JP5038008B2 - Motor control device - Google Patents

Description

  The present invention relates to a motor control device.

Conventionally, when there is an inductance mismatch of each phase due to, for example, the structure of the motor, when the d-axis voltage command value and the q-axis voltage command value are converted into the phase voltage command value, the inductance mismatch of each phase There is known a control device that individually performs the correction related to each phase (see, for example, Patent Document 1).
Further, conventionally, for example, a control device that detects an induced voltage phase shift caused by teeth arranged asymmetrically with respect to the center direction of the rotor and corrects the induced voltage phase shift according to the detection result is known. (For example, refer to Patent Document 2).
Japanese Patent Laying-Open No. 2005-312178 JP-A-9-261987

By the way, in the control device according to Patent Document 1, there arises a problem that correction relating to inductance mismatch of each phase cannot be appropriately performed due to the influence of the phase difference of the induced voltage caused by the arrangement of the teeth.
In the control device according to Patent Document 2, the phase difference between the phase voltages is estimated by detecting the phase difference between the phase voltages and estimating the deviation of the induced voltage. When is changed, there arises a problem that the phase difference of the induced voltage cannot be detected.

  The present invention has been made in view of the above circumstances, and it is possible to appropriately control a motor including a stator in which teeth are arranged so that an induced voltage phase difference between phases of a plurality of phases is different. An object is to provide a motor control device.

In order to solve the above problems and achieve the object, the motor control device according to the first aspect of the present invention is such that the phase difference between the line induced voltages between the phases of the plurality of phases is different from each other. in to the teeth (e.g., the teeth 22, 24, 26 in the embodiment) a motor control apparatus for controlling a motor comprising a can arranged stator (e.g., stator 10 in the embodiment), the line Voltage phase correction means (for example, voltage phase correction unit 66 in the embodiment) for correcting the phase of the voltage applied to each phase of the plurality of phases based on the phase difference between the inter- phase induced voltages is provided.

Furthermore, in the motor control apparatus according to the second aspect of the present invention, the teeth of the plurality of phases are arranged so that the intervals between the adjacent teeth are not uniform, and the voltage phase correction unit is The phase of the voltage applied to each phase of the plurality of phases is corrected based on the phase difference between the line- induced voltages caused by the non-uniform spacing between the teeth.

Furthermore, in the motor control apparatus according to the third aspect of the present invention, the teeth of the plurality of phases are arranged so as to have a deviation in an axial position between each phase, and the voltage phase correcting means includes The phase of the voltage applied to each phase of the plurality of phases is corrected based on the phase difference between the line induced voltages due to the deviation of the teeth in the plurality of phases in the axial position between the phases.

  Furthermore, the motor control device of the present invention described in claim 4 is a current phase shift calculation means for calculating a phase shift of each phase current based on an inductance mismatch of each phase (for example, a current phase shift calculation in the embodiment). Unit 68) and a voltage command correction value for correcting the phase and amplitude of the d-axis voltage command value and the q-axis voltage command value for each phase based on the phase shift calculated by the current phase shift calculation means, current phase correction means (for example, current phase correction unit 70 in the embodiment) calculated from the d-axis current command value and the q-axis current command value, and the current phase correction means is corrected by the voltage phase correction means. After the applied voltage is applied to each of the plurality of phases, the voltage command correction value is calculated.

  Furthermore, in the motor control apparatus according to the fifth aspect of the present invention, the voltage phase correction unit corrects the phase of the voltage from the time when the application of the voltage to each phase of the plurality of phases is started.

According to the motor control device of the present invention, a preset motor is provided for a motor including a stator in which teeth are arranged so that phase differences between line induced voltages between phases of a plurality of phases are different from each other . Since the phase of the voltage applied to each phase of multiple phases is corrected based on the phase difference between the induced voltages between the lines, it is not affected by the change in the phase difference of the phase voltage caused by the correction related to the inductance mismatch In addition, the motor can be controlled appropriately.

Further, according to the motor control device of the present invention as set forth in claim 2, for example, when the winding space factor in the stator is improved, the intervals between adjacent teeth of the plural-phase teeth become uneven. Even if it is arranged in such a manner, the phase of the voltage applied to each phase of the plurality of phases is corrected based on the phase difference between the line induced voltages caused by this unequal arrangement, so that the motor is appropriately Can be controlled.
Further, according to the motor control device of the present invention as set forth in claim 3, for example, in the case of preventing the height of the coil end in the stator and the axial dimension of the stator from increasing, etc. Even if the teeth are arranged so as to have a deviation in the axial position between the phases, each phase of the plurality of phases is based on the phase difference between the line- induced voltages caused by the axial position deviation. Since the phase of the voltage applied to the phase is corrected, the motor can be controlled appropriately.

Further, according to the motor control device of the present invention as set forth in claim 4, the current phase correction means is a voltage correction value required for correcting the phase shift of each phase current related to the inductance mismatch of each phase. In other words, since the voltage correction value for correcting the phase and amplitude of the d-axis voltage command value and the q-axis voltage command value is calculated for each phase, for example, there is an inductance mismatch of each phase due to the structure of the motor. Even in this case, the amplitude and phase of each phase current can be matched, and the motor can be appropriately controlled.
In addition, the current phase correction unit calculates the voltage command correction value after the voltage corrected by the voltage phase correction unit is applied to each phase of the plurality of phases, so that the current feedback control can be appropriately performed. it can.
Furthermore, according to the motor control device of the present invention as set forth in claim 5, the voltage phase correction means is preset according to the structure of the motor, for example, from the time when the application of the voltage to each phase of the plurality of phases is started. Since the voltage phase is corrected by the correction amount or the like, the motor can be further appropriately controlled.

Hereinafter, an embodiment of a motor control device of the present invention will be described with reference to the accompanying drawings.
The motor 1 according to the present embodiment is mounted on a vehicle such as a hybrid vehicle, a fuel cell vehicle, and an electric vehicle, for example. In the hybrid vehicle including the motor 1 as a drive source of the vehicle together with the internal combustion engine E, for example, the internal combustion engine E and the motor In a parallel hybrid vehicle having a structure in which the transmission 1 and the transmission T / M are directly connected in series, at least the driving force of either the internal combustion engine E or the motor 1 is transmitted to the driving wheels W and W of the vehicle via the transmission T / M. It has come to be.
Further, when the driving force is transmitted from the driving wheels W, W side to the motor 1 during deceleration of the vehicle, the motor 1 functions as a generator to generate a so-called regenerative braking force, and the kinetic energy of the vehicle body is converted into electric energy (regenerative energy). Energy). Further, when the output of the internal combustion engine E is transmitted to the motor 1, the motor 1 functions as a generator to generate power generation energy.

