JP5063943B2 - Electric motor and electric motor phase control method - Google Patents

Description

  The present invention relates to an electric motor capable of changing the field characteristics of a permanent magnet of a rotor and a phase control method for the electric motor.

  As an electric motor, an inner circumferential rotor and an outer circumferential rotor each having a permanent magnet are arranged coaxially, and both rotors are rotated relative to each other in the circumferential direction (relative to both rotors). It is known that the field characteristics of the entire rotor can be changed by changing the phase) (see, for example, Patent Document 1).

  In this electric motor, when the relative phase of both rotors is changed according to the rotational speed of the electric motor, the outer rotor and the inner rotor are rotated by a member that is displaced along the radial direction by the action of centrifugal force. Either one of the children is rotated in the circumferential direction with respect to the other. In addition, when the relative phase of both rotors is changed according to the speed of the rotating magnetic field generated in the stator, a control current is applied to the stator winding in a state where each rotor maintains the rotation speed due to inertia. By energizing and changing the rotating magnetic field speed, the relative positions in the circumferential direction of the outer peripheral rotor and the inner peripheral rotor are changed.

In this electric motor, the permanent magnets of the outer rotor and the inner rotor are opposed to each other with different polarities (with the same polarity arrangement), thereby strengthening the field of the entire rotor and increasing the induced voltage. On the contrary, the permanent magnets of the outer and inner rotors are opposed to each other with the same polarity (with a counter electrode arrangement), thereby weakening the field of the entire rotor and reducing the induced voltage.
JP 2002-204541 A

  However, in the case of this conventional electric motor, the conditions under which the relative phase between the outer peripheral rotor and the inner peripheral rotor can be changed are limited, and the relative phase can be freely changed when the motor is stopped or rotated arbitrarily. I can't. In particular, when used for driving a hybrid vehicle or an electric vehicle, it is desired to instantaneously change to a desired motor characteristic according to the driving situation of the vehicle. It is important to increase the degree of freedom. For this reason, the present applicant has conceived of incorporating a phase changing means using hydraulic oil, and is currently examining an efficient control method for the phase changing means.

  Specifically, a pressure chamber in which hydraulic oil is supplied and discharged is provided between a first member that rotates integrally with the outer circumferential rotor and a second member that rotates integrally with the inner circumferential rotor. Therefore, it is considered that the phase changing means is constituted by a hydraulic control device that supplies and discharges hydraulic oil to and from the pressure chamber.

  However, if the relative rotation phase of the outer rotor and the inner rotor is controlled to an arbitrary position, the hydraulic pressure changes due to the magnetic reaction force of the permanent magnet that changes depending on the relative rotation position of both rotors. This causes a problem that the control becomes complicated.

That is, as shown in FIG. 20, the magnetic reaction force acting between the permanent magnets of both rotors becomes minimum when the electrical angle is 0 ° and 180 °, and becomes maximum at an almost intermediate angle. Therefore, except when the phase angle of the reaction force is maximized, it is the control pressure (e.g., P _A, reference P _B. In Figure 20) the phase angle respectively two commensurate with (black point in FIG. 20 and white Since the phase angle does not correspond to the control pressure on a one-to-one basis, the phase angle of both rotors cannot be arbitrarily controlled by simple pressure increase / decrease control.

More specifically, for example, when moving from point A shown in FIG. 20 to point B, when simply increased to P _B the control pressure as indicated by the broken line in FIG. 21 P _A is , the phase angle will be displaced in the opposite direction of the omega _B from omega _a, reduce the volume of the pressure chamber to the low pressure than once P _a control pressure as shown by the solid line in FIG. 21, thereafter the control pressure must be such increased to P _B. Also, when moving to the point A from the point B shown in FIG. 20, when simply reducing the control pressure from P _B to P _A as indicated by the broken line in FIG. 22, the phase angle also in this case is Since the displacement from ω _B to the opposite direction to ω _A is performed, the control pressure is once higher than P _B to increase the volume of the pressure chamber as shown by the solid line in FIG. _It must be reduced to _A.

  Therefore, the present invention seeks to provide an electric motor and an electric motor phase control method capable of improving the degree of freedom of phase change control and improving the operation responsiveness at the time of phase change without causing complication of control. Is.

As means for solving the above-mentioned problems, the invention according to claim 1 is directed to an inner peripheral rotation in which a permanent magnet (for example, a permanent magnet 9 in an embodiment described later) is disposed along the circumferential direction. A rotor (for example, an inner circumferential rotor 6 in an embodiment described later) and an outer circumferential side of the inner circumferential rotor are arranged coaxially and relatively pivotably, and are permanent along the circumferential direction. An outer peripheral rotor (for example, an outer peripheral rotor 5 in an embodiment described later) on which a magnet (for example, a permanent magnet 9 in an embodiment described later) is disposed, and the inner rotor and outer rotor are arranged. An electric motor (for example, an electric motor 1 in an embodiment described later) provided with phase changing means (for example, a phase changing means 12 in an embodiment described later) that rotates relative to each other to change the relative phase between the two. The phase change means introduces hydraulic oil A phase control chamber (for example, a phase control chamber 24 in an embodiment described later) for applying a relative phase operating force to the inner circumferential rotor and the outer circumferential rotor, and hydraulic oil is introduced to the inner circumferential rotor. A reaction force control chamber (for example, a reaction force control chamber 25 in an embodiment described later), a phase control chamber, and a reaction force control chamber for applying a reaction force against the phase operation force to the side rotor and the outer peripheral rotor. Control means (for example, a phase controller 36 in an embodiment to be described later) for controlling the pressure of the hydraulic oil introduced to the inner circumference, and the control means in the region where the relative phase operation is possible, The resultant force of the magnetic reaction force between the permanent magnets disposed on the side rotor and the outer peripheral rotor and the reaction force due to the hydraulic oil in the reaction force control chamber is relative to the change in the relative phase. monotonically increasing, or the so monotonously decreasing reaction And to control the pressure in the control chamber.
As a result, the reaction force is adjusted by the control pressure introduced into the reaction force control chamber, and the overall reaction force against the phase operation force is changed in the relative phase change between the inner and outer rotors. On the other hand, the characteristic increases monotonously or decreases monotonously . As a result, the relative phases of the inner and outer rotors corresponding to the control pressure in the phase control chamber are uniquely determined.

