JP5172418B2 - Control device for electric motor system - Google Patents

Description

  The present invention includes an electric motor including two rotors each having a permanent magnet for generating a field magnetic flux, and phase difference change driving means for applying a driving force for performing relative rotation between the rotors between the rotors. The present invention relates to a control device for an electric motor system provided.

  As the control device for this type of electric motor system, for example, those found in Patent Documents 1 and 2 have been proposed by the applicant of the present application.

  The electric motors found in these Patent Documents 1 and 2 are coaxially provided with an inner rotor and an outer rotor, which are two rotors each having a permanent magnet for generating a field magnetic flux, and an output shaft. In this case, the outer rotor and the output shaft are integrally connected to be rotatable, and the inner rotor is provided to be rotatable relative to the outer rotor and the output shaft. And in these patent documents 1 and 2, by the actuator apparatus which has a planetary gear mechanism (patent document 1), or by the hydraulic actuator apparatus which has the oil chamber formed inside the inner rotor (patent document) 2) The inner rotor is rotated relative to the outer rotor and the output shaft, and the phase difference between the two rotors is changed as appropriate.

In Patent Documents 1 and 2, the phase difference between the rotors is estimated, and the actuator device is operated so that the estimated value of the phase difference matches the required target value. In this case, in order to estimate the phase difference between the two rotors, the current and voltage of the armature winding in the dq coordinate system in so-called dq vector control (the detected values of the d-axis current and the q-axis current and the q-axis voltage). Command value) and the observed value of the rotational speed of the output shaft of the motor, the estimated value of the induced voltage constant of the motor is calculated based on the relational expression established therebetween. The phase difference between the rotors is estimated from the estimated value of the induced voltage constant.
JP 2007-28889A JP 2008-29123 A

  By the way, in the said patent document 1, 2, in order to obtain | require the estimated value of an induced voltage constant, the command value (target value) of q-axis voltage is used.

  However, the energization control of the electric motor is usually performed via an inverter circuit including a plurality of switching elements. The actual voltage of the armature winding of the motor generally varies with respect to the target value due to variations in characteristics of the switching elements such as response characteristics of the switching elements and resistance during conduction.

  For this reason, in the thing of the said patent documents 1 and 2, an error may arise in the estimated value of an induced voltage constant. In such a case, the output torque of the motor is excessive or insufficient with respect to the target torque, and the efficiency of the motor is reduced.

  The present invention has been made in view of such a background, and can accurately perform operation control of an electric motor system while accurately estimating an induced voltage constant of an electric motor including two rotors and a phase difference between the two rotors. An object of the present invention is to provide a control device for an electric motor system.

  Furthermore, it aims at providing the control apparatus which can detect appropriately the presence or absence of generation | occurrence | production of operation | movement abnormality of the phase difference change drive means of this electric motor system.

In order to achieve this object, the motor system control apparatus of the present invention rotates integrally with the first rotor and the second rotor each having a permanent magnet for generating a field magnetic flux, and the first rotor of the two rotors. And an output motor provided coaxially with each other, and an electric motor provided so that the second rotor can rotate relative to the first rotor, and a driving force for causing the second rotor to rotate relative to each other. And a phase difference change driving means for changing the phase difference between the two rotors by applying to the motor, an induced voltage constant of the motor as a characteristic parameter of the motor or an actual phase difference between the two rotors. A control device that controls the operation of the electric motor system using the estimated value of the characteristic parameter, and detects the current of the armature winding of the electric motor Current detection means, voltage detection means for detecting the voltage of the armature winding of the motor, rotation speed detection means for detecting the rotation speed of the output shaft, the current detection means, the voltage detection means, and the rotation speed based on the output of the detection means, it shall be the basic configuration that includes a characteristic parameter estimating means for obtaining an estimated value of the characteristic parameter.

According to this basic configuration , the characteristic parameter estimation means is based on the outputs of the current detection means, the voltage detection means, and the rotation speed detection means, in other words, the detected value of the actual current of the armature winding, Based on the detected value of the actual voltage and the detected value of the actual rotational speed of the output shaft, the estimated value of the characteristic parameter is obtained. Therefore, the induced voltage constant or the estimated value of the phase difference between the two rotors as a characteristic parameter can be accurately determined without depending on variations in the characteristics of the switching elements of the inverter circuit for controlling the energization of the armature winding of the motor. You can often ask.

Therefore, according to the basic configuration, it is possible to accurately control the operation of the motor system using the estimated value while accurately estimating the induced voltage constant of the motor including two rotors and the phase difference between the two rotors. it can. As a result, the required operation of the electric motor can be performed stably and efficiently.

  Of course, the current detected by the current detecting means may be the current (phase current) of the armature winding of each phase of the motor, but the phase current is represented by an appropriate coordinate system (for example, rotational coordinates). Dq coordinate system that is a system, α-β coordinate system that is a stationary coordinate system, or the like). Similarly, the voltage detected by the voltage detection means may be the voltage (phase voltage) of the armature winding of each phase of the motor, but the phase voltage is expressed by the dq coordinate system, It may be a voltage obtained by coordinate conversion to an appropriate coordinate system such as an α-β coordinate system.

In the present invention , more specifically, the estimated value of the characteristic parameter can be obtained by the following configuration. That is, the current of the armature winding detected by the current detection means includes a d-axis as the direction of the field magnetic flux generated by the permanent magnets of the two rotors, and a d-axis as a direction perpendicular to the d-axis. The d-axis current and the q-axis current in the −q coordinate system are included, and the voltage of the armature winding detected by the voltage detection unit includes the d-axis voltage in the dq coordinate system. To do. In this case, the characteristic parameter estimating means detects the detected value of the d-axis current and the q-axis current by the current detecting means, the detected value of the d-axis voltage by the voltage detecting means, and the rotational speed detection. From the detected value of the rotation speed of the output shaft by the means, the q-axis inductance which is the inductance of the armature winding on the q-axis in the dq coordinate system, the d-axis current, the q-axis current, and the d A means for obtaining an estimated value of the q-axis inductance based on a predetermined arithmetic expression representing a correlation between the shaft voltage and the rotation speed of the output shaft; and the estimated value of the q-axis inductance and the current detecting means. From the detected value of the q-axis current, based on predetermined correlation data representing the correlation between the characteristic parameter, the q-axis inductance, and the q-axis current, the characteristic parameter It can be composed of a means for obtaining an estimated value (first invention).

Here, between the q-axis inductance, the d-axis current, the q-axis current, the d-axis voltage, and the rotation speed of the output shaft is expressed by a certain arithmetic expression (the predetermined arithmetic expression). A correlation is established. The characteristic parameter, the q-axis inductance, and the q-axis current have a relatively significant correlation. Therefore, in the first invention , the characteristic parameter estimation means is configured to determine the predetermined value from the detected values of the d-axis current and the q-axis current, the detected value of the d-axis voltage, and the detected value of the rotational speed of the output shaft. The estimated value of the q-axis inductance is obtained based on the following equation. The characteristic parameter estimation means obtains the estimated value of the characteristic parameter based on the correlation data from the estimated value of the q-axis inductance and the detected value of the q-axis current. Thereby, the estimated value of the characteristic parameter can be obtained appropriately.

Or the estimated value of a characteristic parameter can also be calculated | required, for example with the following structures. That is, the current of the armature winding detected by the current detection means includes a d-axis as the direction of the field magnetic flux generated by the permanent magnets of the two rotors, and a d-axis as a direction perpendicular to the d-axis. The d-axis current and the q-axis current in the −q coordinate system are included, and the voltage of the armature winding detected by the voltage detection unit includes the q-axis voltage in the dq coordinate system. To do. In this case, the characteristic parameter estimation unit is configured to detect the q-axis current detection value by the current detection unit, the q-axis voltage detection value by the voltage detection unit, and the output shaft of the rotation speed detection unit. From the detected rotational speed value, the sum of the product of the d-axis inductance and the d-axis current, which is the inductance of the armature winding on the d-axis in the dq coordinate system, and the induced voltage constant of the motor. Means for obtaining an estimated value of the auxiliary parameter based on a predetermined arithmetic expression representing a correlation among the auxiliary parameter representing the q-axis voltage, the q-axis current, and the rotation speed of the output shaft; Predetermined correlation data representing a correlation between the characteristic parameter, the auxiliary parameter, and the d-axis current from the estimated value of the auxiliary parameter and the detected value of the d-axis current by the current detection unit Based on, it can be comprised of a means for obtaining an estimated value of the characteristic parameter (second invention).