The motor 1 is a three-phase claw pole type motor as shown in FIGS. 1 to 3, for example, and includes a rotor 5 having a plurality of permanent magnets 5 a,..., 5 a and a rotating magnetic field that rotates the rotor 5. A plurality of generated phases (for example, three phases of U phase, V phase, and W phase), and one end of the rotating shaft of the rotor 5 is connected to the crankshaft of the internal combustion engine, and the other end is the input shaft of the transmission. It is connected to.
In this rotor 5, a plurality of substantially rectangular plate-like permanent magnets 5a,..., 5a are arranged, for example, on the outer peripheral portion of the rotor 5 at a predetermined interval in the circumferential direction, and each permanent magnet 5a is arranged in the thickness direction (that is, the rotor). The permanent magnets 5a, 5a adjacent to each other in the circumferential direction are magnetized in different directions, that is, the permanent magnet 5a having the N pole on the outer circumferential side is the S pole on the outer circumferential side. The arranged permanent magnets 5a are arranged so as to be adjacent in the circumferential direction.
Further, the outer peripheral surface of each permanent magnet 5 a is exposed toward the inner peripheral surface of the substantially cylindrical stator 10 that is disposed to face the outer peripheral portion of the rotor 5.

  A stator 10 that generates a rotating magnetic field that rotates the rotor 5 includes a U-phase stator ring 11, a V-phase stator ring 12, and a W-phase stator ring 13 for each of three phases including a U-phase, a V-phase, and a W-phase. And a two-phase U-phase annular winding 14 and a W-phase annular winding 15 composed of a U-phase and a W-phase.

  For example, as shown in FIG. 3, the U-phase stator ring 11 includes a substantially annular U-phase yoke 21 and a position in the radial direction R from a position at a predetermined interval in the circumferential direction C of the inner peripheral portion of the U-phase yoke 21. And a U-phase tooth 22 that protrudes toward the other side in the direction and the axial direction P and has a U-phase tooth 22 having a cross-sectional shape with respect to the radial direction R formed in a substantially rectangular shape. The cross-sectional shape with respect to the circumferential direction C of the ring 11 is configured to be substantially L-shaped.

  For example, as shown in FIG. 3, the V-phase stator ring 12 includes a substantially annular V-phase yoke 23 and a position in the radial direction R from a position at a predetermined interval in the circumferential direction C of the inner peripheral portion of the V-phase yoke 23. And a V-phase tooth 24 projecting toward one and the other in the axial direction P and having a cross-sectional shape with respect to the radial direction R formed in a substantially rectangular shape, and comprising a V-phase yoke 23 and a V-phase tooth 24. The cross-sectional shape with respect to the circumferential direction C of the phase stator ring 12 is configured to be substantially T-shaped.

  For example, as shown in FIG. 3, the W-phase stator ring 13 includes a substantially annular W-phase yoke 25 and a position in the radial direction R from a position at a predetermined interval in the circumferential direction C of the inner periphery of the W-phase yoke 25. And a W-phase tooth 26 that protrudes in one direction in the horizontal direction and the axial direction P, and has a W-phase tooth 26 that has a cross-sectional shape with respect to the radial direction R formed in a substantially rectangular shape. The cross-sectional shape with respect to the circumferential direction C of the ring 13 is configured to be substantially L-shaped.

  The stator rings 11, 12, 13 are connected such that the yokes 21, 23, 25 are stacked along the axial direction P. 2, for example, a plurality of teeth 22,..., 22 and 24,..., 24 and 26,..., 26 are arranged in a predetermined order (for example, U phase teeth 22, V phase teeth 24, W A slot in which a single-phase U-phase annular winding 14 is disposed between the teeth 22 and 24 adjacent to each other in the circumferential direction C. A slot in which the one-phase W-phase annular winding 15 is disposed is formed between the adjacent teeth 24 and 26, and a two-phase U-phase annular winding is provided between the adjacent teeth 22 and 26 in the circumferential direction C. A slot in which the wire 14 and the W-phase annular winding 15 are disposed is formed.

  And each teeth 22, 24, 26 of each stator ring 11, 12, 13 has the axial direction width | variety and circumferential direction width | variety equivalent to each other, for example, between each teeth 22, 24, 26 adjacent in the circumferential direction C The interval (that is, the circumferential width of each slot) is set to a value (for example, a value proportional to the number) according to the number of the annular windings 14 and 15 arranged in each slot. That is, the distance C1 between the teeth 22 and 24 where the single annular windings 14 and 15 are arranged and the distance C1 between the teeth 24 and 26 is equal to each tooth where the two-phase annular windings 14 and 15 are arranged. The interval C2 is set to a value smaller than the interval C2 between the teeth 22 and 26 (for example, a value half of the interval C2 between the teeth 22 and 26).

The annular windings 14 and 15, for example, circulate while meandering in a crank shape in the circumferential surface around the axis, and a plurality of U-phase meandering portions 31,..., 31 and W-phase meandering portions 32,. 32.
For example, as shown in FIG. 2, the width of each meandering portion 31, 32 in the circumferential direction C, that is, the coil pitch, is set to 120 ° in terms of electrical angle, and each meandering portion 31, 32 is in a different direction (ie, opposite direction). The U-phase annular winding 14 and the W-phase annular winding 15 have a phase difference of 240 ° (edeg) in terms of electrical angle. Thus, they are arranged at positions relatively displaced along the circumferential direction C. Thus, for example, the W-phase meandering portion 32 adjacent on one side in the circumferential direction C with respect to the U-phase meandering portion 31 has a phase difference of 240 ° (edeg) in electrical angle, and on the other side in the circumferential direction C. Adjacent W-phase meandering portions 32 have a phase difference of 120 ° (edeg) in electrical angle. The two-phase annular windings 14 and 15 are arranged so that the meandering portions 31 and 32 that protrude in the opposing direction are alternately arranged along the circumferential direction C and do not cross each other. .

One U-phase tooth 22 of the U-phase stator ring 11 is disposed in the U-phase meandering portion 31 of the U-phase annular winding 14, and the W-phase stator ring is located in the W-phase meandering portion 32 of the W-phase annular winding 15. 13 W-phase teeth 26 are disposed, and one V-phase tooth 24 of the V-phase stator ring 12 is disposed between the U-phase meandering portion 31 and the W-phase meandering portion 32 that are adjacent in the circumferential direction C. Yes.
As a result, the two-phase annular windings 14 and 15 arranged so as to sew between the adjacent teeth 22, 24 or 24, 26 or 22, 26 in the circumferential direction C are 120 ° (edeg) in a so-called electrical angle. ).

