JP4462351B2 - Rotating machine control device - Google Patents

Description

  The present invention performs a process of passing a current from a part of the rotating machine to another part of the phase by performing at least one of the part of the phase and the part of the other part a plurality of times, Rotation comprising positioning means for controlling the rotation angle of the rotating machine to a final angle through an intermediate angle, and grasping an initial value of the rotation angle when starting the rotating machine according to the final angle The present invention relates to a machine control device.

  In this type of control device, when a three-phase motor is driven sensorlessly, an energization process from a specific one phase to another one phase is performed twice while changing the phase in order to obtain an initial value of the rotation angle. What performs the process which fixes a rotation angle by doing is known. Thus, in order to control the final rotation angle by two energization processes, the rotation angle of the rotor before the energization process is started is controlled in the vicinity of an electrical angle of 180 ° (dead point) with respect to the final rotation angle. Even if the angle is impossible, the rotation angle of the electric motor can be controlled to the final rotation angle. That is, when the rotor rotation angle before the start of energization processing is in the vicinity of the dead point, the rotor cannot be changed by the energization processing for controlling to the final rotation angle. By doing so, the rotation angle of the electric motor can be controlled to the final rotation angle.

With respect to such two energization processes, for example, as seen in Patent Document 1 below, the frequency f1 of the first process (1/2 · (processing time)) and the frequency f2 of the second process (1/2) It has also been proposed to set each energization processing time so that a relationship of f1>F0> f2 is established between (processing time)) and the natural frequency F0 of the motor. As a result, when the motor is started, the motor can be reliably rotated in the forward direction.
Japanese Patent No. 3244800

  By the way, the convergence time when the rotation angle is converged to a predetermined angle by applying an energization process to the electric motor depends on the inertia of the rotor of the electric motor, the friction between the rotor and the bearing, and the like. That is, the greater the inertia and the smaller the friction, the longer the convergence time. For this reason, if the first energization process time is set based on the natural frequency in the above-described mode, the rotation angle at the start of the second energization process may be an uncontrollable angle near the dead point depending on the motor. There is a risk. In this case, the motor cannot be started properly.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide positioning means for controlling a rotation angle of a rotating machine to a final angle through an intermediate angle. It is an object of the present invention to provide a control device for a rotating machine that can start up the machine more appropriately.

  Hereinafter, means for solving the above-described problems and the operation and effects thereof will be described.

According to the first aspect of the present invention, the process of passing a current from one phase of the rotating machine to another partial phase is performed a plurality of times while changing at least one of the partial phase and the other partial phase. And a positioning means for controlling the rotation angle of the rotating machine to a final angle through an intermediate angle, and an initial value of the rotation angle when starting the rotating machine according to the final angle. In the control device for a rotating machine, the time required from the start of the process immediately before the last of the plurality of processes to the start of the process of the last is determined by the target value of the rotation angle by the process immediately before the last It is assumed that the angular interval between the uncontrollable angle to the final angle and the amplitude of vibration of the rotation angle of the rotating machine are longer than the time when the rotation is assumed to match and the same. One cycle length of the vibration than the time to be Characterized by comprising been set to the time less.

  When the rotation angle is controlled to the target value by the process immediately before the final round, the rotation angle is converged to the target value as the vibration attenuates while oscillating around the target value. For this reason, at the beginning of the process, the amplitude of the vibration of the rotation angle may be relatively large. In this case, the rotation angle may become the uncontrollable angle. If the final process is performed when the uncontrollable angle is reached, it may be difficult to control to the final angle. In this regard, in the above invention, such a situation can be suitably avoided by making the required time from the start of the process immediately before the final round to the start of the final round of processing longer than the time assumed to match. As a result, the rotating machine can be started more appropriately.

In particular, in the above-described invention, since the required time is not longer than one period longer than the coincident time, the rotation angle is a sufficiently long time that is assumed to be fixed at the target angle obtained by the process immediately before the final round. Compared with the case where the final processing is performed after the lapse of time, the processing time by the positioning means can be shortened. For this reason, a rotating machine can be started rapidly.

