JP4757722B2 - Motor control device - Google Patents

Description

  The present invention relates to a motor control device.

Conventionally, comprising a first permanent magnetic pole piece and the second permanent pole piece capable of changing the phase position of one another by the servo pressure, the magnetic field flux amount capable of changing motors are known (e.g., Patent Documents 1).

By the way, in the motor according to the above prior art, for example, when the phase position of each permanent magnetic pole piece is changed by servo pressure such as hydraulic pressure, hydraulic pulsation occurs due to, for example, rotational fluctuation of the hydraulic pump. There is a risk that the phase position of each permanent magnetic pole piece may be shifted, or the phase position may vibrate, causing vibration on the output shaft of the motor.
The present invention has been made in view of the above circumstances, and provides a motor control device capable of suppressing pulsation of fluid pressure and performing appropriate control when changing the induced voltage constant of the motor by the fluid pressure of the working fluid. The purpose is to provide.

In order to solve the above-described problems and achieve the object, a motor control device according to a first aspect of the present invention includes a plurality of rotors (for example, each having a permanent magnet and capable of changing relative phases with each other). The relative phase of the motor (for example, the motor 1 in the embodiment) including the inner circumferential rotor 6 and the outer circumferential rotor 5) in the embodiment and the plurality of rotors is determined by the fluid pressure of the working fluid. And a phase change means (for example, the phase change means 12 in the embodiment) that changes according to the motor control device, wherein the phase change means is a command current (for example, an embodiment) related to a phase change request. An electromagnetic actuator (for example, the electromagnetic solenoid 37b in the embodiment) that controls the fluid pressure of the working fluid in accordance with the command current value ICMD), and an actual current that is energized to the electromagnetic actuator (for example, implementation) Current sensor (actual current value IACT in the form) (for example, phase sensor 74 in the embodiment) and pulsation detection that detects the pulsation of the fluid pressure based on the difference between the command current and the actual current The command current is set so as to cancel the pulsation when the pulsation width per unit time corresponding to the difference is greater than or equal to a predetermined value (for example, the pulsation reduction command calculation unit 63 in the embodiment) Command current setting means (for example, a pulsation reduction command calculation unit 63 in the embodiment), and the command current setting means has the difference obtained by subtracting the command current from the actual current greater than zero. In this case, a value obtained by multiplying the difference by a current correction value is subtracted from the command current, and if the difference is less than or equal to zero, a value obtained by multiplying the difference by the current correction value is added to the command current. By It is characterized that you modify the command current.

  According to the motor control apparatus having the above configuration, for example, a pulsation of fluid pressure is detected based on a difference between a command current and an actual current for an electromagnetic actuator including an electromagnetic solenoid, and the command current is set so as to cancel the pulsation. Since it is set, the induced voltage constant of the motor can be set appropriately, and vibrations can be prevented from occurring on the output shaft of the motor.

Furthermore, the motor control apparatus according to the second aspect of the present invention includes temperature detection means (for example, step S21 in the embodiment) that detects or estimates the temperature of the working fluid, and the command current setting means includes : As the temperature increases, the current correction value is changed to a decreasing tendency .

  According to the motor control apparatus having the above configuration, even if the pulsation changes according to the temperature of the working fluid, the induced voltage constant of the motor can be set appropriately, and vibration is generated in the output shaft of the motor. Can be prevented.

Further, in the motor control device according to the third aspect of the present invention, a predetermined correction required phase range with respect to the phase (for example, between the first phase angle α and the second phase angle β in the embodiment). Phase setting unit (for example, step S31 in the embodiment) for setting a phase range including a periphery of zero and a phase range including a phase where the torque is maximized, and the command current setting unit includes: The command current is set when a phase is included in the correction required phase range.

  According to the motor control apparatus having the above-described configuration, for example, by setting a phase range having a relatively large phase fluctuation amount according to the pulsation magnitude as the predetermined correction necessary phase range, The command current can be appropriately set while preventing an excessive calculation process from being executed in a phase range or the like in which the amount of phase fluctuation corresponding to the phase is relatively small.

