JP4805128B2 - Motor control device - Google Patents

Description

  The present invention relates to a motor control device.

2. Description of the Related Art Conventionally, there has been known a motor that includes a first permanent magnetic pole piece and a second permanent magnetic pole piece whose mutual phase positions can be changed by servo pressure, for example, and whose field magnetic flux amount can be changed (see, for example, Patent Document 1). ).
JP-A-55-153300

By the way, in the motor according to an example of the above-described prior art, when changing the phase position of each permanent magnetic pole piece by, for example, servo pressure such as hydraulic pressure, for example, torque disturbance acting on the hydraulic pump or an electric motor that drives the hydraulic pump The hydraulic pressure may become unstable due to various disturbances such as acceleration disturbance, and there is a possibility that the phase position of each permanent magnetic pole piece may be shifted or the change of the phase position may become unstable.
The present invention has been made in view of the above circumstances, and when the induced voltage constant of the motor is changed by the fluid pressure of the working fluid, the fluid pressure is prevented from becoming unstable due to various disturbances and appropriate control is performed. An object of the present invention is to provide a motor control device that can be used.

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 that can change relative phases of each other (for example, the outer circumferential rotor in the embodiment). 5 and an inner circumferential rotor 6), and a motor control device comprising phase changing means (for example, phase changing means 12 in the embodiment) for changing the relative phase by the fluid pressure of the working fluid. The phase changing means includes an actuator (for example, an electromagnetic solenoid 37b in the embodiment) that controls the fluid pressure of the working fluid in response to a change request for the relative phase, and a current supplied to the actuator or the Dithering processing means for performing dithering processing for converting the command value for the actuator into a command value having a predetermined amplitude variation (for example, dithering control Part 61) and wherein the phase changing means, when the relative phase is a value within the predetermined range, is characterized by performing the dithering processing by the dithering unit.

Furthermore, in the motor control device according to the second aspect of the present invention, the predetermined range is a phase range in which a change amount of the relative torque per unit relative phase is a predetermined value or more.

Furthermore, in the motor control device according to the third aspect of the present invention, the phase changing means includes a housing (for example, a single unit provided on one of the rotors (for example, the inner circumferential rotor 6 in the embodiment)). The annular housing 15) in the embodiment and the other rotor (for example, the outer rotor 5 in the embodiment) are provided integrally with the pressure chamber (for example, the advance side in the embodiment) with the housing. A vane rotor that forms a working chamber 24 and a retarded-side working chamber 25) and changes a relative phase with respect to the housing by a fluid pressure of the working fluid introduced into the pressure chamber (for example, the vane rotor 14 in the embodiment) And an end plate (for example, the drive plate in the embodiment) that transmits the driving force of the other rotor to the output shaft (for example, the rotation shaft 4 in the embodiment). 16) is fixed to both ends of the other rotor and the vane rotor in the axial direction, and is surrounded by a space between the other rotor, the vane rotor, and both end plates (for example, the introduction space 23 in the embodiment) One of the rotor and the housing are arranged so as to be rotatable in the circumferential direction.

Furthermore, in the motor control device according to the fourth aspect of the present invention, the vane portion (for example, the vane portion 18 in the embodiment) formed in the vane rotor is a recess portion (for example, the recess portion 19 in the embodiment) formed in the housing. The pressure chamber is formed by the blade portion and the concave portion.

Furthermore, in the motor control device according to the fifth aspect of the present invention, the end plates fixed to both axial ends of the other rotor are respectively fixed integrally with the vane portions of the vane rotor. .

Furthermore, in the motor control device of the invention according to claim 6 , end plates fixed to both axial ends of the other rotor are respectively fixed integrally with the output shaft.

Furthermore, a motor control device according to a seventh aspect of the present invention includes a temperature sensor (for example, an oil temperature sensor To in the embodiment) that detects the temperature of the working fluid, and the dithering processing means includes the temperature sensor. The predetermined amplitude fluctuation is changed to an increasing tendency as the temperature detected by the step decreases.