According to a third aspect of the present invention, in the first or second aspect of the present invention, the required time is the vibration of the rotation angle when a plurality of the rotating machines are prepared and the processing immediately before the final round is performed on them. It is set based on actually measuring the degree of attenuation.

  In the said invention, the said required time can be appropriately set so that the invention specific matter of the said Claims 1-3 may be satisfy | filled by measuring the damping degree of a vibration using a some rotary machine.

According to a fourth aspect of the present invention, in the third aspect of the present invention, the required time is determined by determining whether the vibration amplitude of the rotation angle of the rotating machine is equal to the target value of the rotation angle obtained by the processing immediately before the final rotation and the final rotation. It is a measured value of a time that is less than the angle interval between the process and the uncontrollable angle to the final angle.

  In the said invention, a required time can be set easily and appropriately by using the measured value of the time used as less than the said angle interval. In particular, when the above measurement is performed using a plurality of rotating machines, the measured value varies, but by adopting the value on the maximum value side of the measured value as the required time, the required time can be made more appropriate. Can be set.

The invention according to claim 5 is the invention according to any one of claims 1 to 4 , wherein the plurality of processes are two processes.

  In the above invention, the time required for starting the rotating machine can be shortened as much as possible by setting the minimum number of processes required for reliably controlling the final angle.

The invention according to claim 6 is the invention according to any one of claims 1 to 5 , further comprising a start processing means for performing a process of starting the rotating machine after the final processing. The time from the start of each process to the start of the process by the activation processing means is set longer than the required time.

  In the above invention, the rotating machine can be appropriately activated.

The invention according to claim 7 is the invention according to any one of claims 1 to 6 , further comprising a start processing means for performing a process of starting the rotating machine after the final processing. The rotation angle of the rotating machine is fixed when the time from the start of each process to the start of the process by the activation processing means is continued for each of all the operation states of the power conversion circuit connected to the rotating machine. The interval between adjacent angles among the assumed angles is set to be equal to or longer than the time when the amplitude of the vibration of the rotating machine that accompanies the last round of processing coincides.

  When the rotation angle is controlled to the final angle by the final processing, the rotation angle is converged to the final angle by oscillating around the final angle while the vibration is attenuated. For this reason, at the beginning of the process, the amplitude of the vibration of the rotation angle may be relatively large. In this case, if the activation process is performed assuming that the actual rotation angle is in the vicinity of the final angle, the rotating machine may not be activated appropriately. In this regard, in the above invention, such a situation can be avoided by appropriately setting the time until the start of the processing by the activation processing means.

(First embodiment)
Hereinafter, a first embodiment in which a control device for a rotating machine according to the present invention is applied to a control device for an in-vehicle brushless motor will be described with reference to the drawings.

  FIG. 1 shows an overall configuration of a brushless motor control device according to the present embodiment.

  The illustrated brushless motor 10 is a three-phase motor having a permanent magnet as a rotor, and is an actuator of a fuel pump of an internal combustion engine mounted on a motorcycle. An inverter 12 is connected to the three phases (U phase, V phase, W phase) of the brushless motor 10. This inverter 12 is a three-phase inverter, and appropriately applies the voltage on the battery 14 side to the three phases of the brushless motor 10. Specifically, the inverter 12 includes a parallel connection body of the switching elements SW1, SW2, the switching elements SW3, SW4, and the switching elements SW5, SW6 so that each of the three phases and the positive electrode side or the negative electrode side of the battery 14 are electrically connected. It is prepared for. And the connection point which connects switching element SW1 and switching element SW2 in series is connected with the U phase of the brushless motor 10. FIG. In addition, a connection point where the switching elements SW3 and SW4 are connected in series is connected to the V phase of the brushless motor 10. Furthermore, a connection point for connecting the switching element SW5 and the switching element SW6 in series is connected to the W phase of the brushless motor 10. Further, flywheel diodes D1 to D6 are connected in parallel to the switching elements SW1 to SW6, respectively.