According to the motor control device of the present invention, since the command current is set so as to cancel the pulsation of the fluid pressure, the induced voltage constant of the motor can be set appropriately, and vibration is generated on the output shaft of the motor. It can be prevented from occurring.
Furthermore, according to the motor control device of the invention described in claim 2, even if the pulsation changes according to the temperature of the working fluid, the induced voltage constant of the motor can be set appropriately, and the motor It is possible to prevent vibration from occurring on the output shaft.
Furthermore, according to the motor control device of the invention described in claim 3, it is possible to appropriately set the command current while preventing an excessive calculation process from being executed.

Hereinafter, an embodiment of a motor control device of the present invention will be described with reference to the accompanying drawings.
The motor 1 according to the present embodiment is an inner rotor type brushless motor in which a rotor unit 3 is arranged on the inner peripheral side of an annular stator 2 as shown in FIGS. Used as a driving source for electric vehicles and the like. The stator 2 has a multi-phase stator winding 2a, and the rotor unit 3 has a rotating shaft 4 at the shaft core. When used as a travel drive source for a vehicle, the rotational force of the motor 1 is transmitted to a wheel drive shaft (not shown) via a transmission (not shown). In this case, if the motor 1 functions as a generator when the vehicle is decelerated, it can be recovered in the battery as regenerative energy. Further, in the hybrid vehicle, the rotation shaft 4 of the motor 1 can be further connected to a crankshaft (not shown) of the internal combustion engine so that it can be used for power generation by the internal combustion engine.

FIG. 6 shows an example of a control system of the motor 1 when the motor 1 is used as a traveling drive source of the vehicle. In this control system, the drive operation and regenerative operation of the motor 1 are performed by a power drive unit 41 (hereinafter referred to as “PDU41”) in response to a control command output from the controller 40.
The PDU 41 includes a PWM inverter that performs pulse width modulation (PWM) using a bridge circuit in which transistor switching elements are bridge-connected, and is connected to a high-voltage battery 42 that exchanges electric energy with the motor 1. .
The PDU 41 turns on / off each transistor paired in each phase in the PWM inverter based on a gate signal (that is, PWM signal) that is a switching command input from the controller 40 when the motor 1 is driven. By switching the (shutoff) state, the DC power supplied from the battery 42 is converted into three-phase AC power, and the energization to the stator winding 2a of the motor 1 is sequentially commutated, whereby the stator of each phase. AC winding U-phase current Iu, V-phase current Iv and W-phase current Iw are passed through winding 2a.

  As shown in FIGS. 1 to 4, the rotor unit 3 includes an annular outer circumferential rotor 5 and an annular inner circumferential rotor 6 disposed coaxially inside the outer circumferential rotor 5. The outer peripheral side rotor 5 and the inner peripheral side rotor 6 are rotatable within a set angle range.

  The outer rotor 5 and the inner rotor 6 are formed by, for example, sintered rotor cores 7 and 8 made of sintered metal, and are biased toward the outer periphery of the rotor cores 7 and 8. A plurality of magnet mounting slots 7a, 8a are formed at equal intervals in the circumferential direction. In each of the magnet mounting slots 7a and 8a, two flat plate-like permanent magnets 9 and 9 magnetized in the thickness direction are mounted in parallel. Two permanent magnets 9, 9 mounted in the same magnet mounting slot 7a, 8a are magnetized in the same direction, and a pair of permanent magnets 9 mounted in each adjacent magnet mounting slot 7a, 7a and 8a, 8a. The magnetic poles are set so that the directions of the magnetic poles are opposite to each other. That is, in each of the rotors 5 and 6, a pair of permanent magnets 9 whose outer peripheral side is an N pole and a pair of permanent magnets 9 that are an S pole are alternately arranged in the circumferential direction. A notch 10 for controlling the flow of magnetic flux of the permanent magnet 9 is rotated between the adjacent magnet mounting slots 7a, 7a and 8a, 8a on the outer peripheral surfaces of the rotors 5, 6. It is formed along the axial direction of the children 5 and 6.

  The same number of magnet mounting slots 7a, 8a of the outer rotor 5 and inner rotor 6 are provided, and the permanent magnets 9,..., 9 of the rotors 5, 6 correspond to each other on a one-to-one basis. ing. Therefore, by making the pair of permanent magnets 9 in each of the magnet mounting slots 7a and 8a of the outer peripheral rotor 5 and the inner peripheral rotor 6 face each other with the same polarity (with different polar arrangement), the rotor unit 3 is able to obtain a field weakening state (see FIGS. 4 and 5B) in which the field of the entire field is most weakened, and the magnet mounting slots 7a of the outer peripheral rotor 5 and the inner peripheral rotor 6. , 8a, the pair of permanent magnets 9 are opposed to each other with different polarities (with the same polarity arrangement), so that the field of the entire rotor unit 3 is most strongly strengthened (see FIGS. 2 and 5). (See (a)) can be obtained.