Here, when the auxiliary parameter is defined as representing the sum of the product of the d-axis inductance and the d-axis current and the induced voltage constant of the motor, the auxiliary parameter, the q-axis voltage, and the q Between the shaft current and the rotation speed of the output shaft, a correlation expressed by a certain arithmetic expression (the predetermined arithmetic expression) is established. Further, there is a relatively significant correlation among the auxiliary parameter, the characteristic parameter, and the d-axis current. Therefore, in the second aspect of the invention , the characteristic parameter estimation means is based on the predetermined calculation formula from the detected value of the q-axis current, the detected value of the q-axis voltage, and the detected value of the rotational speed of the output shaft. Then, an estimated value of the auxiliary parameter is obtained. Then, the characteristic parameter estimation means obtains an estimated value of the characteristic parameter based on the correlation data from the estimated value of the auxiliary parameter and the detected value of the d-axis current. Thereby, the estimated value of the characteristic parameter can be obtained appropriately.

The correlation data in the first invention or the second invention includes map data, an arithmetic expression that approximates the correlation, and the like.

Further, by using the detection value of the voltage by the voltage detection hand stage, it is also possible to detect the presence or absence of abnormal operation of said phase difference changing driving means.

For example, the current of the armature winding detected by the current detecting means is d-, where the direction of the field magnetic flux generated by the permanent magnets of the rotors is d-axis, and the direction orthogonal to the d-axis is q-axis. The d-axis current and q-axis current in the q-coordinate system are included, and the voltage of the armature winding detected by the voltage detection means includes the d-axis voltage and the q-axis voltage in the dq coordinate system. In addition, while setting the respective target values of the d-axis current and the q-axis current, the detected value of the d-axis current and the detected value of the q-axis current by the current detection unit are made to coincide with the respective target values. Energization control means for determining target values of the d-axis voltage and the q-axis voltage and controlling energization of the armature winding of the motor according to the target values of the d-axis voltage and the q-axis voltage; Set a target value for the parameter and add the target value to the target value. And an inter-rotor phase difference control means for controlling the phase difference change driving means so as to match the estimated values of the property parameters, the deviation between the target value of the d-axis voltage and the detected value of the d-axis voltage. The phase difference change drive based on a deviation of at least one of a certain d-axis voltage deviation and a q-axis voltage deviation which is a deviation between a target value of the q-axis voltage and a detected value of the q-axis voltage. An abnormality detecting means for detecting the presence or absence of an operation abnormality of the means ( third invention ).

Here, when the dielectric control means and the inter-rotor phase difference control means are provided, the two rotors required to cause the estimated value of the characteristic parameter to coincide with a target value when an operation abnormality of the phase difference change driving means occurs. If the relative rotation is not properly performed, the detected value of the q-axis voltage or the detected value of the d-axis voltage causes a steady error with respect to the corresponding target value. Therefore, according to the third aspect of the present invention , it is possible to detect the presence / absence of an operation abnormality of the phase difference change drive unit based on at least one of the d-axis voltage deviation and the q-axis voltage deviation. .

In the third invention , the abnormality detection means includes at least one of the d-axis voltage deviation, the integrated value of the d-axis voltage deviation, the q-axis voltage voltage deviation, and the integrated value of the q-axis voltage deviation. Preferably, when any one of the states deviates from the predetermined range continues for a predetermined time or more, it is detected that an operation abnormality of the phase difference change driving unit has occurred ( fourth invention ).

According to the fourth aspect of the invention , it is possible to accurately detect the presence or absence of the operation abnormality while preventing the erroneous detection of the presence or absence of the operation abnormality of the phase difference change driving unit.

Supplementally, the third invention or the fourth invention may be combined with the first invention or the second invention . In the third or fourth aspect of the invention , the target value of the current of the armature winding of the motor is, for example, at least the target value of the output torque of the motor and the observed value of the rotational speed of the output shaft of the motor. And a map or the like according to the estimated value of the characteristic parameter. The target value of the characteristic parameter may be set by a map or the like according to at least the target value of the output torque of the motor and the observed value of the rotational speed of the output shaft of the motor.

  1st Embodiment of the control apparatus of the electric motor system of this invention is described with reference to FIGS. First, with reference to FIG. 1, the mechanical structure of the principal part of the electric motor with which the electric motor system of this embodiment was provided is demonstrated. FIG. 1 is a view of the main part of the electric motor as viewed in the axial direction of the electric motor.

  The electric motor 1 is a DC brushless motor having a double rotor structure, and includes an output shaft 2, an outer rotor 3, and an inner rotor 4 coaxially. The outer rotor 3 and the inner rotor 4 correspond to the first rotor and the second rotor in the present invention, respectively. Outside the outer rotor 3, there is a stator 5 fixed to the housing (not shown) of the electric motor 1, and the stator 5 has armature windings (three-phase armature windings) not shown. It is installed. The electric motor 1 is mounted on the vehicle, for example, as a driving force generation source for a hybrid vehicle or an electric vehicle (not shown).

  The outer rotor 3 is formed in an annular shape, and includes a plurality of permanent magnets 6 arranged at substantially equal intervals in the circumferential direction. In the present embodiment, the permanent magnet 6 is formed in a long rectangular plate shape, the longitudinal direction thereof is directed to the axial direction of the outer rotor 3, and the normal direction is directed to the radial direction of the outer rotor 3. And embedded in the outer rotor 3.

  The inner rotor 4 is also formed in an annular shape. The inner rotor 4 is disposed coaxially with the outer rotor 3 inside the outer rotor 3. The output shaft 2 passes through the axial center portion of the inner rotor 4 coaxially with the inner rotor 4 and the outer rotor 3.

  In this case, the output shaft 2 is connected to the outer rotor 3 via a connecting member (not shown) provided on one end side or both sides of the inner rotor 4 in the axial direction, and is rotatable integrally with the outer rotor 3. . The inner rotor 4 is provided so as to be rotatable relative to the outer rotor 3 and the output shaft 2, and the phase difference between the rotors 3 and 4 can be changed by the relative rotation.

  Further, the inner rotor 4 includes a plurality of permanent magnets 8 arranged at substantially equal intervals in the circumferential direction. In the present embodiment, the permanent magnet 8 has the same shape as the permanent magnet 6 of the outer rotor 3 and is embedded in the inner rotor 4 in the same manner as in the case of the outer rotor 3. The number of permanent magnets 8 is the same as that of the permanent magnets 6 of the outer rotor 3.

  In the present embodiment, since the outer rotor 3 and the inner rotor 4 are cylindrical, they are non-salient rotors.

  Here, in FIG. 1, the permanent magnets 6 a shown in white among the permanent magnets 6 of the outer rotor 3 and the permanent magnets 6 b indicated by stippling are opposite in the direction of the magnetic poles in the radial direction of the outer rotor 3. It has become. For example, the permanent magnet 6a has an N pole on the outer side (outer peripheral surface side of the outer rotor 3) and an S pole on the inner side (inner peripheral surface side of the outer rotor 3), and the permanent magnet 6b has an outer side. This surface is the S pole and the inner surface is the N pole. Similarly, the permanent magnet 8a shown in white among the permanent magnets 8 of the inner rotor 4 and the dotted permanent magnet 8b are opposite to each other in the direction of the magnetic poles in the radial direction of the inner rotor 4. . For example, the permanent magnet 8a has an N-pole surface on the outer side (the outer peripheral surface side of the inner rotor 4) and an S-pole surface on the inner side (the inner peripheral surface side of the inner rotor 4). This surface is the S pole and the inner surface is the N pole.

  In the present embodiment, in the outer rotor 3, a pair of permanent magnets 6 a and 6 a adjacent to each other and a pair of permanent magnets 6 b and 6 b adjacent to each other are alternately arranged in the circumferential direction of the outer rotor 3. It is arranged. Similarly, in the inner rotor 4, pairs of permanent magnets 8 a and 8 a adjacent to each other and pairs of permanent magnets 8 b and 8 b adjacent to each other are alternately arranged in the circumferential direction of the inner rotor 4. .

  In the electric motor 1 configured as described above, the inner rotor 4 is rotated with respect to the outer rotor 3, and the phase difference between the rotors 3 and 4 (hereinafter referred to as inter-rotor phase difference θd) is changed. Thus, the strength of the combined field magnetic flux formed by combining the field magnetic flux generated by the permanent magnets 8a and 8b of the inner rotor 4 and the field magnetic flux generated by the permanent magnets 6a and 6b of the outer rotor 3 (in the stator 5). The strength of the magnetic flux in the radial direction is changed. Hereinafter, a state where the strength of the combined field magnetic flux is maximum is referred to as a field maximum state, and a state where the strength of the combined field magnetic flux is minimum is referred to as a field minimum state.

  2A is a diagram showing a phase relationship between the inner rotor 4 and the outer rotor 3 in the maximum field state, and FIG. 2B is a diagram showing the relationship between the inner rotor 4 and the outer rotor 3 in the field minimum state. It is a figure which shows a phase relationship.

