JP5126080B2 - Start / stop control device for internal combustion engine and control device for rotating machine - Google Patents

Description

  The present invention relates to a start / stop control device for an internal combustion engine that performs a process of imparting an initial rotation to an internal combustion engine by starting a rotating machine by operating a power conversion circuit. The present invention also relates to a control device for a rotating machine that controls a rotating machine having saliency.

  In recent years, so-called hybrid vehicles using a rotating machine in addition to an internal combustion engine have been put into practical use as an in-vehicle power generation device for the purpose of reducing the consumption of fossil fuel in the vehicle and protecting the environment. One type of hybrid vehicle is a parallel hybrid vehicle in which an output shaft of an internal combustion engine and an output shaft of a rotating machine are directly connected. In this hybrid vehicle, the internal combustion engine is started using a rotating machine as a starter. When the vehicle is decelerating, the battery is charged by using the rotating machine as a generator, while the torque required for the power generation device is increased, and the rotating machine is driven by the charged energy to drive the internal combustion engine. Assist engine torque. Thereby, it becomes possible to reduce the fuel consumption of an internal combustion engine or to suppress the deterioration of exhaust characteristics.

  When the rotating machine is driven, rotation angle information of the rotating machine is used. As a method for acquiring rotation angle information, there are a method for providing a rotation angle sensor such as a resolver or an encoder on the output shaft of the rotating machine, and a so-called sensorless method for estimating the rotation angle of the output shaft based on the electrical state quantity of the rotating machine. There is. Here, when the rotation angle sensor is provided, there is a problem that the cost increases due to an increase in the number of parts, and the detection accuracy of the rotation angle depends on a connection error between the rotation angle sensor and the output shaft. For this reason, in recent years, sensorless methods have attracted attention.

  As a sensorless method, there is an induced voltage method that estimates a rotation angle based on an induced voltage that depends on the rotation speed of a rotating machine. However, in this method, the estimation accuracy decreases in the low rotation speed region. For this reason, a salient pole machine is used as a rotating machine, and a so-called high-frequency superposition method is used in a low rotation speed region. The high-frequency superposition method estimates the rotation angle of the salient pole machine based on the vibration direction of the frequency signal that actually propagates through the salient pole machine when the high-frequency signal is superimposed on the output signal of the inverter connected to the salient pole machine. It is. That is, in the salient pole machine, since the inductance in the d-axis direction is minimized, current easily flows in the d-axis direction. For this reason, the signal actually propagated through the rotating machine is deflected in the d-axis direction by the superposition of the high-frequency signal. The high frequency superposition method pays attention to this property.

  However, the directions in which the current flows most easily are two directions, the positive direction and the negative direction of the d-axis. For this reason, it is not possible to determine whether the direction is the positive direction or the negative direction of the d-axis only by specifying the direction in which the current easily flows.

  Therefore, conventionally, for example, as seen in Patent Document 1 below, an inductance calculated from a current flowing when a high-frequency voltage is applied in the q-axis direction after flowing a direct current in the positive direction of the estimated d-axis, and an estimated d-axis Based on the ratio with the inductance calculated from the current that flows when a high-frequency voltage is applied in the q-axis direction after a direct current is applied in the negative direction, it is determined whether the d-axis is in the positive or negative direction It has also been proposed.

Japanese Patent Laid-Open No. 2002-300794

  By the way, when the rotary machine mounted on the hybrid vehicle is driven sensorlessly, when starting the internal combustion engine, it is necessary to start the rotary machine from a state where the rotational speed of the rotary machine is zero. For this reason, in this case, a high-frequency superposition method is used to obtain the rotation angle of the rotating machine. However, first, as described above, it is necessary to determine the positive direction and the negative direction of the d-axis. The time from when the internal combustion engine start request is issued to when the internal combustion engine is actually started may be longer than when the rotation angle sensor is used. Further, the high-frequency signal is usually a signal in an audible frequency band, and in this case, noise due to superposition of the high-frequency signal may occur over a long period of time.

  In addition to the above-mentioned parallel hybrid vehicle, in the case of using a rotation angle estimation method of a high frequency superimposition method, such a situation that the time required for starting the rotating machine is prolonged or noise is generated for a long time is almost common. It has become.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to perform a process of imparting an initial rotation to an internal combustion engine by starting a rotating machine by a sensorless method. An object of the present invention is to provide a start / stop control device for an internal combustion engine that can shorten the time required for starting the engine as much as possible. Another object of the present invention is to provide a control device for a rotating machine that can control a rotating machine having saliency and can shorten the time required to start the rotating machine by a sensorless method as much as possible. There is. Another object of the present invention is to provide a control device for a rotating machine that controls a rotating machine having saliency and can suppress the generation of noise caused by the sensorless method as much as possible. It is in.

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

According to a fourth aspect of the present invention, in the invention according to any one of the first to third aspects, the acquisition unit includes a storage unit that stores information relating to the stop position, and the start processing unit includes the rotation unit. Prior to starting the machine, lock control for locking the rotation angle of the rotating machine to the stored stop position is performed.

  Even if the stop position associated with the stop process of the rotating machine is stored, if the rotation angle slightly changes after the stop process, the rotating machine may not be able to start smoothly depending on the stored rotation angle. is there. In this regard, in the above invention, such a problem can be avoided by performing lock control for locking the rotating machine to the stored rotation angle.

The invention according to claim 5 is the invention according to any one of claims 1 to 4 , further comprising prediction means for predicting that a start request of the internal combustion engine is generated, wherein the start processing means is the prediction When it is predicted that the start request is generated by the means, estimation by the high-frequency superposition estimation means is started.

  When estimating the rotation angle by the high-frequency superposition type estimation means, it is necessary to see the response when the high-frequency signal is superimposed on the rotating machine. Here, since it takes time until the frequency signal actually propagated through the rotating machine is stabilized, it takes time until the estimation of the rotation angle is stabilized. In the above invention, in view of this point, when the start request of the internal combustion engine is predicted to be generated, the estimation by the high frequency superimposition estimation means is started, so that the rotation machine is actually propagated at the time when the start request for the rotation machine is generated. Therefore, the rotation angle can be estimated with high accuracy immediately after the start request for the rotating machine is generated.

According to a first aspect of the present invention, in the start / stop control device for an internal combustion engine that performs a process of applying an initial rotation to the internal combustion engine by starting the rotary machine by operating a power conversion circuit, the rotary machine has a saliency. The rotating machine is based on a frequency signal that is actually propagated through the rotating machine when a frequency signal having a cycle shorter than the rotating period of the electrical angle of the rotating machine is superimposed on an output signal of the power conversion circuit. A high-frequency superposition estimation means for estimating the rotation angle of the machine, an acquisition means for obtaining information on the stop position of the rotary machine using the high-frequency superposition estimation means during the stop process of the rotary machine, and the acquired stop Start processing means for starting the internal combustion engine by performing a process of applying an initial rotation to the internal combustion engine by starting the rotating machine based on the position, and Wherein estimating means is adapted to continue an estimate of the rotation angle over a predetermined time period after said rotating machine is stopped, and inputs the detected value and the voltage applied to the rotary machine of the current flowing through the rotating machine, the rotating Induced voltage type estimation means for estimating the rotation angle of the rotating machine using a model that relates the current flowing through the machine and the applied voltage to the voltage induced by the magnetic field of the rotating machine, and the control amount of the rotating machine As an estimated value of the rotation angle used in the control, the estimated value by the high-frequency superimposition type estimation means is used when the rotation speed of the rotating machine is low, and the estimated voltage type estimation means is estimated when the rotation speed is high. Switching means using a value, and a rotational speed threshold for switching by the switching means is set for the rotating machine set in accordance with a parameter relating to the state of the internal combustion engine. Characterized by smaller required torque is small.