  In the present embodiment, the switching elements SW1, SW3, and SW5 in the upper arm are configured by P-channel MOS transistors, and the switching elements SW2, SW4, and SW6 in the lower arm are configured by N-channel MOS transistors. Yes. The flywheel diodes D1 to D6 are configured as parasitic diodes of the MOS transistor.

  The control device 20 operates the inverter 12 with the brushless motor 10 as a control target. Here, basically, switching control is performed by a 120 ° energization method. Specifically, using the timing at which the induced voltage appears in the terminal voltages vu, vv, vw of each phase of the brushless motor 10, the timing at which the induced voltage becomes the neutral point voltage (reference voltage vref) of the brushless motor 10 (zero cross timing) ) Is detected. Here, in the present embodiment, it is assumed that the reference voltage vref is divided from the terminal voltages vu, vv, vw of each phase of the brushless motor 10 by the resistors RU, RV, RW. The zero cross timing is the inversion timing of the outputs of the comparators 24, 26, and 28 for comparing the magnitude relationship between the terminal voltages vu, vv, and vw of each phase and the reference voltage vref. Then, the operation of the switching elements SW1 to SW6 is switched at a timing (specified timing) delayed by a predetermined electrical angle (for example, “30 °”) from the zero cross timing. However, when the current flowing through the brushless motor 10 exceeds the current limit value, PWM control is performed to limit the current (energization amount) flowing through the brushless motor 10. In this PWM control, a period of “120 °” in which the switching elements SW1 to SW6 are turned on in the 120 ° energization method is set as an on operation permission period, and the on operation is performed when the current limit value is exceeded even within this period. It can be done by prohibiting. The control device 20 may be configured by a logic circuit, or may be configured by a central processing unit and a storage device that stores a program.

  Incidentally, the induced voltage of the brushless motor 10 is generated with the rotation of the brushless motor 10. For this reason, in the sensorless system that drives the rotation angle while grasping the rotation angle based on the induced voltage of the brushless motor 10, when the brushless motor 10 is started from a state where the rotation speed of the brushless motor 10 is extremely low, The problem is how to obtain the initial value of the rotation angle. For this reason, when the brushless motor 10 is started, the energization process from a specific phase to another phase is performed twice while changing the phase, thereby controlling the rotor to a specific position (angle). Thus, in order to control the final rotation angle (second positioning target angle) by the two energization processes, the rotation angle of the rotor before the energization process is started is controlled to the final rotation angle. Even if there is an uncontrollable angle (near the dead point) where the rotor cannot be changed by the energization process (second positioning process), the rotation angle of the brushless motor 10 is controlled to the final rotation angle. Can do.

  However, in the case of the in-vehicle fuel pump as in the present embodiment, if the positioning process is not performed quickly, fuel cannot be supplied to the internal combustion engine (not shown), which may cause the internal combustion engine to fail to start. is there. For this reason, it is desirable to perform the positioning process as quickly as possible. From such a viewpoint, it is also conceivable that the first energization process (first positioning process) for positioning is stopped before the rotor of the brushless motor 10 stops, and the process is shifted to the second positioning process. However, in this case, when the rotation angle is in the vicinity of the dead point during the transition from the first positioning process to the second positioning process, it may not be possible to control the second positioning target angle. . FIG. 2 illustrates such a situation. Here, FIG. 2 (a) shows the transition of the terminal voltage, FIG. 2 (b) shows the transition of the electrical angle, and FIG. 2 (c) shows the transition of the rotational speed.

  As shown in the drawing, when the rotation angle of the brushless motor 10 is close to the dead point when shifting from the first positioning process to the second positioning process, the rotation angle is changed depending on the second positioning process. I can't let you. For this reason, in this case, since the rotation angle can only be changed by the activation process after the positioning process, the activation performance is deteriorated.