  The rotor unit 3 includes a rotation mechanism 11 for relatively rotating the outer peripheral rotor 5 and the inner peripheral rotor 6. The rotating mechanism 11 constitutes a part of phase changing means 12 for arbitrarily changing the relative phase of the two rotors 5 and 6, and is based on the pressure of the working fluid that is an incompressible working fluid. It is designed to be operated. The phase changing means 12 is composed mainly of the turning mechanism 11 and a hydraulic control device 13 shown in FIG. 7 for controlling the pressure of the hydraulic fluid supplied to the turning mechanism 11.

  As shown in FIGS. 1 to 4, the rotation mechanism 11 can be relatively rotated on the outer peripheral side of the vane rotor 14 and the vane rotor 14 (first member) that is spline-fitted to the outer periphery of the rotary shaft 4 so as to be integrally rotatable. An annular housing 15 (second member) disposed, and the annular housing 15 is integrally fitted and fixed to the inner peripheral surface of the inner rotor 6, and the vane rotor 14 is connected to the inner periphery of the annular housing 15. The outer rotor 5 is integrally coupled to the outer rotor 5 via a pair of disk-like drive plates 16 and 16 (first member) straddling the side end portions on both sides of the side rotor 6. Therefore, the vane rotor 14 is integrated with the rotary shaft 4 and the outer peripheral rotor 5, and the annular housing 15 is integrated with the inner peripheral rotor 6.

  In the vane rotor 14, a plurality of vanes 18 projecting radially outward are provided at equal intervals in the circumferential direction on the outer periphery of a cylindrical boss portion 17 that is spline-fitted to the rotary shaft 4. On the other hand, the annular housing 15 is provided with a plurality of concave portions 19 on the inner peripheral surface at equal intervals in the circumferential direction, and the corresponding vanes 18 of the vane rotor 14 are accommodated in the concave portions 19. Each recess 19 is constituted by a bottom wall 20 having an arc surface that substantially matches the rotational trajectory of the tip of the vane 18 and a substantially triangular partition wall 21 that separates the adjacent recesses 19, 19. The vane 18 can be displaced between the one partition wall 21 and the other partition wall 21 during relative rotation of the annular housing 15. In the case of this embodiment, the partition wall 21 also functions as a stopper that restricts the relative rotation of the vane rotor 14 and the annular housing 15 by contacting the vane 18. A seal member 22 is provided along the axial direction at the tip of each vane 18 and the tip of the partition wall 21, and the vane 18, the bottom wall 20 of the recess 19, and the partition wall 21 are provided by these seal members 22. And the outer peripheral surface of the boss portion 17 are liquid-tightly sealed.

  Further, the base portion 15a of the annular housing 15 fixed to the inner peripheral rotor 6 is formed in a cylindrical shape having a constant thickness, and is also provided with respect to the inner peripheral rotor 6 and the partition wall 21 as shown in FIG. Projects outward in the axial direction. Each end projecting outward of the base portion 15a is slidably held in an annular guide groove 16a formed in the drive plate 16, and the annular housing 15 and the inner peripheral rotor 6 are connected to the outer peripheral rotor. 5 and the rotating shaft 4 are supported in a floating state.

  The drive plates 16 and 16 on both sides connecting the outer rotor 5 and the vane rotor 14 are slidably in close contact with both side surfaces (both end surfaces in the axial direction) of the annular housing 15, and the side of each recess 19 of the annular housing 15. Respectively. Therefore, each recessed part 19 forms the independent space part by the boss | hub part 17 of the vane rotor 14, and the drive plates 16 and 16 of both sides, and this space part is the introduction space 23 into which a hydraulic fluid is introduce | transduced. Each introduction space 23 is divided into two chambers by the corresponding vanes 18 of the vane rotor 14, and one room is an advance side working chamber 24 and the other room is a retard side working chamber 25. The advance side working chamber 24 rotates the inner circumferential side rotor 6 relative to the outer circumferential side rotor 5 in the advance direction by the pressure of the working fluid introduced inside, and the retard side working chamber 25 is The inner rotor 6 is rotated relative to the outer rotor 5 in the retard direction by the pressure of the working fluid introduced therein. In this case, the “advance angle” means that the inner rotor 6 is advanced in the rotation direction of the motor 1 indicated by the arrow R in FIGS. 2 and 4 with respect to the outer rotor 5. The term “angle” refers to advancing the inner rotor 6 to the opposite side of the rotation direction R of the motor 1 with respect to the outer rotor 5.