In the above invention, the rotation angle when the rotating machine is stopped can be estimated by estimating the rotation angle by the high-frequency superposition estimation means during the stopping process of the rotating machine. Further, by using the rotation angle information at the time of stopping in the starting process of the rotating machine, the time required for the starting process of the rotating machine can be shortened as much as possible, and the starting process time of the internal combustion engine can be shortened as much as possible. .
Further, when estimating the rotation angle by the high frequency superposition type estimation means, it is necessary to see the response when the high frequency signal is superimposed on the rotating machine. Here, since it takes time until the frequency signal actually propagated through the rotating machine is stabilized, it takes time until the estimation of the rotation angle is stabilized. In the above invention, in view of this point, by continuing the estimation of the rotation angle even after the rotation of the rotating machine, the frequency signal that is actually propagated through the rotating machine at the time when the request for starting the rotating machine occurs is made stable. As a result, the rotating machine can be started quickly. Moreover, when the request for starting the rotating machine does not occur for a predetermined period, generation of noise and increase in power consumption can be suppressed as much as possible by stopping the estimation by the high-frequency superposition estimation means.
By the way, although the estimation accuracy of the rotation angle by the induced voltage type estimation means decreases when the rotation speed is low, the degree of decrease depends on the torque of the rotating machine. Specifically, when the torque of the rotating machine is large, since the current flowing through the rotating machine is large, magnetic saturation occurs in the rotating machine, and as a result, the component that is six times the rotational speed frequency is significant among the current flowing through the rotating machine. Become. For this reason, when the model of the induced voltage type estimation means is based on a fundamental wave, the estimation accuracy of the rotation angle decreases as the torque of the rotating machine increases. In the above invention, in view of this point, the threshold value of the rotation speed for switching to the estimation by the induced voltage type estimation unit is reduced as the required torque is reduced, so that the estimation by the induced voltage type estimation unit is as early as possible. Can be migrated.

According to a second aspect of the present invention, in the first aspect of the present invention, the threshold value of the rotational speed for switching by the switching means is set to be equal to or lower than the rotational speed of the rotating machine when the internal combustion engine is at an idling rotational speed. It is characterized by that.

  In the above invention, since the internal combustion engine is equal to or higher than the idling rotational speed, the estimation by the high frequency superposition type estimation means is not performed, and therefore the period during which noise is generated can be shortened.

According to a third aspect of the present invention, in the start / stop control device for an internal combustion engine that performs a process of applying an initial rotation to the internal combustion engine by starting the rotary machine by operating a power conversion circuit, the rotary machine has a saliency. The rotating machine is based on a frequency signal that is actually propagated through the rotating machine when a frequency signal having a cycle shorter than the rotating period of the electrical angle of the rotating machine is superimposed on an output signal of the power conversion circuit. A high-frequency superposition estimation means for estimating the rotation angle of the machine, an acquisition means for obtaining information on the stop position of the rotary machine using the high-frequency superposition estimation means during the stop process of the rotary machine, and the acquired stop Start processing means for starting the internal combustion engine by performing a process of applying an initial rotation to the internal combustion engine by starting the rotating machine based on the position, and Wherein estimating means is adapted to continue an estimate of the rotation angle over a predetermined time period after said rotating machine is stopped, the rotating machine based on the initial value of the rotation angle regardless of the input of changes in the rotation angle Is provided with a rotor rotation angle information-less activation means for activating the engine, and the start processing means, when a required torque for the rotating machine set according to a parameter relating to the state of the internal combustion engine is less than or equal to a predetermined value, The rotating machine is activated by less activation means.

In the above invention, the rotation angle when the rotating machine is stopped can be estimated by estimating the rotation angle by the high-frequency superposition estimation means during the stopping process of the rotating machine. Further, by using the rotation angle information at the time of stopping in the starting process of the rotating machine, the time required for the starting process of the rotating machine can be shortened as much as possible, and the starting process time of the internal combustion engine can be shortened as much as possible. .
Further, when estimating the rotation angle by the high frequency superposition type estimation means, it is necessary to see the response when the high frequency signal is superimposed on the rotating machine. Here, since it takes time until the frequency signal actually propagated through the rotating machine is stabilized, it takes time until the estimation of the rotation angle is stabilized. In the above invention, in view of this point, by continuing the estimation of the rotation angle even after the rotation of the rotating machine, the frequency signal that is actually propagated through the rotating machine at the time when the request for starting the rotating machine occurs is made stable. As a result, the rotating machine can be started quickly. Moreover, when the request for starting the rotating machine does not occur for a predetermined period, generation of noise and increase in power consumption can be suppressed as much as possible by stopping the estimation by the high-frequency superposition estimation means.
By the way, in a situation where the torque of the rotating machine is relatively small, as long as there is information on the initial position of the rotating machine, the rotating machine can be relatively highly accurate without using information on the rotation angle of each rotating machine. There is a tendency to be able to drive. In view of this point, in the above invention, when the required torque is small, the rotor rotation angle information-less activation unit is used, so that a reduction in the control accuracy of the rotating machine at the time of activation is suppressed, and the harmonic superposition estimation unit. Can be avoided as much as possible.

The invention according to claim 6 is the invention according to any one of claims 1 to 5 , wherein the parameter relating to the state of the internal combustion engine is a parameter indicating a warm-up degree of the internal combustion engine, and the required torque is The smaller the warm-up degree, the larger the setting.

  The smaller the degree of warm-up, the greater the friction of the internal combustion engine. Therefore, the torque required to be applied to the output shaft of the internal combustion engine when applying the initial rotation to the internal combustion engine increases. In the above invention, in view of this point, the required torque can be reduced as much as possible by variably setting the required torque.

The invention according to claim 7 is the invention according to any one of claims 1 to 6 , wherein the parameter relating to the state of the internal combustion engine is a rotational speed of the internal combustion engine, and the required torque is the rotational speed. The smaller the value is, the larger it is set.

  When starting the internal combustion engine, the torque required when the output shaft of the internal combustion engine starts to rotate tends to become the largest. In the above invention, in view of this point, the required torque can be reduced as much as possible by variably setting the required torque.

The invention according to claim 8 is the invention according to any one of claims 1 to 7 , wherein the output shaft of the rotating machine and the output shaft of the internal combustion engine are directly connected.

The invention according to claim 9 is a control device for a rotating machine that is controlled by a rotating machine connected to a power conversion circuit and having a saliency, and a frequency having a cycle shorter than a rotation cycle of an electrical angle of the rotating machine. A high-frequency superposition type estimation means for estimating a rotation angle of the rotating machine based on a frequency signal actually propagated through the rotating machine when a signal is superimposed on an output signal of the power conversion circuit; and a current flowing through the rotating machine The detected value and the applied voltage to the rotating machine are input, and the rotation angle of the rotating machine is estimated using a model that relates the current flowing through the rotating machine and the applied voltage to the voltage induced by the magnetic field of the rotating machine. And an induced voltage type estimation means that performs the estimation of the rotation angle used when controlling the control amount of the rotating machine when the rotational speed of the rotating machine is low. And switching means using the estimated value by the induced voltage type estimating means in the case of high rotation, and the threshold value of the rotational speed for switching by the switching means is reduced as the required torque is smaller. It is characterized by doing.

