the inverter based on the corrected d-axis current command value obtained by adding the d-axis current command correction value and the d-axis current command value, and the q-axis current command value.
A field converter control unit that controls a switching element of the field converter based on the field current command value is provided.
A control device for a rotary motor, which is characterized by this. The control device for a rotary motor according to claim 3.
PWM control and square wave control are selectively applied to the rotary motor according to torque and rotation speed.
When the PWM control is applied to the rotary motor, the switching element of the inverter is controlled based on the corrected d-axis current command value.
When the square wave control is applied to the rotary motor, the switching element of the inverter is controlled based on the torque command value.
A control device for a rotary motor, which is characterized by this. The control device for a rotary motor according to any one of claims 1 to 4.
The field converter includes a first arm and a second arm connected between a pair of bus wires to which a battery voltage is directly or boosted and applied, and the first arm and the second arm are respectively. It is composed of two switching elements connected in series.
One end of the field winding is connected between the two switching elements of the first arm, and the other end of the field winding is connected between the two switching elements of the second arm.
A control device for a rotary motor, which is characterized by this.

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