  As shown in FIG. 2A, the field maximum state is a state in which the permanent magnets 8a and 8b of the inner rotor 4 and the permanent magnets 6a and 6b of the outer rotor 3 are opposed to each other. More specifically, in this field maximum state, the permanent magnet 8 a of the inner rotor 4 faces the permanent magnet 6 a of the outer rotor 3, and the permanent magnet 8 b of the inner rotor 4 faces the permanent magnet 6 b of the outer rotor 3. In this state, in the radial direction, the direction of the magnetic flux Q1 of the permanent magnets 8a and 8b of the inner rotor 4 and the direction of the magnetic flux Q2 of the permanent magnets 6a and 6b of the outer rotor 3 are the same. The strength of the combined magnetic flux Q3 of the magnetic fluxes Q1 and Q2 (the strength of the combined field magnetic flux) is maximized.

  Further, as shown in FIG. 2B, the field minimum state is a state in which the permanent magnets 8a and 8b of the inner rotor 4 and the permanent magnets 6a and 6b of the outer rotor 3 face each other. More specifically, in this field minimum state, the permanent magnet 8 a of the inner rotor 4 faces the permanent magnet 6 b of the outer rotor 3, and the permanent magnet 8 b of the inner rotor 4 faces the permanent magnet 6 a of the outer rotor 3. In this state, the direction of the magnetic flux Q1 of the permanent magnets 8a and 8b of the inner rotor 4 and the direction of the magnetic flux Q2 of the permanent magnets 6b and 6a of the outer rotor 3 are opposite in the radial direction. The strength of the combined magnetic flux Q3 of these magnetic fluxes Q1 and Q2 (the strength of the combined field magnetic flux) is minimized.

  In this embodiment, the inner rotor 4 is relative to the outer rotor 3 within a range between a rotational position where the combined field magnetic flux is in the maximum field state and a rotational position where the field is in the minimum state. It can be rotated. The relative rotatable range, that is, the changeable range of the inter-rotor phase difference θd is, for example, an electric angle of 180 [deg]. The boundary of the range is mechanically defined by, for example, contact between a member that can rotate integrally with the inner rotor 4 and a member that can rotate integrally with the outer rotor 3.

  In this embodiment, the inter-rotor phase difference θd in the maximum field state is defined as 0 [deg], and the inter-rotor phase difference θd in the minimum field state is defined as 180 [deg]. However, it is not necessary to define the inter-rotor phase difference θd in the maximum field state as 0 [deg], and the zero point and scale of the inter-rotor phase difference θd may be arbitrarily set.

  As described above, the induced voltage constant Ke of the electric motor 1 is changed by changing the rotor phase difference θd to increase or decrease the strength of the combined field magnetic flux. The induced voltage constant Ke is a proportional constant that defines the relationship between the angular velocity of the output shaft 2 of the electric motor 1 and the induced voltage (effective value) generated in the armature according to the angular velocity. FIG. 3 is a graph illustrating the relationship between the induced voltage constant Ke of the electric motor 1 of the present embodiment and the inter-rotor phase difference θd. As illustrated, the value of the induced voltage constant Ke of the electric motor 1 becomes smaller as the inter-rotor phase difference θd is increased from 0 [deg] to 180 [deg]. This is because with the increase of θd, the strength of the combined field magnetic flux becomes weaker, and as a result, the induced voltage (counterelectromotive voltage) of the armature becomes smaller when the rotational angular velocity of the output shaft 2 is constant. . Therefore, the value of the induced voltage constant Ke serves as an index indicating the strength of the combined field magnetic flux, and the value of the dielectric voltage constant Ke increases as the strength of the combined field magnetic flux increases.

  Supplementally, the permanent magnets 6 and 8 may be arranged in other forms. For example, a plurality of rectangular plate-like permanent magnets provided in the outer rotor 3 are arranged at equiangular intervals in the circumferential direction of the outer rotor 3 with the normal direction (thickness direction) directed in the circumferential direction of the outer rotor 3. The magnetic poles of two opposing permanent magnets adjacent to each other in the circumferential direction of the outer rotor 3 have the same polarity (the magnetization directions of the two permanent magnets adjacent to each other are It is also possible to reverse the directions in the circumferential direction). Further, the changeable range of the inter-rotor phase difference θd does not necessarily need to be in the range of 180 [deg] in terms of electrical angle, and may be a range that is larger or smaller than that.

  In the present embodiment, the output shaft 2 and the outer rotor 3 of the electric motor 1 are configured to rotate integrally. However, the output shaft and the inner rotor are configured to rotate integrally so that the output shaft and the inner rotor rotate. You may comprise so that an outer rotor can rotate relatively with respect to a rotor.

  Next, with reference to FIG. 4, the phase difference change drive means for changing the inter-rotor phase difference θd of the electric motor 1 and the control device for controlling the operation of the electric motor 1 and the phase difference change drive means will be described. FIG. 4 is a block diagram showing a functional configuration of the control device. In this case, FIG. 4 shows the electric motor 1 and the phase difference change driving means in a simplified manner.

  Referring to FIG. 4, the electric motor system of the present embodiment includes a phase difference change driving means 10 that applies a driving force for rotating the inner rotor 4 of the electric motor 1 relative to the outer rotor 3 between the rotors 3 and 4. Prepare. Although not shown in detail, the phase difference changing drive means 10 includes an actuator 11 that generates a driving force and a phase variable mechanism 12 that transmits the driving force of the actuator 11 between the rotors 3 and 4. The

  Such a phase difference change driving means 10 can be constituted by a hydraulic device as shown in Patent Document 2, for example. In this case, the phase variable mechanism 12 forms an oil chamber in a space between the inner peripheral surface of the inner rotor 4 and the outer peripheral surface of the output shaft 2, and the rotor position is interlocked with the increase / decrease in the volume of the oil chamber. The phase difference θd is configured to change. A hydraulic power source device (a device including a pump, a pressure control valve and the like) that supplies and discharges hydraulic oil to and from the oil chamber is provided outside the electric motor 1 as the actuator 11.

  Or you may comprise the phase difference change drive means 10 by an apparatus as shown to the said patent document 1, for example. In this case, the phase variable mechanism 12 is constituted by a planetary gear mechanism, and an electric or hydraulic rotary actuator that inputs a rotational driving force to the planetary gear mechanism is provided outside the electric motor 1 as the actuator 11.

  The control device 50 that controls the operation of the motor system according to this embodiment including the phase difference change driving unit 10 and the motor 1 basically energizes the armature winding of the motor 1 by so-called dq vector control. To control. That is, the control device 50 is equivalent to the dq coordinate system in which the electric motor 1 is a coordinate system in which the field direction (the direction of the combined field magnetic flux) is the d axis and the direction orthogonal to the d axis is the q axis. Convert to circuit and handle. The equivalent circuit has an armature on the d-axis (hereinafter referred to as d-axis armature) and an armature on the q-axis (hereinafter referred to as q-axis armature). The dq coordinate system is a rotating coordinate system fixed with respect to the output shaft 2 of the electric motor 1. Then, the control device 50 generates an armature winding (for three phases) of the electric motor 1 so that the torque of the torque command value Tr_c (target value of the output torque of the electric motor 1) given from the outside is generated on the output shaft 2 of the electric motor 1. The armature winding) is controlled. Further, in parallel with the energization control, the control device 50 controls the inter-rotor phase difference θd via the phase difference change driving means 10 so that the induced voltage constant Ke of the electric motor 1 matches the required target value. To do.

  In order to perform these controls, the electric motor system of the present embodiment includes a current sensor 41 that detects currents in two phases of the armature windings of the electric motor 1, for example, currents in the U phase and the W phase. , 42 and two phase voltages (the correlation voltages between the U phase and the V phase, between the V phase and the W phase, and between the W phase and the U phase), which are the sum of the voltages of the armature windings of the two phases, For example, voltage sensors 43 and 44 that detect the phase voltage between the U phase and the V phase and the phase voltage between the V phase and the W phase, respectively, and the rotation angle of the output shaft 2 of the motor 1 or the outer rotor 3 (with respect to the stator 5 of the motor 1) And a resolver 45 as a rotation angle detecting means for detecting a rotation angle in a fixed coordinate system. Then, outputs (detection values) of the current sensors 41 and 42, the voltage sensors 43 and 44, and the resolver 45 are input to the control device 50. Thereafter, the current value of the U-phase armature winding detected by the current sensor 41 is the U-phase current detection value Iu_s, the current value of the W-phase armature winding detected by the current sensor 42 is the W-phase current detection value Iw_s, The phase voltage between the U phase and the V phase detected by the voltage sensor 43 is the U-V correlation voltage detection value Vuv_s, and the phase voltage between the V phase and the W phase detected by the voltage sensor 44 is the VW correlation voltage detection value Vvw_s, The value of the rotation angle of the output shaft 2 (= the rotation angle of the outer rotor 3) detected by the resolver 45 is referred to as an angle detection value θm_s.

  The control device 50 is an electronic circuit unit including a CPU, a memory, and the like, and its control processing is sequentially executed at a predetermined arithmetic processing cycle. The functional means of the control device 50 will be specifically described below.