According to a second aspect of the present invention, in the first aspect of the present invention, the control means controls the pressure of the reaction force control chamber based on a parameter that determines the control pressure of the phase control chamber.
Thus, for example, the current relative phase of both rotors is predicted based on the current value (parameter) of the solenoid valve that controls the control pressure in the phase control chamber, and corresponds to the relative phase after a minute time. The control pressure of the reaction force control chamber can be controlled so that the pressure of the reaction force control chamber can be obtained.

According to a third aspect of the present invention, in the first aspect of the present invention, a phase angle detection unit that detects a relative phase between the inner peripheral rotor and the outer peripheral rotor is provided, and the control unit includes: The pressure in the reaction force control chamber is controlled based on the detection value of the phase angle detection means.
Thus, when the current phase angle is detected by the phase angle detection means, the pressure in the reaction force control chamber is controlled so that a reaction force corresponding to the phase angle is obtained.

According to a fourth aspect of the present invention, in the first to third aspects of the present invention, the control pressures of the phase control chamber and the reaction force control chamber are corrected according to the temperature of the permanent magnet.
As a result, even if the magnetic reaction force of the permanent magnet changes according to a change in temperature, the control pressures in the phase control chamber and the reaction force control chamber are corrected in accordance with the change.

A fifth aspect of the present invention is the first aspect of the invention according to any one of the first to fourth aspects, wherein the first member rotates integrally with the outer peripheral rotor (for example, a vane rotor 14 and a drive in an embodiment described later). Plate 16) and a second member (for example, an annular housing 15 in an embodiment described later) that rotates integrally with the inner peripheral rotor, a space for introducing hydraulic oil (for example, an introduction space 23 in an embodiment described later). A vane (for example, a vane in an embodiment described later) is provided on one of the first member and the second member, and is slidably disposed in the introduction space and separates the introduction space into two chambers. 18) is provided so that the phase control chamber and the reaction force control chamber are constituted by two chambers separated by the vane.
As a result, a control pressure that controls the relative phase of the outer rotor and the inner rotor acts on one surface of the vane, and a reaction force that resists the phase operation force is applied to the other surface of the vane. The control pressure to control comes into play.

A sixth aspect of the present invention is the first aspect of the invention according to any one of the first to fourth aspects, wherein the first member rotates integrally with the outer peripheral rotor (for example, an inner cylinder member 112 in an embodiment described later). , Drive plate 114) and a second member (for example, an outer cylinder member 113 in an embodiment described later) that rotates integrally with the inner peripheral rotor, a shaft portion (for example, an axial portion in an embodiment described later). 112a) is provided, and the other of the first member and the second member is provided with a cylindrical portion (for example, a thick portion 113a in an embodiment described later) that surrounds the outside of the shaft portion. A ring gear (for example, a ring gear 118 in an embodiment described later) whose surface and outer peripheral surface are helically spline-engaged with the shaft portion and the cylinder portion, respectively, is provided, and a hydraulic oil introduction space is provided between the first member and the second member. But And a piston (for example, a piston 122 in an embodiment described later) that is slidably accommodated in the introduction space and that divides the introduction space into two chambers is provided, and the piston is integrally displaced with the ring gear. The phase control chamber and the reaction force control chamber are configured by two chambers that are connected to each other and separated by the piston.
In this case, a control pressure that controls the relative phase of the outer rotor and the inner rotor acts on one surface of the piston, and a reaction force that resists the phase operation force acts on the other surface of the piston. Control pressures to be controlled act, and these control pressures act on the outer peripheral side rotor and the inner peripheral side rotor via the shaft portion and the cylindrical portion that are spline engaged with each other.

The invention according to claim 7 is the invention according to any one of claims 1 to 4, wherein the first member that rotates integrally with the outer rotor and the inner rotor rotate integrally. One of the second members includes a first cylinder (for example, a first cylinder 214 in an embodiment described later) and a first cylinder facing in mutually opposite rotational directions along a substantially tangential direction of a circumference centered on the rotation axis. Two cylinders (for example, a second cylinder 215 in the embodiment described later) are provided, and a first piston (for example, a first piston 216 in the embodiment described later) is provided in the first cylinder and the second cylinder. ) And a second piston (for example, a second piston 217 in an embodiment to be described later) are provided so as to freely advance and retract, respectively, and the other of the first member and the second member has a substantially radial direction of the two rotors. Along A first load transmission wall (for example, a first load transmission wall 218 in an embodiment described later) and a second load transmission wall (for example, described later) that respectively contact the tops of the first piston and the second piston. In the embodiment, the second load transmission wall 219) is provided, and the phase control chamber and the reaction force control are performed between the first cylinder and the first piston and between the second cylinder and the second piston. Each room was configured.
In this case, a control pressure for controlling the relative phase between the outer rotor and the inner rotor acts on one cylinder / piston pair, and the other cylinder / piston pair resists phase operation force. The control pressure for controlling the reaction force is applied, and these control pressures are applied to the outer rotor and the inner rotor via the piston and the load transmission wall.

According to the eighth aspect of the present invention, an inner peripheral rotor in which permanent magnets are disposed along the circumferential direction, and an outer peripheral side of the inner peripheral rotor are coaxially and relatively rotatable. In addition, an outer peripheral rotor having permanent magnets arranged along the circumferential direction is provided, and the inner rotor and the outer rotor are rotated relative to each other to change the relative phases of the two. A target phase angle determining step for determining a target phase angle for relatively rotating the inner rotor and the outer rotor, and the inner rotor and the outer rotor. A current phase angle detecting step for detecting a current relative phase angle of the child, and changing a relative phase between the inner and outer rotors according to the target phase angle and the current phase angle; a phase control pressure supply step of supplying hydraulic fluid to apply a phase operation force for, Serial according to the target phase angle and the current phase angle, the grant reaction force against the phase operating force, in the relative phase operation available space, the inner periphery side rotor and the outer circumference side rotating The resultant force of the magnetic reaction force between the permanent magnets arranged on the child and the reaction force against the phase operation force is monotonously increased or monotonously decreased with respect to the relative phase change. And a reaction force control pressure supply step for supplying hydraulic oil.
Thereby, the control pressure for manipulating the phases of both rotors and the control pressure for adjusting the reaction force are sequentially controlled according to the target phase angle and the current phase angle.