  Although the estimation accuracy of the rotation angle by the induced voltage type estimation means decreases when the rotation speed is low, the degree of decrease depends on the torque of the rotating machine. Specifically, when the torque of the rotating machine is large, since the current flowing through the rotating machine is large, magnetic saturation occurs in the rotating machine, and as a result, the component that is six times the rotational speed frequency is significant among the current flowing through the rotating machine. Become. For this reason, when the model of the induced voltage type estimation means is based on a fundamental wave, the estimation accuracy of the rotation angle decreases as the torque of the rotating machine increases. In the above invention, in view of this point, the threshold value of the rotation speed for switching to the estimation by the induced voltage type estimation unit is reduced as the required torque is reduced, so that the estimation by the induced voltage type estimation unit is as early as possible. Can be migrated.

Invention of claim 1 0, wherein, in the invention of claim 9, wherein an acquisition unit for acquiring information on stop position of the rotating machine by using the high-frequency superposition type estimating means during stopping process of the rotating machine, the acquisition And a starting processing means for starting the rotating machine based on the stopped position.

  In the above invention, the rotation angle when the rotating machine is stopped can be estimated by estimating the rotation angle by the high-frequency superposition estimation means during the stopping process of the rotating machine. Further, by using the rotation angle information at the time of stopping in the starting process of the rotating machine, the time required for the starting process of the rotating machine can be shortened as much as possible.

According the invention of claim 1 1, wherein, in the invention of claim 1 0, wherein the rotor rotation angle information-less starting means for starting the rotating machine based on the initial value of the rotation angle regardless of the input of changes in the rotation angle The start processing means starts the rotating machine by the rotor rotation angle information-less starting means when a required torque for the rotating machine at the time of starting the rotating machine is equal to or less than a predetermined value.

  Under circumstances where the torque of the rotating machine is relatively small, if there is only information on the initial position of the rotating machine, the rotating machine can be driven with relatively high accuracy without using information on the rotation angle of each rotating machine. Tend. In view of this point, in the above invention, when the required torque is small, the rotor rotation angle information-less activation unit is used, so that a reduction in the control accuracy of the rotating machine at the time of activation is suppressed, and the harmonic superposition estimation unit. Can be avoided as much as possible.

1 is a system configuration diagram according to a first embodiment. FIG. The block diagram which shows the process regarding control of the motor generator concerning the embodiment. The time chart which shows the applied voltage for the magnetic pole determination concerning the embodiment. The flowchart which shows the process sequence regarding the stop control of the internal combustion engine concerning the embodiment. The flowchart which shows the process sequence regarding the starting control of the internal combustion engine concerning the embodiment. The time chart which shows the starting control aspect of the internal combustion engine concerning the embodiment. The flowchart which shows the process sequence regarding the stop control of the internal combustion engine concerning 2nd Embodiment. The flowchart which shows the process sequence regarding the starting control of the internal combustion engine concerning 3rd Embodiment. The time chart which shows the starting control aspect of the internal combustion engine concerning the embodiment. The flowchart which shows the process sequence regarding the starting control of the internal combustion engine concerning 4th Embodiment. The figure which shows the setting method of the request | required torque concerning 5th Embodiment. The flowchart which shows the process sequence regarding the starting control of the internal combustion engine concerning the embodiment. The figure which shows the setting method of the request | required torque concerning 6th Embodiment. The flowchart which shows the process sequence regarding the starting control of the internal combustion engine concerning 7th Embodiment.

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

  FIG. 1 shows an overall configuration of an electric motor control system according to the present embodiment. As illustrated, the motor generator 10 is a three-phase permanent magnet synchronous rotating machine. The motor generator 10 is a rotating machine (saliency pole machine) having saliency. Specifically, the motor generator 10 is an embedded magnet synchronous motor (IPMSM). The output shaft of the motor generator 10 is directly connected to the output shaft (crank shaft) of the internal combustion engine 12 on the same axis. Therefore, the output shaft of motor generator 10 and the crankshaft of internal combustion engine 12 rotate integrally on the same axis without rotating relative to each other. The output shafts of these motor generators 10 are connected to the drive wheels 16 via the transmission 14.

  On the other hand, the control device 20 targets the motor generator 10 as a control target, and targets a power conversion circuit (inverter 22) electrically connected to the motor generator 10 as an operation target. The control device 20 takes in the output of a sensor (not shown) that detects various state quantities of the motor generator 10 and controls the control quantity of the motor generator 10 by operating the inverter 22 based on this. At this time, in this embodiment, in particular, the output of the crank angle sensor 24 that detects the rotation angle of the crankshaft of the internal combustion engine 12 is taken in, and control is performed in consideration of this under predetermined conditions.

  FIG. 2 shows processing related to the operation of the inverter 22 by the control device 20.

  The current flowing through the motor generator 10 is converted into current in the two-dimensional fixed coordinate system by the αβ conversion unit 30. In this embodiment, an αβ coordinate system defined by an α axis that coincides with the U phase and a β axis that is orthogonal to the α axis is used as this coordinate system. The actual current iα on the α axis and the actual current iβ on the β axis output from the αβ conversion unit 30 are converted into currents in the rotating coordinate system by the dq conversion unit 32. The high frequency component flowing through the motor generator 10 is removed from the output current of the dq converter 32 in accordance with the high frequency voltage applied to estimate the rotation angle θ of the motor generator 10 in the high frequency removing unit 34.

  The command current setting unit 36 sets command currents idr and iqr on the dq axis based on the required torque Tr. In the current controller 38, the command voltage vdr on the d-axis as an operation amount for feedback-controlling each of the actual currents id and iq from which the high-frequency components have been removed by the high-frequency removing unit 34 to the command currents idr and iqr, and A command voltage vqr on the q axis is calculated. The αβ converter 42 converts the command voltages vdr and vqr on the dq axis into command voltages vαr and vβr on the αβ axis. The three-phase converter 44 converts the command voltages vαr and vβr into three-phase command voltages vur, vvr and vwr. The PWM signal generation unit 46 generates and outputs an operation signal for the inverter 22 for applying the command voltages vur, vvr, and vwr to the motor generator 10. Inverter 22 selectively connects either the positive electrode side or the negative electrode side of high voltage battery 48 to each phase of motor generator 10 based on the operation signal.

  In the present embodiment, an expansion induced voltage observer 50 is provided as means for estimating a rotation angle in a region where the rotation speed of the motor generator 10 is equal to or greater than a threshold value. The expansion induced voltage observer 50 receives the actual currents iα and iβ output from the αβ conversion unit 30 and the command voltages vαr and vβr output from the αβ conversion unit 42, and estimates the expansion induced voltage using an observer. Details of this are described in “Extended Inductive Voltage Observer for Sensorless Control of Salient-Pole Brushless DC Motor 1999 National Institute of Electrical Engineers of Japan No. 1026”.