According to the motor control device of the present invention as set forth in claim 1, in the phase changing means for changing the relative phase by the fluid pressure of the working fluid, the current supplied to the actuator or the command value for the actuator has a predetermined amplitude fluctuation. By performing the dithering process for converting into the command value, the stability of the fluid pressure can be improved against various disturbances.
Furthermore , the dithering process can be executed efficiently.

Further, according to the motor control apparatus of the invention described in claim 2, the phase range in which the amount of change in the relative torque per unit relative phase is equal to or greater than a predetermined value, i.e. a dithering process in a relatively unstable phase state By performing this, the stability of the fluid pressure can be improved efficiently.

Further, according to the motor control device of the invention described in claim 3 , the phase changing means includes a housing integrally provided on any one of the plurality of rotors, and any one rotor of the plurality of rotors. The motor is complicated by using a simple vane actuator that has a vane rotor that is provided integrally and that forms a pressure chamber with the housing and changes the relative phase with respect to the housing by the working fluid pressure introduced into the pressure chamber. It is possible to make the induced voltage constant variable easily and appropriately and at a desired timing while reliably suppressing the occurrence.

  In addition, an end plate that transmits the driving force of the other rotor to the output shaft is fixed to both end sides in the axial direction of the other rotor and the vane rotor. Since the one rotor and the housing are arranged so as to be rotatable in the circumferential direction, the pressure of the working fluid is caused to be a relative phase between the housing and the vane rotor integrally provided inside the one rotor, That is, it can be used mainly for changing the relative phase between one rotor and the other rotor. Therefore, the pressure that needs to be generated by the working fluid can be kept low.

Furthermore, according to the motor control device of the invention described in claim 4 , when the working fluid pressure is introduced into the pressure chamber defined by the vane portion of the vane rotor and the concave portion of the housing, the housing is arranged in a direction in which the pressure chamber expands. The relative phase between the rotor and the vane rotor is changed. As a result, the relative phase between one rotor integrally provided on the outside of the housing and the other rotor integrally provided on the vane rotor is changed. The phase will be changed.

Furthermore, according to the motor control device of the invention described in claim 5 , since the end plates fixed to both axial ends of the other rotor are respectively fixed integrally with the vane portion of the vane rotor, It is possible to suppress the working fluid from passing through the gap with the end plate, and it is possible to suppress the deformation of the blade portion and the displacement of the blade portion on the tip side due to this deformation.

Furthermore, according to the motor control device of the invention described in claim 6 , since the end plates fixed to the both axial ends of the other rotor are respectively fixed integrally with the output shaft, The other rotor, vane rotor, and both end plates are supported by both ends. Therefore, the other rotor, vane rotor, and both end plates can be favorably supported.

Furthermore, according to the motor control device of the invention described in claim 7 , even if the operating friction of the phase changing means changes according to the temperature of the working fluid, it is possible to perform an appropriate dithering process.

Embodiments of a motor control device according to the present invention will be described below with reference to the accompanying drawings.
The motor control device according to this embodiment is mounted as a control device in a vehicle such as a hybrid vehicle or an electric vehicle including a motor as a travel drive source. Specifically, as shown in FIG. 1, a vehicle 100 equipped with a control device 100a is a parallel hybrid vehicle including a motor 1 and an internal combustion engine E as drive sources, and includes the motor 1, the internal combustion engine E, a transmission T. / M is directly connected in series, and at least the driving force of the motor 1 or the internal combustion engine E is transmitted to the driving wheels W of the vehicle 100 via the clutch C and the transmission T / M.

When the driving force is transmitted from the driving wheel W side to the motor 1 during deceleration of the vehicle 100, the motor 1 functions as a generator to generate a so-called regenerative braking force and convert the kinetic energy of the vehicle body into electric energy ( Recovered as regenerative energy). Also, when the output of the internal combustion engine E is transmitted to the motor 1, the motor 1 functions as a generator and generates power generation energy.
Here, the vehicle 100 provided with the control device 100a is provided with various sensors such as an accelerator pedal opening sensor (not shown), a brake pedal switch sensor (not shown), a wheel speed sensor NW, an oil temperature sensor To, and the like. The control device 100a outputs control commands to the control systems of the internal combustion engine E, the motor 1, the clutch C, and the transmission T / M based on the detection results of these various sensors.

