JP5003452B2 - Rotating machine control device - Google Patents

Description

  According to the present invention, when a rotating machine having saliency is driven by operating a switching element of an inverter, the rotating machine has a period different from the rotating period of the electrical angle of the rotating machine and vibrates in an arbitrary phase angle direction. Superimposing means for superimposing the frequency signal on the output signal of the inverter; and angle calculating means for calculating the rotation angle of the rotating machine based on the vibration direction of the frequency signal that actually propagates through the rotating machine by the superposition. The present invention relates to a control device for a rotating machine that estimates a rotation angle of the rotating machine.

As this type of control device, for example, as seen in Patent Document 1 below, a voltage signal is superimposed in the estimated d-axis direction of the output signal of the inverter for a three-phase motor having saliency, and the current actually propagated at this time There has also been proposed a method for calculating a rotation angle based on a change in a q-axis component of a signal. This is because the inductance in the d-axis direction is the minimum in a three-phase motor, and thus focuses on the property that current tends to flow in the d-axis direction compared to the q-axis direction. Furthermore, in the above-mentioned patent document 1, it is also proposed to calculate the rotation angle so that the amount calculated based on the change of the current signal becomes a target value. Thereby, even when the torque of the electric motor increases and a magnetic saturation phenomenon occurs, the estimation error of the rotation angle can be suppressed.
Japanese Patent No. 3692046

  By the way, in recent years, for example, an electric motor used as an in-vehicle power generation device has been increasingly demanded for downsizing and higher torque. Under such circumstances, when the torque is further increased while the motor is reduced in size, a more remarkable magnetic saturation phenomenon occurs. In this case, the inventors have found that the calculation error of the rotation angle increases even if the process of calculating the rotation angle so as to achieve the target value is performed.

  The present invention has been made in order to solve the above problems, and its purpose is to drive a rotating machine having saliency by operating a switching element of an inverter, regardless of the driving state of the rotating machine. An object of the present invention is to provide a control device for a rotating machine that can acquire more accurate information about the rotation angle of the rotating machine based on the electrical state quantity of the rotating machine.

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

Invention of claim 9, the invention according to any one of claims 1-8, wherein the variable means, when the magnetic saturation degree becomes a predetermined or higher, the rotating machine superimposing direction of the frequency signal It is characterized in that it is deflected in the direction in which the inductance is maximized rather than the direction in which the inductance is minimized.

  When the frequency signal superimposition direction is variable, the one-to-one relationship described above is particularly true when the superposition direction when the predetermined degree of magnetic saturation is deflected to the maximum direction side rather than the minimum direction side. It has been found by the inventors that it is easy to keep. In the above invention, by focusing on this point, the superimposing direction can be set appropriately.

The invention according to claim 10 is the invention according to any one of claims 1 to 9 , wherein the variable means drives a torque command value for the rotating machine, an actual torque of the rotating machine, and the rotating machine. The variable setting is performed by using at least one of a command value of a current to be detected and a detected value of a current for driving the rotating machine as an input parameter.

  As described above, when the degree of magnetic saturation of the rotating machine increases, it becomes difficult to maintain a one-to-one correspondence between actual errors and error parameter values. For this reason, it is desirable to make the superimposition direction variable according to a parameter that causes magnetic saturation. Further, the inventors have found that the superposition direction required for maintaining the one-to-one relationship also changes depending on the phase angle of the current for driving the rotating machine. In this regard, in the above invention, the superposition direction can be appropriately set by using a parameter having a correlation with the degree of magnetic saturation or a parameter having a correlation with the phase angle of the drive current.

According to the seventh aspect of the present invention, when a rotating machine having saliency is driven by operating a switching element of an inverter, the rotating machine has a period different from the rotational period of the electrical angle of the rotating machine and an arbitrary phase angle. Superimposing means for superimposing a frequency signal oscillating in the direction on the output signal of the inverter, and angle calculating means for calculating the rotation angle of the rotating machine based on the oscillating direction of the frequency signal actually propagating through the rotating machine by the superposition. In the control device for a rotating machine that estimates the rotation angle of the rotating machine, the superimposing means sets the frequency signal superimposing direction based on the estimated rotation angle, and the operating state of the rotating machine said superimposing direction with variable means for variably setting the angle calculation means, the angle of oscillation direction and said superposed direction of the frequency signal to the actual propagation in accordance with And error parameter values calculated based is be one that calculates the rotation angle such that the target value, characterized by variably set in accordance with the target value to the operation state of the rotating machine.

In the above invention, since the rotating machine has saliency, the inductance varies depending on the phase angle, and thus the current flowability varies. For this reason, the actually propagated frequency signal is deflected in a direction in which current flows easily regardless of the phase angle of the superimposed frequency signal. Therefore, the rotation angle can be calculated based on this deflection mode.
However, as the magnetic saturation occurs in the rotating machine and the degree of magnetic saturation increases, the calculation accuracy of the rotation angle based on the deflection mode decreases, and when the degree of magnetic saturation further increases, the calculation of the rotation angle based on the deflection mode itself Have been found by the inventors to be impossible. According to the inventors, this factor is a one-to-one relationship between the actual error of the estimated rotation angle and the error parameter value calculated based on the vibration direction of the actually propagated frequency signal. It is in having no.
Here, in the above invention, the actual error and the error parameter value are compared with the case where the angle in the superimposition direction set (defined) at the estimated rotation angle is variable, as compared with the case where this is fixed. The degree of freedom for adjusting the relationship with can be increased. According to this, the inventors have found that a one-to-one correspondence between these actual errors and error parameter values can be maintained. In the above invention, by paying attention to this point, it is possible to acquire more accurate information about the rotation angle regardless of the driving state of the rotating machine.
By the way, even if the one-to-one correspondence between the actual error and the error parameter value is maintained by making the superimposition direction variable, this means that the error parameter value is obtained when the actual error is zero. Has not been guaranteed to be zero, and the inventors have found that the error parameter value can vary when the actual error is zero. In this regard, in the above invention, by making the target value variable, the actual error of the rotation angle can be made zero by calculating the rotation angle so that the error parameter value becomes the target value.
In addition, a rotary machine is an electric motor or a generator. The frequency signal actually propagated through the rotating machine is a current signal based on the detected current value of the rotating machine when the superimposing unit superimposes the voltage signal, and the superimposing unit superimposes the current signal. It is desirable to use a voltage signal based on the detected value of the current of the rotating machine.

The invention according to claim 8 is the invention according to claim 7 , wherein the angle calculation means includes a command value of torque for the rotating machine, an actual torque of the rotating machine, and a command value of current for driving the rotating machine. The target value is variably set according to at least one of detected values of current for driving the rotating machine.

  In the above invention, the target value can be appropriately set by setting the target value for the target value required to make the rotation angle zero, based on the parameter that causes the variation. it can.