  The two-phase annular windings 14 and 15 having a phase difference (coil phase difference) of 240 ° (edeg) with respect to each other are connected in a V shape, for example, as shown in FIG. When the leakage magnetic flux is negligible by energizing with sinusoidal waves having a phase difference of 120 ° from each other, as shown in FIG. 4C, a three-phase winding of U phase, V phase, and W phase Are connected in a Y shape, and are configured to generate a rotating magnetic field equivalent to a three-phase stator energized with sine waves having a phase difference of 120 °.

  For example, as shown in FIG. 4B, each meandering portion 31, 32 protrudes in the same direction (that is, one or the other in the axial direction P), and the electrical angle is about 60 ° (edeg). The state in which the two-phase annular windings 14 and 15 having a phase difference are connected in a V shape is as shown in FIG. 4A, in which the meandering portions 31 and 32 are different from each other (that is, one of the axial directions P). In the same manner as in the state in which the two-phase annular windings 14 and 15 having a phase difference of 240 ° (edeg) with respect to each other in a state of projecting toward the other) are connected in a V shape, When the magnetic flux leakage is negligible when energized with a phase difference sine wave, for example, the U-phase, V-phase, and W-phase three-phase windings are connected in a Y shape as shown in FIG. Equivalent to a three-phase stator energized with sine waves with a phase difference of 120 ° Is a rolling magnetic field can be generated.

That is, the voltage equation of the motor of the three phases (U phase, V phase, W phase) is, for example, if the phase resistance is ignored, each voltage command value Vu, Vv, Vw, each phase current Iu, Iv, Iw, The phase self-inductance L, the mutual inductance M, the rotational angular velocity ω of the rotor, and the induced voltage constant Ke are described as shown in the following formula (1).
In the following formula (1), L = −2M, and the leakage magnetic flux was ignored.

  In the above equation (1), each phase current Iu, Iv, Iw can be described by any two-phase current. For example, when the V-phase current Iv is described by the U-phase current Iu and the W-phase current Iw and erased, The line voltage by the voltage command values Vu, Vv, Vw (for example, the line voltage Vuv (= Vu−Vv) between the U phase and the V phase and the line voltage Vwv (= Vw−Vv) between the W phase and the V phase)) It is described as shown in the following mathematical formula (2).

  By the way, in the three-phase (U-phase, V-phase, W-phase) motor voltage equation shown in the above formula (1), for example, a model in which the V-phase component is removed is described as shown in the following formula (3). The

  First, the model shown in the equation (3) is described as shown in the following equation (4) when the direction of the W-phase winding is reversed (that is, the rotation direction of the rotor 5 is reversed).

  Next, the model shown in the equation (4) is described as shown in the following equation (5) when the number of turns n of each winding is changed to (√3) times.

  Next, in the model shown in the mathematical formula (5), when the angle origin of the phase of the induced voltage is moved by 90 ° (= π / 2) and the U-phase component and the W-phase component are exchanged, the following mathematical formula ( 6), which is equivalent to Equation (2) above.

As will be described later, the motor 1 according to this embodiment includes only the two-phase U-phase annular winding 14 and the W-phase annular winding 15 among the three phases (U-phase, V-phase, W-phase). The magnetic resistance between the two phases (that is, between the U phase and the W phase) is smaller than the magnetic resistance between the other two phases (that is, between the U phase and the V phase and between the V phase and the W phase). A mismatch occurs in the inductance. Then, due to such an inductance mismatch, the phase of each phase current Iu, Iv, Iw is shifted, and the current phase difference between each phase current Iu, Iv, Iw is 2π / 3 = 120 ° (edeg ).
Further, as will be described later, in the motor 1 according to this embodiment, since the intervals between the teeth 22, 24, and 26 of the stator 10 are unevenly arranged, the induced voltage between the phases of the plurality of phases. The phase difference is different, and the value is shifted from 2π / 3 = 120 ° (edeg).

  A motor control device 50 that controls the motor 1 according to this embodiment includes a power drive unit (PDU) 51, a battery 52, and a control unit 53, as shown in FIG.

In this motor control device 50, driving and regenerative operation of the motor 1 of a plurality of phases (for example, three phases of U phase, V phase, and W phase) are performed by the PDU 51 in response to a control command output from the control unit 53.
The PDU 51 includes, for example, a PWM inverter based on pulse width modulation (PWM) having a bridge circuit formed by bridge connection using a plurality of switching elements of transistors, and is connected to a high voltage battery 52 that transfers electric energy to and from the motor 1. Has been.
The PDU 51 is supplied from the battery 52 based on command values (U-phase AC voltage command value Vu, V-phase AC voltage command value Vv, W-phase AC voltage command value Vw) output from the control unit 53 when the motor 1 is driven, for example. The supplied DC power is converted into three-phase AC power, and the voltage command values Vu, Vu, are sequentially commutated to the two-phase U-phase and W-phase annular windings 14 and 15 of the three-phase motor 1. U phase current Iu and W phase current Iw corresponding to Vv and Vw are output to each phase of motor 1.

The control unit 53 performs feedback control of current on the dq coordinate forming the rotation orthogonal coordinate, and calculates each voltage command value Vu, Vv, Vw based on the Id command (Idref) and the Iq command (Iqref). The d-axis current Id and the q-axis current Iq obtained by converting the phase currents Iu and Iw actually supplied from the PDU 51 to the motor 1 on the dq coordinate, the Id command and the Iq command, The control is performed so that each deviation of is zero.
The control unit 53 includes, for example, a current command input unit 61, subtracters 62 and 63, a current feedback control unit 64, a dq-3 phase individual conversion unit 65, a voltage phase correction unit 66, and a 3 phase-dq. A conversion unit 67, a current phase shift calculation unit 68, an integral compensation unit 69, and a current phase correction unit 70 are provided.