As shown in FIGS. 2 to 5, for example, the motor 1 is an inner rotor type brushless motor in which a rotor unit 3 is disposed on the inner peripheral side of an annular stator 2.
The stator 2 has a multi-phase stator winding 2a, and the rotor unit 3 has a rotating shaft 4 at the shaft core. The rotational force of the motor 1 is transmitted to the drive wheels W via the clutch C and the transmission T / M.

  The rotor unit 3 includes, for example, an annular outer circumferential rotor 5 and an annular inner circumferential rotor 6 disposed coaxially inside the outer circumferential rotor 5. The circumferential rotor 6 is relatively rotatable within a predetermined set angle range.

  The outer circumferential rotor 5 and the inner circumferential rotor 6 are formed by, for example, sintered rotor cores 7 and 8 made of sintered metal, which are the main bodies of the rotors, being biased toward the outer circumferential side of the rotor cores 7 and 8. In this position, a plurality of magnet mounting slots 7a and 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. Note that the flow of magnetic flux of the permanent magnet 9 is controlled between the adjacent magnet mounting slots 7a, 7a and 8a, 8a on the outer peripheral surfaces of the rotors 5, 6 (for example, suppression of magnetic path short-circuiting, etc.) ) Is formed along the axial direction of the rotors 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 capable of obtaining a field-weakening state (see, for example, FIG. 5 and FIG. 6B) in which the entire field is weakened, and mounting the outer rotor 5 and inner rotor 6 with magnets. The pair of permanent magnets 9 in the slots 7a and 8a are opposed to each other with different polarities (with the same polarity), so that the field of the entire rotor unit 3 is strengthened most strongly (for example, FIG. 3, FIG. 6 (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 rotors 5 and 6, and is a working fluid (for example, an incompressible working fluid) It may be operated by the pressure of transmission T / M lubricating oil, engine oil or the like.
For example, as shown in FIG. 7, the phase changing unit 12 includes a rotation mechanism 11 and a hydraulic control device 13 that controls the pressure of the hydraulic fluid supplied to the rotation mechanism 11 as main elements. Yes.

  As shown in FIGS. 2 to 5, for example, the rotating mechanism 11 is disposed on the outer periphery of the vane rotor 14 so as to be relatively rotatable on the outer periphery of the vane rotor 14. And the annular housing 15 is integrally fitted and fixed to the inner peripheral surface of the inner circumferential rotor 6, and the vane rotor 14 is disposed on both sides of the annular housing 15 and the inner circumferential rotor 6. It is integrally coupled to the outer circumferential rotor 5 via a pair of disk-shaped drive plates 16, 16 straddling the end portions. 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 blade portions 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 blade portions 18 of the vane rotor 14 are accommodated in the concave portions 19. Each recess 19 is configured by a bottom wall 20 having an arc surface that substantially matches the rotational trajectory of the tip of the blade 18 and a substantially triangular protrusion 21 that separates the adjacent recesses 19, 19. When the relative rotation of 14 and the annular housing 15 is performed, the blade portion 18 can be displaced between the one projecting portion 21 and the other projecting portion 21.
In this embodiment, the projecting portion 21 also functions as a regulating member that regulates the relative rotation of the vane rotor 14 and the annular housing 15 by contacting the blade portion 18. A seal member 22 is provided along the axial direction at the tip of each blade 18 and the tip of the protrusion 21, and the blade 18 and the bottom wall 20 of the recess 19 protrude from these seal members 22. The space between the outer peripheral surface of the portion 21 and the boss portion 17 is 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 for example, as shown in FIG. On the other hand, it protrudes 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 circumferential rotor 6 are connected to the outer circumferential 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 corresponding vane portions 18 of the vane rotor 14, one chamber being an advance side working chamber 24 and the other chamber being 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, “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. 3 and 5 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, for example, 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 of the hydraulic control device 13. It is connected to the supply / discharge passage 27. Furthermore, a part of the advance side supply / exhaust passage 26 and the retard side supply / exhaust passage 27 are constituted by passage holes 26a and 27a formed along the axial direction of the rotary shaft 4 as shown in FIG. Has been. 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.