  Further, the supply and discharge of the hydraulic fluid to and from each of the advance side working chambers 24 and the retard side working chambers 25 is performed through the rotating shaft 4. Specifically, the advance side working chamber 24 is connected to the advance side supply / discharge passage 26 of the hydraulic control device 13 shown in FIG. 7 and the retard side working chamber 25 is connected to the retard side supply / discharge passage of the hydraulic control device 13. Although connected to the exhaust passage 27, a part of the advance side supply / exhaust passage 26 and the retard side supply / exhaust passage 27 are respectively formed on the rotary shaft 4 along the axial direction as shown in FIG. It is constituted by passage holes 26a and 27a. The end portions of the passage holes 26a and 27a are respectively connected to an annular groove 26b and an annular groove 27b formed at two positions offset in the axial direction of the outer peripheral surface of the rotary shaft 4, and the respective annular grooves 26b and 27b. Are connected to a plurality of conduction holes 26c, ..., 26c, 27c, ..., 27c formed in the boss portion 17 of the vane rotor 14 along the substantially radial direction. Each conduction hole 26c of the advance side supply / discharge passage 26 connects the annular groove 26b and each advance side working chamber 24, and each conduction hole 27c of the retard side supply / exhaust passage 27 connects to the annular groove 27b and each retard side. The working chamber 25 is connected.

Here, in the case of the motor 1 of this embodiment, when the inner circumferential rotor 6 is at the most retarded angle position with respect to the outer circumferential rotor 5, the outer circumferential rotor 5 and the inner circumferential rotor 6 are permanent. The magnets 9 are opposed to each other with different polarities and are in a strong field state (see FIGS. 2 and 5A), and the inner circumferential rotor 6 is at the most advanced position with respect to the outer circumferential rotor 5. Sometimes, the permanent magnets 9 of the outer circumferential rotor 5 and the inner circumferential rotor 6 are set so as to face each other with the same poles to form a field weakening state (see FIGS. 4 and 5B). Yes.
The motor 1 can arbitrarily change the state of the strong field and the state of the weak field by controlling the supply and discharge of the hydraulic fluid to the advance side working chamber 24 and the retard side working chamber 25. Thus, when the strength of the magnetic field is changed, the induced voltage constant is changed accordingly, and as a result, the characteristics of the motor 1 are changed. That is, when the induced voltage constant increases due to the strong field, the allowable rotational speed at which the motor 1 can be operated decreases, but the maximum torque that can be output increases, and conversely, when the induced voltage constant decreases due to the weak field, Although the maximum torque that can be output from the motor 1 decreases, the allowable rotational speed at which the motor 1 can operate increases.

On the other hand, as shown in FIG. 7, the hydraulic control device 13 sucks the hydraulic fluid from an oil tank (not shown) and discharges it to the passage, and the oil pump 32 is discharged from the oil pump 32. The hydraulic pressure of the hydraulic fluid was adjusted and introduced into the high-pressure line passage 33, and the excess hydraulic fluid was introduced into the low-pressure passage 34 for lubricating and cooling various devices, and the hydraulic fluid was introduced into the line passage 33. A flow in which the working fluid is distributed to the advance side supply / discharge passage 26 and the retard side supply / discharge passage 27, and unnecessary working fluid is discharged to the drain passage 36 through the advance side supply / discharge passage 26 and the retard side supply / discharge passage 27. And a path switching valve 37.
The regulator valve 35 receives the pressure of the line passage 33 as a control pressure, and distributes the hydraulic fluid according to the balance with the reaction force spring 38.
Further, the flow path switching valve 37 has an electromagnetic solenoid 37 b that moves the control spool 37 a forward and backward, and the electromagnetic solenoid 37 b is controlled by the controller 40.