According to the first aspect of the present invention, the phase control chamber that applies relative phase operation force to both rotors by hydraulic pressure and the reaction force control that applies reaction force to both rotors by hydraulic pressure to the phase changing means. In the region where relative phases can be operated, the resultant force of the magnetic reaction force between the permanent magnets arranged on both rotors and the reaction force due to the hydraulic fluid in the reaction force control chamber is Since the reaction force control chamber pressure is controlled so that the reaction force characteristic is monotonously increasing or monotonously decreasing with respect to the relative phase change of the child, both rotations corresponding to the control pressure of the phase control chamber The relative phases of the rotors are uniquely determined, and the relative phases of the two rotors can be stably controlled by relatively simple hydraulic control.
Therefore, according to the present invention, the relative phases of the two rotors can be freely changed at an arbitrary timing without complicating the hydraulic control, thereby reducing the manufacturing cost and the stability of the phase control. It becomes possible to increase.

  According to the second aspect of the present invention, since the control pressure of the reaction force control chamber can be appropriately controlled without providing a sensor for detecting the relative phase angle of both rotors, the number of parts can be reduced. And the simplification of the structure makes it possible to reduce the manufacturing cost.

  According to the third aspect of the present invention, since the pressure of the reaction force control chamber is controlled based on the actually detected current phase angle, the relative phase of both rotors can be controlled with higher accuracy. it can.

  According to the fourth aspect of the present invention, even if the magnetic reaction force of the permanent magnet changes depending on the temperature, the phase control pressure and the reaction force control pressure can be appropriately corrected in accordance with this change. It is possible to always perform stable phase control without being affected by the change of.

  According to the fifth to seventh aspects of the present invention, a force corresponding to the phase control pressure and the reaction force control pressure is applied between the outer rotor and the inner rotor with a relatively simple configuration. Therefore, it is possible to reduce the size of the electric motor while increasing the degree of freedom in changing the relative phase between the two rotors.

  According to the eighth aspect of the invention, since the phase control pressure and the reaction force control pressure are sequentially controlled according to the target phase angle and the current phase angle, the control accuracy of the relative phase between the two rotors is improved. be able to.

  Embodiments of the present invention will be described below with reference to the drawings. First, the first embodiment shown in FIGS. 1 to 17 will be described.

  The electric motor 1 of this embodiment is an inner rotor type brushless motor in which a rotor unit 3 is disposed on the inner peripheral side of an annular stator 2 as shown in FIGS. 1 to 4, for example, a hybrid vehicle or an electric vehicle. It is used as a traveling drive source. The stator 2 has a multi-phase stator winding 2a, and the rotor unit 3 has a rotating shaft 4 at the shaft core. When used as a vehicle driving source, the rotational force of the electric motor 1 is transmitted to a wheel drive shaft (not shown) via a transmission (not shown). In this case, if the electric motor 1 functions as a generator when the vehicle is decelerated, it can be recovered as regenerative energy in the electric storage device. Further, in the hybrid vehicle, the rotating shaft 4 of the electric motor 1 can be further connected to a crankshaft (not shown) of the internal combustion engine so that it can be used for power generation by the internal combustion engine.

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

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

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

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

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

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

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

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

The drive plates 16 and 16 on both sides connecting the outer rotor 5 and the vane rotor 14 are slidably in close contact with both side surfaces (both end surfaces in the axial direction) of the annular housing 15, and the side of each recess 19 of the annular housing 15. Respectively. Therefore, each recessed part 19 forms the independent space part by the boss | hub part 17 of the vane rotor 14, and the drive plates 16 and 16 of both sides, and this space part becomes the introduction space 23 in which hydraulic fluid is introduce | transduced. Each introduction space 23 is divided into two chambers by the corresponding vanes 18 of the vane rotor 14, one of which is a phase control chamber 24 and the other of which is a reaction force control chamber 25. The phase control chamber 24 applies a phase operation force in the advance angle direction or the retard angle direction to the inner circumferential side rotor 6 and the outer circumferential side rotor 5 by hydraulic oil introduced into the interior, and the reaction force control chamber 25 The reaction oil that resists the phase operation force is generated by the hydraulic oil introduced into the tank.
In the description of this embodiment, “advance” refers to the rotation direction of the electric motor 1 indicated by the arrow R in FIGS. 2 and 4 with respect to the inner rotor 6 relative to the outer rotor 5. The term “retarding” means that the inner circumferential side rotor 6 is advanced with respect to the outer circumferential side rotor 5 in the direction opposite to the rotation direction R of the electric motor 1.

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

By the way, in the case of the electric motor 1 of this embodiment, when the inner circumferential rotor 6 is at the most retarded position with respect to the outer circumferential rotor 5, the permanent magnets of the outer circumferential rotor 5 and the inner circumferential rotor 6 are used. When 9 is opposed to the opposite poles and is in a strong field state (see FIGS. 2 and 5A), the inner rotor 6 is in the most advanced position with respect to the outer rotor 5. In addition, the permanent magnets 9 of the outer peripheral rotor 5 and the inner peripheral rotor 6 are set so as to face each other with the same poles to form a field weakening state (see FIGS. 4 and 5B). .
The electric motor 1 can arbitrarily change the state of the strong field and the state of the weak field by the supply / discharge control of the hydraulic oil with respect to the phase control chamber 24. In this way, the strength of the magnetic field is changed. Then, the induced voltage constant changes accordingly, and as a result, the characteristics of the electric motor 1 are changed. That is, when the induced voltage constant increases due to the strong field, the allowable rotational speed at which the motor 1 can be operated decreases, but the maximum torque that can be output increases. Conversely, when the induced voltage constant decreases due to the weak field, Although the maximum torque that can be output from the electric motor 1 decreases, the allowable rotational speed at which the motor 1 can operate increases.