According to the first aspect of the present invention, when a rotating machine having saliency is driven by operating a switching element of the inverter, the rotating machine has a period different from the rotating period of the electrical angle of the rotating machine and an arbitrary phase angle. Superimposing means for superimposing a frequency signal oscillating in the direction on the output signal of the inverter, and angle calculating means for calculating the rotation angle of the rotating machine based on the oscillating direction of the frequency signal actually propagating through the rotating machine by the superposition. In the control device for a rotating machine that estimates the rotation angle of the rotating machine, the superimposing means sets the frequency signal superimposing direction based on the estimated rotation angle, and the operating state of the rotating machine Variable angle means for variably setting the superimposition direction according to the angle, the angle calculation means includes a torque command value for the rotating machine, an actual torque of the rotating machine, and the rotating machine. Command value of a current for driving, characterized in that variably sets the gain to be used for estimating the rotation angle in accordance with at least one detection value of the current for driving the rotating machine.

  The inventors have found that the sensitivity of the error parameter value to the actual error varies depending on the operating state of the rotating machine even when the relationship between the actual error and the error parameter value described above is kept 1: 1. Has been issued. For this reason, the gain used when estimating the rotation angle depends on the operating state of the rotating machine. In this regard, in the above-described invention, an appropriate gain can be set regardless of the operating state of the rotating machine by variably setting the gain used when estimating the rotation angle.

Furthermore, according to the above-described invention, the gain can be variably set by appropriately setting the gain based on the parameter that causes the fluctuation of the sensitivity of the error parameter value with respect to the actual error.

According to a second aspect of the present invention, when a rotating machine having saliency is driven by operating a switching element of an inverter, the rotating machine has a period different from the rotational period of the electrical angle of the rotating machine and an arbitrary phase angle. Superimposing means for superimposing a frequency signal oscillating in the direction on the output signal of the inverter, and angle calculating means for calculating the rotation angle of the rotating machine based on the oscillating direction of the frequency signal actually propagating through the rotating machine by the superposition. In the control device for a rotating machine that estimates the rotation angle of the rotating machine, the superimposing means sets the frequency signal superimposing direction based on the estimated rotation angle, and the operating state of the rotating machine It said superimposing direction with variable means for variably setting the angle calculation means, frequency propagating frequency signal superimposed by the superimposing means and the fact in accordance with the One of the current product in the q-axis direction based on the estimated rotation angle of the cross product of two vector signals with the signal and the actually propagated frequency signal is used as an error parameter value, and this is set as the target value. The rotation angle is calculated, and the target value is variably set according to the operating state of the rotating machine.

  The outer product value has a correlation with the phase difference between the actually propagated frequency signal and the superimposed signal. On the other hand, the phase angle at which the inductance of the rotating machine is minimized is determined according to the operating state of the rotating machine. For this reason, the outer product value can be used as the error parameter value. Similarly, according to Patent Document 1, the current component in the q-axis direction can also be used as the error parameter value. However, the inventors have found that the error parameter value when the actual error is zero can vary. In this regard, in the above-described invention, the rotation angle can be appropriately calculated by setting each error parameter value as a target value variably set according to the operating state.

According to a third aspect of the present invention, when a rotating machine having saliency is driven by operating a switching element of an inverter, the rotating machine has a period different from the rotational period of the electrical angle of the rotating machine and an arbitrary phase angle. Superimposing means for superimposing a frequency signal oscillating in the direction on the output signal of the inverter, and angle calculating means for calculating the rotation angle of the rotating machine based on the oscillating direction of the frequency signal actually propagating through the rotating machine by the superposition. In the control device for a rotating machine that estimates the rotation angle of the rotating machine, the superimposing means sets the frequency signal superimposing direction based on the estimated rotation angle, and the operating state of the rotating machine a variable means for variably setting the superimposing direction according to the angle calculating means, error parameter calculated based on the vibration direction of the frequency signal is actually propagated The rotation angle is calculated so that the target value becomes a target value, and a transfer function having the rotation angle calculated by the angle calculation means as an output and the difference between the error parameter value and the target value as an input is provided. It is a transmission system of the third order or higher.

  In the above invention, based on the well-known internal model principle, by using a third-order or higher-order transmission system, it is possible to avoid a steady error in the rotation angle even when the rotation speed changes in a ramp shape. Can do.

According to a fourth aspect of the present invention, when a rotating machine having saliency is driven by operating a switching element of an inverter, the rotating machine has a period different from the rotational period of the electrical angle of the rotating machine and an arbitrary phase angle. Superimposing means for superimposing a frequency signal oscillating in the direction on the output signal of the inverter, and angle calculating means for calculating the rotation angle of the rotating machine based on the oscillating direction of the frequency signal actually propagating through the rotating machine by the superposition. In the control device for a rotating machine that estimates the rotation angle of the rotating machine, the superimposing means sets the frequency signal superimposing direction based on the estimated rotation angle, and the operating state of the rotating machine a variable means for variably setting the superimposing direction according to the angle calculating means, error parameter calculated based on the vibration direction of the frequency signal is actually propagated The rotation angle is calculated so that the rotation value becomes a target value, and the angle calculation means determines the rotation angle to be output prior to outputting the rotation angle of the rotating machine as the error parameter value. The correction is based on the high frequency component.

  There is a possibility that a high frequency component (higher order error amount) is mixed in the error parameter value. For this reason, a high-order error may be superimposed on the estimated rotation angle. In this regard, in the above-described invention, by correcting the rotation angle based on the high-frequency component of the error parameter value, it is possible to suitably remove a high-order error amount from the output of the angle calculation means.

According to a fifth aspect of the present invention, when a rotating machine having saliency is driven by operating a switching element of an inverter, the rotating machine has a period different from the rotational period of the electrical angle of the rotating machine and an arbitrary phase angle. Superimposing means for superimposing a frequency signal oscillating in the direction on the output signal of the inverter, and angle calculating means for calculating the rotation angle of the rotating machine based on the oscillating direction of the frequency signal actually propagating through the rotating machine by the superposition. In the control device for a rotating machine that estimates the rotation angle of the rotating machine, the superimposing means sets the frequency signal superimposing direction based on the estimated rotation angle, and the operating state of the rotating machine a variable means for variably setting the superimposing direction according to the angle calculating means, error parameter calculated based on the vibration direction of the frequency signal is actually propagated The rotation angle is calculated so that the data value becomes a target value, and the superimposition direction by the variable means is a model equation indicating the relationship between the actual error of the estimated rotation angle and the error parameter value. In the case where the actual error falls within a predetermined area, the error parameter value and the actual error are adapted to have a one-to-one correspondence.

  The inventors have found that by using a model such as a voltage equation, it is possible to generate a model indicating the relationship between an actual error and an error parameter value. In the above-mentioned invention, in view of this point, the adaptation can be performed easily and appropriately by using a model indicating the relationship between the actual error and the error parameter value.