The controller 40 performs current feedback control on the dq coordinates that form the rotation orthogonal coordinates. For example, the d-axis current command is based on the torque command Tq that is set according to the accelerator opening degree related to the accelerator operation of the driver. Idc and q-axis current command Iqc are calculated, and each phase output voltage Vu, Vv, Vw is calculated based on d-axis current command Idc and q-axis current command Iqc, and according to each phase output voltage Vu, Vv, Vw Obtained by outputting a PWM signal as a gate signal to the PDU 41 and converting any two phase currents Iu, Iv, and Iw actually supplied from the PDU 41 to the motor 1 into currents on the dq coordinate. Current control is performed such that each deviation between the d-axis current Id and the q-axis current Iq and the d-axis current command Idc and the q-axis current command Iqc becomes zero.
The controller 40 also controls the hydraulic control device 13 (of the flow path switching valve 37) to change the phase based on the request command such as the torque command Tq and the actual feedback value of the phase difference between the rotors 6 and 5. The electromagnetic solenoid 37b) is controlled.

  Specifically, the controller 40 includes a target current setting unit 51, a current deviation calculation unit 52, a field control unit 53, a power control unit 54, a current control unit 55, a dq-3 phase conversion unit 56, and a PWM. A signal generation unit 57, a filter processing unit 58, a three-phase-dq conversion unit 59, a rotation speed calculation unit 60, an induced voltage constant command output unit 61, a phase control unit 62, and a pulsation reduction command calculation unit 63 It has.

  The controller 40 includes current sensors 71 that detect a two-phase U-phase current Iu and a W-phase current Iw among the three-phase currents Iu, Iv, and Iw output from the PDU 41 to the motor 1. 71, detection signals Ius, Iws output from the battery 71, a detection signal output from the voltage sensor 72 that detects the terminal voltage (power supply voltage) VB of the battery 42, and the rotation angle θM of the rotor of the motor 1 (that is, a predetermined value) The detection signal output from the rotation sensor 73 that detects the rotation angle of the magnetic poles of the rotor from the reference rotation position) and the relative relationship between the inner circumferential rotor 6 and the outer circumferential rotor 5 that are variably controlled by the hydraulic control device 13. A detection signal output from a phase sensor 74 that detects a state quantity (for example, an actual current supplied to the electromagnetic solenoid 37b) corresponding to a specific phase θ is input.

  The target current setting unit 51 causes the motor 1 to generate a torque command Tq input from an external control device (not shown), for example, a torque required according to the amount of depression of the accelerator pedal by the driver. Command value), the rotational speed NM of the motor 1 input from the rotational speed calculation unit 60, and the induced voltage constant Ke input from the induced voltage constant command output unit 61 described later, and supplied from the PDU 41 to the motor 1 Current command for designating each phase current Iu, Iv, Iw to be calculated, and this current command is calculated as a current deviation as a d-axis target current Idc and a q-axis target current Iqc on rotating orthogonal coordinates. Is output to the unit 52.

  The dq coordinates that form the rotation orthogonal coordinates are, for example, a field magnetic flux direction of a rotor permanent magnet as a d axis (field axis), and a direction orthogonal to the d axis as a q axis (torque axis). The rotor unit 3 rotates in synchronization with the rotation phase. As a result, the d-axis target current Idc and the q-axis target current Iqc, which are DC signals, are given as current commands for the AC signal supplied from the PDU 41 to each phase of the motor 1.

The current deviation calculation unit 52 includes a d-axis current deviation calculation unit 52a that calculates a deviation ΔId between the d-axis target current Idc input with the d-axis correction current input from the field control unit 53 and the d-axis current Id, The q-axis target current Iqc to which the q-axis correction current input from the control unit 54 is added, and a q-axis current deviation calculation unit 52b that calculates a deviation ΔIq from the q-axis current Iq are configured.
The field control unit 53 controls the current phase so that the field amount of the rotor unit 3 is equivalently weakened in order to suppress an increase in the counter electromotive voltage accompanying an increase in the rotational speed NM of the motor 1, for example. The target value for the field weakening current of the field control is output to the d-axis current deviation calculation unit 52a as the d-axis correction current.
In addition, the power control unit 54 outputs a q-axis correction current for correcting the q-axis target current Iqc to the q-axis current deviation calculation unit 52a according to appropriate power control according to the remaining capacity of the battery 42, for example. .