In the motor 1 of this embodiment, when the inner rotor 6 is at the most retarded position with respect to the outer rotor 5, the permanent magnets 9 of the outer rotor 5 and the inner rotor 6 are When the different poles face each other and are in a strong field state (see, for example, FIG. 3 and FIG. 6A) and the inner circumferential rotor 6 is at the most advanced angle position with respect to the outer circumferential rotor 5 In addition, 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 and to have a field weakening state (see, for example, FIGS. 5 and 6B). ing.
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. When the strength of the magnetic field is changed in this way, the induced voltage constant Ke changes accordingly, and as a result, the characteristics of the motor 1 are changed. That is, when the induced voltage constant Ke 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, the induced voltage constant Ke decreases due to the weak field. Then, although the maximum torque that can be output by the motor 1 decreases, the allowable rotational speed at which the motor 1 can operate increases.

For example, as shown in FIG. 7, the hydraulic control device 13 adjusts the oil pump 32 that sucks up the hydraulic fluid from an oil tank (not shown) and discharges the hydraulic fluid to the passage, and the hydraulic pressure of the hydraulic fluid discharged from the oil pump 32. And a regulator valve 35 for introducing excess hydraulic fluid into the low-pressure passage 34 for lubricating and cooling various devices, and the hydraulic fluid introduced into the line passage 33 on the advance side. There is provided a flow path switching valve 37 that distributes to the drain passage 26 and the retard side supply / discharge passage 27 and discharges unnecessary hydraulic fluid to the drain passage 36 through the advance side supply / discharge passage 26 and the retard side supply / discharge passage 27. ing.
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 37b for moving the control spool 37a forward and backward, and the electromagnetic solenoid 37b is controlled by the control device 100a.

  As shown in FIG. 1, for example, the control device 100 a includes a motor control unit 40, a PDU (power drive unit) 41, and a battery 42.

The PDU 41 includes, for example, 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 PWM inverter forms a pair for each phase in the PWM inverter based on a gate signal (that is, a pulse width modulation signal) that is a switching command input from the motor control unit 40 when the motor 1 is driven, for example. By switching the on / off (cutoff) state of each transistor, 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. As a result, AC U-phase current Iu, V-phase current Iv and W-phase current Iw are applied to the stator winding 2a of each phase.

  For example, as shown in FIG. 1, the motor control unit 40 performs feedback control of current on the dq coordinates forming the rotation orthogonal coordinates. For example, an accelerator pedal opening that detects the accelerator opening degree related to the accelerator operation of the driver is performed. The d-axis target current Idc and the q-axis target current Iqc are calculated based on the torque command value Tq calculated based on the detection result of the degree sensor, and each phase output voltage is calculated based on the d-axis target current Idc and the q-axis target current Iqc. Vu, Vv, and Vw are calculated, and a PWM signal that is a gate signal is input to the PDU 41 according to each phase output voltage Vu, Vv, and Vw, and each phase current Iu, Iv that is actually supplied from the PDU 41 to the motor 1 , Iw, the d-axis current Id and the q-axis current Iq obtained by converting the two phase currents into currents on the dq coordinate, the d-axis target current Idc, and the q-axis target current Iqc. Each deviation is controlled to be zero.

  The motor control unit 40 includes, for example, 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. The signal generation unit 57, the filter processing unit 58, the three-phase-dq conversion unit 59, the rotation speed calculation unit 60, the dithering control unit 61, the induced voltage constant calculation unit 62, and the induced voltage constant command output unit 63 And an induced voltage constant difference calculation unit 64 and a phase control unit 65.

