JP5075704B2 - Current control device - Google Patents

Description

  The present invention mainly relates to a current controller for a switched reluctance motor.

In recent years, switched reluctance motors (hereinafter referred to as SR (Switched Reluctance) motors) are widely used because of their simple structure, robustness and easy maintenance due to their simple structure. In addition, there are characteristics such as large torque pulsation, noise and vibration due to non-linearity in the current and torque characteristics with respect to the rotor position and rotational speed, but various improvements have been made (for example, non-patent documents). 1).
Furthermore, current hysteresis control is generally used for current control of an SR motor driven by PWM (Pulse Width Modulation) control. In the current hysteresis control, a current upper limit command value and a current lower limit command value are determined and controlled for a current command value that is a desired winding current value. In addition, the current hysteresis control applies a voltage until the winding current exceeds a predetermined current upper limit command value, stops the voltage application when the current exceeds the current upper limit command value, and then the winding current is predetermined. If it falls below the current lower limit command value, the current is controlled by applying a voltage so that the winding current approaches the current command value.
In the current hysteresis control, the number of times of switching per unit time is determined in consideration of heat generated at the time of switching depending on characteristics of a semiconductor element that switches voltage. Calculate the PWM carrier cycle, which is the frequency of switching whether or not to apply voltage, from the set number of switching times, and also calculate the minimum voltage application time and minimum on / off time that is the minimum voltage application time interval. Predetermined.

FIG. 7 is a graph showing ideal current hysteresis control at a low rotation of the SR motor. Immediately after the winding current exceeds the current upper limit command value, the current value is detected to stop the voltage application, and immediately after the winding current falls below the current lower limit command value, the current value is detected to apply the voltage. The operation that starts the operation is an ideal operation. As described above, the timing at which the current value of the winding current exceeds the current command upper limit value, the timing at which the winding current value falls below the ionization command lower limit value, the cycle in which the current value is detected, and the PWM carrier cycle match. In this case, overshoot and undershoot of the winding current are reduced, and a stable torque can be obtained from the SR motor.
FIG. 8 is a graph showing ideal current hysteresis control at high rotation of the SR motor. In the high rotation range, the current decreases at the rotation angle at which the phase inductance rises despite the voltage being applied. Ideally, the control is such that the voltage waveform is continuously applied and the current waveform equal to the current upper limit command value is obtained at the point where the winding current becomes maximum without exceeding the current command upper limit value. At this time, the switching loss is also reduced and the SR motor can be driven efficiently.

  However, in the general current hysteresis control, the above ideal SR motor is not necessarily controlled. FIG. 9 is a diagram illustrating current hysteresis control with overshoot and undershoot at low rotation. When sampling is performed to read the current value for current control immediately before the winding current exceeds the current upper limit command value, the time from the overshoot to the next sampling to stop voltage application Longer, more overshoot. The same applies to undershoot.

Further, FIG. 10 is a diagram showing current hysteresis control when the current upper limit value in the high rotation range is exceeded. As shown in FIG. 10, when the winding current exceeds the current upper limit command value, the voltage application is stopped. Since the induced voltage is high at high rotation, the winding current decreases even when voltage is applied. Furthermore, even if the voltage application is stopped at the minimum voltage application time interval, the winding current suddenly decreases by stopping the voltage application. Decrease. Due to this decrease in winding current, torque loss occurs and the driving efficiency of the SR motor decreases.
In some cases, current control is performed to avoid overshoot by lowering the current command lower limit value (for example, see Patent Document 1).
JP 2006-87229 A Hiroki Ishikawa, Yoshinobu Kamada, Haruo Naito, “Current Waveforms for Making the Instantaneous Torque of Switches and Reluctance Motors Constant and their Waveform Control Method”, IEEJ Transactions D, Vol. 125, no. 12, 2005, p. 1113-1121

  However, although the overshoot in which the winding current exceeds the current upper limit command value has been solved, the current lower limit command value is lowered to widen the hysteresis width and avoid overshoot. There is a problem of spreading.

  The present invention has been made to solve the above problems, and an object of the present invention is to provide an SR motor control device with improved power supply efficiency and improved followability to a current command value.