  On the other hand, as shown in FIG. 7, the hydraulic control device 13 includes an oil pump 32 (fluid supply source) that draws hydraulic oil from an oil tank (not shown) and discharges it to the passage, and the oil pump 32 and the phase control side supply. A phase control electromagnetic valve 34 that controls the pressure of hydraulic oil supplied to the phase control chamber 24 and is connected to a passage connecting the exhaust passage 26, and a passage connecting the oil pump 32 and the reaction force control side supply / discharge passage 27. Is installed in the phase control chamber 24 and the reaction force control chamber 25 by operation of both the solenoid valves 34 and 35, and a reaction force control solenoid valve 35 for controlling the pressure of hydraulic oil supplied to the reaction force control chamber 25. And a phase controller 36 (control means) for controlling the pressure of the operating oil. A motor controller 40 is connected to the phase controller 36 to exchange signals.

  Here, the configuration of the motor controller 40 shown in FIG. 6 will be described.

  The motor controller 40 performs feedback control of current on the dq coordinates that form the rotation orthogonal coordinates. For example, the d-axis current is based on the torque command Tq set according to the accelerator opening degree related to the accelerator operation of the driver. The command Idc and the q-axis current command Iqc are calculated, and the respective phase output voltages Vu, Vv, Vw are calculated based on the d-axis current command Idc and the q-axis current command Iqc, and according to the respective phase output voltages Vu, Vv, Vw The PWM signal, which is a gate signal, is output to the PDU 41, and any two phase currents Iu, Iv, Iw actually supplied from the PDU 41 to the electric motor 1 are converted into currents on the dq coordinate. The current control is performed so that each deviation between the d-axis current Id and the q-axis current Iq and the d-axis current command Idc and the q-axis current command Iqc becomes zero.

The electric motor controller 40 calculates an induced voltage constant Kec required by the electric motor 1 in response to a request command such as a torque command Tq, and uses the result for determining the target phase angle ω _t by the phase controller 36. At the same time, the signal is output to the controller 36 so that the phase controller 36 can output a signal for determining the target time T _t until the phase change is completed.

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

  The motor controller 40 includes current sensors 71 that detect the two-phase U-phase current Iu and the W-phase current Iw among the three-phase currents Iu, Iv, and Iw output from the PDU 41 to the motor 1. The detection signals Ius and Iws output from the 71, the detection signal output from the voltage sensor 72 that detects the terminal voltage (power supply voltage) VB of the battery 42, and the rotation angle θM of the rotor unit 3 of the electric motor 1 (that is, , A detection signal output from a resolver 73 (rotation sensor) that detects a rotation angle of the magnetic pole of the rotor unit 3 from a predetermined reference rotation position, and a torque command Tq output from an external control device (not shown). And a shift command that is a control command for the transmission gear ratio of the transmission T / M.

The target current setting unit 51 is, for example, for causing the electric motor 1 to generate a torque command Tq (for example, a torque required according to the amount by which the driver depresses the accelerator pedal) input from an external control device (not shown). ), The rotational speed NM of the electric motor 1 input from the rotational speed calculation unit 60, and the induced voltage constant Ke, each phase current Iu, Iv, Iw supplied from the PDU 41 to the electric motor 1 is specified. The current command is output to the current deviation calculation unit 52 as the d-axis target current Idc and the q-axis target current Iqc on the rotating orthogonal coordinates.
The dq coordinates forming the rotation orthogonal coordinates are, for example, the field magnetic flux direction of the permanent magnet 9 of the rotor unit 3 as a d axis (field axis), and the direction orthogonal to the d axis as a q axis (torque axis). And is rotating in synchronization with the rotation phase of the electric motor 1. As a result, the d-axis target current Idc and the q-axis target current Iqc, which are DC signals, are given as current commands for the AC signal supplied from the PDU 41 to each phase of the electric motor 1.

The current deviation calculation unit 52 includes a d-axis current deviation calculation unit 52a that calculates a deviation ΔId between the d-axis target current Idc input with the d-axis correction current input from the field control unit 53 and the d-axis current Id, The q-axis target current Iqc to which the q-axis correction current input from the control unit 54 is added, and a q-axis current deviation calculation unit 52b that calculates a deviation ΔIq from the q-axis current Iq are configured.
The field control unit 53 performs field weakening control that controls the current phase so as to weaken the field amount of the rotor 23 equivalently in order to suppress an increase in the counter electromotive voltage accompanying an increase in the rotational speed NM of the electric motor 1, for example. The target value for the field weakening current is output as the d-axis correction current.
Further, the power control unit 54 outputs a q-axis correction current for correcting the q-axis target current Iqc according to appropriate power control according to, for example, the remaining capacity of the battery 18.

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

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

  For example, the PWM signal generation unit 57 turns on each switching element of the PWM inverter of the PDU 13 by pulse width modulation based on each phase output voltage Vu, Vv, Vw of a sine wave, a carrier signal composed of a triangular wave, and a switching frequency. A gate signal (that is, a PWM signal) that is a switching command including each pulse to be driven off / off is generated.

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

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

  The rotation speed calculation unit 60 extracts the rotation angle θM of the rotor unit 3 of the electric motor 1 from the detection signal output from the resolver 73, and calculates the rotation speed NM of the electric motor 1 based on the rotation angle θM.

  The induced voltage constant command output unit 61 outputs an induced voltage constant command value Kec to the phase controller 36 based on, for example, the torque command Tq, the rotational speed NM of the electric motor 1, and the shift command Vdc.

Next, the phase controller 36 will be described.
The phase controller 36 receives the output command of the induced voltage constant Kec from the induced voltage constant command output portion 61 of the motor controller 40, and determines the target phase angle omega _t based on the command, via the motor controller 40 The target time T _t until the completion of the phase change is determined based on the information (battery voltage, motor rotation speed, torque command, etc.) input.

The phase controller 36 controls the supply pressure (phase control pressure) of the phase control chamber 24 so as to obtain the target phase angle, while controlling the supply pressure (reaction force control pressure) of the reaction force control chamber 25 ( (See the image diagrams in FIGS. 7 and 8).
The phase control pressure is controlled so that the pressure increases approximately in proportion to the increase of the phase angle between the minimum phase angle position (ω _MIN ) and the maximum phase angle position (ω _MAX ) (the phase in FIG. 9). As for the reaction pressure control pressure, when the phase angle exceeds the intermediate phase angle position and changes toward the maximum phase angle position (ω _MAX ), the pressure increases substantially proportionally. Control is performed so as to stand up (see reaction force control pressure characteristic diagram D in FIG. 9).