  The current control unit 55 controls and amplifies the deviation ΔId to calculate the d-axis voltage command value Vd by, for example, a PI (proportional integration) operation according to the rotation speed NM of the motor 1, and controls and amplifies the deviation ΔIq to q-axis. A voltage command value Vq is calculated.

  The dq-3 phase conversion unit 56 uses the rotation angle θ of the rotor unit 3 input from the rotation number calculation unit 60 to convert the d-axis voltage command value Vd and the q-axis voltage command value Vq on the dq coordinate, The voltage is converted into a U-phase output voltage Vu, a V-phase output voltage Vv, and a W-phase output voltage Vw, which are voltage command values on the three-phase AC coordinates that are stationary coordinates.

  The PWM signal generator 57 turns on each switching element of the PWM inverter of the PDU 41 by pulse width modulation based on, for example, sinusoidal phase output voltages Vu, Vv, Vw, a triangular wave carrier signal, and a switching frequency. A gate signal (that is, a PWM signal) that is a switching command including each pulse to be driven off / off is generated.

  The filter processing unit 58 performs filter processing such as removal of high-frequency components on the detection signals Ius and Iws for the phase currents detected by the current sensors 71 and 71 to obtain the phase currents Iu and Iw as physical quantities. Extract.

  The three-phase-dq conversion unit 59 uses the phase currents Iu and Iw extracted by the filter processing unit 58 and the rotation angle θM of the rotor unit 3 input from the rotation number calculation unit 60 to rotate the rotation phase of the motor 1. The d-axis current Id and the q-axis current Iq on the rotation coordinates by dq, that is, the dq coordinates are calculated.

The rotation speed calculation unit 60 extracts the rotation angle θM of the rotor unit 3 of the motor 1 from the detection signal output from the rotation sensor 73, and calculates the rotation speed NM of the motor 1 based on the rotation angle θM.
The induced voltage constant command output unit 61 outputs an induced voltage constant Ke based on, for example, the torque command Tq and the rotation speed NM of the motor 1.

The phase control unit 62 calculates a command value (phase command value) θc for the relative phases of the rotors 5 and 6 according to the induced voltage constant Ke.
The pulsation reduction command calculation unit 63 receives a state quantity related to the phase command value θc input from the phase control unit 62 (for example, a command current that is a command value for the current energized to the electromagnetic solenoid 37 b) and the phase sensor 74. Based on the difference between the state quantity (for example, the actual current supplied to the electromagnetic solenoid 37b) related to the relative phase θ between the inner circumferential rotor 6 and the outer circumferential rotor 5 that are input, both rotors 5 , 6 is detected, and a control command for controlling the electromagnetic solenoid 37b is output so as to cancel the pulsation.
As the phase sensor 74, for example, a sensor for detecting a differential pressure between the advance side supply / discharge passage 26 (advance side working chamber 24) and the retard side supply / exhaust passage 27 (retard side operation chamber 25), A sensor or the like that directly detects the phase difference between the circumferential rotor 6 and the circumferential rotor 5 can be used.

  The motor control apparatus 10 according to the present embodiment has the above-described configuration. Next, operations of the motor control apparatus 10, particularly, pulsation detection processing and pulsation reduction control will be described with reference to the accompanying drawings.

Hereinafter, the pulsation detection process will be described.
For example, in step S01 shown in FIG. 8, the electromagnetic solenoid 37b required for setting the relative phase θ between the inner circumferential rotor 6 and the outer circumferential rotor 5 to a value corresponding to the phase command value θc. A command current value ICMD that is a command value with respect to a current that is energized is calculated.
In step S02, an actual current value IACT energized to the electromagnetic solenoid 37b corresponding to the relative phase θ between the inner circumferential rotor 6 and the outer circumferential rotor 5 input from the phase sensor 74 is calculated. .
In step S03, for example, the pulsation width ΔP (= {Ａ | IACT−ICMD | dI} / Ta) at a predetermined time Ta is calculated from the difference between the command current value ICMD and the actual current value IACT.

In step S04, it is determined whether or not the pulsation width ΔP is larger than a predetermined value Pa.
If this determination is “YES”, the flow proceeds to step S 05, and in this step S 05, “1” is set to the flag value of the pulsation detection flag indicating that pulsation has been detected, and the series of processing ends. To do.
On the other hand, if this determination is “NO”, the flow proceeds to step S 06, where the flag value of the pulsation detection flag is set to “0”, and the series of processing is ended.