  Therefore, in the present embodiment, the time of the first positioning process (first required time T1) and the time of the second positioning process (second required time T2) are adapted in the manner shown in FIG. FIG. 3A shows how to set the first required time T1. As shown in the figure, when the first positioning process is performed, the rotation angle (solid line) of the brushless motor 10 is damped and oscillated around the first positioning target angle (two-dot chain line). It converges to the positioning target angle. Here, in the figure, the curves indicated by a pair of broken lines are a pair of envelopes that are a pair of curves connecting the maximum and minimum rotation angles by the first positioning process. If the transition to the second positioning process is performed after the elapse of time when there is no dead point in the region surrounded by the pair of envelopes, the second positioning target angle can be controlled. Therefore, in this embodiment, the time when the envelope does not include the dead point is set as the first required time T1.

  FIG. 3B shows how the second required time T2 is set. As shown in the figure, when the second positioning process is performed, the rotation angle (solid line) of the brushless motor 10 is damped and oscillated around the second positioning target angle (one-dot chain line), while the second rotation is performed. It converges to the positioning target angle. Here, in the figure, the curves indicated by a pair of broken lines are a pair of envelopes that are a pair of curves connecting the maximum and minimum rotation angles by the second positioning process. If the region surrounded by the pair of envelopes is within a range (second positioning target range) in which the activation process of the brushless motor 10 can be appropriately performed, the brushless motor 10 can be appropriately activated. Become. Therefore, in the present embodiment, the time required for the region surrounded by the envelope to coincide with the second positioning target range is set as the second required time T2. It is assumed that the second positioning target range is fixed when the six-way energization from one of the two arbitrary phases of the brushless motor 10 to the other is continued with the second positioning target angle as the center. It is desirable to have a width that is equal to or less than the adjacent rotation angle interval among the rotation angles to be set. In addition, this target range is a range in which the time required to complete the startup can be reduced to a predetermined value or less by measuring in advance the relationship between the time required to complete the startup of the brushless motor 10 and the rotation angle as the initial condition. It is more desirable to set.

  Incidentally, in this embodiment, as shown in FIG. 3, the second required time T2 is set longer than the first required time T1.

  FIG. 4 shows a method for adapting the first required time T1 according to the present embodiment. This process is a process performed prior to product shipment of the control device 20 of the brushless motor 10.

  In this series of processes, first, in step S10, a plurality of brushless motors 10 having a target specification are prepared. Here, it is desirable to reflect individual differences allowed as products. That is, it is desirable to include an upper limit product and a lower limit product such as rotor inertia. In subsequent step S12, the first positioning process is performed in each of the prepared brushless motors 10. As a result, the rotational angle of the brushless motor 10 dampens and oscillates around the first positioning target angle. Subsequently, in step S14, the decay mode of the rotation angle of the brushless motor 10 is monitored. In subsequent step S16, for each brushless motor 10 labeled with "i", a time Ti for which the amplitude of vibration is less than the upper limit value Amax is calculated. Here, the upper limit value Amax is a rotation angle between the dead point of the second positioning process and the first positioning target angle. This process is a process for calculating a time Ti corresponding to the first required time T1 shown in FIG.

  In the subsequent step S18, the time Tj of the specific brassless motor 10 (labeled “j”) is set as the first required time T1. Here, it is desirable that the time Tj be about the maximum value of the time Ti calculated in step S16.

  FIG. 5 shows the procedure of the startup process of the brushless motor 10 according to this embodiment in which the first required time T1 and the second required time T2 are set in this way. This process is repeatedly executed by the control device 20 at a predetermined cycle, for example.

  In this series of processes, first, in step S20, the first positioning process is performed by energizing from one specific phase to another. When the first required time T1 has elapsed (step S22: YES), the second positioning process is performed in step S24. Here, the absolute value of the difference between the first positioning target angle and the second positioning target angle is set to be less than “180 °”. This is a setting in view of the fact that the dead point of the second positioning process is at a position “180 °” from the second positioning target angle. If the second required time T2 has elapsed (step S26: YES), the brushless motor 10 is activated in step S28.