According to a sixth aspect of the present invention, when a rotating machine having saliency is driven by operating a switching element of an inverter, the rotating machine has a period different from the rotational period of the electrical angle of the rotating machine and an arbitrary phase angle. Superimposing means for superimposing a frequency signal oscillating in the direction on the output signal of the inverter, and angle calculating means for calculating the rotation angle of the rotating machine based on the oscillating direction of the frequency signal actually propagating through the rotating machine by the superposition. In the control device for a rotating machine that estimates the rotation angle of the rotating machine, the superimposing means sets the frequency signal superimposing direction based on the estimated rotation angle, and the operating state of the rotating machine a variable means for variably setting the superimposing direction according to the angle calculating means, error parameter calculated based on the vibration direction of the frequency signal is actually propagated The rotation angle is calculated so that the data value becomes a target value, and the superimposition direction by the variable means indicates the relationship between the actual error of the estimated rotation angle and the error parameter value for each superimposition direction. When the actual error falls within a predetermined region, the error parameter value and the actual error are adapted to have a one-to-one correspondence relationship. .

  In the said invention, the said adaptation can be performed appropriately by actually measuring the said relationship.

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

  FIG. 1 shows an overall configuration of a control system according to the present embodiment.

  The illustrated electric motor 10 is an embedded magnet synchronous motor (IPMSM). That is, as shown in FIG. 2, the rotor 10a of the electric motor 10 is configured by embedding a permanent magnet in an iron body.

  The dq conversion unit 20 shown in FIG. 1 converts the current flowing through the motor 10 based on the U-phase actual current iu and the W-phase actual current iw out of the current actually flowing through the motor 10 into a rotating two-phase coordinate system. Current, i.e., current vector components of the d-axis and q-axis. In this conversion, the rotation angle θ of the output shaft of the electric motor 10 is used. More precisely, the rotation angle θ is an electrical angle and is a rotation angle in the positive direction of the d axis with respect to the α axis. At this time, the low-pass filter also performs processing for removing high-frequency components described later from the actual currents iu and iw. For this reason, the dq conversion unit 20 extracts the currents of the d-axis component and the q-axis component used when driving the electric motor 10 from the current that actually flows through the electric motor 10.

  The command current setting unit 22 is a part for setting the command current idc on the d axis and the command current iqc on the q axis based on the required torque Td for the electric motor 10.

  The command voltage setting unit 24 is a part that calculates the command voltage vdc on the d axis and the command voltage vqc on the q axis based on the command current idc, the command current iqc, the actual current id, and the actual current iq. This conversion is basically performed by feedback control of the actual current id on the d axis to the command current idc and feedback control of the actual current iq on the q axis to the command current iqc. This feedback control may be proportional integral control, for example.

  The αβ converter 26 converts the command voltage vdc on the d axis and the command voltage vqc on the q axis into a command voltage vαc on the α axis and a command voltage vβc on the β axis. In this conversion, the rotation angle θ is used.

  The three-phase conversion unit 30 converts the output of the adder 28a according to the command voltage vαc on the α axis and the output of the adder 28b according to the command voltage vβc on the β axis into the u-phase command voltages vuc, v This is a part for converting into a phase command voltage vvc and a w-phase command voltage vwc.

  The PWM signal generation unit 32 is a part that generates an operation signal of the inverter 34 for applying the command voltages vuc, vvc, and vwc to the electric motor 10. As a result, the switching element SW of the inverter 34 is operated, and the voltage of the high voltage battery 36 is applied to the electric motor 10.

  Next, processing related to acquisition of the rotation angle θ of the electric motor 10 according to the present embodiment will be described.

  In the present embodiment, when driving the electric motor 10, a high-frequency signal having a cycle shorter than the rotation cycle of the electric angle of the electric motor 10 is superimposed on the output of the inverter 34. In other words, a high-frequency signal having a cycle shorter than the cycle of the current that actually flows through the electric motor 10 is superimposed according to the command currents idc and iqc. Then, the rotation angle θ of the electric motor 10 is calculated based on the high-frequency signal that actually propagates through the electric motor 10. This is done in view of the electric motor 10 having saliency.

  Specifically, the high frequency voltage setting unit 40 outputs high frequency voltage signals (vhdc, vhqc) expressed on the dq axis to the αβ conversion unit 42. The αβ converter 42 converts the high frequency voltage signals (vhdc, vhqc) into a high frequency voltage signal vhαc on the α axis and a high frequency voltage signal vhβc on the β axis, and outputs them to the adders 28a and 28b. For this reason, the three-phase conversion unit 30 receives a signal in which high-frequency voltage signals (vhdc, vhqc) are superimposed on the command voltages vdc, vqc.

  On the other hand, the high-frequency current extraction unit 44 extracts only high-frequency components of the actual currents iu and iw. That is, a high-frequency current signal ihu on the U phase and a high-frequency current signal ihw on the W phase are generated and output as high-frequency signals that are actually propagated to the electric motor 10. The αβ converter 46 converts the high-frequency current signals ihu and ihw into a high-frequency current signal ihα on the α-axis and a high-frequency current signal ihβ on the β-axis. On the basis of the vector signals (high-frequency voltage signals vhαc, vhβc) output from the αβ converter 42 and the vector signals (high-frequency current signals ihα, ihβ) output from the αβ converter 46, the outer product value calculator 48 calculates these outer products. The value op is calculated. This outer product value op is a parameter having a correlation with an angle formed by two vector signals of the high-frequency voltage signals (vhdc, vhqc) and the high-frequency current signals ihα, ihβ. For this reason, if the outer product value op is set to zero, the high-frequency voltage signals (vhdc, vhqc) output from the high-frequency voltage setting unit 40 can be superimposed in the direction in which the inductance is minimum.

  That is, the electric motor 10 has a minimum inductance in the d-axis direction and a maximum inductance in the q-axis direction due to its structure. Accordingly, since the current flows more easily in the d-axis direction than in the q-axis direction, the high-frequency signal actually propagated through the electric motor 10 is deflected in the d-axis direction when the high-frequency signal is superimposed. Specifically, as shown in FIG. 3A, when the estimated d-axis (estimated d-axis) is advanced with respect to the actual d-axis (real d-axis), the estimated d-axis When a high-frequency signal (one-dot chain line in the figure) is superimposed on the direction, the direction of the actually propagated high-frequency signal (solid line in the figure) is delayed with respect to the estimated d-axis in order to deflect toward the real d-axis side. It shifts to the corner side. As shown in FIG. 3B, when the estimated d-axis and the actual d-axis coincide with each other, when the high-frequency signal (one-dot chain line in the figure) is superimposed in the estimated d-axis direction, it is actually propagated. The direction of the high frequency signal to be performed (solid line in the figure) coincides with the estimated d-axis. Furthermore, as shown in FIG. 3C, when the estimated d-axis is retarded with respect to the actual d-axis, a high-frequency signal (one-dot chain line in the figure) is superimposed in the estimated d-axis direction. The direction of the actually propagating high-frequency signal (solid line in the figure) is shifted to the advance side with respect to the estimated d-axis in order to be deflected to the actual d-axis.