  In order to solve the above problem, the present invention is a current control device to which a pulse width modulation system of a switched reluctance motor is applied, and outputs a rotor electrical angle of a rotor included in the switched reluctance motor. A feed for calculating a first induced voltage due to a flux linkage of the switched reluctance motor from the rotational position detector, current command value information indicating a desired winding current value and the rotor electrical angle information. A forward input generation unit; an I gain table unit that outputs a value based on the rotor electrical angle as an I gain for performing I control to compensate for a loss caused by a second induced voltage due to the winding inductance of the rotor; and the current PI control using the I gain from the deviation between the command value information and the input winding current value of the switched reluctance motor. The PWM duty calculation unit that calculates the width of the pulse to apply the voltage from the addition result by adding the voltage value calculated by the above and the first induced voltage due to the flux linkage, and the PWM duty calculation unit calculates And a drive signal generation unit that generates a drive signal based on a pulse width of the current control device.

  Further, according to the present invention, in the above-described invention, the feedforward input generation unit is based on a rotation speed detection unit that detects a rotation speed of a rotor based on the rotor electrical angle information, and on the rotor electrical angle information. A feedforward rotor angle map unit that calculates an angle term of the linkage flux gradient; a feedforward current map unit that calculates a current term of the linkage flux gradient based on the current command value information; and Feedforward input that calculates the induced voltage due to the linkage flux of the switched reluctance motor by multiplying the rotational speed of the rotor, the angle term of the linkage flux gradient, and the current term of the linkage flux gradient The current control apparatus according to claim 1, further comprising a calculation unit.

  Further, according to the present invention, in the above-described invention, the current command value information is current value information that changes in accordance with the rotor electrical angle. apparatus.

According to this invention, the feedforward input generation unit calculates the induced voltage due to the flux linkage, and the PWM duty calculation unit performs the feedforward control using the induced voltage calculated by the feedforward input generation unit, and the current command value and winding. The pulse width of the drive signal is calculated from the voltage value obtained by adding the voltage value calculated by PI control using the variable I gain from the deviation from the current value of the line. As a result, improvement in followability is prevented in the middle rotation range and high rotation range, and the induced voltage due to the phase inductance causing the decrease in the current value is calculated and used for current control of the SR motor. As a result, it is possible to improve the followability to the current command value in the middle rotation region and the high rotation region where the induced voltage is high.
Further, by making the duty ratio of the drive signal pulse variable, it is possible to shorten the time of the overshoot state. Furthermore, unlike the case of hysteresis control, the current command value can be given not only as binary values of 0 and a constant current value but also as multi-value information.

  In addition, according to the present invention, the duty ratio of the drive signal pulse is made variable so that the voltage application time is made variable. By making the voltage application time variable, the followability to the current command value is improved. Thereby, even when a variable current command value is given, the SR motor can be controlled. As a result, it is possible to improve the power efficiency by reducing the current command value at the rotor angle where the salient pole of the rotor and the salient pole of the stator face each other, where the generation of rotational torque decreases.

  Hereinafter, a current control device of a switched reluctance motor (hereinafter referred to as an SR (Switched Reluctance) motor) according to an embodiment of the present invention will be described with reference to the drawings.

(principle)
When voltage is v, winding resistance is R, winding inductance is L, rotor electrical angular velocity is ω, and the function representing the interlinkage magnetic flux is Ψ (i, θ), the SR motor voltage equation is transformed as It can be expressed as (1).

  The first term on the right side of (1.3) in equation (1) represents the voltage effect due to the winding resistance, and the second term on the right side in (1.3) in equation (1) depends on the inductance of the winding. This is a transient term, and the third term of (1.3) in equation (1) is an induced voltage term due to the rotation of the rotor.

  FIG. 1 is an example of a graph showing the relationship between the phase current i, the rotor electrical angle θ, and the flux linkage Ψ in the SR motor. Here, the amount of change of the interlinkage magnetic flux, which is the derivative dΨ (i, θ) / dθ of the interlinkage magnetic flux of the third term of (1.3) in Equation (1), with respect to θ is as shown in FIG. It is the inclination in the θ direction at each current value of the magnetic flux. An induced voltage can be obtained by multiplying this inclination by the electrical angular velocity. Further, as shown in FIG. 1, the induced voltage becomes the largest when the rotor facing starts at medium and large currents, and the induced voltage becomes smaller as the rotor salient pole and the stator salient pole become nearly completely opposed. Further, from 0 A to about 150 A, the number of flux linkages increases in proportion to the change of the current value, but at 150 A or more, the number of flux linkages does not change greatly with respect to the current. Since the induced voltage is proportional to the gradient of the number of flux linkages, the induced voltage increases in proportion to the current from 0A to 150A, but the change in the induced voltage is not so large at 150A or more. Further, the vicinity of 0 degree and 360 degrees at which the gradient of the interlinkage magnetic flux becomes gentle is the rotor electrical angle at which the salient pole of the rotor and the salient pole of the stator face each other.