  The control device 50 differentiates the angle detection value θm_s by the resolver 45 to obtain a speed detection value Nm_s as a detection value (observation value) of the rotation speed of the output shaft 2 of the electric motor 1 (= rotation speed of the outer rotor 3). A rotation speed calculation unit 51 to be obtained and an energization control unit 52 that controls the energization current of the armature windings of each phase of the electric motor 1 through an inverter circuit (not shown). The rotation speed calculation unit 51 corresponds to the rotation speed detection unit in the present invention, and the energization control unit 52 corresponds to the energization control unit in the present invention. The speed detection value Nm_s obtained by the rotation speed calculation unit 51 is a detection value of the rotation speed at the mechanical angle of the output shaft 2 in this embodiment, but by multiplying this by the number of pole pairs of the electric motor 1, You may make it obtain | require the detected value of the rotational speed in a corner | angular.

  The energization control unit 52 performs three-phase-dq conversion in the d-axis direction from the U-phase current detection value Iu_s and the W-phase current detection value Iw_s by the current sensors 41 and 42 and the angle detection value θm_s by the resolver 45. A detected value Id_s of a d-axis armature current (hereinafter referred to as d-axis current) as a current component and a detected value Iq_s of a q-axis armature current (hereinafter referred to as q-axis current) as a current component in the q-axis direction. A three-phase-dq converter 61 for calculation is provided. In the three-phase-dq conversion, a set of a U-phase current detection value Iu_s, a W-phase current detection value Iw_s, and a V-phase current detection value (= −Iu_s−Iw_s) obtained therefrom is used as an angle detection value θm_s. This is a process of converting into a set of a detected value Id_s of the d-axis current and a detected value Iq_s of the q-axis current by a conversion matrix according to (more specifically, the rotation angle of the output shaft 2 in electrical angle). In the present embodiment, the three-phase-dq converter 61 and the current sensors 41 and 42 implement the current detection means in the present invention.

  The energization control unit 52 includes a current command calculation unit 62 that determines a d-axis current command value Id_c that is a command value for the d-axis current and a q-axis current command value Iq_c that is a command value for the q-axis current, A field control unit 63 for obtaining a correction value ΔIda for correcting the current command value Id_c, and a deviation ΔId () between a value (Id_c + ΔIda) obtained by correcting the d-axis current command value Id_c by this correction value ΔIda and a detected value Id_s of the d-axis current = Id_c + ΔIda−Id_s (hereinafter referred to as d-axis current deviation ΔId)), a power control unit 65 for obtaining a correction value ΔIqa for correcting the q-axis current command value Iq_c, and a q-axis based on the correction value ΔIqa And an arithmetic unit 66 for obtaining a deviation ΔIq (= Iq_c + ΔIqa−Iq_s, hereinafter referred to as q-axis current deviation ΔIq) between the corrected current command value Iq_c (Iq_c + ΔIqa) and the detected value Iq_s of the q-axis current. In the present embodiment, Id_c + ΔIda and Iq_c + ΔIqa correspond to the target value of the d-axis current and the target value of the q-axis current, respectively.

  Here, in the current command calculation unit 62, a torque command value Tr_c given to the control device 50 from the outside, a speed detection value Nm_s obtained by the rotation speed calculation unit 51, and a Ke estimation unit 55 described later are obtained. The estimated value Ke_e of the actual induced voltage constant Ke of the electric motor 1 (hereinafter referred to as the induced voltage constant estimated value Ke_e) is input. Then, the current command calculation unit 62 determines the d-axis current command value Id_c and the q-axis current command value Iq_c from these input values based on a preset map. The d-axis current command value Id_c and the q-axis current command value Iq_c have meanings as feed-forward command values for the d-axis current and the q-axis current for generating the torque command value Tr_c on the output shaft 2 of the electric motor 1. Have.

  The torque command value Tr_c is determined in accordance with, for example, the accelerator operation amount (depressing amount of the accelerator pedal) and the traveling speed of a vehicle (hybrid vehicle or electric vehicle) equipped with the electric motor 1 as a propulsive force generation source. The torque command value Tr_c includes a power running torque command value and a regenerative torque command value, and these command values have different positive and negative polarities.

  The correction value ΔIda determined by the field control unit 63 is such that the magnitude of the combined vector of the d-axis armature voltage and the q-axis armature voltage is the power supply voltage Vdc of the motor 1 (more specifically, the inverter circuit This means an operation amount (feedback operation amount) of the d-axis current so as to be within a voltage circle corresponding to the power supply voltage). The correction value ΔIda includes a d-axis voltage command value Vd_c and a q-axis voltage command value Vq_c (values determined in the previous calculation processing cycle) determined by a current feedback control unit 67, which will be described later, and the value of the power supply voltage Vdc. It is decided according to. For example, depending on the deviation between the magnitude of the combined vector of Vd_c and Vd_q determined in the previous calculation processing cycle and the target value (radius of the voltage circle) determined according to the power supply voltage Vdc, an appropriate feedback control law is used. The correction value ΔIda is determined.

  Further, the correction value ΔIqa determined by the power control unit 65 is the effect of the temperature change of the permanent magnets 6 and 8 and the temperature change of the armature on the output torque of the electric motor 1 during the operation of the electric motor 1. It is for compensation. When the temperature of the permanent magnets 6 and 8 changes, generally, even if the inter-rotor phase difference θd is constant, the induced voltage constant Ke of the electric motor 1 changes, and the resistance of the armature winding also changes. For this reason, even if the q-axis current command value Iq_c is constant, the output torque of the electric motor 1 changes due to the temperature change of the permanent magnets 6 and 8 and the armature. Therefore, in this embodiment, this influence is compensated by the q-axis current correction value ΔIq_a. The q-axis current correction value ΔIq_a is the resistance of the armature winding estimated from the sampling value of the U-phase current detection value Iu_s or the W-phase current detection value Iw_s, or the induced voltage constant obtained by the Ke estimation unit 53 described later. It is determined based on the estimated value Ke_e and the like. The power control unit 65 may be omitted. In that case, in the processing of the calculation unit 66, the deviation (= Iq_c−Iq_s) between the q-axis current command value Iq_c and the q-axis current detection value Iq_s may be obtained as the q-axis current deviation ΔIq. .

  The energization control unit 52 further uses the d-axis armature voltage command value (target value of the d-axis voltage) according to the d-axis current deviation ΔId and the q-axis current deviation ΔIq obtained by the calculation units 64 and 66, respectively. A current feedback control unit (current FB control unit) 67 that determines a certain d-axis voltage command value Vd_c and a q-axis voltage command value Vq_c that is a voltage command value (q-axis voltage target value) of the q-axis armature is provided. . The current feedback control unit 67 determines the d-axis voltage command value Vd_c by a feedback control law such as a PI control law (proportional / integral control law) so that the deviation ΔId approaches 0 according to the d-axis current deviation ΔId. To do. Similarly, the current feedback control unit 67 determines the q-axis voltage command value Vq_c by a feedback control law such as a PI control law so that the deviation ΔIq approaches 0 according to the q-axis current deviation ΔIq.

  When determining the d-axis voltage command value Vd_c and the q-axis voltage command value Vq_c, the d-axis voltage command value and the q-axis voltage command respectively obtained from the d-axis current deviation ΔId and the q-axis current deviation ΔIq by the feedback control law. The d-axis voltage command value Vd_c and the q-axis voltage command value Vq_c can be obtained by adding a non-interference component for canceling the influence of the speed electromotive force that interferes between the d-axis and the q-axis to the value. preferable.

  Further, the energization control unit 52 calculates dq from the d-axis voltage command value Vd_c and the q-axis voltage command value Vq_c determined by the current feedback control unit 67 and the detected angle θm_s of the output shaft 2 of the electric motor 1 by the resolver 45. A dq-3 phase conversion unit 68 for obtaining phase voltage command values Vu_c, Vv_c, Vw_c of each phase of U phase, V phase, and W phase by -3 phase conversion, and according to these phase voltage command values Vu_c, Vv_c, Vw_c In addition, the armature winding of each phase of the electric motor 1 is provided with a PWM control unit 69 that energizes via an inverter circuit (not shown) by PWM control. In this case, the PWM control unit 69 energizes the armature windings of each phase by controlling ON / OFF of each switching element of the inverter circuit. In the dq-3 phase conversion, a set of the d-axis voltage command value Vd_c and the q-axis voltage command value Vq_c is converted into a conversion matrix corresponding to the detected angle value θm_s (more specifically, the rotation angle of the output shaft 2 in electrical angle). Is a process of converting into a set of phase voltage command values Vu_c, Vv_c, Vw_c.

  With the function of the energization control unit 52 described above, the output of the electric motor 1 while preventing the combined voltage of the d-axis voltage and the q-axis voltage from exceeding the target value (radius of the voltage circle) corresponding to the power supply voltage Vdc. The d-axis voltage command value Vd_c and the q-axis voltage command value Vq_c are set so that the torque generated on the shaft 2 (the output torque of the electric motor 1) follows the torque command value Tr_c (so that ΔId and ΔIq converge to 0). A set is determined. Then, in accordance with the d-axis voltage command value Vd_c and the q-axis voltage command value Vq_c, the energization current of each phase armature winding of the electric motor 1 is controlled.