  The motor control unit 40 includes current sensors 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. 81, 81, the detection signals Ius, Iws output from the voltage sensor 82 for detecting 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 detection signal output from a rotation sensor 83 that detects a rotation angle of the magnetic poles of the rotor unit 3 from a predetermined reference rotation position), an inner peripheral rotor 6 that is variably controlled by the hydraulic control device 13, and an outer peripheral rotation. A detection signal output from a phase sensor (not shown) that detects a relative phase (relative phase) θ with respect to the child 5, and a plurality of wheel speed sensors that detect a rotational speed (wheel speed) of each wheel of the vehicle 100. A detection signal output from the NW is input.

  The target current setting unit 51 is required according to the output of an accelerator pedal opening sensor that detects, for example, a torque command Tq (for example, a depression operation amount of the accelerator pedal AP by the driver) input from an external control device (not shown). Each phase current Iu, Iv supplied from the PDU 41 to the motor 1 on the basis of the command value for causing the motor 1 to generate torque to be generated) and the rotation speed NM of the motor 1 input from the rotation speed calculation unit 60. , Iw is calculated, and the current command is output to the current deviation calculation unit 52 as the d-axis target current Idc and the q-axis target current Iqc on the rotating orthogonal coordinates.

  The dq coordinate forming the rotation orthogonal coordinate is, for example, a field magnetic flux direction by the permanent magnet 9 of the outer rotor 5 of the rotor unit 3 as a d axis (field axis), and a direction orthogonal to the d axis is q. The shaft (torque shaft) is rotated in synchronization with the rotational phase of the rotor unit 3 of the motor 1. 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.
The power control unit 54 also outputs a q-axis correction current for correcting the q-axis target current Iqc to the q-axis current deviation calculation unit 52b 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 θM of the rotor unit 3 input from the rotation speed 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 respective phase currents detected by the respective current sensors 81 and 81 to obtain the respective 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 83, and calculates the rotation speed NM of the motor 1 based on the rotation angle θM.

The dithering control unit 61 adds a dithering signal to be added to the command value (control command θc) of the relative phase θ calculated by the phase control unit 65 described later based on the detection signal of the relative phase θ output from the phase sensor. A dither amplitude α and a dither frequency β are calculated.
For example, as shown in FIG. 8, the dithering signal is obtained by converting a command value of the relative phase θ indicating a smooth time change calculated by the phase controller 65 into a rectangular wave-like time corresponding to the dither amplitude α and the dither frequency β. It is converted into a command value (control command θc) indicating a change.
Here, the dither amplitude α and the dither frequency β are calculated by, for example, a map search for a map showing a predetermined relative relationship between the dither amplitude α and the dither frequency β and the relative phase θ, and are output from, for example, a phase sensor. The relative phase θ detection signal, that is, a value corresponding to the current value (current phase θn) of the relative phase θ.

The induced voltage constant calculator 62 is based on the detection signal of the relative phase θ output from the phase sensor, and the induced voltage constant Ke corresponding to the relative relative phase θ between the inner rotor 6 and the outer rotor 5. Is calculated.
The induced voltage constant command output unit 63 outputs a command value (induced voltage constant command) Kec for the induced voltage constant Ke of the motor 1 based on, for example, the torque command Tq, the rotation speed NM of the motor 1, and the power supply voltage VB. .

The induced voltage constant difference calculation unit 64 subtracts the induced voltage constant Ke output from the induced voltage constant calculation unit 62 from the induced voltage constant command value Kec output from the induced voltage constant command output unit 63. A constant difference ΔKe is output.
For example, in response to the induced voltage constant difference ΔKe output from the induced voltage constant difference calculation unit 64, the phase control unit 65 sets the induced voltage constant difference ΔKe to zero to control the relative phase θ. And a dithering signal output from the dithering control unit 61 is added to the command value and output as a control command θc.
Since the control command θc is a command value for the electromagnetic solenoid 37b that advances and retracts the control spool 37a in the hydraulic control device 13, the phase control unit 65 sets the current supplied to the electromagnetic solenoid 37b or the command value for the electromagnetic solenoid 37b. A dithering process is performed to convert the signal into a command value having a predetermined amplitude variation.

