JP5174617B2 - Rotating electrical machine device and control device thereof - Google Patents

Description

  The present invention relates to a rotating electrical machine device and a control device thereof, and typically relates to a technique for improving controllability of the rotating electrical machine.

  As background art relating to control of a rotating electrical machine, for example, control techniques disclosed in Patent Documents 1 to 4 have been known for some time. For example, in Patent Document 1, a rotational speed, a DC voltage, a motor temperature, and a torque command are input, a phase correction amount of a rectangular wave is determined according to the input, and a switching command is determined according to the determined phase correction amount. A technique for controlling the operation of the rotating electrical machine by outputting a switching pattern in three stages is disclosed. Thereby, in the control technique disclosed in Patent Document 1, the operating area of the rotating electrical machine is expanded to a higher speed side.

JP 2007-159353 A JP 2007-322435 A JP 2007-174766 A Japanese Patent No. 3517405

  The rotating electrical machine has a plurality of operation modes such as a power running mode, a power generation mode, a switching mode for switching between the power running mode and the power generation mode, and a stop mode. In order to improve the controllability of the rotating electrical machine, fine control is required in each of these operation modes. In this regard, the background art disclosed in Patent Document 1 does not consider fine control in each of these operation modes, and there is no switching mode for switching between the power running mode and the power generation mode, for example.

  A representative one of the present invention provides a rotating electrical machine apparatus and a control apparatus for the same that can improve the controllability of the rotating electrical machine more than ever.

  Here, a representative example of the present invention is to control the switching operation of the switching semiconductor element of the power conversion device for controlling the power input / output to / from the rotating electrical machine based on the switching command, and to generate the switching command. A plurality of mode state quantities for obtaining the switching pattern information necessary for each are set individually for each operation mode of the rotating electrical machine, the mode state quantity is obtained for each operation mode, and the obtained mode state quantity is A switching command is generated based on this.

  According to the representative aspect of the present invention, since the rotating electrical machine can be finely controlled for each operation mode of the rotating electrical machine, the controllability of the rotating electrical machine can be improved more than ever.

  Examples of the present invention will be described below.

  In the following embodiments, the present invention is mechanically connected via a belt to a motor generator drive system of a vehicle, particularly an engine that is an internal combustion engine of the vehicle, and the engine is stopped when the engine is started, particularly when the vehicle is stopped. When the vehicle is started, the engine is restarted (during idle stop operation), and the rotating electrical machine is operated as an electric motor to supply the driving force to the engine. A low-voltage motor having a function of supplying a power to a vehicle-mounted electrical load while charging a battery as a power source of a rotating electric machine, for example, a lead battery having a nominal output voltage of 12 volts and a voltage of 12 volts. A case where the present invention is applied to a generator drive system will be described as an example.

  In the motor generator drive system, in addition to the engine restart described above, the vehicle is driven by adding the driving force obtained by operating the rotating electric machine as an electric motor to the driving force of the engine during high load operation such as acceleration of the vehicle. Torque assist operation can be performed.

  In a low-voltage motor generator drive system, a power converter and a control device can be integrated (mechanical integration) with respect to a rotating electrical machine. In this way, the motor generator driving system integrated (mechanical integration) may be referred to as an integrated starter generator (ISG).

  As a power source for the motor generator driving system, a lead voltage, a lithium ion battery or a nickel metal hydride battery having a higher voltage than the above-described system, for example, a nominal output voltage of 36 volts of 42 volts, or a higher voltage, for example, a nominal output voltage of 100 volts or more A lead battery, a lithium ion battery or a nickel metal hydride battery can also be used. In the high-voltage motor generator drive system, it is possible to perform an electric running (EV (electric vehicle) running) driving that drives the vehicle using only the driving force obtained by operating the rotating electrical machine as an electric motor.

  Vehicles are heavier than ordinary vehicles, such as hybrid vehicles with engines and motors as power sources, ordinary vehicles such as electric vehicles with motors as the only power source, buses (passenger vehicles), trucks (cargo vehicles), etc. There are special vehicles equipped with equipment necessary for work, such as large large vehicles, railway vehicles such as hybrid trains, forklift trucks used for loading and unloading work, and vehicles used for civil engineering and construction work. In the following embodiments, a simple hybrid vehicle having an idle stop power transfer mode will be described as an example.

  The configuration of the embodiment described below is a motor drive system different from the motor generator drive system of the vehicle, such as an industrial motor drive system used for driving factory equipment and a home motor used for driving household electrical appliances. You may apply to a drive system. In particular, it is suitable for a system having a plurality of operation modes and requiring improved controllability of the motor.

  When the vehicle stops due to a red light, etc., the engine stops according to the amount of depression of the driver's brake pedal, and when the vehicle starts again due to a green light, the engine stops according to the amount of depression of the driver's accelerator pedal. This is one of the driving modes of the vehicle that restarts the vehicle. In a simple hybrid vehicle equipped with such an operation mode, it is possible to expect an improvement in fuel consumption by idling the engine, and to reduce the influence of engine exhaust on global warming.

  A motor generator drive system mounted on a simple hybrid vehicle having an idle stop operation mode function can be realized by adding a function of an electric motor to a generator that is conventionally mounted for charging a battery. Specifically, a power conversion device (inverter device) capable of performing both orthogonal and AC power conversion by switching operation of the switching semiconductor element, and a control device for controlling the switching operation of the switching semiconductor element are provided, and the generator is used as an electric motor. This can be realized by driving. Thus, in the motor generator drive system, a function as an electric motor that supplies rotational power for restarting the engine, and a function as a generator that supplies electric power for charging a battery and driving auxiliary equipment, Since it is integrated, a small space-saving can be realized. Further, in the low voltage system motor generator drive system, the power conversion device and the control device can be integrated (mechanical integration) with respect to the rotating electrical machine that operates as an electric motor and a generator. it can.