  If the above property is used, the d-axis can be estimated and calculated, and thus the rotation angle θ can be calculated. That is, by repeating the superposition of the high-frequency voltage signal while making the direction in which the high-frequency voltage signal actually propagates be the estimated d-axis direction, the phase angle of the superimposed high-frequency current signal is made to coincide with the phase angle of the actually propagated high-frequency current signal. And thus the estimated d-axis can be matched with the real d-axis.

  By the way, when the torque of the electric motor 10 increases, magnetic saturation may partially occur depending on the current flow mode in the electric motor 10. This will be described below with reference to FIG. FIG. 4B shows a high-frequency signal that is actually propagated when a high-frequency signal is superimposed in all directions while keeping the amplitude constant as shown in FIG. That is, FIG. 4B shows that when the current vector for driving the electric motor 10 (command current idc, iqc) becomes the current vector on the q-axis, the direction in which the inductance becomes the minimum from the d-axis direction. An example in which a phenomenon that shifts toward the current vector direction occurs is shown. In this case, the vector signal that actually propagates through the electric motor 10 is deflected to the driving current vector side by superposition of the high-frequency signal. When the phenomenon shown in FIG. 4B occurs, the rotation angle at which the superposition direction of the high-frequency signal coincides with the direction of the vector signal that actually propagates deviates from the d-axis direction. In the following, this phenomenon is analyzed using a model.

  Regarding the analysis relating to the high-frequency signal, the term relating to the rotational speed ω can be ignored from the voltage equation of the electric motor 10, and therefore the following equation (1) can be used as the voltage equation.

上記の式（ｃ１）において、ｄ軸上のインダクタンスＬｄ、ｑ軸上のインダクタンスＬｑ，クロスカップリングインダクタンスＬｄｑ、高周波電圧ベクトル（ｖｄｈ，ｖｑｈ）、高周波電流ベクトル（ｉｄｈ，ｉｑｈ）、及び微分演算子ｐを用いた。ただし、インダクタンスＬｄ，Ｌｑ及びクロスカップリングインダクタンスＬｄｑは、いずれも電動機１０の動作点でのものとする。

In the above formula (c1), the inductance Ld on the d axis, the inductance Lq on the q axis, the cross coupling inductance Ldq, the high frequency voltage vector (vdh, vqh), the high frequency current vector (idh, iqh), and the differential operator p was used. However, the inductances Ld and Lq and the cross coupling inductance Ldq are all at the operating point of the electric motor 10.

  Here, in the sensorless control, since the actual d-axis direction cannot be detected, the high-frequency voltage is actually superimposed with the direction having the error Δ with respect to the actual d-axis as the d-axis direction. Become. Here, the voltage equation relating the high frequency voltage vector (vdhe, vqhe) and the high frequency current vector (idhe, iqhe) on the estimated dq axis having an error Δ is a rotation defined by the following equation (c2). By using a matrix, the following equation (c3) is obtained.

ここで、推定ｄ軸上に高周波電圧を印加する場合、重畳する高周波電圧信号（ｖｄｈｅ，ｖｑｈｅ）は、（Ｖｈ，０）となる。そして、この高周波電圧信号と実際に伝播する高周波電流信号（ｉｄｈｅ，ｉｑｈｅ）との２つのベクトル信号のなす角と相関を有するこれらの外積値は、下記の式（ｃ４）となる。

Here, when a high-frequency voltage is applied on the estimated d-axis, the superimposed high-frequency voltage signal (vdhe, vqhe) is (Vh, 0). These outer product values having a correlation with an angle formed by two vector signals of the high-frequency voltage signal and the actually propagated high-frequency current signal (idhe, iqhe) are expressed by the following equation (c4).

ただし、上記の式（ｃ４）の導出に際して、高周波電圧信号を、パルス幅Ｔのパルス信号とした。上記パラメータεは、電動機１０の磁気飽和が小さい領域では、略ゼロとなる。このため、この場合には、高周波電圧信号と高周波電流信号との２つのベクトル信号の方向を一致させることで、誤差Δをゼロとすることができる。しかし、磁気飽和が無視できなくなると、誤差Δがゼロとなる際の高周波電圧信号と高周波電流信号との２つのベクトル信号の外積値は、ゼロではなく、「Ａｓｉｎε」となる。これは、磁気飽和が無視できなくなると、高周波電圧信号と高周波電流信号との２つのベクトル信号の方向を一致させることによっては、回転角度θの実際の誤差Δをゼロとすることができないことを意味する。

However, in deriving the above equation (c4), the high-frequency voltage signal was a pulse signal having a pulse width T. The parameter ε is substantially zero in the region where the magnetic saturation of the electric motor 10 is small. Therefore, in this case, the error Δ can be made zero by matching the directions of the two vector signals of the high-frequency voltage signal and the high-frequency current signal. However, if the magnetic saturation cannot be ignored, the outer product value of the two vector signals of the high-frequency voltage signal and the high-frequency current signal when the error Δ is zero is not “0” but “Asin ε”. This means that if the magnetic saturation cannot be ignored, the actual error Δ of the rotation angle θ cannot be made zero by matching the directions of the two vector signals of the high-frequency voltage signal and the high-frequency current signal. means.

  Here, if the rotation angle θ is calculated so that the outer product value becomes the target value Asinε, the rotation angle θ can be calculated with high accuracy. However, the inventors have found that the rotation angle θ cannot be estimated by this method even in a region where the magnetic saturation of the electric motor 10 becomes more remarkable. This is because the value of the above equation (c4) shifts from that shown in FIG. 5A to that shown in FIG. 5B as magnetic saturation proceeds.

  That is, in FIG. 5A, although the outer product value when the error Δ becomes zero does not become zero, the relationship between the error Δ and the outer product value has a one-to-one correspondence in the region near zero of the error Δ. Have a relationship. Therefore, the rotation angle θ can be estimated with high accuracy by calculating the rotation angle θ so that the outer product value becomes the target value. On the other hand, in FIG. 5B, the relationship between the error Δ and the outer product value does not have a one-to-one correspondence in the region near zero of the error Δ. For this reason, the outer product value cannot be used as a parameter for quantifying the error Δ. In other words, the error Δ cannot be quantified due to the difference in direction between the two vector signals of the high-frequency voltage signal and the high-frequency current signal.

  Here, the inventors shift the superposition direction of the high-frequency voltage signal from the estimated d-axis so that the difference between the directions of the two vector signals of the high-frequency voltage signal and the high-frequency current signal is used as a parameter for quantifying the error Δ. I found that I can do it. That is, when the superposition direction δ is used, the high-frequency voltage signal is “vh · cos δ, vh · sin δ”, and the outer product value is given by the following equation (c5).