The pulsation reduction control will be described below.
For example, in step S11 shown in FIG. 9, the phase command value θc input from the phase control unit 62 at this time and the relative relationship between the inner circumferential rotor 6 and the outer circumferential rotor 5 input from the phase sensor 74 are obtained. A value obtained by multiplying the difference Δθ from the correct phase θ by the control gain Ka is set as the command current value ICMD.
In step S12, it is determined whether or not “1” is set in the flag value of the pulsation detection flag.
When the determination result is “NO”, the series of processes is terminated.
On the other hand, if this determination is “YES”, the flow proceeds to step S13.

In step S13, for example, a difference ΔI between the command current value ICMD and the actual current value IACT shown in FIG. 10 is calculated.
In step S14, it is determined whether or not the difference ΔI is greater than zero.
If this determination is “YES”, the flow proceeds to step S15.
On the other hand, if this determination is “NO”, the flow proceeds to step S16.

In step S15, a value obtained by multiplying the difference ΔI by an appropriate current correction value γ and a value obtained by subtracting from the command current value ICMD (ICMD−ΔI × γ) is used as the next command value. Set as NICMD.
Further, in step S16, a value obtained by multiplying the difference ΔI by an appropriate current correction value γ and the command current value ICMD (ICMD + ΔI × γ) as a next command value NICMD. Set.
In step S17, the next command value NICMD is set as the command current value ICMD, and the series of processing ends.

  As a result, for example, as shown in FIG. 10, the next command value NICMD that has a phase opposite to the pulsation of the actual current value IACT with respect to the command current value ICMD is newly set as the command current value ICMD.

  As described above, according to the motor control device 10 of the present embodiment, for example, the pulsation of the fluid pressure is based on the difference ΔI between the command current value ICMD and the actual current value IACT for the hydraulic control device 13 including the electromagnetic solenoid 37b. Since the command current value ICMD is newly set so as to cancel out the pulsation, the motor 1 in accordance with the relative phase θ between the inner circumferential rotor 6 and the outer circumferential rotor 5 is set. The induced voltage constant can be set appropriately, and the occurrence of vibration on the output shaft of the motor 1 can be prevented.

In the above-described embodiment, the current correction value γ may be changed according to the oil temperature Tγ of the hydraulic oil.
For example, as shown in FIG. 10, in the operation of the motor control device 10 according to the first modification of the above-described embodiment, after the difference ΔI is calculated in step S <b> 13 in the above-described embodiment, the process proceeds to step S <b> 21. .
In step S21, the oil temperature Tγ of the hydraulic fluid discharged from the oil pump 32 is acquired.
In step S22, for example, as shown in FIG. 11, the current correction value γ is obtained by a map search or the like for a map (FIG. 12) showing a predetermined relationship between the preset current correction value γ and the oil temperature Tγ. To do.
In this map, for example, as the oil temperature α increases, the current correction value γ is set to decrease.

  In this first modification, even if the pulsation changes according to the oil temperature Tγ of the hydraulic fluid, the induced voltage constant of the motor 1 can be set appropriately, and vibration is generated on the output shaft of the motor 1. It is possible to accurately prevent the occurrence.

In the above-described embodiment, whether or not the pulsation reduction control is necessary may be determined according to the range of the relative phase θ between the inner circumferential rotor 6 and the outer circumferential rotor 5.
For example, as shown in FIG. 13, in the operation of the motor control device 10 according to the second modification of the above-described embodiment, when the determination result of step S12 in the above-described embodiment is “YES” Proceed to step S31.
In step S31, the relative phase θ between the inner rotor 6 and the outer rotor 5 is larger than a predetermined first phase angle α and larger than a first phase angle α. It is determined whether or not it is less than the second phase angle β.
When the determination result is “NO”, the series of processes is terminated.
On the other hand, if the determination is “YES”, the flow proceeds to step S13.
Note that the phase range between the first phase angle α and the second phase angle β is a phase range in which the amount of torque fluctuation according to the change in the phase θ is relatively small as shown in FIG. 13, for example. Thus, for example, the phase range from the first phase angle α1 to the second phase angle β1 where the phase θ is a value around zero, or the first phase angle α2 to the second phase angle where the torque becomes maximum according to the phase θ, for example. The phase range up to β2.