  For driving control of the switching semiconductor element of the motor generator driving system described above, it is preferable to employ a rectangular wave driving method. In the rectangular wave drive system, a rotating electric machine can reduce the number of capacitors for smoothing the voltage on the DC side of the power conversion circuit (main circuit) constituted by switching semiconductor elements, or can employ a small capacitor with a small capacity. There is a feature that the number of sensors for detecting an alternating current and a direct current input / output to / from the slave winding can be reduced, switching can be controlled by a simple method, and the energization width of the rectangular wave can be arbitrarily controlled. In addition, since the rectangular wave drive method has fewer switching times than the PWM (Pulse Width Modulation) drive method, the switching loss can be reduced, and the calculation processing required for switching control is small, so an inexpensive control device can be realized. There is a feature.

  According to the motor generator drive system described above, the reduction or miniaturization of components by devising the control method, the adoption of an inexpensive control device, simple switching control, the integration of multiple functions, and the integration of components make it possible to reduce the size. There is an advantage that the cost can be reduced and the vehicle mountability can be improved by making space.

  However, in the motor generator drive system, as described above, two functions with different operating conditions of starting and power generation are integrated into one device. It is not easy to design a magnetic circuit of a rotating electrical machine. In the motor generator drive system, a large torque is generated when the engine is restarted, so that a large starting current flows from the battery. On the other hand, in the motor generator drive system, the induced voltage increases because power is rotated to the maximum engine speed. For this reason, in the motor generator drive system, it is necessary to cope with the starting current and the induced voltage. In order to solve these problems in each operation mode, it is not sufficient to devise the number of turns of the field winding and armature winding of the rotating electrical machine, and the control method is optimized according to the operation mode. There is a need.

  By inputting this point, rotational speed, DC voltage, motor temperature, torque command, determining the rectangular wave phase correction amount based on the input, and outputting the switching command based on the determined phase correction amount, In the conventional technique disclosed in Japanese Patent Application Laid-Open No. 2007-159353, which extends the operation area of the motor generator drive system to a higher speed side, the operation mode is roughly divided into a power generation state and an assist state. For this reason, there is a limit to the situation that can be dealt with in the conventional technology, and for example, it is not possible to deal with an overvoltage failure due to a DC voltage jump in the switching mode in which the restart mode is switched to the power generation mode.

  Therefore, in the embodiments described below, overcurrent and torque pulsation in the restart mode, overvoltage and overcurrent in the switching operation mode for switching from the restart mode to the power generation mode, an increase in the induced voltage in the power generation mode, etc. are supported. As a result, fine control can be realized for each operation mode of the motor generator drive system. Specifically, the switching operation of the switching semiconductor element is set in a plurality of patterns, and reference data for obtaining the switching pattern is required for each operation mode for each operation mode. A control device with input parameters as arguments is provided to enable fine control for each operation mode. According to the above-described control device, controllability can be improved and calculation processing time can be shortened.

  When the operation mode is the restart mode, the control device acquires reference data for the restart mode based on the piston position of the engine and the rotational speed of the engine, and acquires a switching pattern based on the acquired reference data. Since the switching operation of the switching semiconductor element is controlled based on the acquired switching pattern, the rotational speed (rotational speed) pulsation caused by the torque pulsation generated by the engine can be suppressed. Further, when the operation mode is the switching mode in which the restart mode is switched to the power generation mode, the control device acquires reference data corresponding to the switching mode based on the direct current voltage of the battery and the engine rotation speed, and acquires the reference data. Since the switching pattern is acquired based on the obtained reference data and the switching operation of the switching semiconductor element is controlled based on the acquired switching pattern, the jump of the DC voltage of the battery can be suppressed. Even when the operation mode is the power generation mode, the assist mode, the switching mode for switching from the power generation mode to the assist mode, and the switching mode for switching to the stop mode, as in the case described above, based on the input parameters corresponding to each operation mode, By acquiring reference data corresponding to each operation mode, acquiring a switching pattern based on the acquired reference data, and controlling the switching operation of the switching semiconductor element based on the acquired switching pattern, the DC voltage of the battery DC current jumps, rotation speed (rotation speed) pulsation, etc. can be suppressed.

  Embodiments of the present invention will be specifically described below with reference to the drawings.

  First, the configuration of a simple hybrid vehicle 1 equipped with a motor generator drive system 100 will be described with reference to FIG.

  The hybrid vehicle 1 of the present embodiment uses an engine 2 that is an internal combustion engine as a drive source of the vehicle. The rotational driving force (engine torque) output from the engine 2 is transmitted to the axle 4 through a plurality of power transmission mechanisms (automatic transmission 3, differential gear 8, etc.). As a result, drive wheels (for example, front wheels) 5 attached to both ends of the axle 4 are driven, and the hybrid vehicle 1 travels. In this embodiment, a gasoline engine is mounted as the engine 2, but another engine such as a diesel engine, a natural gas engine, or a hydrogen engine may be mounted as a drive source. In this embodiment, the driving wheel 5 is the front wheel, but the rear wheel may be driven.

  A motor generator drive system 100 is disposed in the vicinity of the engine 2 (one side surface of the casing of the engine 2). The motor generator drive system 100 includes a motor generator 200, an inverter device 300, a motor generator control device 400, and a field controller 500 as main component devices. The inverter device 300, the motor generator control device 400, and the field controller 500 are integrated (mechanical integration) with respect to the motor generator 200. In other words, the motor generator drive system 100 has been added with an inverter device and a control device that controls the alternator mounted on the vehicle as a power generation device for charging the battery 7 so that the alternator can be motored. Yes, the engine 2 functions as a motor when the engine 2 that has been idle-stopped is restarted (the engine 2 is started in a state where the engine 2 is warm), or when driving of the vehicle by the engine 2 is assisted.

  The engine 2 is equipped with a rotating electrical machine device called a starter so that rotational power can be transmitted to the engine 2. The starter is a starting device used when starting the engine 2 in a state where the engine 2 is cold, and uses a battery 7 as a DC power source as a driving power source.