ここで、振幅Ａ及びパラメータεは、上記の式（ｃ４）と同一であり、また、パラメータＢは、インダクタンスＬｄ，Ｌｑ及びクロスカップリングインダクタンスＬｄｑの関数である。上記の式（ｃ５）を上記の式（ｃ４）と比較すると、外積値が重畳方向δに依存する点が相違している。本実施形態では、この点に着目し、外積値と誤差Δとの間に１対１の関係を保つように、重畳方向δを調節する。

Here, the amplitude A and the parameter ε are the same as the above equation (c4), and the parameter B is a function of the inductances Ld and Lq and the cross coupling inductance Ldq. When the above formula (c5) is compared with the above formula (c4), the difference is that the outer product value depends on the superposition direction δ. In this embodiment, paying attention to this point, the superposition direction δ is adjusted so as to maintain a one-to-one relationship between the outer product value and the error Δ.

  Specifically, the superposition direction δ is adapted in the manner shown in FIG. That is, in the model 60, the above equation (c5) is adopted as a model that relates the error Δ and the outer product value, thereby using the superposition direction δ commanded by the superposition direction setting unit 62 and using the error Δ and the outer product. Outputs the relationship with the value. On the other hand, the superimposition direction setting unit 62 evaluates whether or not the relationship between the error Δ and the outer product value satisfies the one-to-one relationship in the region near zero of the error Δ based on the output of the model 60. . If the above relationship is satisfied, the superposition direction δ at that time is set as the actual superposition direction δ. On the other hand, if not satisfied, another value is output to the model 60 as the superposition direction δ. By such trial and error, the superposition direction δ can be adapted. FIG. 6 exemplifies a region where the specification requires that the one-to-one correspondence be maintained, where the error Δ is about ± 20 °. In FIG. 6, the output of the model 60 is represented by offset correction so that the outer product value when the error Δ becomes zero is zero.

  Incidentally, when adapting the superimposition direction δ in the adaptation system, the values of the inductances Ld and Lq and the cross coupling inductance Ldq for each operating point of the motor 10 are necessary, so the superimposition direction δ drives the motor 10. It depends on the driving current vector for the That is, the adaptation is performed based on the setting information of the command currents idc and iqc of the command current setting unit 22 shown in FIG.

  By setting the high-frequency voltage signal in the superposition direction δ adapted in the above aspect, the outer product value op can be used as a parameter for appropriately quantifying the error Δ, and thus the rotation angle θ is suitably estimated. Can do. Hereinafter, the method for estimating the rotation angle θ according to the present embodiment will be described in more detail.

  FIG. 7A shows a block diagram relating to processing of the high-frequency voltage setting unit 40 shown in FIG. The amplitude calculator 40a calculates the amplitude of the current flowing through the electric motor 10 (the amplitude of the driving current) based on the actual current iu. The superimposition direction setting unit 40b has, as a map, data adapted by the adaptation system shown in FIG. 6 regarding the relationship between the amplitude of the current flowing through the electric motor 10 and the superposition direction δ. Then, the superimposition direction setting unit 40b sets the superimposition direction δ using the amplitude output from the amplitude calculation unit 40a as an input.

  An example of the superimposition direction δ set by the superimposition direction setting unit 40b is shown in FIG. In the example shown in FIG. 7B, when the driving current vector is set to the advance side with respect to the q axis, the superimposing direction δ is deflected to the maximum direction from the direction where the inductance is minimum. Yes. This is a result of the above fit. That is, in the salient pole machine, the angle estimation method that traces the root is used in the basic technique of superposing the frequency signal in the d-axis direction where the inductance is minimized in a region where magnetic saturation is negligible. Unexpectedly, it has been found that the rotation angle can be calculated with high accuracy by deflecting the frequency signal to the side where the inductance is maximized.

  As shown in FIG. 7A, the high-frequency voltage setting unit 40 further includes a voltage setting unit 40c. The voltage setting unit 40c receives the high-frequency voltage amplitude value Vh and the superimposition direction δ and outputs a high-frequency voltage signal (vhdc, vhqc) as (vh · cos δ, vh · sin δ).

  FIG. 8 is a block diagram relating to the processing of the position / velocity calculation unit 50 shown in FIG. The current amplitude calculation unit 51 calculates the amplitude of the current flowing through the electric motor 10 (the amplitude of the driving current) using the actual currents id and iq as inputs. The target value setting unit 52 sets the target value of the outer product value op based on the amplitude value output from the current amplitude calculation unit 51. This setting is performed in association with the adaptation of the superimposing direction δ. That is, by adjusting the superposition direction δ, the value of the outer product value op when the actual error of the electric motor 10 is zero is determined, and this value is set as the target value. The error correlation amount calculation unit 53 calculates the error correlation amount Δθ as the difference between the outer product value op and the target value.

  The speed calculation unit 54 calculates the rotation speed ω by a calculation using a proportional element, an integral element, and a double integral element that have the error correlation amount Δθ as an input. Then, the angle calculation unit 55 calculates the rotation angle θ by integrating the rotation speed ω. The reason why the speed calculation unit 54 has a double integral element is that the transfer function having the rotation angle θ as an input and the error correlation amount Δθ as an output is a third-order or higher transfer function. According to the well-known internal model principle, the steady error (steady deviation) of the rotation angle θ can be made zero even when the rotational speed ω changes in a ramp shape.

  The position / velocity calculation unit 50 further includes a gain change command unit 56. The gain change command unit 56 variably sets the gain (at least one of a proportional gain, an integral gain, and a double integral gain) of the speed calculation unit 54 based on the amplitude output from the current amplitude calculation unit 51. This is because, as shown in FIG. 9A, the change in the error correlation amount Δθ with respect to the actual change in the rotation angle θ changes depending on the degree of magnetic saturation (current flowing through the electric motor 10). It is done. FIG. 9A shows that as the current increases, the change in the error correlation amount Δθ with respect to the actual error change increases, and the sensitivity of the error correlation amount Δθ in quantifying the actual error increases. . For this reason, it is desirable to decrease the gain as the current increases.

  Incidentally, FIG. 9B shows an error correlation amount when the rotation angle θ is calculated such that the superposition direction of the high-frequency voltage signal is fixed in the estimated d-axis direction and the outer product value becomes the target value. The relationship between Δθ and the actual error is shown. As shown in the figure, in this case, when the current flowing through the electric motor 10 increases, the one-to-one relationship between the actual error and the error correlation amount is broken. For this reason, the rotation angle θ cannot be estimated.