The force by the reaction force control pressure acting on the inner circumferential rotor 6 and the outer circumferential rotor 5 is combined with the magnetic reaction force of the permanent magnet 9 shown in the characteristic diagram of B in FIG. A proportional reaction force characteristic of A ( reaction force characteristic in which the resultant force of the reaction force monotonously increases with an increase in the relative phase of the inner rotor 6 and the outer rotor 5) can be obtained. Yes. For this reason, when the pressure in the phase control chamber 24 is increased by current control of the phase control solenoid valve 34, the overall reaction force increases approximately proportionally with the increase in the phase angle, and this reaction force and the phase control pressure are increased. When the balance is reached, the phase angle stops moving.

In the phase controller 36, the I ₁ -P ₁ map and ω-P ₁ map for phase control as shown in FIG. 15 and the I ₂ -P ₂ map and ω-P ₂ map for reaction force control are stored in the memory. Has been. These maps are referred to in the control of electromagnetic valves 34 and 35 described later.
The I ₁ -P ₁ map is a map showing the correspondence between the current applied to the phase control solenoid valve 34 and the pressure in the phase control chamber 24, and the I ₂ -P ₂ map is applied to the reaction force control solenoid valve 35. 4 is a map showing the correspondence between current and pressure in the reaction force control chamber 25. The ω-P ₁ map is a map showing the correspondence between the phase angle and the pressure in the phase control chamber 24, and the ω-P ₂ map is a map showing the correspondence between the phase angle and the pressure in the reaction force control chamber 25. It is. The ω-P ₁ map corresponds to the phase control pressure characteristic diagram C of FIG. 9, and the ω-P ₂ map corresponds to the reaction force control pressure characteristic diagram D of FIG.

  Hereinafter, the current control of the electromagnetic valves 34 and 35 by the phase controller 36 will be described with reference to the flowcharts of FIGS.

First, in step S101 of FIG. 10, it is determined whether or not the control flag α is 1 (control is in progress). If α is 1, the process proceeds to step S110, and if α is not 1, the process proceeds to step S102. Proceed to In step S102, the target phase angle ω _t and the target time T _t are determined, and then the process proceeds to step 103 to perform the calculation process of the phase angle initial value ω ₀ .

The phase angle initial value ω ₀ is calculated by reading the current energization current value I for the phase control solenoid valve 34 in step S201 in FIG. 11, and referring to the I ₁ -P ₁ map in step S202. obtains the pressure P ₁ of the phase control chamber 24 corresponding to the current value I, further the phase angle corresponding to the pressure P ₁ (phase angle initial value omega _0), determined with reference to the omega-P ₁ maps.

After obtaining the phase angle initial value ω ₀ in this way, in step S104, the difference between the target phase angle ω _t and the phase angle initial value ω ₀ is divided by the target time to obtain a phase angle change amount Δω _t per unit time. Subsequently, in step S105, the next target phase angle ω ₂ is obtained by adding the phase angle change amount Δω _t to the initial phase angle value ω ₀ , and the value is set as the next target phase angle ω ₂ . Proceeds thereafter to step S106, calculation of the target current value I ₁ of the phase control solenoid valve 34 and performs output, in step S107, calculation of the target current value I ₂ of the reaction force control solenoid valve 35 and its Output.

Calculation of the target current value _{I 1} in step S211 of FIG. 12, obtains the pressure _{P 1} of the phase control chamber 24 corresponding to the next target phase angle omega ₂ with reference to the _{omega-P 1} maps, further in step S212 The control current value I ₁ of the phase control solenoid valve 34 corresponding to the pressure P ₁ is obtained with reference to the I ₁ -P ₁ map, and an output command for the current value I ₁ is obtained in step S 213. Output to valve 34.

Calculation of the target current value _{I 2} is determined in step S221 of FIG. 13, the pressure _{P 2} of the reaction force control chamber 25 corresponding to the next target phase angle omega ₂ with reference to the _{omega-P 2} map, further step S222 Thus, the control current value I ₂ of the reaction force control solenoid valve 35 corresponding to the pressure P ₂ is obtained with reference to the I ₂ -P ₂ map, and an output command of the current value I ₂ is obtained in step S223. Output to the control solenoid valve 35.

In addition, after the process of step S107 in FIG. 10, the process proceeds to step S108 to set the control flag α to 1, and then the process proceeds to step S110 to calculate the current phase angle ω ₁ .

Calculation of the current phase angle omega ₁ in step S231 of FIG. 14, reads the current flowing current value I of the phase control solenoid valve 34, subsequent Step _S232, the current value with reference to the I 1 -P ₁ Map It obtains the pressure P ₁ of the phase control chamber 24 corresponding to the I, obtains the phase angle corresponding to the pressure P ₁ (current phase angle omega ₁₎ with further reference to omega-P ₁ maps.

After calculating the current phase angle ω _{1 in this} way, in step S111, it is determined whether or not the current phase angle ω ₁ and the target phase angle ω _t match. If they match, the process proceeds to step S113 and the control flag α Is set to 0 and the process returns. If they do not match, the process proceeds to step S112.
In step S112, it is determined whether or not the current phase angle ω ₁ and the next target phase angle ω ₂ are the same, as it is return if it does not match, if there is a match, the next target phase angle proceeds to step S114 to re-set the ω _2. Here, the phase angle change amount Δω _t is added to the current phase angle ω ₁ , and the value is reset as the new next target phase angle ω ₂ .
Proceeds to step S115 thereafter, performs output calculation process and the current of the target current value I ₁ of the phase control solenoid valve 34, in step S116, calculation of the target current value I ₂ of the reaction force control solenoid valve 35 Process and output current. The processes in steps S115 and S116 are the same as the processes performed in steps S106 and S107, respectively.

  Therefore, when both the solenoid valves 34 and 35 are controlled as described above, the magnetic reaction force of the permanent magnet 9 and the force by the reaction force control pressure are combined, and are approximately proportional in the entire region where the phase angle can be manipulated. As a result, the motor 1 is changed to a desired phase angle (see FIGS. 16 and 17).