  The current control of the SR motor is performed by feedforward input of the third term of (1.3) in the equation (1). Prepare a two-dimensional table of current values and rotor electrical angle values, prepare the gradient of the linkage flux in the θ direction as a value to be stored in the table, and multiply the rotor electrical angular velocity to determine the induced voltage. The information to be fed forward is determined by adding to the input voltage. Hereinafter, a two-dimensional table of current values and rotor electrical angle values is referred to as a feedforward map.

  The feedforward map is obtained from the magnetization characteristics of the SR motor. The magnetization characteristic of the SR motor is expressed by the following equation (2) by using the magnetization characteristic when the rotor is opposed and the inductance value of the rotor electrical angle.

Here, L _max represents the maximum inductance of the winding, L _min represents the minimum inductance of the winding, and L (θ) is a function indicating the inductance of the winding at the rotor electrical angle θ. By differentiating both sides of Equation (2) by θ, the gradient of the linkage flux in the θ direction determined by the current value and the rotor electrical angle θ can be obtained. The following equation (3) represents the gradient of the flux linkage.

  Equation (3) is an equation that uses the numerical values used for feedforward control for calculation, and the gradient of the linkage flux with respect to the change in linkage flux θ is expressed by two variables, current i and rotor electrical angle θ. However, the current term and the rotor electrical angle term on the right side can be divided by multiplication. As a result, a feedforward map is prepared by preparing a table of current values i and a one-dimensional table of the rotor electrical angle θ, and multiplying the feedforward map by a numerical value obtained from each one-dimensional table. It is possible to employ a configuration for calculating a map value.

(This embodiment)
FIG. 2 shows the internal configuration of the current control device 1 of the SR motor 5 according to this embodiment and the connection between the current command device 2, the driver device 3, the battery 4, the SR motor 5, the current sensor 6, and the rotation detection sensor 7. It is a schematic block diagram.

  The current control device 1 receives current command value information generated by the current command device 2. For example, in the case of an electric vehicle, the current command value generated by the current command device 2 is information indicating a value corresponding to the accelerator depression amount. In addition, the current control device 1 outputs a drive signal for each drive phase of the SR motor 5 to the driver device 3. The driver device 3 supplies power supplied from the battery 4 to the SR motor 5 in accordance with the input drive signal. The battery 4 is a power source that supplies 72V in which, for example, six 12V lead batteries are connected in series. The current sensor 6 detects a current value supplied from the driver device 3 to the SR motor 5 and outputs it to the current control device 1. The rotation detection sensor 7 is a rotor rotation detection sensor such as a resolver, for example, and detects the rotation angle of the rotor of the SR motor 5 and outputs it to the current control device 1.

  The current control device 1 includes a feedforward input generation unit 20, a PWM duty calculation unit 14, an I gain table unit 15, a drive signal generation unit 16, a commutation signal generation unit 17, a rotational position detection unit 18, an advance angle / conduction angle table. The unit 19 is provided. The feedforward input generation unit 20 includes a feedforward / current map unit 10, a rotation speed detection unit 11, a feedforward input calculation unit 12, and a feedforward / rotor angle map unit 13.

  The feedforward input generation unit 20 receives the current command value information input from the current command device 2 and the rotor electrical angle information of the SR motor 5, and uses the two input information to calculate the formula (3). And the calculation result is multiplied by the rotor electrical angle to calculate the induced electric power due to the interlinkage magnetic flux of the SR motor 5.

  The feedforward / current map unit 10 is a table that represents the current term of the gradient of the linkage flux in the first term on the right side of Equation (3) for calculating the gradient of the linkage flux that uses the induced voltage corresponding to the current command value for calculation. It has. The table representing the current term of the linkage flux gradient stores the current term of the linkage flux gradient with respect to the current value in association with each current value. The feedforward / current map unit 10 receives current command value information from the current command device 2, obtains numerical information corresponding to the input current command value information from the table, and outputs it to the feedforward input calculation unit 12. .

  The rotational speed detector 11 determines the rotational speed of the rotor of the SR motor 5 from the difference between the rotor electrical angle information input from the rotational position detector 18 and the rotor electrical angle information input from the past rotational position detector 18. calculate. Further, the rotation speed detection unit 11 outputs the calculated rotation speed information to the feedforward input calculation unit 12 and the advance / energization angle table unit 19.