  The motor control device (that is, the control device 100a) according to this embodiment has the above-described configuration, and the operation of the control device 100a will be described next.

First, for example, in step S01 shown in FIG. 9, it is determined whether or not a change request (variable command) for the relative phase θ between the outer circumferential rotor 5 and the inner circumferential rotor 6 has occurred.
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 S 02.
In step S02, the current value (current phase θn) of the relative phase θ is acquired based on the detection signal output from the phase sensor.

In step S03, the dither amplitude α corresponding to the current phase θn is acquired by performing a map search for a map that shows a predetermined relative relationship between the dither amplitude α and the relative phase θ created in advance.
In step S04, the dither frequency β corresponding to the current phase θn is acquired by performing a map search for a map indicating a predetermined relative relationship between the dither frequency β and the relative phase θ created in advance.
In step S05, a dithering signal addition process, which will be described later, is executed, and the series of processes ends.

The dithering signal addition process in step S05 described above will be described below.
First, for example, in step S11 shown in FIG. 10, it is determined whether or not the current value of the dither frequency β is equal to the previous value in the previous process.
If this determination is “YES”, the flow proceeds to step S 13 described later.
On the other hand, if this determination is “NO”, the flow proceeds to step S12, the value of the dithering execution counter TD is set to zero, and the flow proceeds to step S13.

In step S13, a half cycle time B (= 1000 / (β / 2)) (ms) is calculated based on the current value of the dither frequency β.
In step S14, a value (TD + β / 2) obtained by adding the half frequency (β / 2) corresponding to the current value of the dither frequency β to the dithering execution counter TD is newly set as the dithering execution counter TD. Set as.

In step S15, a half width A (= α / 2) is calculated based on the dither amplitude α.
In step S16, it is determined whether or not the value (TD / (β / 2)) obtained by dividing the dithering execution counter TD by the half frequency (β / 2) is an integer and an even number.
If this determination is “NO”, the flow proceeds to step S 18 described later.
On the other hand, if the determination is “YES”, the flow proceeds to step S17.

  In step S17, for example, a value (DCMD + A) obtained by adding the half width A to the duty command value DCMD that is a command value for driving the electromagnetic solenoid 37b on / off is used as the command value after adding the dithering signal. Therefore, the final duty command value FDMDD corresponding to the control command θc output from the phase control unit 65 is set, and the series of processes is terminated.

In step S18, it is determined whether or not the value (TD / (β / 2)) obtained by dividing the dithering execution counter TD by the half frequency (β / 2) is an integer and an odd number.
If this determination is “YES”, the flow proceeds to step S 19, in which the value obtained by subtracting the half width A from the duty command value DCMD (DCMD−A) is used as the final duty command value FDMD. To end the series of processing.
On the other hand, if this determination is “NO”, the flow proceeds to step S 20, where the previous value of the final duty command value FDMD is set as the current value of the final duty command value FDMD, and a series of steps is performed. The process ends.

  For example, as shown in FIG. 11, an induced voltage constant Ke (command) corresponding to a command value for controlling the relative phase θ by setting the induced voltage constant difference ΔKe output from the induced voltage constant difference calculating unit 64 to zero. In the comparative example in which the value) changes linearly, the induced voltage constant Ke (actually measured value) corresponding to the actual relative phase θ has unstable fluctuations due to various disturbances acting on the pressure of the hydraulic fluid. On the other hand, the induced voltage constant Ke (in the embodiment corresponding to the control command θc in which the dithering signal is added to the command value for controlling the relative phase θ so that the induced voltage constant difference ΔKe is zero. (Command value) fluctuates according to the dither amplitude α and the dither frequency β, so that it is possible to suppress the induced voltage constant Ke (actually measured value) from fluctuating in an unstable manner.