  In addition to the rotation angle calculation unit 51 and the energization control unit 52, the control device 50 includes a phase difference command calculation unit 53 that determines a phase difference command value θd_c that is a target value of the inter-rotor phase difference θd of the electric motor 1. Further, the control device 50 determines from the U-V phase voltage detection value Vuv_s and the V-W phase voltage detection value Vvw_ by the voltage sensors 43 and 44 and the angle detection value θm_s of the output shaft 2 of the electric motor 1 by the resolver 45. Three-phase-dq conversion calculates a d-axis voltage detection value Vd_s as a detected value of the d-axis armature voltage and a q-axis voltage detection value Vq_s as a detected value of the q-axis armature voltage. a dq converter 54, a Ke estimator 55 for obtaining the induced voltage constant estimated value Ke_s, and a position for converting the induced voltage constant estimated value Ke_s into a phase difference estimated value θd_e as an estimated value of the actual inter-rotor phase difference θd. A phase difference estimation unit 56 and a phase difference control unit 57 that controls the phase difference change driving means 10 so that the phase difference estimation value θd_e matches the phase difference command value θd_c. Furthermore, the control device 50 includes an abnormality determination unit 58 that determines whether or not the phase difference change driving unit 10 is operating abnormally.

  Here, the three-phase-dq conversion of the three-phase-dq conversion unit 54 is a set of the interphase voltage between the U phase and the V phase, the interphase voltage between the V phase and the W phase, and the interphase voltage between the W phase and the U phase. This is a process of converting into a set of d-axis voltage and q-axis voltage by a conversion matrix according to the detected angle value θm_s (more specifically, the rotation angle of the output shaft 2 in electrical angle). In this case, the sum of the voltages of the armature windings of each phase of the U phase, V phase, and W phase is “0” (as a result, the interphase voltage between the U phase and the V phase, the interphase voltage between the V phase and the W phase, And that the sum of the interphase voltages between the W phase and the U phase is “0”), the three-phase-dq conversion of the three-phase-dq conversion unit 54 is given by the following equation (1).

  In Equation (1), θe is a rotation angle of the output shaft 2 in electrical angle (a value obtained by multiplying θm_s by the number of pole pairs of the electric motor 1).

  Supplementally, in the present embodiment, the three-phase-dq converter 54 and the voltage sensors 43 and 44 realize the voltage detection means in the present invention. In this embodiment, in order to obtain the d-axis voltage detection value Vd_s and the q-axis voltage detection value Vq_s, the interphase voltage between the U phase and the V phase and the interphase voltage between the V phase and the W phase are detected. The phase voltage between the U phase and the V phase, the phase voltage between the V phase and the W phase, and the phase voltage between the W phase and the U phase may be detected. Alternatively, all the interphase voltages of the interphase voltage between the U phase and the V phase, the interphase voltage between the V phase and the W phase, and the interphase voltage between the W phase and the U phase may be detected.

  In the present embodiment, the inter-rotor phase difference θd is used as the “characteristic parameter” in the present invention. Therefore, the phase difference command value θd_c determined by the phase difference command calculation unit 53 corresponds to the target value of the characteristic parameter in the present invention. The phase difference estimated value θd_e obtained by the phase difference estimating unit 56 corresponds to the estimated value of the characteristic parameter in the present invention. The Ke estimation unit 55 and the phase difference estimation unit 56 realize the characteristic parameter estimation unit in the present invention, and the phase difference command calculation unit 53 and the phase difference control unit 57 perform the rotor phase difference control unit in the present invention. Is realized. Furthermore, the abnormality determination part 58 implement | achieves the abnormality detection means in this invention.

  The torque command value Tr_c, the speed detection value Nm_s, and the value of the power supply voltage Vdc of the motor 1 are sequentially input to the phase difference command calculation unit 53. Then, the phase difference command calculation unit 54 sequentially determines the phase difference command value θd_c of the electric motor 1 according to a map set in advance from these input values Tr_c, Nm, and Vdc.

  In this case, for example, when the actual rotor phase difference θd of the electric motor 1 coincides with the phase difference command value θd_c determined by the map, the above map shows the torque command value Tr_c, the speed detection value Nm_s, and the power supply. While the magnitude of the combined voltage (vector sum) of the d-axis voltage and the q-axis voltage of the motor 1 is within a voltage circle corresponding to the power supply voltage Vdc, the motor 1 The energy efficiency (ratio of output energy to input energy) can be increased as much as possible.

  Here, in general, the smaller the induced voltage constant (in other words, the greater the inter-rotor phase difference θd), the more the output shaft 2 of the motor 1 can be rotated in a higher speed range. The region where the energy efficiency of the electric motor 1 is high can be shifted to the high speed rotation side. Further, the output torque of the electric motor 1 can be increased as the induced voltage constant is increased (in other words, the rotor phase difference θd is decreased). Accordingly, the phase difference command value θd_c may be set in consideration of the characteristics of the electric motor 1 as described above and the operation mode required of the electric motor 1, and various setting methods are possible.

  In the present embodiment, when the speed difference value Nm_s and the power supply voltage Vdc are constant in the phase difference command calculation unit 53, the phase difference command value θd_c is basically the absolute value of the torque command value Tr_c | The larger the Tr_c |, the smaller the value of θd_c (the larger the value of the induced voltage constant Ke corresponding to θd_c).

  Further, when the torque command value Tr_c and the power supply voltage Vdc are constant, the phase difference command value θd_c is basically a region where the speed detection value Nm_s becomes high, and the speed detection value Nm_s increases. , Θd_c is set to be large (so that the value of the induced voltage constant Ke corresponding to θd_c is small). Further, when the torque command value Tr_c and the speed detection value Nm_s are constant, the phase difference command value θd_c is basically set so that the value of θd_c increases as the value of the power supply voltage Vdc decreases (θd_c The corresponding induced voltage constant Ke is set to be small).

  Supplementally, when setting the phase difference command value θd_c, the phase difference command value θd_c may be set in consideration of a request for preventing the motor 1 from overheating.

  The Ke estimation unit 55 includes a d-axis voltage detection value Vd_s and a q-axis voltage detection obtained by the three-phase-dq conversion unit 54 as a plurality of state quantities of the electric motor 1 used for estimating the induced voltage constant Ke. Among the values Vq_s, the d-axis voltage detection value Vd_s, the d-axis current detection value Id_s and the q-axis current detection value Iq_s obtained by the three-phase-dq conversion unit 61, and the rotation speed calculation unit 51 The speed detection value Nm_s is sequentially input. Then, the Ke estimating unit 54 obtains an induced voltage constant estimated value Ke_e from these input values Vd_s, Id_s, Iq_s, and Nm_s.

  In FIG. 4, the q-axis voltage detection value Vq_s is input to the Ke estimation unit 55 as indicated by a dashed arrow, but this relates to a second embodiment to be described later. In the present embodiment, it is not necessary to input the q-axis voltage detection value Vq_s to the Ke estimation unit 55.

  Here, regarding the relationship among the d-axis voltage Vd, the q-axis voltage Vq, the d-axis current Id, the q-axis current Iq, and the induced voltage constant Ke of the electric motor 1, generally, the following relational expressions (2), (3) Is established. Is the rotational angular velocity at the electrical angle of the output shaft 2 of the motor 1, R is the resistance of the armature winding, Ld is the inductance of the d-axis armature (hereinafter referred to as d-axis inductance Ld), and Lq is the q-axis electric machine. This is the inductance of the child (hereinafter referred to as q-axis inductance Lq).

Vd = R · Id-ω · Lq · Iq (2)
Vq = Ke · ω + R · Iq + ω · Ld · Id (3)

The q-axis inductance Lq has a high correlation with the q-axis current Iq and the induced voltage constant Ke. Therefore, in the present embodiment, the Ke estimation unit 55 obtains the induced voltage constant Ke using the above formula (2) and the correlation between Lq, Iq, and Ke.

  Specifically, the Ke estimating unit 55 first obtains an estimated value of the q-axis inductance Lq by the following equation (4) obtained by modifying the equation (2).

Lq = (R · Id−Vd) / (ω · Iq) (4)

In this case, the Ke estimation unit 55 uses the input Vd_s, Id_s, and Iq_s as the values of Vd, Id, and Iq on the right side of the equation (4), respectively, and also uses the electric angular velocity (Nm_s as the electric motor) corresponding to the input Nm_s. The value obtained by multiplying the number of pole pairs of 1) as the value of ω on the right side of Equation (4) is used to calculate the right side of Equation (4). This expression (4) has a meaning as an arithmetic expression representing the correlation among Lq, Vd, Id, and Iq, and corresponds to the predetermined arithmetic expression in the second invention.