  In the second modified example, a phase range corresponding to the magnitude of pulsation is set as a predetermined correction required phase range by setting a phase range or the like in which the variation amount of phase θ corresponding to the magnitude of pulsation is relatively large. It is possible to appropriately set the command current while preventing excessive calculation processing from being executed in a phase range or the like in which the fluctuation amount of the signal is relatively small.

  In the vehicle 10 according to the above-described embodiment, the motor 1 may be provided as a starter motor or an alternator that starts the internal combustion engine.

It is principal part sectional drawing of the motor which concerns on one Embodiment of this invention. The side view which abbreviate | omitted some components of the rotor unit currently controlled to the most retarded position of the motor which concerns on one Embodiment of this invention. It is a disassembled perspective view of the rotor unit of the motor which concerns on one Embodiment of this invention. It is the side view which abbreviate | omitted some components of the rotor unit currently controlled by the most advanced angle position of the motor which concerns on one Embodiment of this invention. The figure (a) which shows typically the strong magnetic field state by which the permanent magnet of the inner peripheral side rotor and the permanent magnet of the outer peripheral side rotor of the motor which concern on one Embodiment of this invention were arrange | positioned with the same polarity, It is the figure which described collectively the figure (b) which shows typically the field-weakening state by which the permanent magnet of the side rotor and the permanent magnet of the outer peripheral side rotor were arrange | positioned differently. It is a block diagram of the control apparatus of the motor which concerns on one Embodiment of this invention. It is a block diagram of the hydraulic control apparatus which concerns on one Embodiment of this invention. It is a flowchart which shows the pulsation detection process which concerns on one Embodiment of this invention. It is a flowchart which shows the pulsation reduction control which concerns on one Embodiment of this invention. It is a graph which shows an example of the time change of the command electric current value ICMD which concerns on one Embodiment of this invention, the actual electric current value IACT, and the next command value NICMD. It is a flowchart which shows operation | movement of the control apparatus of the motor which concerns on the 1st modification of one Embodiment of this invention. It is a graph which shows an example of a change according to the oil temperature Tγ of the current correction value γ according to the first modification of the embodiment of the present invention. It is a flowchart which shows operation | movement of the control apparatus of the motor which concerns on the 2nd modification of one Embodiment of this invention. It is a graph which shows an example of the change according to phase (theta) of the torque output from the motor which concerns on the 2nd modification of one Embodiment of this invention.

Explanation of symbols

1 Motor 6 Inner peripheral side rotor (rotor)
5 Outer rotor (rotor)
12 Phase changing means 37b Electromagnetic solenoid (electromagnetic actuator)
63 Pulsation reduction command calculation unit (pulsation detection means, command current setting means)
74 Phase sensor (current sensor)
Step S21 Temperature detection means Step S31 Phase setting means

Claims (3)

A motor having a plurality of rotors each having a permanent magnet and capable of changing the relative phase of each other;
A motor control device comprising phase changing means for changing a relative phase of the plurality of rotors by a fluid pressure of a working fluid,
The phase changing means includes an electromagnetic actuator that controls a fluid pressure of the working fluid in response to a command current related to a phase change request,
A current sensor for detecting an actual current passed through the electromagnetic actuator;
Pulsation detecting means for detecting pulsation of the fluid pressure based on the difference between the command current and the actual current;
Command current setting means for correcting the command current so as to cancel out the pulsation when a pulsation width per unit time according to the difference is a predetermined value or more ,
When the difference obtained by subtracting the command current from the actual current is greater than zero, the command current setting means subtracts a value obtained by multiplying the difference by a current correction value from the command current, and the difference is by adding the value obtained by multiplying the current correction value to the difference in the command current in the case of less than or equal to zero, a motor controller, characterized that you modify the command current. Temperature detecting means for detecting or estimating the temperature of the working fluid;
The motor control device according to claim 1, wherein the command current setting unit changes the current correction value in a decreasing tendency as the temperature increases . A phase setting unit that sets a phase range including a periphery of zero and a phase range including a phase where the torque is maximized as a predetermined correction necessary phase range with respect to the phase, and the command current setting unit includes: 3. The motor control device according to claim 1, wherein the command current is set when the phase is included in a correction required phase range. 4.

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