The current command input unit 61 is based on, for example, a torque command value for causing the motor 1 to generate a torque value required according to an accelerator operation amount related to a depression operation of an accelerator pedal by a driver, a rotation speed of the motor 1, or the like. , Current commands for designating the phase currents Iu and Iw to be supplied from the PDU 51 to the motor 1 are calculated, and the current commands are subtracted as subtractors 62 and 63 as Id commands and Iq commands on rotating orthogonal coordinates. Is output.
The dq coordinate forming the rotation orthogonal coordinate is, for example, a field magnetic flux direction by the permanent magnet 5a of the rotor 5 as a d axis (field axis) and a direction orthogonal to the d axis as a q axis (torque axis). The motor 1 is rotating at an electrical angular velocity ω (hereinafter simply referred to as a rotational angular velocity ω) in synchronization with the rotor 5 of the motor 1. Thereby, an Id command and an Iq command, which are DC signals, are given as current commands for an AC signal supplied from the PDU 51 to each phase of the motor 1.

The subtractor 62 calculates a deviation ΔId between the Id command and the d-axis current Id, and the subtractor 63 calculates a deviation ΔIq between the Iq command and the q-axis current Iq. The deviations ΔId and ΔIq output from the subtracters 62 and 63 are input to the current feedback control unit 64.
The current feedback control unit 64 controls and amplifies the deviation ΔId to calculate the d-axis voltage command value Vd by, for example, a PI (proportional integration) operation, and controls and amplifies the deviation ΔIq to calculate the q-axis voltage command value Vq. The d-axis voltage command value Vd and the q-axis voltage command value Vq output from the current feedback control unit 64 are input to the dq-3 phase individual conversion unit 65.

The dq-3 phase individual conversion unit 65 determines the rotation angle of the rotor 5 input from, for example, a position detection sensor that detects the rotation angle of the rotor 5, that is, the magnetic pole position of the rotor 5, or an estimation unit that estimates the rotation angle of the rotor 5. The d-axis voltage command value Vd and the q-axis voltage command value Vq on the dq coordinate are used as the U-phase AC voltage command value Vu and the V-phase AC voltage command value Vv on the three-phase AC coordinate, which is a stationary coordinate. Conversion to a W-phase AC voltage command value Vw.
For example, as shown in FIG. 6, the dq-3 phase individual conversion unit 65 individually performs conversion processing for each phase, and in particular, the U phase and the W phase are output from the current phase correction unit 89. In accordance with the voltage correction values kΔVdu, kΔVqu, kΔVdw, kΔVqw for each phase, the d-axis voltage command value Vd and the q-axis voltage command value Vq are corrected for each phase. The command value is individually converted into a U-phase AC voltage command value Vu and a W-phase AC voltage command value Vw on a three-phase AC coordinate that is a stationary coordinate for each phase.

The voltage phase correction unit 66 generates voltage command values Vu, Vv, Vw based on different induced voltage phase differences between the phases of the plurality of phases due to the arrangement state of the teeth 22, 24, 26 of the stator 10. Correct the phase.
That is, in the stator 10 in this embodiment, the interval C1 between the teeth 22 and 24 where the single annular windings 14 and 15 are arranged and the interval between the teeth 24 and 26 and the two-phase annular windings. Since the distance C2 between the teeth 22 and 26 where the lines 14 and 15 are arranged is different, the distance between the adjacent teeth 22 and 24 and 26 is not uniform. Then, due to the uneven arrangement of the teeth 22, 24, 26, the induced voltage phase difference differs among the phases of the plurality of phases.

For example, with respect to the difference voltage V1 between the line voltage Vuv between the U phase and the V phase and the line induced voltage Euv, and the difference voltage V2 between the line voltage Vwv between the W phase and the V phase and the line induced voltage Ewv When the voltage drop due to the phase resistance value r is ignored and only the torque current (that is, the q-axis current) is applied to the two-phase annular windings 14 and 15, the differential voltages V1 and V2 are larger than the torque current. Since the phase advances by approximately π / 2 = 90 ° (edeg), the three-phase vector diagram is drawn as shown in FIGS.
Here, the phase difference with respect to the inter-line induced voltages Ewu, Euv, Ewv between the phases of the plurality of phases is caused by the uneven arrangement of the teeth 22, 24, 26, for example, as shown in FIG. The values are different from each other. On the other hand, according to the normal vector control on the assumption that the current phase difference between the phase currents is 2π / 3 = 120 ° (edeg), the line voltage between the phases of the plurality of phases. For example, as shown in FIG. 7A, the phase differences with respect to Vwu, Vuv, and Vwv are equal to each other (that is, 120 ° (edeg)).
In this way, in the state where the line voltage phase difference with respect to the induced voltage and the line voltage phase difference with respect to each voltage command value Vu, Vv, Vw are different, the phase change of each phase current Iu, Iw has a desired value. The problem of deviating from occurs.

For this reason, the voltage phase correction unit 66 corrects the phase of each voltage command value Vu, Vv, Vw based on the induced voltage phase difference that is different among the plurality of phases. For example, FIG. As shown in FIG. 4, each phase difference between the line voltages Vuv and Vwv is equal to the phase difference between the line induced voltages Ewu and Ewv (for example, 112 ° (edeg)). The phase of the voltage command values Vu, Vv, Vw is corrected.
Note that the voltage phase correction unit 66 performs this voltage phase correction processing at the time of no energization immediately before starting the application of voltage to each phase of the motor 1 of a plurality of phases, for example, when the operation of the motor 1 is started. In FIG. 4, the process is executed based on a correction amount set in advance according to the structure of the motor 1 (for example, the arrangement state of the teeth 22, 24, 26 of the stator 10). In other words, this voltage phase correction process is performed at least once when no power is supplied prior to the start of energization of the motor 1 and a series of processes of current feedback control including the current phase correction process described below. It is set to be executed.

  The sinusoidal voltage command values Vu, Vv, and Vw output from the voltage phase correction unit 66 are input to the PDU 51, and the PDU 51 performs pulse width modulation based on a carrier signal including a triangular wave and a switching frequency in the PDU 51. A gate signal (that is, a pulse width modulation signal) that is a switching command including each pulse for driving each switching element of the PWM inverter to be turned on / off is generated.

  The three-phase-dq conversion unit 67 uses, for example, the rotation angle of the rotor 5 input from a position detection sensor that detects the rotation angle of the rotor 5, that is, the magnetic pole position of the rotor 5, or an estimation unit that estimates the rotation angle of the rotor 5. Thus, the phase currents Iu and Iw, which are currents on the stationary coordinates, are converted into the rotation coordinates based on the rotation phase of the motor 1, that is, the d-axis current Id and the q-axis current Iq on the dq coordinates. For this reason, in the three-phase-dq converter 67, detections output from the two phase current detectors 71, 71 that detect the respective phase currents Iu, Iw supplied to the respective annular windings 14, 15 of the motor 1 are detected. Values (that is, U-phase current Iu, W-phase current Iw) are input. The d-axis current Id and the q-axis current Iq output from the three-phase-dq converter 67 are output to the subtractors 62 and 63.