  In the present embodiment, a predetermined value (fixed value) is used as the value of R on the right side of Equation (4). However, the value of R may be estimated from the sampling value of the U-phase current detection value Iu_s or the W-phase current detection value Iw_s, for example.

  Next, the Ke estimation unit 55 calculates the estimated value of the q-axis inductance Lq obtained by the equation (4) as described above, and the input q-axis current detection value Iq_s (the same Iq_s as the value used in the equation (4)). From this, an induced voltage constant estimated value Ke_e is obtained based on a map (correlation data) predetermined as representing the correlation between these and the induced voltage constant Ke.

  The processing of the Ke estimation unit 55 described above is sequentially executed, and the induced voltage constant estimated value Ke_e is sequentially obtained.

  The induced voltage constant estimated value Ke_e obtained by the Ke estimating unit 55 as described above is sequentially input to the phase difference estimating unit 56. The phase difference estimator 56 receives the input induced voltage constant estimated value Ke_e based on a map (or an arithmetic expression) representing the relationship between the induced voltage constant Ke and the rotor phase difference θd shown in FIG. Is converted into a phase difference estimated value θd_e. Thereby, the phase difference estimated value θd_e is obtained sequentially.

  Note that the map (or arithmetic expression) representing the relationship between the induced voltage constant Ke and the inter-rotor phase difference θd and the map used in the Ke estimation unit 55 correspond to the correlation data in the second invention. It is.

  Supplementally, since the inter-rotor phase difference θd and the induced voltage constant Ke have a correlation as shown in the graph of FIG. 3, there is a relationship between the q-axis inductance Lq, the q-axis current Iq, and the inter-rotor phase difference θd. Also have a correlation. Therefore, the correlation is mapped and the phase difference estimated value θd_e is directly obtained from the estimated value of the q-axis inductance Lq and the input q-axis current detection value Iq_s based on the map. May be.

  The phase difference estimation value θd_e obtained by the phase difference estimation unit 56 as described above and the phase difference command value θd_c determined by the phase difference command calculation unit 53 are sequentially input to the phase difference control unit 57. The

  The phase difference control unit 57 applies a driving force applied between the rotors 3 and 4 from the phase difference change driving means 10 so that the phase difference estimated value θd_e matches the phase difference command value θd_c. By sequentially generating an actuator operation command as an operation amount (control input) that defines (torque) and outputting the actuator operation command to the actuator 11 of the phase difference change drive unit 10, the phase difference change drive unit 10 Control the behavior. In other words, the phase difference change driving means 10 is configured so that the torque necessary to match the phase difference estimated value θd_e with the phase difference command value θd_c is applied between the rotors 3 and 4 from the phase difference change driving means 10. Control the behavior.

  In this case, the phase difference control unit 57 generates an actuator operation command as follows, for example. That is, the phase difference control unit 57 sequentially obtains a deviation between the phase difference estimated value θd_e and the phase difference command value θd_c, and generates an actuator operation command from the deviation by a feedback control law such as a PI law.

  Instead of sequentially determining the phase difference command value θd_c, a command value (target value) of the induced voltage constant Ke corresponding to θd_c is sequentially generated, or the phase difference command value θd_c is induced according to the relationship of the graph of FIG. It is converted into a command value (target value) of the voltage constant Ke, and an actuator operation command is generated so that the induced voltage constant estimated value Ke_e obtained by the Ke estimating unit 55 matches the command value of the induced voltage constant Ke. May be. In this case, the phase difference estimation unit 56 is not necessary. The induced voltage constant Ke corresponds to the characteristic parameter in the present invention.

  Further, for example, the feedforward component of the actuator operation command determined according to the phase difference estimated value θe_e (or the induced voltage constant estimated value Ke_e) and the deviation (or induced) between the phase difference estimated value θd_e and the phase difference command value θd_c. The actuator operation command may be determined by adding the feedback component determined by the feedback control law according to the deviation between the voltage constant estimated value Ke_e and the command value of the induced voltage constant Ke).

  By the processing of the phase difference control unit 57 described above, the phase difference estimated value θd_e is matched with the phase difference command value θd_c, or the induced voltage constant estimated value Ke_e is induced voltage constant Ke corresponding to the phase difference command value θd_c. Actuator operation commands are sequentially generated so as to match the command values. The driving force (torque) applied between the rotors 3 and 4 from the phase difference change driving means 10 is controlled in accordance with the actuator operation command.

  In this case, the phase difference estimated value θe includes the d-axis current detection value Id_s and the q-axis current detection value Iq_s representing the actual d-axis current and the q-axis current, and the d-axis voltage detection value Vd_s representing the actual d-axis voltage. The rotor phase difference θd corresponding to the induced voltage constant estimated value Ke_e, which is an induced voltage constant estimated from the detected speed value Nm_s representing the actual rotational speed of the output shaft 2. For this reason, the phase difference estimated value θd_e, which is an estimated value of the inter-rotor phase difference θd, can be obtained with high accuracy without depending on variations in the characteristics of the switch elements included in the PWM control unit 69. As a result, the inter-rotor phase difference θd can be accurately controlled to the phase difference command value θd_c.

  In this way, the rotor phase difference θd is accurately controlled to a desired phase difference (a phase difference such that the actual induced voltage constant Ke becomes the target value of the induced voltage constant Ke corresponding to the phase difference command value θd_c). Therefore, the electric motor 1 can be operated efficiently, and the output torque of the electric motor 1 can be appropriately controlled to the target torque command value Tr_c by the energization control by the energization control unit 52 described above.

  In the present embodiment, the abnormality determination unit 58 obtains the d-axis voltage command value Vd_c and the q-axis voltage command value Vq_c determined by the current feedback control unit 67 and the three-phase-dq conversion unit 54. The detected d-axis voltage detection value Vd_s and q-axis voltage detection value Vq_s are sequentially input. Based on these input values, the abnormality determination unit 58 determines whether there is an abnormality in the phase difference change driving means 10 (in other words, an abnormality in the operation of changing the inter-rotor phase difference θd), and the determination result is determined. The abnormality determination information shown is output.

  Details of the abnormality determination unit 58 will be described below with reference to FIGS. FIG. 5 is a block diagram showing the processing function of the abnormality determination unit 58, and FIG. 6 is a flowchart showing the processing of the determination processing unit 58e shown in FIG.

  As shown in FIG. 5, the abnormality determination unit 58 includes a calculation unit 58a that calculates a deviation ΔVd between the d-axis voltage command value Vd_c and the d-axis voltage detection value Vd_s, a q-axis voltage command value Vq_c, and a q-axis voltage detection value Vq_s. From the calculation results of the calculation unit 58b for calculating the deviation ΔVq, the integrators 58c and 58d for integrating (accumulating and adding) the deviations ΔVd and Vq, and the calculation units 58a and 58b and the integrators 58c and 58d, respectively. It is comprised from the determination process part 58e which determines and outputs abnormality determination information.

  In this case, the determination processing unit 58e determines abnormality determination information by sequentially executing the processing shown in the flowchart of FIG. 6 at a predetermined calculation processing cycle.

  That is, the determination processing unit 58e has predetermined upper limits corresponding to the deviations ΔVd and ΔVq calculated by the calculation units 58a and 58b and the integrated values 積分 ΔVd and ∫ΔVq calculated by the integrators 58c and 58d, respectively. It is compared with the value, and it is determined whether or not it is larger than the upper limit value (STEP 1).

  At this time, if any of the deviations ΔVd, ΔVq and the integral values ∫ΔVd, ∫ΔVq is equal to or less than the upper limit value (when the determination result in STEP 1 is negative), the determination processing unit 58e further The deviations ΔVd and ΔVq and the integral values ∫ΔVd and ∫ΔVq are compared with the lower limit values determined in advance corresponding to the deviations, and it is determined whether or not they are smaller than the lower limit values (STEP 2).

  If the determination result in STEP 2 is negative, that is, the deviations ΔVd and ΔVq and the integral values ∫ΔVd and ∫ΔVq are all within an appropriate range between the corresponding upper limit value and lower limit value. If so, the determination processing unit 58 sets the abnormality determination information to information indicating no abnormality (STEP 6).

  On the other hand, when the determination result of STEP1 is affirmative (when any of deviations ΔVd, ΔVq and integral values ∫ΔVd, ∫ΔVq is larger than the upper limit value), or when the determination result of STEP2 is affirmative ( If any of deviations ΔVd, ΔVq and integral values ∫ΔVd, ∫ΔVq is smaller than the lower limit value), determination processing unit 58 determines whether the state has continued for a predetermined time or more (STEP 3). . When the determination result in STEP 3 is negative, a state in which any one of the deviations ΔVd, ΔVq and the integral values ∫ΔVd, ∫ΔVq deviates from the appropriate range to the upper limit value side or the lower limit value side exceeds a predetermined time, If it continues, the abnormality determination information is set to information indicating that abnormality is being detected (STEP 5).

  If the determination result in STEP 3 is positive, the determination processing unit 58 sets the abnormality determination information to information indicating the presence of abnormality (STEP 4).