  FIG. 10A shows the estimation result of the rotation angle θ according to this embodiment. As illustrated, according to the present embodiment, the rotation angle θ can be estimated from the low torque region to the high torque region. On the other hand, FIG. 10B shows a case where the rotation angle θ is calculated such that the superposition direction of the high-frequency voltage signal is fixed in the estimated d-axis direction and the outer product value becomes the target value. As shown in the figure, when the torque increases, the rotation angle cannot be estimated.

  FIG. 11A shows the estimation result of the rotation angle θ when the rotation speed of the electric motor 10 is increased from zero. As shown in the figure, even if the rotational speed ω is increased on the ramp, the rotational angle θ can be estimated appropriately. FIG. 11B shows an estimation result of the rotation angle θ when the rotation speed of the electric motor 10 is reduced to zero. As shown in the figure, even if the rotational speed ω is lowered onto the ramp, the rotational angle θ can be estimated appropriately.

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

  (1) When setting the superposition direction of the high-frequency voltage signals (vhdc, vhqc) based on the estimated rotation angle θ, the superposition direction is variably set according to the operating state of the electric motor 10. As a result, the degree of freedom for adjusting the relationship between the actual error and the error correlation amount Δθ can be increased as compared with the case where the superposition direction is fixed, and as a result, there is a one-to-one correspondence between them. It becomes possible to maintain the relationship.

  (2) When the degree of magnetic saturation is equal to or greater than a predetermined level, the superposition direction of the high-frequency voltage signal is deflected to the maximum direction side from the direction side where the inductance is minimum. As a result, the one-to-one correspondence can be suitably maintained.

  (3) The superposition direction δ is variably set based on the detected current value for driving the electric motor 10. Thereby, a superimposition direction can be set appropriately.

  (4) The rotation angle θ is calculated so that the outer product value op becomes the target value, and the target value is variably set according to the operating state of the electric motor 10. Thereby, the actual error Δ of the rotation angle θ can be made zero by calculating the rotation angle θ so that the outer product value op becomes the target value.

  (5) The target value is variably set based on the detected current value for driving the electric motor 10. Thereby, a target value can be set appropriately.

  (6) The gain (gain of the speed calculation unit 54) used when estimating the rotation angle is variably set according to the operating state of the electric motor 10. Thereby, an appropriate gain can be set regardless of the operating state of the electric motor 10.

  (7) The gain is variably set according to the detected value of the current for driving the electric motor 10. Thereby, the variable setting of a gain can be performed appropriately.

  (8) The rotation angle θ was calculated so that the outer product value op of the two vector signals of the superimposed high-frequency voltage signal and the actually propagating high-frequency current signal is used as an error parameter value. Thus, by using the outer product value op, the error parameter value of the rotation angle θ can be quantified easily and appropriately.

  (9) The transfer function having the estimated rotation angle θ as an output and the error correlation amount Δθ as an input is a third-order or higher-order transfer system. As a result, even when the rotation speed changes in a ramp shape, it is possible to avoid a steady error in the rotation angle.

  (10) An error parameter for a case where the actual error Δ falls within a predetermined region using a model equation indicating the relationship between the actual error Δ of the estimated rotation angle θ and the error parameter value (outer product value op). The superposition direction δ was adapted so that the value and the actual error had a one-to-one correspondence. Thereby, the said adaptation can be performed simply and appropriately.

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

  FIG. 12 is a block diagram relating to processing of the position / velocity calculation unit 50 according to the present embodiment. In FIG. 12, processes corresponding to the processes shown in FIG. 8 are given the same reference numerals for convenience.

  As shown in the figure, the present embodiment includes a high-pass filter 57 and extracts only a high-frequency component from the error correlation amount Δθ. In particular, here, a sixth-order error component having a high frequency six times the frequency of the rotation angle θ is extracted. Then, the subtraction unit 58 calculates the final rotation angle θ by subtracting the output of the angle calculation unit 55 from the output of the high pass filter 57.

  That is, a high-order angle error that is six times the frequency is superimposed on the rotation angle θ calculated by the first embodiment. This higher order error is included in the error correlation amount Δθ. Therefore, it is considered that the sixth-order error can be removed from the output of the angle calculation unit 55 by subtracting the rotation angle output from the angle calculation unit 55 by the output of the high pass filter 57. Since the sixth-order high frequency changes according to the rotation speed ω, the cutoff frequency is variably set according to the rotation speed ω in the high-pass filter 57.

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

  (11) Prior to outputting the rotation angle θ from the position / velocity calculation unit 50, the rotation angle θ to be output is corrected based on the high frequency component of the error correlation amount Δθ. As a result, a high-order error amount can be suitably removed from the output of the position / velocity calculation unit 50.

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

  FIG. 13 shows the overall configuration of the control system according to the present embodiment. In FIG. 13, the same reference numerals are assigned for convenience to those shown in FIG.

  As illustrated, in the present embodiment, the dq conversion unit 46a converts the U-phase and W-phase high-frequency currents extracted by the high-frequency current extraction unit 44 into high-frequency currents on the dq axis. Then, in the q-axis component amount calculation unit 48a, the change amount diq of the q-axis current component in the high-frequency current actually propagated through the electric motor 10 is calculated from the q-axis component of the high-frequency current output from the dq conversion unit 46a. This is calculated and output to the position / velocity calculation unit 50 as an error parameter value. The position / speed calculation unit 50 calculates an error correlation amount Δθ as a difference between the change amount diq with respect to the target value, and calculates the rotation speed ω and the rotation angle θ based on the error correlation amount Δθ.

  Thus, in the present embodiment, the change amount diq is used as the error parameter value instead of the outer product value op. Also according to the present embodiment, it is possible to obtain an effect according to the effects (1) to (7), (9), and (10) of the first embodiment.

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

  In the second embodiment, the error correlation amount Δθ is used as the input signal of the high-pass filter 57. However, the present invention is not limited to this, and the angle calculation unit uses the outer product value as the input signal and subtracts the target value from the output signal. The output of 55 may be corrected. Further, even when the third embodiment is changed in the change point of the second embodiment with respect to the first embodiment, the error correlation amount Δθ is not limited to the input signal of the high-pass filter 57, The change amount diq may be used as an input signal.

  In each of the above embodiments, the superposition direction of the high-frequency signal is set based on the amplitude of the current that actually flows through the electric motor 10 (the detected value of the current for driving the electric motor 10). For example, as shown in FIG. 14, the superimposition direction may be set based on the required torque Td, the actual torque of the electric motor 10, and the current command value (command current idc, iqc, etc.) for the electric motor 10. Here, the actual torque may be a detected value when a torque sensor is attached to the output shaft of the electric motor 10, but may be a value calculated based on a well-known equation from the current flowing through the electric motor 10. Further, the current of the electric motor 10 is not limited to the amplitude value, and may be a phase angle, for example. Furthermore, the parameter used for setting the superimposing direction is not limited to a single parameter, and, for example, two or more of the parameters may be used in combination.