  The motor generator 200 is a rotating electric machine including an armature (stator in this embodiment) 210 and a field pole (rotor in this embodiment) 220 arranged to face the armature (stator in this embodiment). The rotating shaft is fixed to one side of the housing, and is mechanically connected to the crankshaft of the engine 2 via a belt 6 that is a coupling means. Thereby, rotational power (torque) can be exchanged between motor generator 200 and engine 2, and rotational power can be transmitted from motor generator 200 to engine 2 during power running and from engine 2 to motor generator 200 during power generation. In this embodiment, the belt 6 is used as the coupling means, but a chain, a gear or the like may be used as the coupling means.

  The inverter device 300, the motor generator control device 400, and the field controller 500 are formed in a room different from the machine room in which the armature 210 and the field 220 are housed, that is, the electric machine formed adjacent to the machine room in the axial direction. It is stored in the room. Thereby, the inverter apparatus 300, the motor generator control apparatus 400, and the field controller 500 can be integrated (mechanical integration) with respect to the motor generator 200. According to such an integrated configuration, the motor generator drive system 100 can be reduced in size and space, and vehicle mountability can be improved and costs can be reduced.

  The inverter device 300 is a power conversion device that converts electric power from direct current to alternating current and alternating current to direct current by a switching operation of the switching semiconductor element. The power semiconductor module 310 and the switching semiconductor element mounted on the power module 310 are converted into a motor generator control device. A driving circuit 330 that is driven based on a command signal from 400 and an electrolytic capacitor 320 that is electrically connected in parallel to the DC side of the power module 310 and smoothes the DC voltage are provided.

  The AC side of the power module 310 is electrically connected to the armature 210. A battery 7 is electrically connected to the DC side of the power module 310. Thus, the motor generator drive system 100 uses the battery 7 as a power source. The battery 7 is a power storage device with a nominal output voltage of 12 volts that constitutes a 14-volt in-vehicle DC power supply. The battery 7 supplies DC power to an electric load such as an auxiliary machine of a vehicle and the motor generator drive system 100, and to a motor generator. It is charged by the drive system 100. In this embodiment, the power source of the motor generator driving system 100 is the battery 7. However, a power storage device different from the battery 7, for example, a device having a capacity such as an electric twentieth capacitor is used as the power source of the motor generator driving system 100. It doesn't matter. Further, a hybrid power source may be configured by the battery 7 and a device having capacity, and this may be used as a power source for the motor generator driving system 100.

  Reference numeral 9 denotes an engine control device. The engine control device 10 controls the driving of air throttle valves, fuel injection valves, intake / exhaust valves and the like, which are component devices of the engine 2, and outputs a switching command signal to the field controller 500 to switch the field controller 500. The electronic circuit device controls the operation and controls the field current supplied to the field winding 221.

  Reference numeral 10 denotes a voltage sensor. The voltage sensor 10 is an electronic device for detecting the input / output voltage of the battery 7.

  Reference numeral 600 denotes a magnetic pole position sensor. The magnetic pole position sensor 600 is an electronic device for detecting the magnetic pole position of the field 220 and the rotation speed of the field 220. Examples of the magnetic pole position sensor 600 include a sensor using a magnetic sensitive element such as a resolver, an encoder, and a Hall element, and a sensor that estimates a magnetic pole position from electrical characteristics such as an induced voltage. Any of these may be used.

  Next, the electrical circuit configuration of the motor generator drive system 100 will be specifically described with reference to FIG.

  The motor generator 200 includes an armature (stator) having an armature winding 211 in which U-phase, V-phase, and W-phase windings 211U, 211V, and 211W wound around an iron core are Y-connected. 210 and a field element (rotor) 220 having a field winding 221 wound around a magnetic core, and an armature 210 and a field element that generate a rotating magnetic field by receiving supply of three-phase AC power during powering The magnetic field 220 causes the field 220 to rotate in synchronization with the rotational speed of the rotating magnetic field, and the field magnetic flux of the field 220 is linked to the armature winding 211 by the rotation of the field 220 during power generation. Is a winding field type three-phase AC synchronous machine that generates three-phase AC power and outputs it from the armature winding 211. In this embodiment, the armature winding 211 is constituted by a three-phase winding, but may be constituted by other multi-phase windings such as two-phase or six-phase. In this embodiment, a wound field type three-phase AC synchronous machine is used as the motor generator 200. However, other AC rotating electric machines such as a permanent magnet field synchronous machine and an induction motor may be used. . Further, in this embodiment, the armature winding 211 is configured by Y connection, but may be configured by Δ (delta) connection.

  A field controller 500 is electrically connected to the field winding 221. The field controller 500 is a controller that is electrically connected to the battery 7 and controls the field current supplied from the battery 7 by the switching operation of the switching semiconductor element and supplies it to the field winding 221. Output from the engine control unit 9 so that a target charging voltage (constant voltage) is supplied from the armature winding 211 to the battery 7 during power generation so that a necessary torque is output during assisting and braking (stopping). The field current is controlled based on the switching command signal. Between the field controller 500 and the field winding 221, a brush 222 that is electrically connected to the field controller 500 and a slip ring 223 that is electrically connected to the field winding 221 are provided. Both the brush 222 and the slip ring 223 are in sliding contact with each other. Thereby, a field current can be exchanged between the rotating field winding 221 and the field controller 500.

  In this embodiment, a switching command for the field controller 500 is output from the engine control device 9, but the switching command is input to and output from the rotational speed of the motor generator 200 and the battery 7 (inverter device 300). One or more of a plurality of parameters including a voltage, an energization width of a voltage applied to the armature winding 211 of the motor generator 200, and a voltage phase of the voltage applied to the armature winding 211 of the motor generator 200 are used. The motor generator control device 400 may generate the signal and output the motor generator control device 400 to the field controller 500. In this case, it is possible to set a table in which one or more of the plurality of parameters are arguments (reference parameters) in the storage unit 420, which will be described later, and to issue a switching command based on data obtained from the set table. preferable.