Further, the current phase shift calculation unit 68 converts the phase shift β of each phase current Iu, Iw based on the inductance mismatch of each phase, which will be described later, into different rotation angles θ ₁ , θ of the rotor 5 as shown in FIG. _{2 based} on the instantaneous current values Iu 1, Iw 1, Iu ₂ , and Iw ₂ of each phase at ₂ and output to the integral compensator 69. The rotation angles θ ₁ and θ ₂ are input from, for example, a position detection sensor that detects the magnetic pole position of the rotor 5 or an estimation unit that estimates the rotation angle of the rotor 5.
The integral compensator 69 controls and amplifies the phase shift β of the phase currents Iu and Iw calculated by the current phase shift calculator 68 by an integration operation, calculates an integral gain k, and outputs the integral gain k to the current phase corrector 70. .
The current phase correction unit 70 calculates voltage correction values kΔVdu, kΔVqu, kΔVdw, kΔVqw for each phase based on the integral gain k calculated by the integral compensation unit 69, and outputs it to the dq-3 phase individual conversion unit 65. To do.

  The motor control device 50 according to the present embodiment has the above-described configuration. Next, each voltage command value is determined based on the operation of the motor control device 50, in particular, the induced voltage phase difference that is different among the phases of the plurality of phases. Refer to the attached drawings for processing for correcting the phase of Vu, Vv, Vw (voltage phase correction processing) and processing for controlling phase shift β of each phase current based on inductance mismatch of each phase (current phase correction processing). While explaining.

Hereinafter, a series of processes of current feedback control by the control unit 53 will be described.
First, in step S01 shown in FIG. 9, prior to the start of energization, for example, each voltage command preset according to the structure of the motor 1 (that is, the arrangement state of the teeth 22, 24, 26 of the stator 10). Due to the phase correction amount for the values Vu, Vv, Vw, etc., the voltage phase difference between the phases with respect to the voltage command values Vu, Vv, Vw is differently induced between the phases due to the arrangement state of the teeth 22, 24, 26. The phase of each voltage command value Vu, Vv, Vw is corrected so as to be equal to the voltage phase difference.

Next, in step S02, energization of the motor 1 is started.
Next, in step S03, the phase shift β of each phase current Iu, Iw based on the inductance mismatch of each phase is detected.
Next, in step S04, voltage correction values kΔVdu, kΔVqu and voltage correction values kΔVdw, kΔVqw for each phase are calculated by a PI (proportional integration) operation with respect to the phase shift β.
Next, in step S05, the d-axis voltage command value Vd and the q-axis voltage command value Vq on the dq coordinate are corrected by the voltage correction values kΔVdu and kΔVqu and the voltage correction values kΔVdw and kΔVqw for each phase. Each command value on the dq coordinate obtained by the above is converted into a U-phase AC voltage command value Vu and a W-phase AC voltage command value Vw on the three-phase AC coordinate individually for each phase.
In step S06, it is determined whether there is an energization end instruction.
If the determination result is “YES”, the series of processes is terminated.
On the other hand, if this determination is “NO”, the flow returns to step S 03 described above.

The phase shift β of the phase currents Iu and Iw based on the inductance mismatch of each phase will be described below.
According to the motor 1 in this embodiment, a two-phase U-phase annular winding 14 and a W-phase annular winding 15 are provided for a three-phase (U-phase, V-phase, W-phase) stator 10. Therefore, the magnetic resistance between the U phase and the W phase is smaller than the magnetic resistance between the other two phases (that is, between the U phase and the V phase and between the V phase and the W phase), and the inductance related to the V phase is small. The values are different from the inductances related to the U phase and the V phase. For example, the self inductance and the mutual inductance of the U phase and the W phase are larger than the self inductance and the mutual inductance of the V phase.

  First, in the following, changes in the phase currents Iu, Iv, Iw according to the inductance mismatch of each phase will be described.

  The voltage equation of a three-phase (U-phase, V-phase, W-phase) motor is, for example, ignoring phase resistance (phase resistance value r) and induced voltage, and each phase voltage command value Vu, Vv, Vw and each phase current Iu, Iv, Iw, self-inductances Lu, Lv, Lw of each phase, and mutual inductances Muv, Muw, Mvu, Mvw, Mwu, Mwv are described as shown in the following formula (7).

  In the above formula (7), each phase current Iu, Iv, Iw can be described by any two phase currents. For example, when the V phase current Iv is described by the U phase current Iu and the W phase current Iw and erased, Line voltage based on phase voltage command values Vu, Vv, Vw (for example, line voltage Vuv (= Vu−Vv) between U phase and V phase and line voltage Vwv (= Vw−Vv) between W phase and V phase) Is described as shown in Equation (8) below.

Here, the inductance matrix in the case of ignoring the saliency of the motor in which the inductance component value changes according to the rotational position of the rotor 5 with respect to each of the annular windings 14 and 15, is self-inductance L _s and mutual inductance m. Based on the equation (9), the line voltage equation ignoring the saliency of the motor from the equation (8) is described as the following equation (10).

  Here, if each phase voltage command value Vu, Vv, Vw is made into a sine wave shape as shown, for example in following formula (11), the line voltage Vuv (= Vu-Vv) between the U phase and the V phase and the W phase The line voltage Vwv (= Vw−Vv) between the −V phases is described as shown in the following formula (12). Note that ω is the rotational angular velocity of the rotor 5.

  From the above formula (10) and formula (12), the time differential values (dIu / dt and dIw / dt) of the U-phase current Iu and the W-phase current Iw are described, for example, as shown in the following formula (13). As shown in FIG. 10, these current differential vectors have a current phase difference of (2π / 3) = 120 ° (edeg). From this equation (13), the U-phase current Iu and the W-phase current Iw are expressed by the following equations ( 14). K is an arbitrary constant.

Here, the inductances of the three phases are not symmetrical. For example, as shown in the following formula (15), the self-inductance and the mutual inductance related to the U-phase and the V-phase are larger than the self-inductance and the mutual inductance related to the V-phase. in the case (for example, L> L _s and M> m), the line voltage equation ignoring the saliency of the motor is described as shown in the following equation (16).

  Here, the line inductance Luv between the U phase and the V phase, the line inductance Lwv between the W phase and the V phase, and the line inductance Luw between the U phase and the W phase are described as shown in the following formula (17). Therefore, the line voltage equation shown in the equation (16) is described as shown in the following equation (18).