As described above, in the electric motor 1 of this embodiment, since the phase changing means 12 for changing the phase angle between the inner circumferential rotor 6 and the outer circumferential rotor 5 is operated by hydraulic pressure, both rotors 6, 5 Can be quickly and freely changed at an arbitrary timing.
In this electric motor 1, the pressure of the reaction force control chamber 25 is controlled so that the phase angle is determined in a one-to-one relationship with the pressure supplied to the phase control chamber 24. The phase angle can be accurately displaced to an arbitrary position by relatively simple control.

  Further, in the phase control method employed in the electric motor 1, the current supplied to both solenoid valves 34 and 35 is sequentially controlled based on the target phase angle and the current phase angle. Control accuracy can be increased.

  Further, in this embodiment, since the current phase angle is obtained based on the energization current of the phase control solenoid valve 34, a sensor for obtaining the relative rotation angle between the vane rotor 14 and the annular housing 15 is provided. As a result, the number of parts can be reduced and the structure can be simplified.

  Of course, a dedicated sensor for obtaining the relative rotation angle between the vane rotor 14 and the annular housing 15 is provided, and the supply pressure of the phase control chamber 24 and the reaction force control chamber 25 is controlled based on the detection value of the sensor. May be. In this case, since the relative rotation angle between the vane rotor 14 and the annular housing 15 can be detected more directly by the sensor, the control accuracy of the phase angle can be further increased.

18 and 19 show a second embodiment and a third embodiment of the present invention, respectively.
The electric motors 1 of these embodiments are different from those of the first embodiment in the configuration of the rotation mechanisms 111 and 211 of the phase changing means 12, and the other configurations are substantially the same as those in the first embodiment. The same is said. Accordingly, the same parts as those in the first embodiment are denoted by the same reference numerals, and the description of the overlapping parts is omitted.

  The rotating mechanism 111 of the second embodiment shown in FIG. 18 includes a bobbin-shaped inner cylinder member 112 (first member) that is spline-fitted to the outer surface of the rotation shaft 4 so as to be integrally rotatable, and an inner cylinder member 112. A cylindrical outer cylinder member 113 (second member) disposed on the outer peripheral side, and the outer cylinder member 113 is integrally fitted and fixed to the inner peripheral surface of the inner peripheral side rotor 6. Both side walls 112a, 112a on the axially outer side of the member 112 are on the outer peripheral side through a pair of drive plates 114, 114 (first member) straddling the outer cylindrical member 113 and the side end portions on both sides of the inner peripheral side rotor 6. The rotor 5 is integrally connected. In the case of the rotating mechanism 111, the inner cylinder member 112 is integrated with the rotating shaft 4 and the outer rotor 5, and the outer cylinder member 113 is integrated with the inner rotor 6.

  A cylindrical introduction space into which the outer cylinder member 113 is slidably fitted to the outer peripheral surfaces of both side walls 112a of the inner cylinder member 112, and hydraulic oil is introduced between the inner cylinder member 112 and the outer cylinder member 113. 115 is formed. A thick portion 113a (cylindrical portion) protruding radially inward is formed at a substantially intermediate position in the axial direction of the inner peripheral surface of the outer cylindrical member 113. The inner peripheral surface of the thick portion 113a and the inner cylindrical member 112 Helical splines 116 and 117 having opposite directions are formed on the outer peripheral surface of a substantially half portion (left region in the drawing) of the shaft portion 112b. Between the shaft portion 112a of the inner cylinder member 112 and the outer cylinder member 113, a ring gear 118 that is engaged with the helical splines 117 and 116 on the inner periphery and outer periphery thereof is interposed. In addition, helical splines that mesh with the helical splines 117 and 116 of the inner cylindrical member 112 and the outer cylindrical member 113 are formed on the inner peripheral surface and the outer peripheral surface of the ring gear 118. These helical splines are denoted by the reference numerals in the figure. Shall be omitted.

  Further, the ring gear 118 is formed in a double cylindrical shape having one end connected by a sealing wall 119, and one end of the outer peripheral wall on the side where the sealing wall 119 of the ring gear 118 is extended to a cylindrical shape, Is provided with a flange 120 projecting radially outward. The outer peripheral surface of the flange portion 120 is slidably fitted to the inner peripheral surface of a substantially half portion of the outer cylinder member 113 where the helical spline 116 is not formed via a seal ring 121. A piston 122 that divides the inside of the introduction space 115 into two front and rear chambers is formed from the sealing wall 119 at one end of the ring gear 118 to the flange portion 120, and thus one chamber separated by the piston 122 is the phase control chamber 24. The other room is a reaction force control chamber 25. The phase control chamber 24 and the reaction force control chamber 25 are respectively connected to a phase control side supply / discharge passage 26 and a reaction force control side supply / discharge passage 27 formed from the inner cylinder member 112 to the rotating shaft 4. . The phase control side supply / discharge passage 26 and the reaction force control side supply / discharge passage 27 are connected to a hydraulic control device (not shown) similar to that of the first embodiment.

In the case of the rotation function 111 of this embodiment, when the phase angle is changed, the pressure in the phase control chamber 24 and the reaction force control chamber 25 is controlled in the same manner as in the first embodiment. About each pressure control, since it is the content which overlaps, description shall be partially omitted. This also applies to the third embodiment.
When hydraulic oil is supplied to the phase control chamber 24, the ring gear 118 including the piston 122 moves from one to the other in the introduction space 115, and at this time, the ring gear 118 is engaged with the helical splines 117 and 116. The inner cylinder member 112 and the outer cylinder member 113 rotate relative to one side to rotate the inner circumferential side rotor 6 forward or backward with respect to the outer circumferential side rotor 5. Conversely, when hydraulic fluid is discharged from the phase control chamber 24, the ring gear 118 including the piston 122 moves from the other side to the other side in the introduction space 115, and the inner peripheral side rotor 6 is similarly moved to the outer periphery. The side rotor 5 is rotated toward the retard side or the advance side.

In the case of the rotation mechanism 111, the inner rotor 5 and the outer rotor 6 can be reliably rotated relative to each other at a desired position by the hydraulic pressure controlled by the hydraulic control device, although having a simple structure. .
In the embodiment shown in FIG. 9 described here, the piston 122 that divides the introduction space 115 into two chambers is formed integrally with the ring gear 118, but the piston and the ring gear are formed separately from each other, You may make it couple | bond both by a connection member.