  The armature winding 211 is electrically connected to the AC side terminal of the power module 310. The power module 310 includes six switching semiconductor elements 311U, 311V, 311W, 312U, 312V, and 312W, and constitutes a power conversion circuit (main circuit) that converts power from direct current to alternating current and from alternating current to direct current. That is, for each phase, switching semiconductor elements 311U, 311V, 311W (source electrodes) constituting the upper arm and switching semiconductor elements 312U, 312V, 312W (drain electrodes) constituting the lower arm are electrically connected in series. The power conversion circuit is configured by configuring a series circuit called an arm and further connecting three-phase series circuits in parallel (three-phase bridge connection). In this embodiment, a MOSFET (metal oxide semiconductor field effect transistor) is used as the switching semiconductor element. An IGBT (insulated gate bipolar transistor) may be used as the switching semiconductor element.

  In this embodiment, the power conversion circuit is configured by a three-phase bridge circuit in accordance with the number of phases of the armature winding 211. However, when the armature winding 211 has two phases, a six-phase is formed by a two-phase bridge. In this case, a power conversion circuit is constituted by a six-phase bridge.

  In addition, when the current flowing through each arm is large, each arm is configured by connecting two or more switching semiconductor elements in parallel to distribute the current flowing through the switching semiconductor elements and to reduce the current flowing through each arm. do it.

  The MOSFET has a configuration in which a diode is electrically connected in antiparallel to the drain electrode and the source electrode of the switching semiconductor element. For this reason, a diode is electrically connected in antiparallel between the drain electrode and the source electrode of each switching semiconductor element, thereby forming a rectifier circuit.

Switching semiconductor element 311U Diode 313U
Switching semiconductor element 312U Diode 314U
Switching semiconductor element 311V Diode 313V
Switching semiconductor element 312V Diode 314V
Switching semiconductor element 311W Diode 313W
Switching semiconductor element 312W Diode 314W

  When an IGBT is used as the switching semiconductor element, it is necessary to separately connect a diode element between the collector electrode and the emitter electrode in antiparallel.

  If it is the middle point of each arm, that is, the U-phase arm, the U-phase winding 211U of the armature winding 211 is electrically connected to the connection point between the source electrode of the switching semiconductor element 311U and the drain electrode of the switching semiconductor element 312U. Connected. Similarly, the V-phase winding 211V of the armature winding 211 is electrically connected to the midpoint of the V-phase arm. The W-phase winding 211W of the armature winding 211 is electrically connected to the middle point of the W-phase arm.

  The positive electrode side of the battery 7 is electrically connected to one end side of the power conversion circuit (bridge circuit), that is, the drain electrodes of the switching semiconductor elements 311U, 311V, and 311W. The negative electrode side of the battery 7 is electrically connected to the other end side of the power conversion circuit (bridge circuit), that is, the source electrodes of the switching semiconductor elements 312U, 312V, and 312W. Electrolytic capacitors 320 are electrically connected in parallel to both ends of the power conversion circuit (bridge circuit). The electrolytic capacitor 320 smoothes the DC voltage applied to both ends of the power conversion circuit (bridge circuit) from the battery 7 or the DC voltage applied to the battery 7 from both ends of the power conversion circuit (bridge circuit).

  A gate drive signal output from the drive circuit 330 is supplied to each gate electrode of the six switching semiconductor elements 311U, 311V, 311W, 312U, 312V, and 312W. Thereby, each of the six switching semiconductor elements 311U, 311V, 311W, 312U, 312V, 312W performs a switching operation. Drive circuit 330 generates a gate drive signal based on a switching command signal output from motor generator control device 400.

  The motor generator control device 400 has a plurality of input parameters including a torque command signal and piston position signal output from the engine control device 9, a rotation signal output from the magnetic pole position sensor 600, and a voltage signal output from the voltage sensor 10. A corresponding signal is input as an input signal for controlling motor generator 200, a switching command input to drive circuit 330 is calculated, and a signal corresponding to the command is output to drive circuit 330. The piston position signal is a signal indicating the position of the piston that reciprocates in the cylinder of the engine 2.

  Next, the functional configuration of the motor generator control device 400 will be specifically described with reference to FIG.

  As described above, since the motor generator control device 400 is integrated in the motor generator 200, the motor generator control device 400 includes an integrated circuit (IC) in which a plurality of circuits including a central processing circuit are integrated, and includes six switching semiconductor elements 311U. , 311V, 311W, 312U, 312V, 312W and the field controller 500 are mounted in a predetermined region on the same mounting board (metal board).

  As described above, the motor generator control device 400 receives the torque command signal and piston position signal output from the engine control device 9, the rotation signal output from the magnetic pole position sensor 600, and the voltage signal output from the voltage sensor 10. Have been entered. These input parameters are input to the calculation unit 410 as parameters necessary for control of the motor generator 200, and are used for calculation for generating a switching command. In addition, the motor generator control device 400 includes, in each operation mode, a first table having first data necessary for generating a switching command and a plurality of second data (second information) necessary for retrieving the first data. A plurality of second tables individually provided for each is set. These tables are stored in the storage unit 420. The storage unit 420 is configured by a non-volatile writable semiconductor memory, and selects a table based on a signal from the calculation unit 410 and reads data from the table.

  Motor generator device 400 detects the rotational speed of motor generator 200 based on the input rotational signal, and determines the operation mode of motor generator 200 based on the detected rotational speed and torque command. When the operation mode is determined, the motor generator control device 400 selects an input parameter necessary for controlling the motor generator 200 corresponding to the determined operation mode based on the determined operation mode, and determines the determined operation mode. A plurality of second tables corresponding to are selected, and a plurality of second data is acquired from the selected plurality of second tables using the selected input parameter as an argument. Upon acquiring the plurality of second data, the motor generator control device 400 determines a plurality of acquisition parameters for acquiring the first data from the first table based on the plurality of second data, and the determined plurality of data. The first data is obtained from the first table using the obtained acquisition parameter as an argument, and the six switching semiconductor elements 311U, 311V, 311W, 312U, Each switching command of 312V and 312W is generated, and a signal corresponding to this is output.