  As a result, the current differential vectors related to the time differential values (dIu / dt and dIw / dt) of the U-phase current Iu and the W-phase current Iw are, for example, as shown in FIG. The current phase difference is shifted by an angle δ as compared with the case where the current is present.

  That is, for example, as shown in FIG. 12, the current phase between the U-phase current Iu and the W-phase current Iw is changed so that the current phase of the U-phase current Iu is retarded and the current phase of the W-phase current Iw is advanced. When the phase difference decreases from 2π / 3 = 120 ° (edeg), the current value of the V-phase current Iv increases. Accordingly, according to the normal vector control on the premise that the current phase difference between the phase currents is 2π / 3 = 120 ° (edeg), the power factor and torque constant of the motor are reduced. become.

  Next, a method for correcting the phase shift β of the phase currents Iu and Iw based on the inductance mismatch of each phase will be described below.

  In order to eliminate the deviation that occurs in the current phase of each phase current Iu, Iw, for example, as shown in FIG. 13, first, the line voltage Vuv between the U phase and the V phase and the line voltage Vwv between the W phase and the V phase are set. Is set to a value larger than π / 3 = 60 ° (edeg). However, in the above formulas (7) to (18), since the induced voltage is ignored, the phase of the difference voltage between each phase voltage command value Vu, Vv, Vw and the induced voltage is actually changed. It will be.

Here, when the current phase difference between the U-phase current Iu and the W-phase current Iw is smaller than 2π / 3 = 120 ° (edeg), the current phase of the U-phase current Iu becomes a retarded state, and the W-phase current Iw Therefore, the voltage difference V1 is retarded and the voltage difference without changing the voltage values of the voltage differences V1 and V2 (that is, the magnitude of the vector). V2 is set to the advance state.
However, simply setting the U-phase voltage command value Vu to the retarded angle state and setting the V-phase voltage command value Vv to the advanced angle state, for example, as shown in FIG. 14, the phase of each voltage difference V1, V2 Hardly changes, and the magnitude of the voltage difference V1 decreases and the magnitude of the voltage difference V2 increases. Therefore, the U-phase current Iu and the W-phase current Iw cannot be changed to each desired phase state (that is, the U-phase current Iu is in the retarded state and the W-phase current Iw is in the advanced state). The current values of the phase current Iu and the W-phase current Iw change unnecessarily.

  Therefore, the voltage differences V1, V2 for changing the U-phase current Iu and the W-phase current Iw to desired phase states (that is, the U-phase current Iu is in the retarded state and the W-phase current Iw is in the advanced state). In order to obtain (that is, the voltage difference V1 is retarded and the voltage difference V2 is advanced), for example, as shown in FIG. 15, it is necessary to change the phase and amplitude of the line voltages Vuv and Vwv.

By the way, in normal vector control, the magnitudes of the three phase voltage command values Vu, Vv, Vw are equal, and the phase difference between the phase voltage command values Vu, Vv, Vw is 2π / 3 = 120. Since it is fixed at ° (edeg), correction for changing the phase and amplitude of each line voltage Vuv, Vwv is required.
For example, when the voltage value and phase of the V-phase voltage command value Vv are fixed, the U-phase voltage command value Vu is changed in the direction in which the U-phase current Iu is retarded, and the W-phase voltage command value Vw is changed to the W-phase current Iw. What is necessary is just to change to the direction which advances.

  Here, based on the circuit equation on the dq coordinate when the saliency of the motor is ignored, the phase voltage command values Vu, Vv, Vw and the phase currents Iu, Iv, Iw are changed according to changes from predetermined steady values. If the changes ΔVd, ΔVq, ΔId, ΔIq between the d-axis voltage command value Vd and q-axis voltage command value Vq and the d-axis current Id and q-axis current Iq are approximated as shown in the following equation (19), for example. Based on this equation (19), it is possible to calculate the voltage change when the d-axis current command Idref and the q-axis current command Iqref are advanced or retarded. Then, by calculating the phase voltage command values Vu and Vw from the values obtained by correcting the voltage command values Vd and Vq based on the calculated voltage change, the phase voltage command values Vu and Vw are obtained. The corresponding phase currents Iu and Iw can be advanced or retarded.

  For example, when retarding the U-phase voltage Iu, the voltage changes ΔVdu and ΔVqu that delay the phase of the d-axis current command Idref and the q-axis current command Iqref by π / 2 = 90 ° (edeg) are expressed by, for example, the following formula (20) Is described as follows.

  For example, when retarding the W-phase current Iw, the voltage changes ΔVdw and ΔVqw that advance the phase of the d-axis current command Idref and the q-axis current command Iqref by π / 2 = 90 ° (edeg) are, for example, 21).

  For example, as shown in the following equation (22), U is converted by the conversion process for the values (Vd + kΔVdu, Vq + kΔVqu) obtained by correcting the voltage command values Vd, Vq by the voltage changes ΔVdu, ΔVqu based on the equation (20). By calculating the phase voltage command value Vu, the U-phase current Iu corresponding to the U-phase voltage command value Vu can be retarded.

  At this time, the V-phase voltage command value Vv is described as shown in the following formula (23), for example, without the need for correction.

  Further, for example, as shown in the following formula (24), W is converted by a conversion process on values (Vd + kΔVdw, Vq + kΔVqw) obtained by correcting the voltage command values Vd, Vq by the voltage changes ΔVdw, ΔVqw based on the formula (21). By calculating the phase voltage command value Vw, the W phase current Iw corresponding to the W phase voltage command value Vw can be advanced.

  Next, in the following, a method for calculating the degree of retardation of the U-phase current Iu and the degree of advancement of the W-phase current Iw, that is, the phase shift β of the phase currents Iu and Iw based on the inductance mismatch of each phase. In particular, the operation of the current phase shift calculation unit 68 will be described.

When correcting the phase shift β of the phase currents Iu, Iv, and Iw based on the formulas (22) to (24), the phase shift β is detected and feedback processing is executed.
Here, due to the mismatch of the inductance of each phase, a phase shift β in the opposite direction occurs between the U-phase current Iu and the W-phase current Iw, so that each phase current Iu, Iv, Iw is sinusoidal. Then, the U-phase current Iu and the W-phase current Iw are described as shown in the following formula (25).