  As described above, according to the motor control device of this embodiment, stable control can be performed against various disturbances to the electromagnetic solenoid 37b by performing dithering processing on the command value for the electromagnetic solenoid 37b. .

In the above-described embodiment, the dither amplitude α and the dither frequency β are simply acquired from a predetermined map corresponding to the current phase θn. However, the present invention is not limited to this. For example, as shown in FIG. A different map may be set for each appropriate phase range with respect to the phase θ, and the dither amplitude α and the dither frequency β may be acquired by map search for each map according to the current phase θn.
For example, in FIG. 12, in the predetermined phase range (W <θ <X) in which the relative torque between the outer rotor 5 and the inner rotor 6 changes in an increasing trend as the relative phase θ increases. The dither amplitude α and the dither frequency β corresponding to the current phase θn are acquired from the predetermined first map, and the relative torque changes in a decreasing tendency as the relative phase θ increases (Y <θ <Z ), A dither amplitude α and a dither frequency β corresponding to the current phase θn are obtained from a predetermined second map.

In this modified example, first, for example, in step S21 shown in FIG. 13, it is determined whether or not a change request (variable command) for the relative phase θ between the outer circumferential rotor 5 and the inner circumferential rotor 6 has occurred.
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 S22.
In step S22, the current value (current phase θn) of the relative phase θ is acquired based on the detection signal output from the phase sensor.

In step S23, it is determined whether or not the current phase θn is larger than the predetermined phase W and smaller than the predetermined phase X (> W).
If this determination is “NO”, the flow proceeds to step S 27 described later.
On the other hand, if this determination is “YES”, the flow proceeds to step S24.
In step S24, the dither amplitude α corresponding to the current phase θn is acquired by performing a map search for a first map that shows a predetermined relative relationship between the dither amplitude α and the relative phase θ created in advance.
In step S25, a dither frequency β corresponding to the current phase θn is acquired by performing a map search for a first map showing a predetermined relative relationship between the dither frequency β and the relative phase θ that is created in advance.
In step S26, a dithering signal addition process equivalent to step S05 described above is executed, and the series of processes ends.

In step S27, it is determined whether or not the current phase θn is larger than the predetermined phase Y (> X) and smaller than the predetermined phase Z (> Y).
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 S28.
In step S28, the dither amplitude α corresponding to the current phase θn is acquired by performing a map search for a second map that shows a predetermined relative relationship between the dither amplitude α and the relative phase θ that is created in advance.
In step S29, a dither frequency β corresponding to the current phase θn is obtained by map search for a second map showing a predetermined relative relationship between the dither frequency β and the relative phase θ created in advance. Proceed to S26.

  In the above-described embodiment, the phase control unit 65 adds a dithering signal corresponding to the current value of the relative phase θ (current phase θn) to the command value for controlling the relative phase θ to control the command. Although output as θc is not limited to this, for example, a dithering signal corresponding to a predetermined dither amplitude α and dither frequency β over the entire range of the relative phase θ is a command value for controlling the relative phase θ. Or, for example, as shown in FIG. 8, the relative phase θ is changed only in the phase range where the change of the response value according to the command value for controlling the relative phase θ is equal to or larger than a predetermined value. A dithering signal having a dither amplitude α and a dither frequency β corresponding to the relative phase θ may be added to the command value for control.

  In the above-described embodiment, the dither amplitude α may be changed in accordance with the temperature of the hydraulic fluid (for example, a detected value by the oil temperature sensor To) in the phase changing unit 12. For example, the temperature of the hydraulic fluid By increasing the dither amplitude α in a low temperature state where the temperature is lower than the predetermined temperature, an appropriate dithering process is performed even when the operating friction in the phase changing means 12 changes according to the temperature of the hydraulic fluid. Can do.

  The present invention is not limited to the above-described embodiment, and may be applied to, for example, an electric vehicle other than a hybrid vehicle, and is not limited to being applied to a vehicle, but is mounted on an appropriate device. You may apply to a motor.