  The feedforward input calculation unit 12 receives numerical information corresponding to the first term on the right side of Equation (3) from the feedforward / current map unit 10, and the rotational speed information of the rotor included in the SR motor 5 from the rotational speed detection unit 11. Is input, and the numerical information corresponding to the second term on the right-hand side of Expression (3) is input from the feedforward rotor angle map unit 13. Further, the feedforward input calculation unit 12 calculates an induced voltage due to the interlinkage magnetic flux from the inputted three numerical information, and feeds the information indicating the calculated induced voltage due to the interlinkage magnetic flux to the PWM duty calculation unit 14. Output as information used for.

  The feedforward rotor angle map unit 13 stores in advance the value of the second term on the right side of the equation (3) used when obtaining the gradient of the flux linkage expressed by the equation (3) in accordance with the rotor electrical angle. It has a table to do. The feedforward / rotor angle map unit 13 uses the rotor electrical angle information of the SR motor 5 input from the rotational position detection unit 18 to obtain an angle term of the linkage flux gradient from the provided table, and feedforward Output to the input calculation unit 12. The table provided in the feedforward / rotor angle map unit 13 is a table that stores the numerical value of the angle term of the inclination of the linkage flux with respect to the rotor electrical angle in association with each rotor electrical angle.

  The table for determining the gradient of the linkage flux provides the gradient of the linkage flux, that is, the change in θ of the linkage flux, by giving two variables of the current value i and the rotor electrical angle θ based on the equation (3). The amount of change with respect to is obtained. Since it is represented by multiplication of the current value i and the rotor electrical angle θ, a feed-forward current map that is a one-dimensional table of each of the current value i and the rotor electrical angle θ without preparing a two-dimensional table. The feedforward input calculating unit 12 multiplies the current term of the linkage flux output from the unit 10 and the angle term of the linkage magnetic flux output from the feedforward rotor angle map unit 13. Thereby, the storage area of the table is reduced as compared with the case of using a two-dimensional table.

  The PWM duty calculator 14 receives the current command value information from the current command device 2, and the induced voltage due to the interlinkage magnetic flux indicated by the third term of (1.3) in the equation (1) from the feedforward input calculator 12. Is input. Further, the PWM duty calculation unit 14 receives an I gain corresponding to the rotor electrical angle of the SR motor 5 from the I gain table unit 15. Further, the PWM duty calculation unit 14 receives the current value information of the power supplied to the SR motor 5 from the driver device 3 measured by the current sensor 6.

Further, the PWM duty calculation unit 14 uses the current command value information input from the current command device 2 and the current value information input from the current sensor 6 to determine the current command value and the current value flowing through the SR motor 5. Calculated by subtracting the deviation. Further, the PWM duty calculator 14 calculates a voltage value as a P control input value by P control using the calculated deviation and P gain. Further, the PWM duty calculation unit 14 calculates an I control input value by the I control using the calculated integral value of the deviation and the variable I gain input from the I gain table unit 15. Then, the PWM duty calculation unit 14 adds the voltage value calculated by the P control, the voltage value calculated by the I control, and the induced voltage information input from the feedforward input calculation unit 12.
The PWM pulse width is calculated by adding the voltage value obtained by PI control and the induced voltage value input from the feedforward input calculation unit 12 and using the voltage value obtained by the addition as a voltage command value. The voltage indicated by the voltage command value becomes the voltage value applied to the SR motor 5 corresponding to the current command value, and the value obtained by dividing the voltage command value by the voltage value supplied from the battery 4 is the time for applying the voltage in the switching cycle. Ratio, that is, the duty ratio of the pulse width. For example, when the voltage supplied from the battery 4 is 72V and the voltage command value is 36V, the duty ratio for applying the voltage is 50%. The output of the PWM duty calculator 14 outputs a value in increments of 0.1%, for example, using a value from 0% to 100% from 0 to 1000.
The PWM duty calculator 14 outputs information indicating the calculated PWM duty ratio to the drive signal generator 16. That is, the PWM duty calculator 14 calculates the pulse width by using both feedforward control and PI control using a variable I gain.