The instantaneous current values Iu ₁ , Iu ₂ , Iw ₁ , Iw ₂ of the U-phase current Iu and the W-phase current Iw at different rotation angles θ ₁ , θ ₂ in the same phase are, for example, the following formula (26): Therefore, the following formula (27) is established for the U-phase instantaneous current values Iu ₁ and Iu ₂ , and the following formula is applied to the W-phase instantaneous current values Iw ₁ and Iw ₂ . (28) holds.

Here, when the voltages Vsu, Vcu, Vsw, and Vcw are defined as shown in the following formula (29), a sine value sin (θ) of a difference (θ ₁ −θ ₂ ) between appropriate rotation angles θ ₁ and θ _{2 When 1−} θ ₂ ) ≠ 0, based on these voltages Vsu, Vcu, Vsw, and Vcw and the above formulas (27) and (28), the phase is expressed as shown in the following formula (30). A sine value of the shift β can be calculated, and an approximate value of the phase shift β can be calculated when the phase shift β≈0.

Below, the test result of the test which controlled the electric current phase of the electric current of the motor 1 by the motor control apparatus 50 of embodiment mentioned above is demonstrated.
In the comparative example, the magnitudes of the three phase voltage command values Vu, Vv, and Vw are made equal, and the phase difference between the phase voltage command values Vu, Vv, and Vw is 2π / 3 = 120 ° (edeg) The current phase of the energization current of the motor 1 was controlled by normal vector control fixed to). That is, in this comparative example, the voltage phase correction process and the current phase correction process described above are omitted.
As a test result in this comparative example, for example, FIG. 16A shows temporal changes of the respective phase currents Iu, Iv, Iw at a predetermined rotational speed (1500 rpm) and a predetermined current command (25 Arms).
In the embodiment, as a test result of controlling the current phase of the energization current of the motor 1 from the motor control device 50, for example, in FIG. 16B, a predetermined rotation speed (1500 rpm) and a predetermined current command (25 Arms) are used. The time change of each phase current Iu, Iv, Iw of was shown.

In the comparative example shown in FIG. 16A, a phase shift occurs in the U-phase current Iu and the W-phase current Iw in accordance with the inductance mismatch of each phase, and the peak values of the U-phase current Iu and the W-phase current Iw are It can be seen that the waveform is disturbed and the waveform is disturbed.
On the other hand, in the embodiment shown in FIG. 16B, the phase and peak value of each phase current Iu, Iv, Iw are appropriately controlled, and further controlled so as to show a smooth waveform. Recognize.

As described above, according to the motor control device 50 according to the present embodiment, for example, when the winding space factor in the stator 10 is improved, the adjacent teeth of the multiple-phase teeth 22, 24, 26 are connected to each other. Even if the intervals (for example, the interval C1 between the teeth 22 and 24, the interval C1 between the teeth 24 and 26, and the interval C2 between the teeth 22 and 26) are arranged to be unequal, this is not the case. Since the phase of each voltage command value Vu, Vv, Vw is corrected based on the induced voltage phase difference resulting from the uniform arrangement, the motor 1 can be appropriately controlled.
Furthermore, by performing the correction related to the inductance mismatch of each phase individually for each phase, each phase voltage command value Vu, Vv, Vw can be appropriately calculated, and each phase voltage is caused by the structure of the motor 1. Even if there is a phase inductance mismatch, the amplitude and phase of each phase current Iu, Iv, Iw can be matched, and the motor 1 can be appropriately driven and controlled.
In addition, since the voltage phase correction unit 66 executes the voltage phase correction process at least once when no current is applied prior to the start of a series of current feedback control processes including the current phase correction process, the motor 1 can be driven and controlled more appropriately.

  In the above-described embodiment, the interval between the teeth 22, 24, 26 adjacent in the circumferential direction C in the stator 10 is set to a value corresponding to the number of the annular windings 14, 15 arranged in each slot. As a result, the intervals between the teeth 22, 24, and 26 become non-uniform, and due to this non-uniform arrangement, an induced voltage phase difference occurs between the phases of the plurality of phases. Not limited, for example, as in the first modification shown in FIG. 17, due to the teeth 22, 24, 26 adjacent in the circumferential direction C being arranged at a position shifted by one step in the axial direction P, An induced voltage phase difference may be generated between the phases of the plurality of phases.

In the stator 10 according to the first modification, the width in the circumferential direction C of each meandering portion 31, 32, that is, the coil pitch, is set to a predetermined value of 120 ° or less in electrical angle, and the U-phase annular winding 14 and the W-phase The annular winding 15 is disposed at a position relatively shifted along the circumferential direction C so as to have a phase difference of 240 ° in electrical angle. The two-phase annular windings 14 and 15 arranged so as to sew between adjacent teeth 22, 24 or 24, 26 in the circumferential direction C are short-wave windings having a so-called electrical angle of 120 ° or less. The single annular windings 14 and 15 are arranged between the teeth 22 and 24 or 24 and 26.
And in this 1st modification, the voltage phase correction | amendment part 66 is the axis | shaft in the state arrange | positioned so that each teeth 22,24,26 of the stator 10 may have a deviation in the axial direction position between each phase. Based on the induced voltage phase difference caused by the directional position deviation, the voltage phase difference between the phases with respect to the voltage command values Vu, Vv, Vw is induced differently between the phases due to the arrangement state of the teeth 22, 24, 26. The phase of each voltage command value Vu, Vv, Vw is corrected so as to be equal to the voltage phase difference.

In the above-described embodiment, for example, as in the second modified example shown in FIG. 18, the intervals between the teeth 22, 24, and 26 adjacent in the circumferential direction C in the stator 10 are arranged in the slots. By setting the value according to the number of the windings 14 and 15, the intervals between the teeth 22, 24, and 26 become non-uniform. In other words, the teeth 22, 24, and 26 adjacent to each other in the circumferential direction C are arranged at positions shifted by one step in the axial direction P, and thus the mutual phases of the plurality of phases are mutually increased. An induced voltage phase difference may occur between them.
In the second modified example, the voltage phase correction unit 66 generates the voltage command values Vu based on the induced voltage phase difference caused by the uneven arrangement of the teeth 22, 24, and 26 and the axial position deviation of the stator 10. , Vv, Vw so that the voltage phase difference between the phases becomes equal to the induced voltage phase difference that differs between the phases due to the arrangement state of the teeth 22, 24, 26, so that the voltage command values Vu, Vv, The phase of Vw is corrected.

  In the above-described embodiment, the voltage phase correction unit 66 performs the voltage phase correction process at least once when no current is applied, prior to a state in which a series of processes of current feedback control including the current phase correction process is started. However, the present invention is not limited to this. For example, it may be executed for each series of processes repeatedly executed in current feedback control.