  Furthermore, in the present embodiment, a rotation angle estimation unit in a region where the rotation speed of the motor generator 10 is equal to or less than a threshold value is also provided. This is to estimate the rotation angle based on the direction of the current flowing through the motor generator 10 when the high frequency voltage signal vhd set by the position estimation high frequency voltage setting unit 60 is applied to the motor generator 10. That is, the position estimating high-frequency voltage setting unit 60 outputs the high-frequency voltage signal vhd to the adder 40 so as to apply the high-frequency voltage signal vhd to the d-axis. The adder 40 adds the high-frequency voltage signal vhd to the command voltage vdr and outputs it to the αβ converter 42. Here, the frequency of the high-frequency voltage signal vhd is a signal having a frequency higher than the electrical angular frequency corresponding to the electrical angular velocity of the motor generator 10 (however, the electrical angular frequency when the electrical angular velocity is zero is defined as zero). . On the other hand, the high frequency extraction unit 66 extracts the high frequency current signals idh and iqh accompanying the application of the high frequency voltage signal vhd from the actual currents id and iq, and outputs them to the position estimator 68. The position estimator 68 calculates the rotation angle based on the outer product value of the high frequency voltage vector (vhd, 0) and the high frequency current vector (idh, iqh). Here, the outer product value has a correlation with the angle formed by the high-frequency current vector with respect to the high-frequency voltage vector. On the other hand, since the high-frequency current should be deflected to the d-axis side having the smallest inductance, if there is no error in the rotation angle and the high-frequency voltage signal vhd is applied in the true d-axis direction, the high-frequency voltage vector And the high-frequency current vector is considered to be zero. For this reason, the outer product value is a parameter having a correlation with the error of the rotation angle θ. Therefore, the rotation angle can be controlled to a true angle by calculating the rotation angle as an operation amount for feedback control of the outer product value to zero. Here, for example, proportional-integral control may be used as feedback control.

  When the rotation angle is calculated in the above manner, the direction in which the inductance of the motor generator 10 is minimized is the d-axis positive direction and the d-axis negative direction. An estimation error is considered to occur. Therefore, at the initial stage of estimation of the rotation angle, processing for correcting the output of the position estimator 68 is performed. Specifically, the magnetic pole determination pulse voltage setting unit 62 outputs the magnetic pole determination pulse voltage vhNS to the adder 40. FIG. 3 shows the pulse voltage vhNS. Specifically, FIG. 3A shows the transition of the pulse voltage vhNS, and FIG. 3B shows the transition of the current flowing through the motor generator 10 as the pulse voltage vhNS is applied.

  As shown in the figure, in this embodiment, after continuously applying a pulse voltage having a peak value vh in the order of the positive direction and negative direction of the estimated d-axis, the system waits for a predetermined time T, A pulsed voltage having a peak value vh is successively applied in the order of the negative direction and the positive direction. Here, the pulsed voltage (first pattern voltage) continuously applied in the order of the positive direction and the negative direction of the estimated d-axis detects the current response to the voltage application in the positive direction of the estimated d-axis. The pulsed voltage (second pattern voltage) continuously applied in the order of the negative direction and the positive direction of the estimated d-axis is the current responsiveness to the voltage application in the negative direction of the estimated d-axis. It is for detecting. Further, the pulsed voltage in the estimated d-axis negative direction subsequent to the pulsed voltage in the estimated d-axis positive direction in the first pattern voltage quickly affects the influence of the pulsed voltage application in the estimated d-axis positive direction. It is for eliminating. Similarly, the pulsed voltage in the estimated d-axis positive direction subsequent to the pulsed voltage in the estimated d-axis negative direction in the second pattern voltage quickly influences the application of the pulsed voltage in the estimated d-axis negative direction. It is intended to solve the problem. The predetermined time T between the application of the first pattern voltage and the application of the second pattern voltage is for applying the second pattern voltage in a state where the influence of the application of the first pattern voltage is eliminated. .

  Here, the current response is different between when the first pattern voltage is applied and when the second pattern voltage is applied. This is because the d-axis positive direction (N pole side) of the motor generator 10 has higher current response than the d-axis negative direction (S pole side). Therefore, it is possible to detect an error in the rotation angle θ based on the difference in responsiveness. In the example of FIG. 3, since the current response is higher when the first pattern voltage is applied to detect the current response to the voltage application in the estimated d-axis positive direction, the estimated d-axis positive direction is the true d-axis positive direction. Direction. For this reason, the error of the rotation angle is zero.

  Incidentally, the difference in responsiveness is a phenomenon caused by the difference in magnetic flux between the positive and negative d-axes when the motor generator 10 is magnetically saturated. Therefore, the first pattern voltage and the second pattern voltage are It is assumed that the motor generator 10 is magnetically saturated. This setting is possible by adjusting the peak value vh and the pulse width.

  When the pulse voltage vhNS set by the magnetic pole determination pulse voltage setting unit 62 is applied, the high frequency current signal idh of the estimated d-axis component of the output of the high frequency extraction unit 66 shown in FIG. Is taken in. In the magnetic pole determination device 70, the correction amount Δθ is calculated based on the difference between the current responses when the first pattern voltage and the second pattern voltage are applied in the above-described manner. Here, the correction amount Δθ is “0” or “π”. The correction unit 72 calculates the rotation angle θ1 by adding the correction amount Δθ to the rotation angle output from the position estimator 68.

  The rotation angle θ1 thus estimated or the rotation angle θ2 output from the expansion induced voltage observer 50 is passed through the selector 52 as the final rotation angle θ (electrical angle) used for controlling the control amount (torque) of the motor generator 10. And output to the dq converter 32 and the αβ converter 42.

  Incidentally, since the output shaft of the motor generator 10 according to the present embodiment is directly connected to the crankshaft of the internal combustion engine 12, when the internal combustion engine 12 is started when the vehicle is stopped, the motor generator 10 is set to zero rotational speed. It is necessary to start from. Here, when the motor generator 10 is started, information on the rotation angle θ of the motor generator 10 is required. However, it is difficult to acquire this information from the detection value of the crank angle sensor 24. The reason for this is that, first, as the crank angle sensor 24, an electromagnetic pickup type is usually employed, but this type of sensor cannot detect the rotation angle with high accuracy at an extremely low speed. It is in. Second, the accuracy of the rotation angle θ required when starting the motor generator 10 is very high compared to the detection accuracy of the crank angle sensor 24. In particular, when the number of pole pairs of the motor generator 10 is large, it is difficult to satisfy the accuracy required for starting whatever type of crank angle sensor 24 is used.

  Under such circumstances, in the startup process of the motor generator 10, it is required to estimate the rotation angle θ by the high frequency superposition method and use this estimated value. However, in this case, since the rotation angle can be estimated with high accuracy after performing the magnetic pole determination process, the start-up process time of the motor generator 10 is prolonged, and as a result, the internal combustion engine 12 is started. The time required for processing is prolonged. Further, since the high-frequency voltage signal vhd output from the high-frequency voltage setting unit 60 for position estimation falls within the audible frequency band (for example, several kHx), the generation period of noise perceivable by the user (noise) is prolonged. It also becomes.