The I gain table unit 15 is used to obtain an I gain used for the I control performed to compensate for the voltage loss due to the induced voltage due to the inductance of the second term of (1.3) in the equation (1). The I gain table unit 15 sets the characteristic of the SR motor 5 to be controlled to the numerical value recorded in the table that records the numerical value associated with each rotor electrical angle of the feedforward / rotor angle map unit 13. The table which recorded the numerical value which multiplied the integration constant based on is provided. Based on the rotor electrical angle information of the SR motor 5 input from the rotational position detection unit 18, the I gain table unit 15 reads a numerical value stored in association with the rotor electrical angle from the table and outputs a PWM duty calculation unit. 14 is output to the PWM duty calculation unit 14 as the I gain of the I control performed at 14.
The table provided in the I gain table section 15 multiplies the inclination of the winding inductance L (θ) with respect to the rotor electrical angle, that is, the measured value of the derivative dL (θ) / dθ of the winding inductance and the integral constant (Ki). The numerical value obtained by multiplication is recorded for each θ. Here, the integral constant (Ki) is a numerical value obtained by dividing the combined resistance value (R) of the resistance value of the winding and the internal resistance value of the battery 4 by the current control time constant (T), that is, (Ki). = (R) / (T). The current control time constant (T) is a value that is about twice the switching period, which is the current control period.

  The drive signal generation unit 16 uses the information indicating the PWM duty ratio input from the PWM duty calculation unit 14 and the information indicating the drive phase of the SR motor 5 input from the commutation signal generation unit 17 as drive signal information. Is generated. The drive signal generation unit 16 outputs the generated drive signal information to the driver device 3.

  The commutation signal generation unit 17 receives the advance angle value information and energization angle value information input from the advance angle / energization angle table unit 19, and the rotor electrical angle information of the SR motor 5 input from the rotational position detection unit 18. Use to select the stator phase of the SR motor 5 to be energized. Further, the commutation signal generation unit 17 outputs information indicating the selected stator phase to the drive signal generation unit 16.

  The rotation position detection unit 18 converts information input from the rotation detection sensor 7, for example, a sensor such as a resolver, into digital electrical rotor electrical angle information, and converts the converted rotor electrical angle information into the rotational speed detection unit 11 and feedforward. Output to the rotor angle map unit 13, the I gain table unit 15, and the commutation signal generation unit 17.

  The advance / energization angle table unit 19 includes an advance value table for obtaining an advance value based on the rotor rotation speed and current command value, and the rotor rotation speed and current command value according to the characteristics of the SR motor 5 to be controlled. Is provided in advance with an energization angle value table from which an energization angle value can be obtained. Further, the advance angle / energization angle table unit 19 uses the rotation speed information input from the rotation speed detection unit 11 and the current command value information input from the current command device 2, and uses the advance angle value table and the conduction angle value. The advance angle value information and energization angle value information obtained from the table are output to the commutation signal generator 17.

  With the above-described configuration, the current control apparatus 1 calculates the duty of the PWM from which the target voltage is calculated and the calculated target voltage is obtained in the PWM duty calculation unit 14. In the current control device 1, the drive signal generation unit 16 performs current control using feedforward control and PI control for generating a drive signal using the PWM duty calculated by the PWM duty calculation unit 14.

  In addition, the current control device 1 calculates the induced voltage in advance in the middle and high rotation range of the SR motor 5 where the induced voltage becomes large, and determines the duty ratio of the drive signal pulse corresponding to the calculated induced voltage. Thereby, in order to perform the current control on the assumption that the current is reduced by the induced voltage due to the phase inductance in the middle and high rotation range, the followability to the current command value is improved. Further, the output efficiency of the SR motor 5 can be stabilized and the output efficiency can be improved.

  FIG. 3 is a diagram comparing a conventional current hysteresis control signal and a current control signal output from the current control device 1. In conventional current hysteresis control, voltage application is switched on and off at intervals of a switching cycle and a minimum on / off time determined according to the driver device 3, and voltage is applied every minimum on / off time. Whether or not is selected. On the other hand, in the current control device 1, the current control of the SR motor 5 is performed with the same switching cycle as before, but the voltage application time can be changed by changing the duty ratio of the pulse. . Compared with the conventional current hysteresis control in which the duty ratio of the pulse is only 50% to 50%, the pulse duty ratio can be changed according to the rotation speed of the SR motor 5, the current command value, etc. Therefore, it is possible to improve the followability to the current command value.