  In each of the above embodiments, the target value of the error correlation amount Δθ is set based on the amplitude of the current that actually flows through the motor 10 (the detected value of the current for driving the motor 10), but the present invention is not limited to this. For example, as shown in FIG. 15, the target value may be set based on the required torque Td, the actual torque of the electric motor 10, and a current command value (command current idc, iqc, etc.) for the electric motor 10. Further, the current of the electric motor 10 is not limited to the amplitude value, and may be a phase angle, for example. Furthermore, the parameter used for setting the target value is not limited to a single parameter, and for example, two or more of the parameters may be used in combination. However, it is desirable to match the parameter used for setting the target value with the parameter used for setting the superposition direction.

  In each of the above embodiments, the gain of the speed calculation unit 54 is variably set based on the amplitude of the current that actually flows through the motor 10 (the detected value of the current for driving the motor 10). However, the present invention is not limited to this. For example, as shown in FIG. 15, the torque may be set based on the required torque Td, the actual torque of the electric motor 10, or the current command value (command current idc, iqc, etc.) for the electric motor 10. Further, the current of the electric motor 10 is not limited to the amplitude value, and may be a phase angle, for example. Furthermore, the parameter used for variably setting the gain is not limited to a single parameter, and for example, two or more of the parameters may be used in combination. However, it is desirable to match the parameter used for variably setting the gain with the parameter used for setting the superposition direction.

  Furthermore, in addition to these, the rotational speed may be taken into account. According to this, in view of the fact that the greater the rotational speed, the more likely the delay in actual processing occurs, and the variable variable setting timing can be determined so as to compensate for the processing delay.

  The processing of the speed calculation unit 54 is not limited to the calculation of the rotational speed ω from the error correlation amount by the proportional calculation, the integration calculation, and the double integration calculation. For example, the rotational speed ω may be calculated from the error correlation amount by proportional calculation and double integration calculation. Further, for example, the rotational speed ω may be calculated from the error correlation amount Δθ by triple integration calculation. Furthermore, even if the transfer function having the rotation angle as an input and the error correlation amount Δθ as an output is a secondary transfer system, the rotation angle can be calculated with high accuracy in a steady state.

  The adaptation method of the superposition direction of the high-frequency voltage signal is not limited to using the model expressed by the above formula (c5), and the model may be appropriately modified according to the target rotating machine or the like. Moreover, the actual error Δ is not limited to the one that is adapted using the model, for example, as shown in FIG. 16, by superimposing the high-frequency voltage signal on the rotating machine for measurement according to the set superposition direction δ. And the relationship between the outer product value and the outer product value may be measured. In FIG. 16, the same processes as those shown in FIG. 6 are given the same reference numerals for the sake of convenience. Here, the measurement system 60a includes rotation angle detection means (hardware means) such as a resolver connected to the output shaft of the rotating machine, and control means for the rotating machine. As a result, the actual error Δ can be calculated based on the difference between the rotation angle θ recognized by the control means and the rotation angle detected by the rotation angle detection means, and the high-frequency voltage signal can be calculated according to the superposition direction δ. The above relationship can be measured by calculating the outer product value according to the signal that is actually propagated through the rotating machine when the is superimposed.

  In the first and second embodiments, the outer product value is calculated using the fixed coordinate system. However, the present invention is not limited to this and may be calculated using the rotating coordinate system.

  The method for calculating the error parameter value is not limited to the one exemplified in the above embodiments. For example, an angle difference between these vector signals may be calculated as an error parameter value using an inverse trigonometric function based on the two vector signals used for calculating the outer product value.

  In each of the above embodiments, the amplitude value Vh of the high-frequency voltage is a fixed value, but it may be variable according to the operating state of the electric motor 10. Here, as shown in FIG. 9A, according to the setting exemplified in each of the above embodiments, in view of the fact that the change in the error correlation amount with respect to the change in the actual position error increases as the torque range increases. The amplitude value Vh may be decreased in the higher torque region. Also by this, the effect according to the effect by the process which makes the gain of the speed calculation part 54 variable can be acquired.

  In each of the above embodiments, the rotation angle is calculated by the above processing consistently from the low torque region to the high torque region, but is not limited thereto. For example, the rotation angle may be calculated by another method in a region where the torque is greater than or equal to a predetermined value.

  -Due to the structure, the electric motor having saliency is not limited to the electric motor 10 described above. For example, a synchronous reluctance motor (SynRM) may be used.

  -The rotating machine is not limited to an electric motor but may be a generator.

  In each of the above embodiments, the control device according to the present invention is applied to a hybrid vehicle. Furthermore, the control device of the present invention may be applied to an electric motor as power transmission means such as power steering in a vehicle using an internal combustion engine as a power source.

1 is a system configuration diagram according to a first embodiment. FIG. The figure which shows the rotor of the electric motor concerning the embodiment. The figure which shows the problem regarding the detection of a rotation angle. The figure which shows the problem which the calculation method of the rotation angle using the deflection | deviation of the electric current in an electric motor crawls. The figure for demonstrating the problem accompanying estimation of a rotation angle in a high torque area | region. The block diagram which shows the adaptation process of the superimposition direction of the high frequency voltage signal concerning the said embodiment. The block diagram which shows the detail of the process of the high frequency voltage setting part concerning the embodiment. The block diagram which shows the detail of a process of the position / velocity calculation part concerning the embodiment. The figure which shows the relationship between the actual error concerning this embodiment, and an error correlation amount. The time chart which shows the estimation precision of the rotation angle concerning the embodiment. The time chart which shows the estimation precision of the rotation angle concerning the embodiment. The block diagram which shows the detail of a process of the position / speed calculation part concerning 2nd Embodiment. The system block diagram concerning 3rd Embodiment. The block diagram which shows the process of the high frequency voltage setting part in the modification of the said 1st Embodiment. The block diagram which shows the process of the position / speed calculation part in the modification of the said 1st Embodiment. The block diagram which shows the adaptation process of the superimposition direction of the high frequency voltage signal in the modification of each said embodiment.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 10 ... Electric motor, 40 ... High frequency voltage setting part, 48 ... Outer product value calculation part, 50 ... Position / speed calculation part.