  A rectangular wave driving method is used as a driving method of the switching semiconductor element. In the rectangular wave driving system, the electrolytic capacitor 230 can be reduced, or a small capacitor having a small capacity can be adopted as the electrolytic capacitor 230, and the alternating current input to and output from the armature winding 211 of the motor generator 200 and the inverter device Since the number of sensors for detecting the direct current input / output to / from 300 can be reduced, it is suitable for miniaturization of motor generator drive system 100. In addition, since the rectangular wave driving method has less arithmetic processing and can control switching by a simple method, the motor generator control device 400 can be configured at low cost. Furthermore, the rectangular wave driving method can reduce the switching loss because the number of times of switching is smaller than the PWM (Pulse Width Modulation) driving method, and the rectangular wave driving method can arbitrarily control the energization width of the rectangular wave. Therefore, a rectangular wave can be set according to the operation mode of the motor generator 200, and the motor generator 200 can be optimally controlled.

  The first table is obtained by patterning the switching operation of the switching semiconductor element into a plurality of patterns, that is, data of a plurality of switching patterns in which the on / off timing of the switching operation (rising and falling of the rectangular wave) is determined in accordance with the voltage phase. (For each phase upper and lower arms) is set (tabled or mapped). The plurality of switching patterns are obtained by changing the energization width (energization period) of the rectangular wave pulse in the range of 120 degrees to 180 degrees (electrical angle) so that the fundamental wave amplitude of the voltage applied to each phase changes. It is composed of a wave pulse whose phase center is changed.

  When acquiring the switching pattern data, the plurality of second tables use data for determining the plurality of first table reference parameters referred to in the first table as input parameters corresponding to each operation mode. These are individually set (tabled or mapped) for each operation mode. The plurality of second tables include a voltage phase correction amount table and a switching pattern selection table, which are set for each operation mode.

  Note that the data stored in the plurality of second tables indicate the state quantities in each operation mode. Therefore, in the present embodiment, the plurality of second tables may be referred to as mode state quantity tables.

  The operation mode is determined by the operation mode determination unit 411. The operation mode determination unit 411 reads the torque command based on the torque command signal output from the engine control device 9 and detects the rotation speed of the motor generator 200 based on the rotation signal output from the magnetic pole position sensor 600. The operation mode of the motor generator 200 is determined according to the read torque command and the detected rotational speed. A signal corresponding to the determined operation mode is output to selection section 412. Each operation mode is determined as follows.

Start (restart) mode Torque command is positive, rotation speed is less than first threshold Start / power generation switching mode Torque command is positive, rotation speed is greater than or equal to first threshold Second threshold
(> Less than 1st threshold) Power generation mode Torque command is negative, rotation speed is over 2nd threshold value Assist mode Torque command is positive, rotation speed is over 2nd threshold value Stop mode Torque command is negative, rotation speed is below 1st threshold

  In this embodiment, it is assumed that a torque command signal is output from the engine control device 9, but when there is no torque command signal (when the motor generator control device 400 itself calculates a target torque), As an alternative to the torque command signal, the operation mode determination unit 411 outputs an accelerator opening signal (an output signal of a position sensor provided on the accelerator pedal or an output of a position sensor provided on a throttle valve that operates in response to depression of the accelerator pedal). Signal) and a brake on / off signal (an output signal of a position sensor provided in the brake pedal) are used to determine the operation mode.

  The input parameter corresponding to the operation mode is selected by the input parameter selection unit 414 of the selection unit 412. The input parameter selection unit 414 reads the operation mode based on the signal output from the operation mode determination unit 411, and selects an input parameter corresponding to the read operation mode. A signal corresponding to the selected input parameter is output to the mode state quantity table data acquisition unit 415. The relationship between each operation mode and the selected input parameter is as follows.

Start (restart) mode Engine 2 piston position, motor generator 200 rotation speed Start / power generation switching mode DC voltage input to battery 7, motor generator 200 rotation speed Power generation mode DC voltage input to battery 7, motor Rotation speed of generator 200 Assist mode Target torque of motor generator 200, rotation speed of motor generator 200 Stop mode Piston position of engine 2, rotation speed of motor generator 200

  The piston position of the engine 2 is read based on the parameters read based on the piston position signal output from the engine control device 9, and the target torque of the motor generator 200 is read based on the torque command signal output from the engine control device 9. The rotation speed of the motor generator 200 is a parameter detected based on the rotation signal output from the magnetic pole position sensor 600, and the DC voltage input to the battery 7 is based on the voltage signal output from the voltage sensor 10. Is the detected parameter.

  As an alternative to the piston position of the engine 2, instead, the mode state quantity table (voltage phase correction amount table and switching pattern selection table) corresponding to the operation mode is selected by the table selection unit 413 of the selection unit 412. Selected by command. The table selection 413 reads the operation mode based on the signal output from the operation mode determination unit 411, and selects the mode state amount table (each of the voltage phase correction amount table and the switching pattern selection table) corresponding to the read operation mode. Generate a selection command to select. A signal corresponding to the generated selection command is output to the mode state quantity table data acquisition unit 415.

  Data accumulated in the mode state quantity table (each of the voltage phase correction amount table and the switching pattern selection table) is acquired by the mode state quantity table data acquisition unit 415. First, the mode state quantity table data acquisition unit 415 reads a selection command based on the signal output from the table selection unit 413, and based on the read selection command, the mode state quantity table ( Each of the voltage phase correction amount table 421 and the switching pattern selection table 422) is selected from the storage unit 420 and read. Next, the mode state quantity table data acquisition unit 415 reads the input parameter corresponding to the determined operation mode based on the signal output from the input parameter selection unit 414, and uses the read input parameter as an argument (reference parameter). ), The code number indicating the voltage phase correction amount and the switching pattern corresponding to the determined operation mode is acquired from the selected mode state amount table (each of the voltage phase correction amount table 421 and the switching pattern selection table 422). .