  Therefore, in the present embodiment, when the internal combustion engine 12 is stopped, when the rotational speed of the motor generator 10 falls below the threshold, estimation of the rotational angle by the high frequency superimposition method is started, and the rotational angle when the motor generator 10 is stopped is estimated. Remember. Then, when the internal combustion engine 12 is started next time, the motor generator 10 is started using the stored rotation angle. As a result, the period during which the pulse voltage vhNS is output can be reduced, and the time required for the estimated value of the rotation angle by the position estimator 68 to converge can be reduced.

  FIG. 4 shows a procedure for storing the stop position of the motor generator 10 according to the present embodiment. This process is repeatedly executed by the control device 20 at a predetermined cycle, for example.

  In this series of processes, first, in step S10, it is determined whether or not there is a request to stop the internal combustion engine 12. If it is determined that there is a stop request, the internal combustion engine 12 is stopped by controlling the motor generator 10 to stop using the rotation angle θ estimated based on the high-frequency superposition method in step S12. Specifically, while the rotation speed of the motor generator 10 is equal to or higher than the threshold value, stop control is performed based on the rotation angle estimated by the induced voltage method, and the rotation angle estimated by the high-frequency superposition method is used when the rotation speed falls below the threshold value. Here, it is desirable to shorten the rotation angle estimation period by the high-frequency superposition method as much as possible from the viewpoint of shortening the noise generation period.

  When the internal combustion engine 12 is thus stopped (step S14: YES), it is determined whether or not the internal combustion engine 12 may be restarted. This process is for determining whether or not to store the rotation angle of the motor generator 10 when the internal combustion engine 12 is stopped. Here, the presence or absence of the restart request may be determined based on whether or not the start switch of the vehicle control system (control device 20) is turned off by the user. Here, the activation switch is not limited to one that is manually operated by the user, and may be turned off when, for example, a user having a predetermined signal generation source moves away from the vehicle by a predetermined distance or more.

  If it is determined that there is a possibility of restart, the rotation angle of the motor generator 10 when the internal combustion engine 12 is stopped is stored in step S18. In other words, the rotation angle when the motor generator 10 is stopped is stored. In addition, when the process of step S18 is completed, or when negative determination is made in steps S10 and S16, this series of processes is once ended.

  FIG. 5 shows the procedure of the starting process of the internal combustion engine 12 according to the present embodiment. This process is repeatedly executed by the control device 20 at a predetermined cycle, for example.

  In this series of processes, first, in step S20, it is determined whether or not there is a request for starting the internal combustion engine 12. If it is determined that there is a start request, it is determined in step S22 whether or not it is a restart request. Here, whether or not it is a restart request is determined whether or not it is the first start request after the start switch of the vehicle control system (control device 20) is turned on by the user. If it is not a restart request, the rotation angle is estimated by outputting the high-frequency voltage signal vhd from the position estimating high-frequency voltage setting unit 60 in step S24. In the subsequent step S26, the magnetic pole is determined by outputting the pulse voltage vhNS from the magnetic pole determination pulse voltage setting unit 62. When the estimation of the final rotation angle is completed in this way, in step S28, the motor generator 10 is started using the rotation angle to apply the initial rotation to the internal combustion engine 12, and the starting process is performed.

  On the other hand, when it is determined at the time of restart in step S22, high-frequency superimposition is performed in step S30 using the rotation angle stored in step S18 of FIG. The rotation angle θ is estimated by the method. Then, the starting process is performed by starting the motor generator 10 based on the estimated rotation angle θ and applying the initial rotation to the internal combustion engine 12. In this case, the process of determining the magnetic pole based on the pulse voltage vhNS output from the magnetic pole determination pulse voltage setting unit 62 is not necessary.

  In addition, when the process of step S28, 30 is completed, or when negative determination is made in step S20, this series of processes is once complete | finished.

  FIG. 6 shows a restart processing mode of the internal combustion engine 12 according to the present embodiment. Specifically, FIG. 6A shows the transition of the start flag indicating the operation request of the internal combustion engine 12, FIG. 6B shows the transition of the rotational speed of the internal combustion engine 12, and FIG. The transition of the torque of the motor generator 10 is shown, and FIG. 6D shows the transition of the value recognized by the control device 20 as the rotation angle (electrical angle) of the motor generator 10.

  As shown in the figure, when the start flag is turned off at time t1, the motor generator 10 is regeneratively controlled to generate load torque, and the internal combustion engine 12 is controlled to stop. Here, when the rotation speed of the internal combustion engine 12 is equal to or higher than the predetermined speed α, the rotation angle estimated by the induced voltage method is used and the rotation speed of the internal combustion engine 12 is lower than the predetermined speed α, thereby The rotation angle estimated by the superposition method is used. When the internal combustion engine 12 stops, the rotation angle of the motor generator 10 at that time is stored and held. When the start flag is turned on again at time t3, motor generator 10 is started using the rotation angle estimated by the high-frequency superposition method with the stored rotation angle as an initial value. Thereafter, when the rotational speed of the internal combustion engine 12 becomes equal to or higher than the predetermined speed α, the motor generator 10 is driven using the rotational angle estimated by the induced voltage method, and the startup process of the internal combustion engine 12 is continued. Thus, the restart process of the internal combustion engine 12 is performed. The predetermined speed α is set to a value lower than the idle rotation speed.

  On the other hand, as shown in the lower part of the figure, in the case of the prior art that does not have the stop position information of the motor generator 10, the rotation angle information is obtained by the high frequency superposition method at time t3 when the start flag is turned on again. Since it is newly acquired, it takes a long time for the estimated rotation angle to converge, and more time is required for the magnetic pole determination process. For this reason, the time from when the start flag is turned on until the start processing of the internal combustion engine 12 is completed is prolonged.

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

  (1) When the motor generator 10 is stopped, the rotation angle is estimated using a high-frequency superposition method, so that the stop position of the motor generator 10 is estimated and stored, and when the internal combustion engine 12 is restarted, the stored rotation angle is stored. Was used to start the motor generator 10. Thereby, the time required for the start-up process of the motor generator 10 can be shortened as much as possible, and the start-up process time of the internal combustion engine 12 can be shortened as much as possible.

  (2) The threshold value (predetermined speed α) of the rotational speed of the internal combustion engine 12 for switching between the rotational angle estimation process by the high frequency superimposition method and the rotational angle estimation process by the induced voltage method is used. The rotation speed was less than that. Thus, since the internal combustion engine 12 is equal to or higher than the idling rotation speed, estimation by the high frequency superimposition method is not performed, and therefore a period during which noise is generated can be shortened.

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

  In the first embodiment, the estimated value of the rotation angle when the motor generator 10 is stopped is stored, and when the motor generator 10 is started, this is used as an initial value to estimate the rotation angle by the high frequency superposition method. However, a certain amount of time is required until the estimation of the rotation angle by the high frequency superposition method is stabilized. This is because the estimation by the high frequency superimposition method detects the current flowing through the motor generator 10 by applying the high frequency voltage signal vhd. Therefore, in this embodiment, after the internal combustion engine 12 is stopped, the rotation angle information with high accuracy can be used immediately after the restart request is generated by continuing the estimation of the rotation angle by the high frequency superposition method over a predetermined period. And

  FIG. 7 shows a processing procedure after the internal combustion engine 12 according to the present embodiment is stopped. This process is repeatedly executed by the control device 20 at a predetermined cycle, for example.