  As described above, the abnormality determination information set by the determination processing unit 58e is output from the abnormality determination unit 58 to the outside.

  Here, when an operation abnormality of the phase difference change driving means 10 occurs and the inner rotor 3 cannot smoothly rotate relative to the outer rotor 4, the actual d-axis voltage with respect to the d-axis voltage command value Vd_c. There are many situations in which an error in (d-axis voltage detection value Vd_s) or an error in the actual q-axis voltage (q-axis voltage detection value Vq_s) with respect to the q-axis voltage command value Vq_c occurs constantly. For this reason, there are many situations where any one of the deviations ΔVd and ΔVq and the integral values ∫ΔVd and ∫ΔVq deviates from an appropriate range between the corresponding upper limit value and lower limit value. Therefore, the presence / absence of abnormality of the phase difference change drive unit 10 can be appropriately determined by the processing of the determination processing unit 58e.

  The abnormality determination information output by the abnormality determination unit 58 is used for controlling the operation of the electric motor 1. For example, when abnormality determination information indicating that an abnormality has occurred in the phase difference change drive unit 10 is output from the abnormality determination unit 58, the operation of the motor 1 is stopped or the output torque of the motor 1 is limited. Etc. are executed.

  Next, a second embodiment of the present invention will be described with reference to FIG. Note that this embodiment is different from the first embodiment only in the processing of the Ke estimation unit 55 and a part of the input to the Ke estimation unit 55, and therefore the same reference numerals as those in the first embodiment are used. Use and explain.

  Referring to FIG. 4, in this embodiment, Ke estimation unit 55 uses q-axis voltage detection value Vq_s as a three-phase-dq instead of d-axis voltage detection value Vd_s, as indicated by a dashed arrow in the figure. Input from the converter 54. Therefore, in the present embodiment, the Ke estimation unit 55 provides the d-axis voltage detection value obtained by the three-phase-dq conversion unit 54 as a plurality of state quantities of the electric motor 1 used for estimating the induced voltage constant Ke. Of the Vd_s and the q-axis voltage detection value Vq_s, the d-axis voltage detection value Vd_s, the d-axis current detection value Id_s and the q-axis current detection value Iq_s obtained by the three-phase-dq converter 61, and the rotation speed calculation The speed detection value Nm_s obtained by the unit 51 is sequentially input. Then, the Ke estimation unit 55 of the present embodiment obtains an induced voltage constant estimated value Ke_e from these input values.

  Here, the sum of the induced voltage constant Ke in Equation (3) and the product (= Ld · Id) of the d-axis inductance Ld and the d-axis current Id is set to Ψ. That is, Ψ is defined by the following equation (5).

Ψ≡Ke + Ld · Id (5)

In this case, the induced voltage constant Ke indicates the degree of the strength of the combined field magnetic flux by the permanent magnets 6 and 8 of both rotors 3 and 4, and Ld · Id is determined by energization of the armature winding of the motor 1. , Shows the degree of strength of magnetic flux (hereinafter referred to as winding current magnetic flux) generated in the direction of the synthetic field magnetic flux. Therefore, Ψ is an index indicating the degree of the strength of the total magnetic flux of the combined field magnetic flux and the winding current magnetic flux. Hereinafter, Ψ is referred to as a q-axis total magnetic flux amount. The q-axis total magnetic flux Ψ corresponds to an auxiliary parameter in the present invention.

  Since the d-axis inductance Ld in the equation (5) tends to change according to the d-axis current Id, the q-axis total magnetic flux Ψ is high between the induced voltage constant Ke and the d-axis current Id. Correlation. Therefore, in the present embodiment, the Ke estimation unit 55 obtains the induced voltage constant Ke using the equation (3) and the correlation between Ψ, Ke, and Id.

  Specifically, the Ke estimation unit 55 first obtains (estimates) the q-axis total magnetic flux amount Ψ by the following formula (6) obtained by applying the formula (5) to the formula (3).

Ψ = (Vq−R · Iq) / ω (6)

In this case, the Ke estimation unit 55 uses the input Vq_s and Iq_s as the values of Vq and Iq on the right side of the equation (6), respectively, and the electrical angular velocity corresponding to the input Nm_s (Nm_s is the number of pole pairs of the motor 1). Is used as the value of ω on the right side of equation (6), and the calculation of the right side of equation (6) is performed.

  In the present embodiment, a predetermined value (fixed value) is used as the value of R on the right side of Equation (6). However, the value of R may be estimated from the sampling value of the U-phase current detection value Iu_s or the W-phase current detection value Iw_s, for example. Expression (6) corresponds to the predetermined arithmetic expression in the third invention.

  Next, the Ke estimation unit 55 calculates the correlation between the estimated value of the q-axis total magnetic flux Ψ obtained by the equation (6) as described above and the input d-axis current detection value Id_s and the induced voltage constant Ke. An induced voltage constant estimated value Ke_e is obtained on the basis of a map predetermined as representing the relationship.

  In the present embodiment, the processing of the Ke estimation unit 55 described above is sequentially executed, and the induced voltage constant estimated value Ke_e is sequentially obtained. Supplementally, the map (or arithmetic expression) representing the relationship between the induced voltage constant Ke and the rotor phase difference θd described in the first embodiment and the map used by the Ke estimation unit 55 are the first This corresponds to the correlation data in the third invention.

  The configuration and processing other than those described above are the same as those in the first embodiment.

  In this embodiment as well, as described with respect to the first embodiment, instead of sequentially determining the phase difference command value θd_c, the command value (target value) of the induced voltage constant Ke corresponding to θd_c is sequentially generated, or The phase difference command value θd_c is converted into a command value (target value) of the induced voltage constant Ke according to the relationship of the graph of FIG. 3, and the induced voltage constant estimated value Ke_e obtained by the Ke estimating unit 55 is converted into a command of the induced voltage constant Ke. An actuator operation command may be generated so as to match the value. In this case, the phase difference estimation unit 56 is not necessary. The induced voltage constant Ke corresponds to the characteristic parameter in the present invention.

  In this embodiment as well, as in the first embodiment, the phase difference estimated value θd_e, which is an estimated value of the inter-rotor phase difference θd, does not depend on variations in the characteristics of the switch elements included in the PWM control unit 69. Can be obtained with high accuracy. As a result, the inter-rotor phase difference θd can be accurately controlled to the phase difference command value θd_c.

  Also, exactly the same as in the first embodiment, it is possible to accurately detect the presence / absence of an operation abnormality of the phase difference change driving means 10.

  Next, a third embodiment of the present invention will be described with reference to FIG. FIG. 7 is a block diagram showing the main configuration of the present invention. Since this embodiment is different from the first embodiment or the second embodiment only in the voltage detection means, the same parts as the first embodiment or the second embodiment are the same as those in the first embodiment or the second embodiment. The same reference numerals as in the embodiment are used to omit the description. Further, in the electric motor 1 in FIG. 7, illustration of the phase difference changing drive means 10 and the rotors 3 and 4 is omitted, and U-phase, V-phase, and W-phase armature windings 1u, 1v, and 1w are illustrated. .

  Referring to FIG. 7, in this embodiment, armature windings of two phases out of U-phase, V-phase, and W-phase armature windings 1u, 1v, 1w, for example, U-phase armature windings Voltage sensors 43 ′ and 44 ′ for detecting the voltages of 1u and the V-phase armature winding 1v are provided, and voltage detection values by these voltage sensors 43 ′ and 44 ′ are input to the control device 50 ′. It is like that. Hereinafter, the voltages detected by the voltage sensors 43 ′ and 44 ′ are referred to as a U-phase voltage detection value Vu_s and a V-phase voltage detection value Vv_s, respectively.

  Then, the control device 50 ′ in the present embodiment uses the U-phase voltage detection value Vu_s, the V-phase voltage detection value Vv_s, and the angle detection value θm_s of the output shaft 2 of the electric motor 1 by the resolver 45 to obtain a three-phase-dq. A three-phase-dq converter 54 ′ that calculates the d-axis voltage detection value Vd_s and the q-axis voltage detection value Vq_s by conversion is provided. In the present embodiment, the three-phase-dq converter 54 ′ and the voltage sensors 43 ′ and 44 ′ realize the voltage detection means in the present invention.

  In this case, the three-phase-dq conversion of the three-phase-dq conversion unit 54 ′ is performed by converting the voltage set of the U-phase, V-phase, and W-phase armature windings into an angle detection value θm_s (more specifically, an electrical angle This is a process of converting into a set of d-axis voltage and q-axis voltage by a conversion matrix corresponding to the rotation angle of the output shaft 2). In this case, considering that the sum of the voltages of the armature windings of the U-phase, V-phase, and W-phase is “0”, the 3-phase-dq conversion of the 3-phase-dq conversion unit 54 ′ is Is given by the following equation (7).

  In Equation (7), θe is a rotation angle of the output shaft 2 in electrical angle (a value obtained by multiplying θm_s by the number of pole pairs of the electric motor 1).