Claims (10)

When driving the rotating machine having saliency by operating the switching element of the inverter, the frequency signal having a period different from the rotating period of the electrical angle of the rotating machine and oscillating in an arbitrary phase angle direction is generated. Superimposing means for superimposing on the output signal of the inverter, and angle calculating means for calculating the rotation angle of the rotating machine based on the vibration direction of the frequency signal that is actually propagated through the rotating machine by the superposition. In a control device for a rotating machine that estimates a rotation angle,
The superimposing means comprises variable means for variably setting the superimposing direction according to the operating state of the rotating machine when setting the superimposing direction of the frequency signal based on the estimated rotation angle,
The angle calculation means includes at least one of a torque command value for the rotating machine, an actual torque of the rotating machine, a current command value for driving the rotating machine, and a detected value of current for driving the rotating machine. The control device for a rotating machine is characterized in that a gain used in estimating the rotation angle is variably set according to the condition. When driving the rotating machine having saliency by operating the switching element of the inverter, the frequency signal having a period different from the rotating period of the electrical angle of the rotating machine and oscillating in an arbitrary phase angle direction is generated. Superimposing means for superimposing on the output signal of the inverter, and angle calculating means for calculating the rotation angle of the rotating machine based on the vibration direction of the frequency signal that is actually propagated through the rotating machine by the superposition. In a control device for a rotating machine that estimates a rotation angle,
The superimposing means comprises variable means for variably setting the superimposing direction according to the operating state of the rotating machine when setting the superimposing direction of the frequency signal based on the estimated rotation angle,
The angle calculation means is an outer product of two vector signals of the frequency signal superimposed by the superposition means and the actually propagated frequency signal, and q based on the estimated rotation angle of the actually propagated frequency signal. One of the current components in the axial direction is used as an error parameter value, and the rotation angle is calculated so as to be the target value, and the target value is variably set according to the operating state of the rotating machine. A control device for a rotating machine. When driving the rotating machine having saliency by operating the switching element of the inverter, the frequency signal having a period different from the rotating period of the electrical angle of the rotating machine and oscillating in an arbitrary phase angle direction is generated. Superimposing means for superimposing on the output signal of the inverter, and angle calculating means for calculating the rotation angle of the rotating machine based on the vibration direction of the frequency signal that is actually propagated through the rotating machine by the superposition. In a control device for a rotating machine that estimates a rotation angle,
The superimposing means comprises variable means for variably setting the superimposing direction according to the operating state of the rotating machine when setting the superimposing direction of the frequency signal based on the estimated rotation angle,
The angle calculation means calculates the rotation angle so that an error parameter value calculated based on a vibration direction of the actually propagated frequency signal becomes a target value,
An apparatus for controlling a rotating machine, wherein a transfer function having a rotation angle calculated by the angle calculating means as an output and a difference between the error parameter value and the target value as an input is a third-order or higher transfer system. When driving the rotating machine having saliency by operating the switching element of the inverter, the frequency signal having a period different from the rotating period of the electrical angle of the rotating machine and oscillating in an arbitrary phase angle direction is generated. Superimposing means for superimposing on the output signal of the inverter, and angle calculating means for calculating the rotation angle of the rotating machine based on the vibration direction of the frequency signal that is actually propagated through the rotating machine by the superposition. In a control device for a rotating machine that estimates a rotation angle,
The superimposing means comprises variable means for variably setting the superimposing direction according to the operating state of the rotating machine when setting the superimposing direction of the frequency signal based on the estimated rotation angle,
The angle calculation means calculates the rotation angle so that an error parameter value calculated based on a vibration direction of the actually propagated frequency signal becomes a target value,
The said angle calculation means correct | amends the rotation angle made into an output object based on the high frequency component of the said error parameter value before outputting the rotation angle of the said rotary machine, The control apparatus of the rotary machine characterized by the above-mentioned. When driving the rotating machine having saliency by operating the switching element of the inverter, the frequency signal having a period different from the rotating period of the electrical angle of the rotating machine and oscillating in an arbitrary phase angle direction is generated. Superimposing means for superimposing on the output signal of the inverter, and angle calculating means for calculating the rotation angle of the rotating machine based on the vibration direction of the frequency signal that is actually propagated through the rotating machine by the superposition. In a control device for a rotating machine that estimates a rotation angle,
The superimposing means comprises variable means for variably setting the superimposing direction according to the operating state of the rotating machine when setting the superimposing direction of the frequency signal based on the estimated rotation angle,
The angle calculation means calculates the rotation angle so that an error parameter value calculated based on a vibration direction of the actually propagated frequency signal becomes a target value,
The superimposition direction by the variable means is the error when the actual error falls within a predetermined region by using a model expression indicating the relationship between the actual error of the estimated rotation angle and the error parameter value. A control apparatus for a rotating machine, wherein the parameter value and the actual error are adapted to have a one-to-one correspondence. When driving the rotating machine having saliency by operating the switching element of the inverter, the frequency signal having a period different from the rotating period of the electrical angle of the rotating machine and oscillating in an arbitrary phase angle direction is generated. Superimposing means for superimposing on the output signal of the inverter, and angle calculating means for calculating the rotation angle of the rotating machine based on the vibration direction of the frequency signal that is actually propagated through the rotating machine by the superposition. In a control device for a rotating machine that estimates a rotation angle,
The superimposing means comprises variable means for variably setting the superimposing direction according to the operating state of the rotating machine when setting the superimposing direction of the frequency signal based on the estimated rotation angle,
The angle calculation means calculates the rotation angle so that an error parameter value calculated based on a vibration direction of the actually propagated frequency signal becomes a target value,
The superimposition direction by the variable means is a case where the actual error falls within a predetermined area by measuring the relationship between the actual error of the estimated rotation angle and the error parameter value for each superimposition direction. The control apparatus for a rotating machine is adapted so that the error parameter value and the actual error have a one-to-one correspondence. When driving the rotating machine having saliency by operating the switching element of the inverter, the frequency signal having a period different from the rotating period of the electrical angle of the rotating machine and oscillating in an arbitrary phase angle direction is generated. Superimposing means for superimposing on the output signal of the inverter, and angle calculating means for calculating the rotation angle of the rotating machine based on the vibration direction of the frequency signal that is actually propagated through the rotating machine by the superposition. In a control device for a rotating machine that estimates a rotation angle,
The superimposing means comprises variable means for variably setting the superimposing direction according to the operating state of the rotating machine when setting the superimposing direction of the frequency signal based on the estimated rotation angle,
The angle calculation means calculates the rotation angle so that an error parameter value calculated based on an angle formed by a vibration direction of the actually propagated frequency signal and the superimposition direction becomes a target value, and A control device for a rotating machine, wherein the target value is variably set according to an operating state of the rotating machine. The angle calculation means includes at least one of a torque command value for the rotating machine, an actual torque of the rotating machine, a current command value for driving the rotating machine, and a detected value of current for driving the rotating machine. 8. The control device for a rotating machine according to claim 7, wherein the target value is variably set according to the condition. Said varying means, when the magnetic saturation degree becomes a predetermined or more claims, characterized in that deflecting the superposition direction of the frequency signal in the direction of maximum than direction inductance is minimum of the rotating machine Item 10. The control device for a rotating machine according to any one of Items 1 to 8 . The variable means includes at least one of a torque command value for the rotating machine, an actual torque of the rotating machine, a current command value for driving the rotating machine, and a detected value of current for driving the rotating machine. The control device for a rotating machine according to any one of claims 1 to 9, wherein the variable setting is performed by using as an input parameter.

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