  The code number indicating the switching pattern is assigned according to the energizing width of the rectangular wave. For example, when the energizing width of the rectangular wave is 180 degrees (electrical angle), “1” is set to 120 degrees. Is set to “2”.

  The voltage phase correction amount acquired from the voltage phase correction amount table 421 is used as one of parameter generation data for generating a first reference parameter necessary for acquiring data from the switching pattern table 423. A signal corresponding to the voltage phase correction amount is output to the voltage phase correction unit 416. The switching pattern code number acquired from the switching pattern selection table 422 is used as a second reference parameter necessary for acquiring data from the switching pattern table 423. A signal corresponding to the switching pattern code number is output to the switching pattern table data acquisition unit 417.

  The first reference parameter necessary for obtaining data from the switching pattern table 423 is a voltage phase correction value, which is calculated by the voltage phase correction unit 416. The voltage phase correction unit 416 detects the voltage phase (angle (electrical angle) information indicating the position of the magnetic pole serving as a reference) based on the rotation signal output from the magnetic pole position sensor 600, and the mode state quantity table data acquisition unit. The voltage phase correction amount (angle (electrical angle) information) is read based on the signal output from 415, the detected voltage phase is added to the read voltage phase correction amount, and the correction voltage phase obtained by this addition is obtained. Is the first reference parameter. A signal corresponding to the obtained correction voltage phase is output to the switching pattern table data acquisition unit 417.

  The switching pattern data accumulated in the switching pattern table 423 is acquired by the switching pattern table data acquisition unit 417. The switching pattern table data acquisition unit 417 corrects the correction voltage phase (first reference parameter) and the switching pattern code number based on the signal output from the voltage phase correction unit 416 and the signal output from the mode state quantity table data acquisition unit 415. (Second reference parameter) is read, the switching pattern table 423 is read from the storage unit 420, and the determination is made from the read switching pattern table 423 using the read correction voltage phase (first reference parameter) and the switching pattern code number as arguments. The switching pattern data corresponding to the operated mode is acquired. A signal corresponding to the acquired switching pattern data is output to the switching command generator 418.

  A switching command (gate drive command) output to the drive circuit 330 is generated by the switching command generation unit 418. The switching command generation unit 418 reads the switching pattern data based on the signal output from the switching pattern table data acquisition unit 417, and considers dead time compensation based on the read switching pattern data, that is, in-phase upper and lower The upper and lower arms of each phase (six switching semiconductor elements 311U, 311V, 311W) so that the arms are not turned on / off simultaneously (for example, when the upper arm is turned off, the lower arm is turned on after a turn-off time). , 312U, 312V and 312W) respectively. A signal (rectangular wave pulse signal) corresponding to the generated switching command is output to the drive circuit 330.

  Note that the arithmetic processing in the switching command generation unit 418 differs depending on the setting contents of the first table. As the setting contents of the first table, there are two ways of storing the switching pattern for the upper and lower arms of all phases and storing the switching pattern for the specific upper and lower arms of one phase. In the former case, the switching command generation unit 418 performs calculation for switching command and calculation for dead time compensation between the upper and lower arms of each phase. In the latter case, the switching command generation unit 418 generates switching patterns for the remaining two-phase upper and lower arms in addition to the calculation for switching commands and the calculation for dead time compensation between the upper and lower arms of each phase. The operation for this is performed.

  As described above, the control method of the inverter device 300 includes a switching control method called PWM and a rectangular wave control method using a rectangular wave switching pulse. In the present embodiment, as described above, the rectangular wave control method using a rectangular wave switching pulse is used for the purpose of reducing the switching loss and the capacity of the DC smoothing capacitor. In the rectangular wave control method of this embodiment, the energization width (energization period) of the rectangular wave pulse is in the range of 120 degrees to 180 degrees (electrical angle) so that the fundamental wave amplitude of the voltage applied to each phase changes. The center of the voltage phase of the rectangular wave pulse is changed. In this embodiment, the optimum values of the voltage phase and the energization width can be selected for each operation mode. That is, in this embodiment, an input parameter is selected for each operation mode, and each of the voltage phase and the energization width is determined from two tables having the selected input parameter as an argument, that is, a table relating to each of the voltage phase and the energization width. The switching command corresponding to each operation mode is generated based on the acquired data regarding the voltage phase and the energization width. Therefore, in this embodiment, the control logic is simplified, and the motor generator control device 400 can be configured by an inexpensive central processing unit, and the operation mode is fine-tuned while being an inexpensive central processing unit. Inverter control can be realized, and the controllability of the motor generator 200 can be improved.

  In this embodiment, the rectangular wave control method is used as the switching method. However, a pulse width modulation control method may be used in some cases.

  Next, a specific control method in the start / power generation switching mode using the motor generator control device 400 of the present embodiment will be described with reference to FIG.

  FIG. 4 shows a conventional control method (dotted line) and the present embodiment regarding the state of the field current If, the battery current Ib, and the battery voltage Vb over time during the start / power generation switching mode, that is, the transition period from the start to the power generation mode. A comparison with the control method (solid line) is shown, and the relationship with the central phase control of the voltage applied to each phase by the control method of the present embodiment is shown.

  In the control of the field current If, a conventional control method is adopted in which as much current as possible is flown at the start and is reduced to the required amount at the time of power generation. The conventional control method and the control method of this embodiment have the same energization pattern. You can see that Here, if a large amount of field current If is passed at the time of starting, the field magnetic flux becomes large. Therefore, at the time of starting, the armature current supplied to the armature winding 211 (current for generating necessary torque) is Can be reduced. On the other hand, immediately after switching from start to power generation, the field current If supplied to the field winding 221 cannot be rapidly reduced. That is, since the time constant of the field winding is large, it cannot follow a rapid change. For this reason, in the conventional control method that does not perform phase control of the rectangular wave voltage, the generated current (battery current Ib) flowing into the battery 7 cannot be suppressed, and as a result, the generated voltage applied to the battery 7 (battery When the voltage Vb) rises and the SOC (power storage state) of the battery 7 is large, the rated voltage of the battery 7 may be exceeded.