  In this series of processes, first, in step S40, it is determined whether or not the internal combustion engine 12 has stopped. If it is determined that the internal combustion engine 12 has stopped, it is determined in step S42 whether a predetermined period has elapsed. This process is for determining whether or not to continue the estimation of the rotation angle by the high frequency superposition method. Here, for example, the predetermined period may be set to a period as long as possible so that the generation period of noise and power consumption due to angle estimation by the high-frequency superposition method can be within an allowable range. If it is determined that the predetermined period has not yet elapsed, in step S44, the estimation of the rotation angle by the high-frequency superposition method is continued. If the predetermined period has elapsed, the angle estimation is stopped in step S46, The rotation angle at that time is stored.

  In addition, when the process of step S44, S46 is completed, or when negative determination is made in step S40, this series of processes is once complete | finished.

  According to this embodiment described above, the following effects can be obtained in addition to the effects (1) and (2) of the first embodiment.

  (3) The estimation of the rotation angle was continued for a predetermined period after the motor generator 10 stopped. As a result, when a start request for the motor generator 10 is generated within a predetermined period, the signal that is actually propagated through the motor generator 10 in accordance with the application of the high frequency voltage signal vhd at the time when the start request is generated may be stabilized. As a result, highly accurate rotation angle information can be acquired. Moreover, when the motor generator 10 activation request does not occur for a predetermined period, it is possible to suppress the generation of noise and the increase in power consumption as much as possible by stopping the estimation by the high frequency superposition method.

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

  In the first embodiment, the estimated value of the rotation angle when the motor generator 10 is stopped is stored, and when the motor generator 10 is started, this is used as an initial value to estimate the rotation angle by the high frequency superposition method. However, when the motor generator 10 is stopped, if its output shaft slightly changes for some reason, there is a concern that the value used as the initial value of the rotation angle when the motor generator 10 is started becomes inappropriate. Therefore, in the present embodiment, when the motor generator 10 is started, lock control to the stored rotation angle is performed.

  FIG. 8 shows a procedure for restarting the internal combustion engine 12. This process is repeatedly executed by the control device 20 at a predetermined cycle, for example.

  In this series of processing, first, in step S50, it is determined whether or not there is a restart request for the internal combustion engine 12. If it is determined that there is a restart request, in step S52, control is performed to lock the rotation angle of the output shaft of the motor generator 10 to the rotation angle stored in step S18 of FIG. As shown in FIG. 8, this is based on a map that defines the relationship between the rotation angle θ of the motor generator 10 and the sinusoidal current flowing in the three phases, and the three-phase corresponding to the electrical angle stored as the stop position. This can be done by searching for the current and operating the inverter IV to pass this current. After performing the lock control in this manner, the restart process of the internal combustion engine 12 is executed by starting the motor generator 10 in step S54.

  When the process of step S54 is completed or when a negative determination is made in step S50, this series of processes is temporarily terminated.

  FIG. 9 shows a restart processing mode of the internal combustion engine 12 according to the present embodiment. Specifically, FIG. 9A shows the transition of the start flag, FIG. 9B shows the transition of the angle estimation flag that defines whether or not the rotation angle estimation processing is executed, and FIG. FIG. 9D shows the transition of the torque of the motor generator 10, and FIG. 9E shows the transition of the actual rotation angle (electrical angle) of the motor generator 10. Indicates.

  As shown in the drawing, after the start flag is turned off at time t11 and stop control of the internal combustion engine 12 is performed, the estimation process of the rotation angle is stopped when the predetermined period elapses at time t12. Thereafter, when the start flag is turned on again at time t13, lock control is performed. Thus, even when the actual rotation angle of motor generator 10 is deviated from the stored rotation angle at time t12, the stored rotation angle can be controlled. Then, at time t14 when the lock control ends, the motor generator 10 is activated.

  According to this embodiment described above, in addition to the effects (1) and (2) of the previous first embodiment and the effect (3) of the previous second embodiment, the following further An effect comes to be acquired.

  (4) Prior to starting the motor generator 10, lock control is performed to lock the rotation angle of the motor generator 10 to the stored rotation angle. Thereby, the reliability of the rotation angle information used when starting the motor generator 10 can be improved.

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

  As described in the second embodiment, a certain amount of time is required until the estimation of the rotation angle by the high frequency superposition method is stabilized. Therefore, in the present embodiment, it is predicted whether or not a restart request for the internal combustion engine 12 is generated, and when it is predicted that a restart request is generated, the estimation of the rotation angle by the high-frequency superposition method is started, thereby restarting the engine. It is possible to use highly accurate rotation angle information immediately after a request is made.

  FIG. 10 shows the procedure of the rotation angle estimation start process. This process is repeatedly executed by the control device 20 at a predetermined cycle, for example.

  In this series of processing, first, in step S60, it is determined whether or not there is a sign of a restart request for the internal combustion engine 12. This process can be performed depending on whether or not a part of the conditions causing the start request is satisfied. That is, for example, when the restart request is caused by the establishment of a logical product condition between the condition that the brake pedal is released and the condition that the accelerator pedal is depressed, the brake pedal is released. It can be determined that there is a sign that the above condition is satisfied.

  If it is determined that there is a sign of a restart request, in step S62, estimation of the rotation angle based on the high-frequency superposition method is started while the rotation angle stored in step S18 of FIG. As a result, when a restart request is generated in the internal combustion engine 12 (step S64: YES), the signal that is actually propagated to the motor generator 10 by application of the high-frequency voltage signal vhd is stabilized, and the rotation angle by the high-frequency superposition method The reliability of the estimation can be made high.

  However, if a restart request for the internal combustion engine 12 does not occur even after a predetermined period has elapsed from the start of estimation of the rotation angle (step S66: YES), the rotation angle estimation processing is stopped. When the process of step S68 is completed, when a negative determination is made at step S60, or when an affirmative determination is made at step S64, this series of processes is temporarily terminated.

  According to this embodiment described above, the following effects can be obtained in addition to the effects (1) and (2) of the first embodiment.

  (5) When it is predicted that a restart request for the internal combustion engine 12 will occur, estimation by the high-frequency superposition method is started. As a result, the frequency signal actually propagated through the motor generator 10 can be stabilized at the time when the start request for the motor generator 10 is generated, and as a result, the motor generator 10 can be started quickly.

(Fifth embodiment)
Hereinafter, a fifth embodiment will be described with reference to the drawings, focusing on differences from the first embodiment.

  As described above, when the rotation angle is estimated by the high frequency superimposition method, noise is generated due to the superposition of the high frequency voltage signal vhd. For this reason, it is desirable to switch the rotational angle estimation method to the induced voltage method as soon as possible. However, the estimation accuracy of the rotation angle by the induced voltage method becomes lower at a low rotation speed, and becomes lower as the torque of the motor generator 10 becomes larger. This is because the extended induced voltage observer 50 is constructed based on a model based on a fundamental wave. That is, as the torque increases, the current flowing through motor generator 10 increases, and as a result, higher-order components than the fundamental wave of the current actually flowing through motor generator 10 increase. For this reason, the model error of the extended induced voltage observer 50 increases as the torque increases.