1 is a schematic configuration diagram of a vehicle according to an embodiment of the present invention. It is principal part sectional drawing of the motor which concerns on embodiment of this invention. It is the side view which abbreviate | omitted some components of the rotor unit currently controlled to the most retarded angle position of the motor which concerns on embodiment of this invention. It is a disassembled perspective view of the rotor unit of the motor which concerns on embodiment of this invention. It is the side view which abbreviate | omitted some components of the rotor unit currently controlled to the most advanced angle position of the motor which concerns on embodiment of this invention. The figure (a) which shows typically the strong field state in 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 embodiment of this invention are 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 hydraulic control apparatus which concerns on embodiment of this invention. A command value of relative phase θ indicating a smooth time change calculated by the phase control unit according to the embodiment of the present invention, and a command value (control) indicating a rectangular wave-like time change according to dither amplitude α and dither frequency β. It is a figure which shows an example with instruction | command (theta) c). It is a flowchart which shows the operation | movement of the motor control apparatus which concerns on embodiment of this invention, especially the process of dithering control. It is a flowchart which shows the process of the dithering signal addition which concerns on embodiment of this invention. It is a graph which shows an example of the change of the command value and measured value of the induced voltage constant Ke in the comparative example which concerns on embodiment of this invention, and the command value and measured value of the induced voltage constant Ke in an Example. It is a figure which shows an example of the change according to relative phase (theta) of the relative torque which concerns on the modification of embodiment of this invention, the dither amplitude (alpha), and the dither frequency (beta). It is a flowchart which shows the operation | movement of the motor control apparatus which concerns on the modification of embodiment of this invention, especially the process of dithering control.

Explanation of symbols

1 Motor 5 Outer rotor (other rotor)
6 Inner circumference rotor (one rotor)
12 phase change means 14 vane rotor 15 annular housing (housing)
16 Drive plate (end plate)
18 Blade 19 Recess 23 Introduction space (space)
24 Advance working chamber (pressure chamber)
25 Retarded working chamber (pressure chamber)
37b Electromagnetic solenoid (actuator)
61 Dithering control unit (dithering processing means)

Claims (7)

A motor including a plurality of rotors capable of changing relative phases of each other;
A phase change means for changing the relative phase by the fluid pressure of the working fluid,
The phase changing means includes an actuator that controls a fluid pressure of the working fluid in response to a change request for the relative phase, and a current supplied to the actuator or a command value for the actuator to a command value having a predetermined amplitude variation. Dithering processing means for performing dithering processing for conversion ,
The motor control apparatus according to claim 1, wherein the phase changing unit performs the dithering process by the dithering processing unit when the relative phase is a value within a predetermined range . The motor control device according to claim 1 , wherein the predetermined range is a phase range in which the amount of change in relative torque per unit relative phase is a predetermined value or more. The phase changing means is formed integrally with one of the rotors, and is integrally formed with the other rotor, and forms a pressure chamber with the housing, and the phase changing means introduces the working fluid introduced into the pressure chamber. A vane rotor that changes a phase relative to the housing by fluid pressure, and
An end plate that transmits the driving force of the other rotor to the output shaft is fixed to both end sides in the axial direction of the other rotor and the vane rotor. the motor control device according to claim 1 or claim 2, characterized in that one said rotor and said housing of the integral is arranged rotatably in the circumferential direction. 4. The motor control according to claim 3 , wherein a blade portion formed in the vane rotor is accommodated in a concave portion formed in the housing, and the pressure chamber is formed by the blade portion and the concave portion. apparatus. 5. The motor control device according to claim 4 , wherein end plates fixed to both axial ends of the other rotor are respectively fixed integrally with the vane portion of the vane rotor. The motor control device according to any one of claims 3 to 5 , wherein end plates fixed to both ends in the axial direction of the other rotor are respectively fixed to the output shaft. . A temperature sensor for detecting the temperature of the working fluid;
The dithering processing means, wherein with the said temperature is detected by the temperature sensor decreases, either one of claims 1 to 6, characterized in that for changing the predetermined amplitude fluctuation increasing tendency The motor control device described in 1.

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