  On the other hand, in the control method of the present embodiment, the center phase of the rectangular wave voltage generated in the power module 310 (switching circuit) of the inverter device 300 is delayed opposite to that at the start, that is, output from the magnetic pole position sensor 600. The motor generator control device 400 generates a switching command so as to delay with respect to the center phase when the magnetic pole position (voltage phase) detected based on the received signal is used as a reference. Moreover, in the control method of the present embodiment, the delay angle is set larger than the voltage phase advance angle in the start mode immediately before switching or the voltage phase delay angle in the power generation mode. According to such control, the generated current (battery current Ib) flowing into the battery 7 can be suppressed, and the jump of the voltage (battery voltage Vb) applied to the battery 7 can be prevented. That is, in the present embodiment, the energy at the time of jumping (the difference between the dotted line and the solid line of the battery voltage Vb in FIG. 4 (hatched portion)) that has appeared in the conventional control method is the loss (copper loss) in the motor generator 200. Thus, since the generated current (battery current Ib) does not flow into the battery 7, the jump of the voltage (battery voltage Vb) applied to the battery 7 can be prevented.

  When the field current If is narrowed down to a predetermined value and the operation mode becomes the power generation mode, in this embodiment, the voltage phase delay angle is the voltage applied to the battery 7 (battery voltage) in the start / power generation switching mode. Vb) is smaller than that for preventing jumping up.

  In the voltage center phase control in the start / power generation switching mode, the voltage phase correction amount table 421 corresponding to the start / power generation switching mode is set so that the center phase of the voltage applied to each phase is delayed and its delay phase (angle ) May be set to be larger than the delay phase (angle) of the power generation mode. More preferably, the delay phase (angle) may be set so as to increase as the direct current voltage and the rotation speed, which are reference parameters, increase.

  Next, a specific control method in the start mode using the motor generator control device 400 of this embodiment will be described with reference to FIG.

  FIG. 5 shows the engine start torque in the start mode, the intake / exhaust state of each cylinder of the engine 2, the time change state of the switching pattern of the switching semiconductor element, and the voltage applied to each phase according to the control method of this embodiment. The relationship with center phase control is shown.

  As described above, if a large amount of field current If is passed at the time of starting, the field magnetic flux becomes large. Therefore, at the time of starting, the armature current (current for generating necessary torque) supplied to the armature winding 211 is increased. ) Can be reduced. In this case, if the torque pulsation of the engine 2 at the start is compensated by the motor generator 200 to suppress the rotational speed pulsation, it is necessary to increase or decrease the field current If in accordance with the torque pulsation of the engine 2. However, as described above, since the time constant of the field winding is large, it is difficult to quickly increase / decrease (follow) the field current If in accordance with the torque pulsation of the engine 2. For this reason, it is necessary to control the armature current supplied to the armature winding 211 in accordance with the torque pulsation of the engine 2. However, since the conventional control method does not consider changing the center phase and duty (or energization width) of the rectangular wave voltage generated in the power module 310 (switching circuit) of the inverter device 300, the armature winding The armature current supplied to the line 211 cannot be controlled in accordance with the torque pulsation of the engine 2, and the rotational speed fluctuation caused by the torque pulsation of the engine 2 cannot be suppressed.

  On the other hand, in the control method of this embodiment, the center phase of the rectangular wave voltage generated in the power module 310 (switching circuit) of the inverter device 300 is advanced, that is, based on the signal output from the magnetic pole position sensor 600. The motor generator control device 400 generates a switching command so as to advance the center phase when the detected magnetic pole position (voltage phase) is used as a reference. Moreover, in the control method of the present embodiment, the advance angle is advanced the most when the starting torque necessary for starting the engine 2 is large (initial stage), and the starting torque necessary for starting the engine 2 is small ( In the latter part of the start-up, before the engine 2 completes explosion and operates independently), the engine 2 is advanced smaller than the initial start-up. According to such control, the armature current supplied to the armature winding 211 can be quickly increased / decreased according to the torque pulsation of the engine 2, and the rotational speed fluctuation caused by the torque pulsation of the engine 2 is suppressed. be able to.

  In the voltage center phase control in the start mode, the voltage phase correction amount table 421 corresponding to the start mode may be set so that the center phase of the voltage applied to each phase advances. Preferably, the advance phase (angle) may be set to be smaller as the number of rotations as the reference parameter increases. More preferably, when the piston position, which is a reference parameter, is at a position where the starting torque necessary for starting the engine 2 is the largest (initial stage), the advance phase (angle) is set to be the largest. Then, the magnitude of the advance phase (angle) may be set to be gradually reduced in accordance with the position where the starting torque required for starting the engine 2 is gradually reduced.

  In this embodiment, using a four-cylinder four-cycle engine 2, the piston position where the starting torque required for starting the engine 2 is the largest is compressed by the second cylinder, the first cylinder is inhaled, When the cylinder is in the exhaust state and the fourth cylinder is in the expanded state, the piston position where the starting torque necessary for starting the engine 2 is large is then expanded, the second cylinder is expanded, the first cylinder is compressed, When the third cylinder is in the intake state and the fourth cylinder is in the exhaust state, the piston position where the starting torque required for starting the engine 2 is large is set next, the second cylinder is exhausted, and the first cylinder is expanded. When the third cylinder is in the compression state and the fourth cylinder is in the intake state, the piston position where the starting torque required for starting the engine 2 is the smallest is the second cylinder, the first cylinder is the intake, the first cylinder is the exhaust, 3 cylinders expand, 4th cylinder compresses It was the place where in each state. That is, in this embodiment, the piston position is set in advance based on the specifications, operating characteristics, etc. of the engine 2 so that the engine 2 starts during one cycle of the piston position (so that the engine 2 can be easily started). Yes.