  Thus, in the present embodiment, in order to perform the second positioning process after the first required time T1 has elapsed, the rotation angle can be appropriately controlled to the second positioning target angle by the second positioning process. it can. Furthermore, when the rotation angle is converged within the second positioning target range and switched to the starting process, the brushless motor 10 is started appropriately after being stopped at the second positioning target angle while being properly started. In comparison, the activation can be performed quickly.

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

  (1) The time for performing the first positioning process (first required time T1) is determined by the angular interval between the first positioning target angle and the dead point of the second positioning process and the amplitude of vibration of the rotation angle. Longer than expected time to match. Accordingly, the second positioning target angle can be reliably controlled by the second positioning process.

  (2) The first required time T1 is set on the basis of actually measuring the degree of attenuation of the vibration of the rotation angle when a plurality of brushless motors 10 are prepared and the first positioning process is performed on them. Thereby, the 1st required time T1 can be adapted appropriately.

  (3) The first required time T1 is set based on the time Ti in which the amplitude of vibration of the rotation angle is smaller than the angular interval between the first positioning target angle and the dead point of the second positioning process. Thereby, the 1st required time T1 can be set more appropriately.

  (4) The positioning process was performed by two energization processes. As a result, the minimum number of processes required for reliably controlling the final angle can be achieved, and the time required for starting the brushless motor 10 can be shortened as much as possible.

  (5) The second required time T2 is set longer than the first required time T1. Thereby, the brushless motor 10 can be started appropriately.

  (6) The second required time T2 is set so that the vibration range of the rotation angle is within the second positioning target range. Thereby, the starting process performed following the 2nd positioning process can be performed appropriately.

(Second Embodiment)
Hereinafter, the second embodiment will be described with reference to the drawings with a focus on differences from the first embodiment.

  FIG. 6 shows the procedure of the startup process of the brushless motor 10 according to the present embodiment. This process is repeatedly executed by the control device 20 at a predetermined cycle, for example.

  In this series of processes, first, the first positioning process is performed in step S30. The first positioning process according to the present embodiment controls the first positioning target angle by flowing a current from one specific phase of the brushless motor 10 to the remaining two phases. According to such an energization method, since the force on the side of reducing the deviation of the rotation angle of the brushless motor 10 from the first positioning target angle works, the convergence time to the first positioning target angle can be shortened. . For this reason, in the present embodiment, the time for performing the first positioning process (first required time t1) is the dead time of the first positioning target angle and the second positioning process in the same manner as in the first embodiment. The first required time t1 can be made shorter than the first required time T1 while adapting based on the time when the amplitude of the vibration of the rotation angle is shorter than the angular interval between the points.

  When the execution time of the first positioning process reaches the first required time t1 (step S32: YES), the second positioning process is performed in step S34. This process controls the second positioning target angle by flowing a current from one specific phase of the brushless motor 10 to the remaining two phases. However, the first positioning process and the second positioning process are different from each other in energization mode. When the second required time t2 (<second required time T2) has elapsed (step S36: YES), the brushless motor 10 is started in step S38.

  According to the present embodiment described above, the following effects can be obtained in addition to the above-described effects of the first embodiment.

  (7) The first positioning process is a process of energizing the remaining two phases from one phase of the brushless motor 10. Thereby, the convergence time to the first positioning target angle can be shortened.

  (8) The second positioning process is a process of energizing the remaining two phases from one phase of the brushless motor 10. Thereby, the convergence time to the second positioning target angle can be shortened.

(Third embodiment)
Hereinafter, the third embodiment will be described with reference to the drawings with a focus on differences from the first embodiment.

  FIG. 7 shows the procedure of the startup process of the brushless motor 10 according to the present embodiment. This process is repeatedly executed by the control device 20 at a predetermined cycle, for example.