  Supplementally, in this embodiment, in order to obtain the d-axis voltage detection value Vd_s and the q-axis voltage detection value Vq_s, the U-phase voltage and the V-phase voltage are detected. Either one of the phase voltages of the phase and the voltage of the W phase may be detected. Alternatively, all voltages of the U-phase, V-phase, and W-phase voltages may be detected.

  Configurations and processes other than those described above are the same as those in the first embodiment or the second embodiment.

  In this embodiment as well, as in the first embodiment, the phase difference estimated value θd_e, which is an estimated value of the inter-rotor phase difference θd, does not depend on variations in the characteristics of the switch elements included in the PWM control unit 69. Can be obtained with high accuracy. As a result, the inter-rotor phase difference θd can be accurately controlled to the phase difference command value θd_c.

  Also, exactly the same as in the first embodiment, it is possible to accurately detect the presence / absence of an operation abnormality of the phase difference change driving means 10.

  In the first embodiment or the third embodiment, the equation (4) is fixed to the equation obtained by converting the equation (4) into a relational equation including each phase current and phase voltage, or to the stator 5 of the electric motor 1. Alternatively, the q-axis inductance Lq may be estimated by using an expression obtained by converting the relational expression including voltage and current in a so-called α-β coordinate system as a stationary coordinate system. Similarly, in the second embodiment or the third embodiment, the equation (6) is converted into a relational equation including each phase current and phase voltage, or fixed to the stator 5 of the electric motor 1. The q-axis total magnetic flux amount Ψ may be estimated using an expression obtained by converting the relational expression including the voltage and current in the so-called α-β coordinate system as the stationary coordinate system.

  In the above embodiments, the rotors 3 and 4 are non-salient pole type rotors, but may be salient pole type rotors.

The figure which looked at the important section of the electric motor in the embodiment of the present invention in the axial center direction of the electric motor. 2A shows a phase relationship between the inner rotor and the outer rotor in the maximum field state, and FIG. 2B shows a phase relationship between the inner rotor 4 and the outer rotor 3 in the field minimum state. Figure. The graph which illustrates the relationship between the induced voltage constant of the electric motor of an embodiment, and the phase difference between rotors. The block diagram which shows the functional structure of the control apparatus which performs operation | movement control of the electric motor and phase difference change drive means in 1st Embodiment of this invention. The block diagram which shows the functional structure of the abnormality determination part shown in FIG. The flowchart which shows the process of the determination process part shown in FIG. The block diagram which shows the principal part structure of 2nd Embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Electric motor, 2 ... Output shaft, 3 ... Outer rotor, 4 ... Inner rotor, 6, 8 ... Permanent magnet, 10 ... Phase difference change drive means, 41, 42 ... Current sensor (current detection means), 43, 44, 43 ', 44' ... voltage sensor (voltage detection means), 50, 50 '... control device, 52 ... energization control section (energization control means), 53 phase difference command calculation section (rotor phase difference control means), 54, 54 '... 3-phase-dq converter (voltage detection means), 55 ... Ke estimation part (characteristic parameter estimation means), 56 ... phase difference estimation part (characteristic parameter estimation means), 57 ... phase difference control part (inter-rotor position) (Phase difference control means), 58... Abnormality determination section (abnormality detection means), 61... Three-phase-dq conversion section (current detection means).
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Claims (4)

A first rotor and a second rotor, each having a permanent magnet for generating a field magnetic flux, and an output shaft rotatable integrally with the first rotor of the two rotors are coaxially provided, and the second rotor includes the A phase difference change drive that changes the phase difference between the two rotors by applying a driving force between the two motors and a motor that is provided to be relatively rotatable with respect to the first rotor. An estimated voltage constant of the motor as a characteristic parameter of the motor or an actual value of a phase difference between the rotors, and using the estimated value of the characteristic parameter, the motor system A control device for controlling the operation of
Current detection means for detecting the current of the armature winding of the motor;
Voltage detection means for detecting the voltage of the armature winding of the motor;
Rotation speed detection means for detecting the rotation speed of the output shaft;
Characteristic parameter estimating means for obtaining an estimated value of the characteristic parameter based on outputs of the current detecting means, the voltage detecting means and the rotation speed detecting means ,
The current of the armature winding detected by the current detecting means includes d-q where the direction of the field magnetic flux generated by the permanent magnets of the two rotors is d-axis and the direction perpendicular to the d-axis is q-axis. In addition to the d-axis current and the q-axis current in the coordinate system, the voltage of the armature winding detected by the voltage detection means includes the d-axis voltage in the dq coordinate system,
The characteristic parameter estimation means includes
From the respective detected values of the d-axis current and q-axis current by the current detecting means, the detected value of the d-axis voltage by the voltage detecting means, and the detected value of the rotational speed of the output shaft by the rotational speed detecting means, Correlation between the q-axis inductance, which is the inductance of the armature winding on the q-axis in the dq coordinate system, the d-axis current, the q-axis current, the d-axis voltage, and the rotation speed of the output shaft. Means for obtaining an estimated value of the q-axis inductance based on a predetermined arithmetic expression representing the relationship;
Based on the estimated value of the q-axis inductance and the detected value of the q-axis current by the current detection unit, based on predetermined correlation data representing a correlation between the characteristic parameter, the q-axis inductance, and the q-axis current, A control device for an electric motor system, comprising: means for obtaining an estimated value of the characteristic parameter . A first rotor and a second rotor, each having a permanent magnet for generating a field magnetic flux, and an output shaft rotatable integrally with the first rotor of the two rotors are coaxially provided, and the second rotor includes the A phase difference change drive that changes the phase difference between the two rotors by applying a driving force between the two motors and a motor that is provided to be relatively rotatable with respect to the first rotor. An estimated voltage constant of the motor as a characteristic parameter of the motor or an actual value of a phase difference between the rotors, and using the estimated value of the characteristic parameter, the motor system A control device for controlling the operation of
Current detection means for detecting the current of the armature winding of the motor;
Voltage detection means for detecting the voltage of the armature winding of the motor;
Rotation speed detection means for detecting the rotation speed of the output shaft;
Characteristic parameter estimating means for obtaining an estimated value of the characteristic parameter based on outputs of the current detecting means, the voltage detecting means and the rotation speed detecting means ,
The current of the armature winding detected by the current detecting means includes d-q where the direction of the field magnetic flux generated by the permanent magnets of the two rotors is d-axis and the direction perpendicular to the d-axis is q-axis. The d-axis current and the q-axis current in the coordinate system are included, and the voltage of the armature winding detected by the voltage detection unit includes the q-axis voltage in the dq coordinate system,
The characteristic parameter estimation means includes
From the detected value of the q-axis current by the current detecting means, the detected value of the q-axis voltage by the voltage detecting means, and the detected value of the rotational speed of the output shaft by the rotational speed detecting means, the dq coordinate system An auxiliary parameter representing the sum of the product of the d-axis inductance, which is the inductance of the armature winding on the d-axis, and the d-axis current, and the induced voltage constant of the motor, the q-axis voltage, and the q Means for obtaining an estimated value of the auxiliary parameter based on a predetermined arithmetic expression representing a correlation between a shaft current and a rotation speed of the output shaft;
Based on the estimated value of the auxiliary parameter and the detected value of the d-axis current by the current detection means, based on predetermined correlation data representing a correlation between the characteristic parameter, the auxiliary parameter, and the d-axis current, the characteristic An apparatus for controlling an electric motor system, characterized in that it comprises means for obtaining an estimated value of a parameter . In the control device of the electric motor system according to claim 1 or 2 ,
The voltage of the armature winding is pre SL voltage detecting means for detecting, includes a d-axis voltage and the q-axis voltage in the d-q coordinate system,
While setting the respective target values of the d-axis current and the q-axis current, the d-axis current detection value and the q-axis current detection value by the current detection means are matched with the respective target values. Energization control means for determining target values of the axial voltage and the q-axis voltage, and controlling energization of the armature winding of the motor according to the target values of the d-axis voltage and the q-axis voltage;
An inter-rotor phase difference control unit configured to set a target value of the characteristic parameter and control the phase difference change driving unit so as to match the estimated value of the characteristic parameter with the target value;
A d-axis voltage deviation that is a deviation between the target value of the d-axis voltage and the detected value of the d-axis voltage, and a q-axis voltage deviation that is a deviation between the target value of the q-axis voltage and the detected value of the q-axis voltage. And an abnormality detecting means for detecting whether or not the phase difference change driving means is operating abnormally based on at least one of the deviations. In the control apparatus of the electric motor system according to claim 3 ,
The abnormality detection means has at least one of the d-axis voltage deviation, the integrated value of the d-axis voltage deviation, the q-axis voltage voltage deviation, and the integrated value of the q-axis voltage deviation within a predetermined range. A control device for an electric motor system that detects that an operation abnormality of the phase difference change driving means has occurred when a state deviating from the state continues for a predetermined time or more.