  Further, the rotation mechanism 211 of the third embodiment shown in FIG. 19 includes an inner block 212 (first member) that is spline-fitted to the outer surface of the rotating shaft 4 so as to be integrally rotatable, and an outer peripheral side of the inner block 212. A substantially cylindrical outer block 213 (second member) disposed on the inner block 212, and the outer block 213 is integrally fitted and fixed to the inner peripheral surface of the inner rotor 6 and the shaft of the inner block 212 is fixed. The end in the direction is integrally coupled to the outer rotor 5 via a drive plate (first member) (not shown) that straddles the outer block 213 and the side end of the inner rotor 6. In the case of this rotating mechanism 211, the inner block 212 is integrated with the rotating shaft 4 and the outer peripheral rotor 5, and the outer block 213 is integrated with the inner peripheral rotor 6.

  The inner block 212 is provided with a pair of arms 212a projecting outward in the radial direction, and the ends of the arms 212a are opposite to each other along the substantially tangential direction of the circumference around the rotation shaft 4. A first cylinder 214 and a second cylinder 215 are formed. A first piston 216 and a second piston 217 are fitted to the first cylinder 214 and the second cylinder 215 of both arm portions 212a so as to be able to advance and retract, and correspond to the cylinders 214 and 215. Hydraulic oil for moving the pistons 216 and 217 forward and backward is supplied and discharged. The first cylinder 214 opens toward the main rotation direction of the electric motor 1 to form a phase control chamber 24 with the first piston 216, and the second cylinder 215 opens opposite to the main rotation direction. Thus, a reaction force control chamber 25 is formed with the second piston 217. The phase control chamber 24 and the reaction force control chamber 25 are connected to a hydraulic control device similar to that of the first embodiment via a supply / discharge passage formed from the inner block 212 to the rotation shaft 4. The pistons 216, 217 are formed in a substantially cylindrical shape with the top portions 216a, 217a sealed, and the outer surfaces of the top portions 216a, 217a are formed in a spherical shape.

  On the other hand, the outer block 213 includes a cylindrical base portion 213a that is fitted and fixed to the inner peripheral rotor 6, and a pair of raised portions 213b and 213b that bulge radially inward from the inner peripheral surface of the base portion 213a. Is provided. Each of the raised portions 213b has a first load transmission wall 218 that is in contact with the top 216a of the first piston 216 of the inner block 212 along the radial direction of the rotation shaft 4, and similarly to the radial direction of the rotation shaft 4. A second load transmission wall 219 is formed along the top block 217a of the second piston 217 of the inner block 212.

  In the case of this embodiment, for example, when hydraulic oil is supplied to the advance side working chamber 24, the first piston 216 of the inner block 212 protrudes while the second piston 217 moves backward as shown in FIG. At this time, the first piston 216 presses the first load transmission wall 218 of the outer block 213 to rotate the outer block 213 relative to the inner block 212 in the advance direction. As a result, the inner circumferential rotor 6 integral with the outer block 213 rotates in the advance direction with respect to the outer circumferential rotor 5 integral with the inner block 212. On the other hand, when the hydraulic oil is supplied to the retarded-side working chamber 25 and the hydraulic oil is discharged from the advanced-side working chamber 24 from this state, the second piston 217 protrudes while the first piston 216 is ejected. Retreats, and the second piston 217 presses the second load transmission wall 219 of the outer block 213 to rotate the inner rotor 6 in the retard direction with respect to the outer rotor 5.

  Even in the case of the rotation mechanism 211, the inner rotor 5 and the outer rotor 6 can be reliably rotated relative to each other by hydraulic pressure, though the structure is simple.

The present invention is not limited to the above embodiments, and various design changes can be made without departing from the scope of the invention.
In each of the above embodiments, no special measures are taken for the change in the characteristics of the magnetic reaction force due to temperature. For example, a temperature sensor is installed in the vicinity of the permanent magnet, and phase control is performed according to the detection value of the temperature sensor. You may make it correct | amend the control pressure of a chamber and a reaction force control chamber. Thus, when the control pressure is corrected according to the temperature, the phase angle can always be accurately controlled without being affected by the temperature change. Correction of the control pressure of the phase control chamber and the reaction force control chamber according to the detection value of the temperature sensor can be performed, for example, by changing the control map according to the temperature.

1 is a cross-sectional view of a main part of an electric motor according to a first embodiment of the present invention. The side view which abbreviate | omitted some components of the rotor unit controlled to the most retarded angle position of the electric motor of the embodiment. The disassembled perspective view of the rotor unit of the electric motor of the embodiment. The side view which abbreviate | omitted some components of the rotor unit controlled to the most advanced angle position of the electric motor of the embodiment. The figure (a) which shows typically the strong field state where the permanent magnet of the inner circumference side rotor and the permanent magnet of the outer circumference side rotor are arranged in the same polarity, and the permanent magnet and outer circumference side rotation of the inner circumference side rotor The figure which also described the figure (b) which shows typically the field-weakening state by which the permanent magnet of a child was arrange | positioned differently. The schematic block diagram of the control system of the electric motor of the embodiment. The schematic block diagram of the phase change means of the electric motor of the embodiment. Sectional drawing which showed the electric motor of the embodiment typically. The figure which combined the characteristic diagram of the reaction force according to the change of the phase angle of the electric motor of the embodiment, and the characteristic diagram of the phase control pressure and the reaction force control pressure according to the change of a phase angle. 6 is a flowchart showing control of the phase controller of the embodiment. 11 is a flowchart showing ω ₀ calculation processing of FIG. 10 of the same embodiment. 11 is a flowchart showing I ₁ calculation processing of FIG. 10 of the embodiment. 11 is a flowchart showing I ₂ calculation processing of FIG. 10 of the embodiment. 11 is a flowchart showing ω ₁ calculation processing of FIG. 10 of the embodiment. The figure which showed the image of the map memorize | stored in the phase controller of the embodiment. The characteristic view which showed the mode of the change of the phase angle on the time-axis of the same embodiment, a phase control pressure, and reaction force control pressure. The figure which showed the magnitude of the magnetic reaction force corresponding to the change of the phase angle of the same embodiment, phase control pressure, and reaction force control pressure. Sectional drawing of the electric motor of 2nd Embodiment of this invention. Sectional drawing of the electric motor of 3rd Embodiment of this invention. The figure which combined the characteristic figure of the magnetic reaction force according to the change of the phase angle in the case of a reference example, and the characteristic figure of the phase control pressure according to the change of a phase angle. The figure which showed the mode of the phase control pressure and phase angle when moving from A point to B point of FIG. 20 in the case of the reference example. The figure which showed the mode of the phase control pressure and phase angle when moving from the B point of FIG. 20 to the A point in the case of the reference example.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Electric motor 5 ... Outer peripheral side rotor 6 ... Inner peripheral side rotor 9 ... Permanent magnet 12 ... Phase change means 14 ... Vane rotor (1st member)
15 ... Annular housing (second member)
16 ... Drive plate (first member)
18 ... Vane 23 ... Introduction space 24 ... Phase control room 25 ... Reaction force control room 36 ... Phase controller (control means)
112 ... Inner cylinder member (first member)
112a ... Shaft 113 ... Outer cylinder member (second member)
113a ... Thick part (cylinder part)
114 ... Drive plate (first member)
115: Introduction space 118 ... Ring gear 122 ... Piston 212 ... Inner block (first member)
213 ... Outer block (second member)
214 ... 1st cylinder 215 ... 2nd cylinder 216 ... 1st piston 217 ... 2nd piston 218 ... 1st load transmission wall 219 ... 2nd load transmission wall