  Further, in this embodiment, the engine 2 is in the initial start position, that is, the engine is in a position where the second cylinder is compressed, the first cylinder is intake, the third cylinder is exhausted, and the fourth cylinder is expanded. The piston stop position of the engine 2 is controlled in the stop mode so that 2 stops. Therefore, the voltage phase correction amount table 421 corresponding to the stop mode is set so that the engine 2 is stopped when the piston position of the engine 2 becomes the start initial position.

  Further, in this embodiment, the reference parameter is the piston position, but the crankshaft position of the engine 2 and the intake / exhaust state of the engine 2 may be used as the reference parameter. Further, as the reference parameter, the compensation torque of the motor generator 200 for compensating for the torque pulsation of the engine 2 or the engine torque may be used. The compensation torque can be calculated by specifying the intake / exhaust state of the engine 2. The intake / exhaust state of the engine 2 can be detected based on a signal output from a cylinder position sensor provided in the engine 2 or can be calculated based on an estimated value of the cylinder position estimating means. The engine torque can be acquired directly from the engine control device 9 or can be estimated by an estimating means.

The block diagram which shows the structure of the motor generator drive system which is an Example of this invention, and the structure of the drive system of a simple hybrid vehicle carrying the system. The circuit diagram which shows the electrical circuit structure of the motor generator drive system of FIG. The block diagram which shows the functional structure of the motor generator control apparatus mounted in the motor generator drive system of FIG. Operation | movement explanatory drawing which shows the control method at the time of the start and electric power generation switching mode by the motor generator drive system of FIG. Operation | movement explanatory drawing which shows the control method at the time of the start mode by the motor generator drive system of FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Motor generator drive system 200 Motor generator 300 Inverter apparatus 400 Motor generator control apparatus 410 Operation part 411 Operation mode determination part 412 Selection part 415 Mode state quantity table data acquisition part 416 Voltage phase correction | amendment part 417 Switching pattern table data acquisition part 418 Switching command Generation unit 420 Storage unit 421 Voltage phase correction amount table 422 Switching pattern selection table 423 Switching pattern table

Claims (8)

A rotating electric machine having an armature and a field, the operation of which is controlled for each of a plurality of operation modes;
A power conversion device that is electrically connected to the winding of the armature and controls the operation of the rotating electrical machine by controlling the power input to and output from the winding of the armature by a switching semiconductor element;
A plurality of parameters are input to generate a switching command for controlling the switching operation of the switching semiconductor element, and a signal corresponding to the switching command is output to the power conversion device to control the operation of the power conversion device. A control device,
A position detection device for detecting the magnetic pole position of the field ,
In the control device, a plurality of mode state quantities for acquiring the switching pattern information necessary for generating the switching command are individually set for each of the operation modes,
The control device determines the operation mode, acquires the mode state amount corresponding to the determined operation mode, acquires the switching pattern information based on the acquired mode state amount, and acquires the switching Generating the switching command based on pattern information, outputting a signal corresponding to the generated switching command to the power converter, and controlling the switching operation ;
The switching pattern information is previously set in a plurality of patterns,
The mode state quantity acquired corresponding to the determined operation mode includes correction information for correcting the magnetic pole position detected from the output signal of the position detection device, and selection information for selecting the pattern. And
The control device acquires the switching pattern information based on the magnetic pole position corrected by the correction information and the selection information,
When the operation mode is a power running power generation switching mode for switching from a power running mode in which the rotating electrical machine is operated as an electric motor to a power generation mode in which the rotating electrical machine is operated as a generator, the control device applies a winding to the armature. The switching operation is controlled such that the phase of the applied voltage is switched from a lead angle to a delay angle, and the magnitude of the switched delay angle is the magnitude of the advance angle immediately before switching from the power running mode to the power generation mode. Controlling the switching operation to be larger than
A rotating electrical machine apparatus characterized by that. The rotating electrical machine apparatus according to claim 1 ,
The rotating electric machine is of a wound field type in which a field winding is mounted on the field pole, and a field current supplied to the field winding is controlled by a switching operation of a field switching semiconductor element. Is,
A rotating electrical machine apparatus characterized by that. The rotating electrical machine apparatus according to claim 1 ,
The rotating electrical machine is mechanically connected to an internal combustion engine mounted on the vehicle as a vehicle drive source,
The rotating electrical machine apparatus, wherein the power running mode is a start mode in which the internal combustion engine is started by the rotating electrical machine. In the rotating electrical machine apparatus according to claim 3 ,
When in the start mode, the control device inputs a piston position of the internal combustion engine as one of the input parameters.
A rotating electrical machine apparatus characterized by that. In the rotating electrical machine apparatus according to claim 1 or 2 ,
The rotating electrical machine is mechanically connected to an internal combustion engine mounted on the vehicle as a vehicle drive source,
When the determined operation mode is a start mode in which the rotating electrical machine is operated as an electric motor and the internal combustion engine is started, the control device is configured so that the voltage phase of the armature winding becomes a lead angle. Controlling the switching operation;
A rotating electrical machine apparatus characterized by that. In the rotating electrical machine apparatus according to claim 5 ,
When in the start mode, the control device controls the switching operation so that the advance angle decreases as the start torque supplied from the rotating electrical machine to the internal combustion engine decreases.
A rotating electrical machine apparatus characterized by that. In the rotating electrical machine apparatus according to claim 6 ,
When in the start mode, the control device inputs a piston position of the internal combustion engine as one of the input parameters.
A rotating electrical machine apparatus characterized by that. In the rotating electrical machine apparatus according to claim 1 or 2 ,
When the determined operation mode is a power generation mode in which the rotating electric machine is operated as a generator, the control device controls the switching operation so that the voltage phase of the armature winding becomes a delay angle. ,
A rotating electrical machine apparatus characterized by that.

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