  Here, as shown in FIG. 11, the required torque Tr of the motor generator 10 is set higher as the cooling water temperature of the internal combustion engine 12 is lower. For this reason, the rotational speed that can maintain high estimation accuracy by the induced voltage method even with the required torque Tr when the cooling water temperature is low is used as the switching threshold. The high frequency superimposition method is used even in a state where the estimation accuracy by the induced voltage method can be maintained high.

  Therefore, in the present embodiment, the threshold value (predetermined speed α) for switching to the estimation of the rotation angle by the induced voltage method is variably set according to the required torque Tr, so as to switch to the estimation of the induced voltage method as soon as possible. .

  FIG. 12 shows the procedure for switching the pair of estimation methods. This process is repeatedly executed by the control device 20 at a predetermined cycle, for example.

  In this series of processes, first, in step S70, it is determined whether or not the rotational speed of the internal combustion engine 12 is equal to or higher than a predetermined speed α. Here, the predetermined speed α is a function of the required torque Tr, and is set to a larger value as the required torque Tr is larger. If the speed is less than the predetermined speed, the rotation angle estimation process using the high frequency superimposition method is performed in step S72. If the speed exceeds the predetermined speed α, the rotation angle estimation process using the induced voltage method is performed in step S74.

  According to this embodiment described above, the following effects can be obtained in addition to the effects (1) and (2) of the first embodiment.

  (6) The threshold value (predetermined speed α) for switching to the estimation process of the rotation angle by the induced voltage method is made smaller as the required torque Tr is smaller. Thereby, it is possible to shift to the estimation process of the rotation angle by the induced voltage method as early as possible.

(Sixth embodiment)
Hereinafter, the sixth embodiment will be described with reference to the drawings with a focus on differences from the fifth embodiment.

  FIG. 13 shows the setting of the required torque Tr according to this embodiment.

  As shown in the figure, in the present embodiment, the required torque Tr is reduced as the rotational speed of the internal combustion engine 12 increases. This setting is based on the fact that the torque required when the rotational speed of the internal combustion engine 12 is increased from zero is considered to be the largest. Thereby, required torque Tr in the low rotation speed region of motor generator 10 can be reduced as much as possible. Therefore, the process shown in FIG. 12 can be switched to the induced voltage type rotation angle estimation process as early as possible.

(Seventh embodiment)
Hereinafter, the seventh embodiment will be described with reference to the drawings with a focus on differences from the fifth embodiment.

  In the fifth embodiment, the startup process of the motor generator 10 is performed based on the rotation angle estimated by the high frequency superposition method. However, if the initial value of the rotation angle of the motor generator 10 is known, if the torque of the motor generator 10 is small, even if the motor generator 10 is started without using rotation angle information other than the initial value, a relatively good startup Processing can be realized. Therefore, in the present embodiment, when the required torque Tr is small, the motor generator 10 is started without using rotation angle information other than the initial value.

  FIG. 14 shows a procedure for restarting the internal combustion engine 12 according to the present embodiment. This process is repeatedly executed by the control device 20 at a predetermined cycle, for example.

  In this series of processing, first, in step S80, it is determined whether or not a restart request for the internal combustion engine 12 has occurred. If a restart request is generated, it is determined in step S82 whether the required torque Tr is equal to or greater than the threshold torque Trth. This process is for determining whether or not the motor generator 10 needs to be activated using the rotation angle estimated by the high frequency superposition method. Here, the threshold torque Tr is set based on an upper limit torque that allows the startability when the motor generator 10 is started without using rotation angle information other than the initial value.

  If it is determined in step S82 that the required torque Tr is equal to or greater than the threshold torque Trth, in step S84, the rotation angle stored in the process of step S18 of FIG. The start-up process of the internal combustion engine 12 is performed by starting the motor generator 10 based on the rotation angle.

  On the other hand, when it is determined that the torque is less than the threshold torque Trth, the internal combustion engine 12 is started by starting the motor generator 10 without using the rotation angle information except that the stored rotation angle is used as the initial value in step S86. The starting process is performed. This can be performed by calculating command voltages vur, vvr, and vwr based on a change in rotation angle assumed when the motor generator 10 is started. Specifically, the command voltages vdr and vqr are calculated based on the difference between the norm of the vector of the actual currents iα and iβ output from the αβ converter 30 and the norm of the command currents idr and iqr, and this is assumed. By performing conversion based on the rotation angle, the command voltages vur, vvr, and vwr can be calculated.

  The process of step S84 or step S86 is performed until the rotational speed of the internal combustion engine 12 becomes equal to or higher than the predetermined speed α (step S88: YES). And when it becomes more than predetermined speed (alpha), it switches to estimation of the rotation angle based on an induced voltage system in step S90.

  When the process of step S90 is completed or when a negative determination is made in step S80, this series of processes is temporarily terminated.

  According to the present embodiment described above, the following effects can be obtained in addition to the effects of the fifth embodiment.

  (7) When the required torque Tr for the motor generator 10 is equal to or less than a predetermined value, the motor generator 10 is started without using the rotation angle information other than using the stored rotation angle as an initial value. Thereby, it is possible to avoid using the harmonic superposition method as much as possible while suppressing a decrease in control accuracy of the motor generator 10 at the time of startup.

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

  In the first embodiment, the start is performed based on the estimated value of the rotation angle at the previous stop only for the restart, but the present invention is not limited to this. When the travel permission switch (the start switch of the in-vehicle control system) is turned on, the start may be performed based on the estimated value of the rotation angle at the previous engine stop.

  In the third embodiment, the lock control is performed when a restart request is generated. However, the present invention is not limited to this, and the lock control may be performed after the automatic stop control is performed until the restart request is generated. Good.

  In the fifth embodiment, the required torque Tr is variably set based on the coolant temperature of the internal combustion engine, but is not limited thereto. For example, it may be variably set based on both the cooling water temperature and the rotation speed.

  In the seventh embodiment, the predetermined speed α for angle estimation by the induced voltage method may be a fixed value.

  The rotating machine is not limited to the IPMSM, and may be a synchronous reluctance motor (SynRM), for example. In addition, it is not limited to one having saliency in structure, and even a so-called non-salient pole machine in structure, such as a surface magnet synchronous motor, has a magnetic saliency due to drive current. The application of the invention is effective. Furthermore, it is not limited to one provided with a permanent magnet, but may be a wound field type synchronous machine, for example.

  The rotation angle estimation means of the high frequency superposition method is not limited to the one that estimates the rotation angle based on the direction of the current flowing through the motor generator 10 when the high frequency voltage signal vhd is applied to the motor generator 10. For example, the rotation angle may be estimated based on the magnitude of the current flowing through the motor generator 10 when the high frequency voltage signal vhd is applied to the motor generator 10. That is, when the high frequency voltage signal is applied to the motor generator while rotating the voltage application direction on the dq axis, the amplitude of the current signal that actually propagates through the motor generator is plotted corresponding to the application direction of the high frequency voltage signal. The amplitude of the current signal is elliptical with the d-axis direction as the major axis and the q-axis direction as the minor axis. For this reason, when the high frequency voltage signal vhd is applied to the motor generator 10, it is considered that the rotation angle can also be estimated by the magnitude (amplitude value) of the current flowing in the application direction.