  In this series of processes, first, the first positioning process is performed in step S40. In the first positioning process according to the present embodiment, the switching elements SW1, SW3, SW5 of the upper arm or the switching elements SW2, SW4, SW6 of the lower arm are continued from the energization process shown in the first embodiment. Is turned on to short-circuit all phases of the brushless motor 10. According to this all-phase short-circuit process, a current flows through the brushless motor 10 due to an induced voltage accompanying the rotation of the brushless motor 10, and this current attenuates due to the influence of resistance in the current path. In other words, the rotational energy is attenuated. Thereby, the convergence time to the first positioning target angle can be shortened. For this reason, in the present embodiment, the time for performing the first positioning process (first required time TT1) is the dead time of the first positioning target angle and the second positioning process in the same manner as in the first embodiment. The first required time TT1 can be shortened from the first required time T1 while adapting based on the time when the amplitude of the vibration of the rotation angle is smaller than the angular interval between the points.

  When the execution time of the first positioning process reaches the first required time TT1 (step S42: YES), the second positioning process is performed in step S44. Also in this process, following the energization process shown in the first embodiment, the brushless operation is performed by turning on all the switching elements SW1, SW3, SW5 of the upper arm or the switching elements SW2, SW4, SW6 of the lower arm. The process which short-circuits all the phases of the motor 10 is performed. When the second required time TT2 (<second required time T2) elapses (step S46: YES), the brushless motor 10 is activated in step S48.

  According to the present embodiment described above, the following effects can be obtained in addition to the above-described effects of the first embodiment.

  (9) The first positioning process is configured by two processes including a process of energizing a specific one phase of the brushless motor 10 to another one phase and an all-phase short-circuit process. Thereby, the convergence time to the first positioning target angle can be shortened.

  (10) The second positioning process is configured by two processes including a process of energizing one specific phase of the brushless motor 10 to another phase and an all-phase short-circuit process. Thereby, the convergence time to the second positioning target angle can be shortened.

(Other embodiments)
Each of the above embodiments may be modified as follows.

  In the third embodiment, the all-phase short-circuit process is provided in both the first positioning process and the second positioning process. However, the present invention is not limited to this, and it may be provided in only one of them. However, in this case, for the process that does not provide the all-phase short-circuit process, the required time is preferably set to the value of the first embodiment.

  In the first positioning process and the second positioning process in the second embodiment, a period for performing the all-phase short-circuit process may be provided instead of performing the energization process over the entire required time. However, in this case, it is desirable that the first required time T1 and the second required time T2 are shorter than those in the second embodiment.

  In each of the above embodiments, for a plurality of brushless motors 10, the amplitude of vibration of the rotation angle by the first positioning process is less than the angular interval between the target angle of the first positioning process and the dead point of the second positioning process. However, the present invention is not limited to this. However, the present invention is not limited to this, and the specific measurement value (a value about the maximum value) determined from the statistical distribution of these measurement values is set as the first required time T1. For example, a value obtained by adding the time of one cycle of the vibration to the minimum value may be used as the first required time T1. As a result, as shown in FIG. 8 (a), the thing with the fastest convergence has not already reached the dead point one cycle before the required time, but before the rotation angle is fixed. Since it can transfer to a 2nd positioning process, the brushless motor 10 can be started rapidly.

  Further, for example, a value obtained by adding “5 ms” to the minimum value may be used as the first required time T1. As a result, as shown in FIG. 8 (b), the fastest convergence is not reached at the dead point “5 ms” before the first required time T1, but the rotation angle is fixed. Since it is possible to shift to the second positioning process before being performed, the brushless motor 10 can be started quickly.

  However, the setting of the first required time T1 is not limited to a value based on a value about the maximum value or the minimum value of the statistical distribution. For example, the first required time T1 may be determined by adding a half cycle of vibration or “2.5 ms” to a time that is less than the angular interval in a product having an average characteristic (center characteristic). This also makes it possible to expect that all the mass-produced brushless motors 10 will not become dead points when shifting from the first positioning process to the second positioning process. Since the maximum value of the delay time of the transition timing with respect to the time that is less than the angular interval can be set to about one cycle of vibration or “5 ms”, the brushless motor 10 can be started quickly.