  In addition to the rectangular current command used as the conventional current command value information shown in FIG. 4A, current command value information having an arbitrary waveform as shown in FIG. 4B can be used. become. Further, in the SR motor 5, the generation of torque is reduced at the position where the salient poles of the rotor and the salient poles of the stator face each other. At this time, by performing control to reduce the current command value, it is possible to improve power-torque efficiency by suppressing power consumption that does not contribute to torque generation.

  Next, FIG. 5 is a diagram showing current control performed by the current control device 1 in the low rotation range. In the low speed range, current control is performed such that the current value oscillates in a range including the current command value. Further, since the voltage application time can be made variable by making the pulse width variable, it is possible to improve the followability to the current command value as compared with the conventional current hysteresis control.

  FIG. 6 is a diagram showing current control performed by the current control device 1 in the high rotation range. In the high rotation range, even if the current command value is exceeded immediately before the inductance increases, the pulse duty is changed and the time for stopping the voltage application is set short due to the effect of the feedforward control. Thereby, it is possible to avoid a sudden decrease in the current value due to the induced power. Compared to the conventional current hysteresis control, the SR motor 5 can supply a stable torque because there is no sudden decrease in the current value.

  The above-described current control device 1 has a computer system inside. The process of calculating the induced voltage by the interlinkage magnetic flux and the calculation of the calculated induced voltage and the duty of the pulse by PI control is stored in a computer-readable recording medium in the form of a program. The above processing is performed by the computer reading and executing. Here, the computer-readable recording medium means a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, or the like. Alternatively, the computer program may be distributed to the computer via a communication line, and the computer that has received the distribution may execute the program.

It is a graph which shows the relationship of the phase current i of SR motor used as the control object of this embodiment, rotor electrical angle (theta), and linkage flux (PSI). It is a figure which shows the internal structure and connection of the current control apparatus in the embodiment. It is a comparison figure of the current control of the current control apparatus in the same embodiment, and the conventional hysteresis current control. It is a figure which shows the input from the electric current command apparatus in the embodiment. It is a figure which shows the current control of the low rotation area in the same embodiment. It is a figure which shows the current control of the high rotation area in the same embodiment. It is a figure which shows the ideal electric current control in the low rotation area of a prior art example. It is a figure which shows the ideal electric current control in the high rotation area of a prior art example. It is a figure which shows the problem of the current control in the low rotation area of a prior art example. It is a figure which shows the problem of the current control in the high rotation area of a prior art example.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Current control apparatus, 2 ... Current command apparatus, 3 ... Driver apparatus, 4 ... Battery 5 ... SR motor, 6 ... Current sensor, 7 ... Rotation detection sensor 10 ... Feedforward and current map part 11 ... Rotation speed detection part 12 ... Feed forward input calculation unit 13 ... Feed forward rotor angle map unit 14 ... PWM duty calculation unit 15 ... I gain table unit 16 ... Drive signal generation unit 17 ... Commutation signal generation unit 18 ... Rotation position detection unit 19 ... Advance angle・ Conduction angle table

Claims (3)

A current control device applying a pulse width modulation method of a switched reluctance motor,
A rotational position detector that outputs a rotor electrical angle of a rotor of the switched reluctance motor;
A feedforward input generation unit that calculates a first induced voltage due to a linkage flux of the switched reluctance motor from current command value information indicating a desired winding current value and the rotor electrical angle information;
An I gain table unit that outputs a value based on the rotor electrical angle as an I gain when performing I control to compensate for a loss caused by a second induced voltage due to the winding inductance of the rotor;
A voltage value calculated by PI control using the I gain from a deviation between the current command value information and the input winding current value of the switched reluctance motor, and a first induced voltage caused by the linkage flux And a PWM duty calculator for calculating the width of a pulse for applying a voltage from the addition result,
A drive signal generator that generates a drive signal based on the pulse width calculated by the PWM duty calculator;
Comprising
A current control device. The feedforward input generator is
A rotational speed detector for detecting the rotational speed of the rotor based on the rotor electrical angle information;
Based on the rotor electrical angle information, a feedforward rotor angle map unit that calculates an angle term of the linkage flux gradient,
Based on the current command value information, a feedforward / current map unit that calculates a current term of the linkage flux gradient,
Feed forward for calculating the induced voltage due to the linkage flux of the switched reluctance motor by multiplying the rotational speed of the rotor, the angle term of the linkage flux gradient, and the current term of the linkage flux gradient An input calculator;
Comprising
The current control device according to claim 1. The current command value information is current value information that changes according to the rotor electrical angle.
The current control device according to claim 1, wherein the current control device is a current control device.

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