Claims (8)

An inner rotor on which permanent magnets are arranged along the circumferential direction;
An outer peripheral rotor disposed coaxially and relatively rotatably on the outer peripheral side of the inner peripheral rotor, and a permanent magnet disposed along the circumferential direction;
A phase changing means for changing the relative phase of the inner and outer rotors by relatively rotating the inner rotor and the outer rotor,
The phase changing means includes
A phase control chamber in which hydraulic oil is introduced to give a relative phase operation force to the inner and outer rotors;
A reaction force control chamber in which hydraulic oil is introduced to apply a reaction force against the phase operation force to the inner and outer rotors;
Control means for controlling the pressure of hydraulic oil introduced into the phase control chamber and the reaction force control chamber;
With
In the region where the relative phase operation is possible , the control means includes a magnetic reaction force between permanent magnets disposed on the inner rotor and the outer rotor, and a reaction force control chamber. An electric motor characterized by controlling the pressure in the reaction force control chamber so that a resultant force with the reaction force due to hydraulic oil monotonously increases or monotonously decreases with respect to the relative phase change .   The electric motor according to claim 1, wherein the control unit controls the pressure of the reaction force control chamber based on a parameter that determines a control pressure of the phase control chamber. Phase angle detection means for detecting a relative phase angle between the inner rotor and outer rotor is provided,
2. The electric motor according to claim 1, wherein the control unit controls the pressure in the reaction force control chamber based on a detection value of the phase angle detection unit.   4. The electric motor according to claim 1, wherein control pressures of the phase control chamber and the reaction force control chamber are corrected according to a temperature of the permanent magnet. A hydraulic oil introduction space is provided between a first member that rotates integrally with the outer circumferential rotor and a second member that rotates integrally with the inner circumferential rotor,
One of the first member and the second member is provided with a vane that is slidably disposed in the introduction space and separates the introduction space into two chambers,
5. The electric motor according to claim 1, wherein the phase control chamber and the reaction force control chamber are configured by two chambers separated by the vane. A shaft portion is provided on one of a first member that rotates integrally with the outer circumferential rotor and a second member that rotates integrally with the inner circumferential rotor,
The other of the first member and the second member is provided with a cylindrical portion surrounding the outside of the shaft portion,
A ring gear is provided in which an inner peripheral surface and an outer peripheral surface are helically spline-engaged with the shaft portion and the cylindrical portion, respectively.
An introduction space for hydraulic oil is provided between the first member and the second member,
A piston that is slidably accommodated in the introduction space and that separates the introduction space into two chambers is provided,
This piston is connected to the ring gear so as to be integrally displaceable,
5. The electric motor according to claim 1, wherein the phase control chamber and the reaction force control chamber are configured by two chambers separated by the piston. One of the first member that rotates integrally with the outer circumferential rotor and the second member that rotates integrally with the inner circumferential rotor is mutually reciprocal along a substantially tangential direction of the circumference around the rotation axis. A first cylinder and a second cylinder facing the rotating direction are provided,
A first piston and a second piston are respectively provided in the first cylinder and the second cylinder so as to freely advance and retract,
The other of the first member and the second member is provided with a first load transmission wall and a second load abutting on tops of the first piston and the second piston, respectively, along a substantially radial direction of the two rotors. A load transmission wall is provided,
2. The phase control chamber and the reaction force control chamber are formed between the first cylinder and the first piston and between the second cylinder and the second piston, respectively. The electric motor of any one of -4. An inner rotor on which permanent magnets are arranged along the circumferential direction;
The outer peripheral side rotor is provided coaxially and relatively rotatably on the outer peripheral side of the inner peripheral side rotor, and a permanent magnet is provided along the circumferential direction.
A phase control method for an electric motor in which the inner rotor and the outer rotor are rotated relative to each other to change the relative phase between the rotor and the rotor.
A target phase angle determination step for determining a target phase angle to relatively rotate the inner circumferential rotor and the outer circumferential rotor;
A current phase angle detection step of detecting a current relative phase angle of the inner and outer rotors;
In accordance with the phase angle of the target phase angle and current, the phase control pressure for supplying the hydraulic fluid to apply a phase operating force for changing a relative phase of the inner periphery side rotor and the outer periphery side rotor A supply step;
A reaction force against the phase operation force is applied according to the target phase angle and the current phase angle, and the inner circumferential rotor and the outer circumferential rotation are performed in a region where the relative phase operation is possible. The resultant force of the magnetic reaction force between the permanent magnets arranged on the child and the reaction force against the phase operation force is monotonously increased or monotonously decreased with respect to the relative phase change. And a reaction force control pressure supply step for supplying hydraulic oil.

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