  The brushless motor 10 is not limited to an actuator mounted on a fuel pump, and may be a fan actuator that cools a radiator of an in-vehicle internal combustion engine, for example. Furthermore, a data recording device and a playback device mounted in an in-vehicle navigation system, that is, a data recording device and a playback device for a disk medium such as a DVD (Digital Versatile Disc), a CD-ROM (Compact Disc Read Only Memory), and a hard disk are provided. An electric motor may be used. Further, the rotating machine is not limited to a motor but may be a generator. Further, the fan and the like are not limited to those mounted on the vehicle.

  The power source is not limited to the battery 14 and may be, for example, a generator that converts rotational energy of an in-vehicle internal combustion engine into electric energy.

1 is a system configuration diagram according to a first embodiment. FIG. The time chart which shows the problem in positioning processing. The time chart which shows the positioning method concerning the said embodiment. The flowchart which shows the procedure of the adaptation process of the 1st positioning process time concerning the embodiment. The flowchart which shows the procedure of the positioning process concerning the embodiment. The flowchart which shows the procedure of the positioning process concerning 2nd Embodiment. The flowchart which shows the procedure of the positioning process concerning 3rd Embodiment. The time chart which shows the adaptation method of the 1st positioning process time concerning the modification of each said embodiment.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 10 ... Brushless motor, 12 ... Inverter, 14 ... Battery, 20 ... Control apparatus, SW1-SW6 ... Switching element.

Claims (7)

By performing a process of flowing a current from a part of the rotating machine to another part of the rotating machine a plurality of times while changing at least one of the part of the part and the part of the other part of the rotating machine, A control device for a rotating machine comprising positioning means for controlling a rotation angle to a final angle through an intermediate angle, and grasping an initial value of the rotation angle when the rotating machine is started according to the final angle In
Of the plurality of processes, the time required from the start of the process immediately before the final process to the start of the final process is determined by the target value of the rotation angle by the process immediately before the final process and the final process by the process of the final process. An angular interval between the uncontrollable angle and an amplitude of the vibration of the rotation angle of the rotating machine is longer than the time assumed to match and one period of the vibration than the time assumed to match A control device for a rotating machine, characterized in that the control device is set for a long time or less . The process of flowing current from a part of the rotating machine to another part of the rotating machine is performed a plurality of times while changing at least one of the part of the phase and the part of the other part of the rotating machine. A control device for a rotating machine comprising positioning means for controlling a rotation angle to a final angle through an intermediate angle, and grasping an initial value of the rotation angle when the rotating machine is started according to the final angle In
  Of the plurality of processes, the time required from the start of the process immediately before the final process to the start of the final process is determined by the target value of the rotation angle by the process immediately before the final process and the final process by the process of the final process. An apparatus for controlling a rotating machine, characterized in that it is set to a time that is assumed to be immediately after an angular interval between an uncontrollable angle and an amplitude of vibration of the rotational angle of the rotating machine coincides with each other. The required time is set based on actually measuring the degree of vibration attenuation of the rotation angle when the plurality of rotating machines are prepared and the process immediately before the final round is performed on these. The control device for a rotating machine according to claim 1 or 2 . The time required is that the amplitude of vibration of the rotation angle of the rotating machine is between the target value of the rotation angle by the process immediately before the final round and the uncontrollable angle to the final angle by the final round. 4. The control device for a rotating machine according to claim 3 , wherein the control value is a measured value of a time that is less than an angular interval . The rotating machine control device according to claim 1, wherein the plurality of processes are two processes . After the last processing, further comprising a start processing means for performing processing to start the rotating machine,
6. The rotation according to claim 1, wherein a time from the start of the last process to the start of the process by the activation processing unit is set longer than the required time. Machine control device. After the last processing, further comprising a start processing means for performing processing to start the rotating machine,
The rotation angle of the rotating machine is fixed when the time from the start of the last process to the start of the process by the activation processing unit is continued for each of all the operation states of the power conversion circuit connected to the rotating machine. 2. An interval between adjacent angles of angles assumed to be set is set to be equal to or longer than a time in which an amplitude of vibration of the rotating machine that accompanies the final processing coincides. The control apparatus of the rotary machine of any one of -6 .

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