  In the above-described embodiment, the current phase shift calculation unit 68 calculates the phase shift β of each phase current Iu, Iw based on the instantaneous current values Iu1, Iw1, Iu2, Iw2, but the present invention is not limited to this. Instead, for example, the phase shift β of each of the phase currents Iu and Iw may be calculated based on an integrated current value or an average current value over a predetermined period (half period or the like).

  For example, based on the above formula (25), the square Iu · Iu of the U-phase current Iu is described as shown in the following formula (31), and the square Iw · Iw of the W-phase current Iw is shown in the following formula (32). The product of the U-phase current Iu and the W-phase current Iw is described as shown in the following equation (33), and the product of the U-phase current Iu and the V-phase current Iv is expressed as in the following equation (34). Described in

  Based on the equations (31) to (34), the difference between the inner product of the U-phase current Iu and the W-phase current Iw and the inner product of the U-phase current Iu and the V-phase current Iv is expressed by the following equation (35). When the phase shift β≈0, the approximate value of the phase shift β is calculated by the inner product of the U-phase current Iu and the W-phase current Iw and the inner product of the U-phase current Iu and the V-phase current Iv. can do.

Further, since the difference between the effective values Iw ² and Iv ² of the W-phase current Iw and the V-phase current Iv is described as shown in the following formula (36), the approximate value of the phase shift β is expressed as the W-phase current. It can be calculated from the difference between the effective values of Iw and V-phase current Iv.

  When calculating the approximate value of the phase shift β based on the above formula (35) or formula (36), the current value of each phase current Iu, Iv, Iw is equal to one period or 1/2 of the current value. The time integrated value or time average value for the period is used.

It is a disassembled perspective view of the motor which concerns on embodiment of this invention. It is radial direction sectional drawing of the principal part of the stator of the motor which concerns on embodiment of this invention. It is a principal part disassembled perspective view of the stator which concerns on embodiment of this invention. 4A is a diagram showing a connection state of each annular winding of the stator shown in FIG. 1, and FIG. 4B is a diagram showing a connection state of each annular winding of the stator according to the embodiment of the present invention. FIG. 4C is a diagram showing a connection state of each winding of a three-phase (U-phase, V-phase, W-phase) stator. It is a block diagram of the motor control apparatus which concerns on embodiment of this invention. FIG. 6 is a configuration diagram of a dq-3 phase individual conversion unit, a current phase correction unit, an integration compensation unit, and a current phase shift calculation unit shown in FIG. 5. It is a figure which shows the relationship between the induced voltage and the line voltage of the motor which concern on embodiment of this invention. It is a figure which shows an example of the waveform of the induced voltage between each phase of the motor which concerns on embodiment of this invention. It is a flowchart which shows operation | movement of the motor control apparatus which concerns on embodiment of this invention. For a normal motor in which each of the three-phase inductances is symmetric, a current differential vector, a line voltage, and a current vector for each time differential value (dIu / dt and dIw / dt) of the U-phase current Iu and the W-phase current Iw FIG. Each time derivative of the U-phase current Iu and the W-phase current Iw when the three-phase inductances are not symmetrical and the U-phase and V-phase self-inductance and mutual inductance are larger than the self-inductance and mutual inductance associated with the V-phase. It is a figure which shows the electric current differential vector with respect to value (dIu / dt and dIw / dt), a line voltage, and an electric current vector. It is a figure which shows the electric current vector of each phase with respect to the motor which concerns on this embodiment. It is a figure which shows an example of the correction value with respect to the phase of a line voltage with respect to the motor which concerns on this embodiment. It is a figure which shows the relationship between the induced voltage and the line voltage at the time of changing the phase of U phase voltage and W phase voltage with respect to the motor which concerns on this embodiment. It is a figure which shows the relationship between the induced voltage and the line voltage at the time of delaying the U-phase current and advancing the W-phase current with respect to the motor according to the present embodiment. FIG. 16A is a diagram showing an example of the temporal change of the peak value of each phase current Iu, Iv, Iw in the motor according to the comparative example of this embodiment, and FIG. 16B is an example of this embodiment. FIG. 5 is a diagram showing an example of a temporal change in the peak value of each phase current Iu, Iv, Iw. It is radial direction sectional drawing of the principal part of the stator of the motor which concerns on the 1st modification of embodiment of this invention. It is radial direction sectional drawing of the principal part of the stator of the motor which concerns on the 2nd modification of embodiment of this invention.

Explanation of symbols

1 Motor 10 Stator 22 U-phase Teeth
24 V-phase teeth (teeth)
26 W phase teeth (teeth)
66 Voltage phase correction unit (voltage phase correction means)
68 Current phase shift calculation unit (current phase shift calculation means)
70 Current phase correction unit (current phase correction means)

Claims (5)

A motor control device for controlling a motor including a stator in which teeth are arranged so that phase differences between line induced voltages between phases of a plurality of phases are different from each other ,
A motor control apparatus comprising voltage phase correction means for correcting a phase of a voltage applied to each phase of the plurality of phases based on a phase difference between the line induced voltages. The teeth of the plurality of phases are arranged so that intervals between the adjacent teeth are non-uniform,
The voltage phase correction means corrects the phase of the voltage applied to each phase of the plurality of phases based on the phase difference between the line- induced voltages caused by non-uniform spacing between adjacent teeth. The motor control device according to claim 1. The teeth of the plurality of phases are arranged so as to have a deviation in an axial position between each phase,
The voltage phase correction means is applied to each phase of the plurality of phases based on a phase difference between the line- induced voltages caused by the teeth of the plurality of phases having a deviation in the axial position between the phases. The motor control device according to claim 1, wherein the phase of the voltage to be corrected is corrected. Current phase shift calculation means for calculating the phase shift of each phase current based on the inductance mismatch of each phase;
Based on the phase shift calculated by the current phase shift calculation means, a voltage command correction value for correcting the phase and amplitude of the d-axis voltage command value and the q-axis voltage command value for each phase is expressed as a d-axis current command value. And a current phase correcting means for calculating from the q-axis current command value,
The current phase correction unit calculates the voltage command correction value after the voltage corrected by the voltage phase correction unit is applied to each phase of the plurality of phases. The motor control device according to any one of 3. 5. The motor control device according to claim 4, wherein the voltage phase correction unit corrects the phase of the voltage from a time point when application of a voltage to each phase of the plurality of phases is started.

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