  The rotation angle estimation means using the extended induced voltage is not limited to the means for estimating the extended induced voltage in the fixed coordinate system with the minimum dimension observer. For example, as described in “Sensorless control of salient pole type permanent magnet synchronous motor based on extended induced voltage model, T. IEEE Japan, Vol. 122-D, No. 12, 2002”, It may be a means for estimating the extended induced voltage with a minimum dimension observer. Incidentally, the extended induced voltage here is a “voltage induced by a magnetic field” expressed in a rotating coordinate system.

  The hybrid vehicle that performs the process of applying the initial rotation to the internal combustion engine 12 by starting the motor generator 10 is not limited to the one exemplified in the above embodiments. For example, a so-called mild hybrid vehicle in which the output shaft of the motor generator is connected to the output shaft of the internal combustion engine 12 via a belt and idle stop control is performed using the motor generator may be used. Even when this change is applied to the previous fourth embodiment, the sign of the restart request of the internal combustion engine 12 may be a case where a part of the restart execution condition is satisfied. That is, for example, when the restart execution condition includes two conditions, that is, a condition that the shift instruction of the transmission is switched from neutral or parking to drive and a condition that the brake pedal is released, one of these conditions is You may judge that it is a precursor at the time of being established.

  -Not only for hybrid vehicles, but also for electric vehicles equipped with only motor generators as in-vehicle power generators and generators. The application of the present invention is effective in reducing the generation time of the generated noise.

  DESCRIPTION OF SYMBOLS 10 ... Motor generator, 12 ... Internal combustion engine, 20 ... Control apparatus, 22 ... Inverter.

Claims (11)

In an internal combustion engine start / stop control device that performs a process of giving an initial rotation to an internal combustion engine by starting a rotating machine by operating a power conversion circuit,
The rotating machine is a rotating machine having saliency,
Based on the frequency signal that is actually propagated through the rotating machine when a frequency signal having a cycle shorter than the rotating period of the electrical angle of the rotating machine is superimposed on the output signal of the power conversion circuit, the rotation angle of the rotating machine is determined. High-frequency superposition estimation means for estimating;
Obtaining means for obtaining information on the stop position of the rotating machine using the high-frequency superposition estimation means during the stopping process of the rotating machine;
Starting processing means for starting the internal combustion engine by performing a process of applying initial rotation to the internal combustion engine by starting the rotating machine based on the acquired stop position ;
The high-frequency superposition type estimation means continues the estimation of the rotation angle over a predetermined period after the rotating machine stops.
Using the detected value of the current flowing through the rotating machine and the applied voltage to the rotating machine as inputs, and using a model that relates the current flowing through the rotating machine and the applied voltage to the voltage induced by the magnetic field of the rotating machine Induced voltage type estimation means for estimating the rotation angle of the rotating machine,
As an estimated value of the rotation angle used when controlling the control amount of the rotating machine, the estimated value by the high-frequency superposition estimation means is used when the rotating speed of the rotating machine is low, and the rotational angle is Switching means using an estimated value by the induced voltage equation estimating means,
The threshold value of the rotational speed for switching by the switching means, start and stop control of the internal combustion engine, wherein to Rukoto smaller required torque is small with respect to the rotating machine which is set according to the parameters related to the state of the internal combustion engine apparatus. The threshold value of the rotational speed for switching by the switching means, start and stop control of the internal combustion engine according to claim 1, wherein the internal combustion engine is characterized by the following rotation speed of the rotating machine when the idling rotational speed apparatus. In an internal combustion engine start / stop control device that performs a process of giving an initial rotation to an internal combustion engine by starting a rotating machine by operating a power conversion circuit,
The rotating machine is a rotating machine having saliency,
Based on the frequency signal that is actually propagated through the rotating machine when a frequency signal having a cycle shorter than the rotating period of the electrical angle of the rotating machine is superimposed on the output signal of the power conversion circuit, the rotation angle of the rotating machine is determined. High-frequency superposition estimation means for estimating;
Obtaining means for obtaining information on the stop position of the rotating machine using the high-frequency superposition estimation means during the stopping process of the rotating machine;
Starting processing means for starting the internal combustion engine by performing a process of applying initial rotation to the internal combustion engine by starting the rotating machine based on the acquired stop position ;
The high-frequency superposition type estimation means continues the estimation of the rotation angle over a predetermined period after the rotating machine stops.
Rotor rotation angle information-less starting means for starting the rotating machine based on the initial value of the rotation angle regardless of the input relating to the change of the rotation angle,
The starting processing means, when the required torque for the rotating machine which is set according to the parameters related to the state of the internal combustion engine is below a predetermined value, characterized Rukoto activates the rotating machine by the rotor rotation angle information-less starting means A start / stop control device for an internal combustion engine. The acquisition means includes storage means for storing information relating to the stop position,
The starting processing means, prior to activating the rotating machine, according to claim 1 to 3 or 1, characterized in that for locking the control for locking the rotation angle of the rotating machine to the stored stop position The start / stop control device for an internal combustion engine according to the item . Predicting means for predicting that a start request of the internal combustion engine will occur,
The said starting process means starts the estimation by the said high frequency superposition type estimation means, when it is estimated that the said start request | requirement will arise by the said prediction means, The any one of Claims 1-4 characterized by the above-mentioned. A start / stop control device for an internal combustion engine. The parameter relating to the state of the internal combustion engine is a parameter indicating a warm-up degree of the internal combustion engine,
The required torque, start stop control apparatus for an internal combustion engine according to claim 1, wherein the warm-up degree is small enough large value. The parameter relating to the state of the internal combustion engine is the rotational speed of the internal combustion engine;
The required torque, start stop control apparatus for an internal combustion engine according to any one of claims 1 to 6, characterized in that the rotational speed is set smaller large. The start / stop control device for an internal combustion engine according to any one of claims 1 to 7 , wherein an output shaft of the rotating machine and an output shaft of the internal combustion engine are directly connected. In a control device for a rotating machine connected to a power conversion circuit and having a saliency as a control target,
Based on the frequency signal that is actually propagated through the rotating machine when a frequency signal having a cycle shorter than the rotating period of the electrical angle of the rotating machine is superimposed on the output signal of the power conversion circuit, the rotation angle of the rotating machine is determined. High-frequency superposition estimation means for estimating;
Using the detected value of the current flowing through the rotating machine and the applied voltage to the rotating machine as inputs, and using a model that relates the current flowing through the rotating machine and the applied voltage to the voltage induced by the magnetic field of the rotating machine Induced voltage type estimation means for estimating the rotation angle of the rotating machine,
As an estimated value of the rotation angle used when controlling the control amount of the rotating machine, the estimated value by the high-frequency superposition estimation means is used when the rotating speed of the rotating machine is low, and the rotational angle is Switching means using the estimated value by the induced voltage type estimation means,
The rotating machine control device characterized in that the threshold value of the rotational speed for switching by the switching means is reduced as the required torque is smaller. Obtaining means for obtaining information on the stop position of the rotating machine using the high-frequency superposition estimation means during the stopping process of the rotating machine;
The control device for a rotating machine according to claim 9 , further comprising start processing means for starting the rotating machine based on the acquired stop position. Rotor rotation angle information-less starting means for starting the rotating machine based on the initial value of the rotation angle regardless of the input relating to the change of the rotation angle,
The activation processing unit, when the required torque for the rotating machine upon activation of the rotating machine is given below, according to claim 1 0, wherein the activating the rotating machine by the rotor rotation angle information-less starting means Rotating machine control device.

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