JP5212697B2 - Electric motor control device - Google Patents

Description

  The present invention relates to a motor control device that performs field weakening control of a permanent magnet field motor by changing the relative displacement angles of two rotors provided concentrically around a rotation shaft.

  A first rotor and a second rotor are provided concentrically around the rotating shaft of a permanent magnet field-type rotary motor, and the field is changed by changing the phase difference between the first rotor and the second rotor according to the rotational speed. An electric motor that performs magnetic field weakening control is known (see, for example, Patent Document 1).

  FIG. 18 is a cross-sectional view of an electric motor including a double rotor. The electric motor 1 shown in FIG. 18 has an inner rotor 11 in which the fields of the permanent magnets 11a and 11b are arranged at equal intervals along the circumferential direction, and the field of the permanent magnets 12a and 12b at equal intervals along the circumferential direction. And the stator 10 having the armature 10a for generating a rotating magnetic field for the inner rotor 11 and the outer rotor 12.

  The inner rotor 11 and the outer rotor 12 are both arranged concentrically so that the rotating shaft is coaxial with the rotating shaft 2 of the electric motor 1. In the inner rotor 11, permanent magnets 11 a having the N pole as the rotating shaft 2 side and permanent magnets 11 b having the S pole as the rotating shaft 2 side are alternately arranged. Similarly, in the outer rotor 12, permanent magnets 12 a having the N pole as the rotating shaft 2 side and permanent magnets 12 b having the S pole as the rotating shaft 2 side are alternately arranged.

  The phase difference between the outer rotor 12 and the inner rotor 11 can be changed to the advance side or the retard side within at least an electrical angle range of 180 degrees. For this reason, the state of the electric motor 1 includes a field-enhanced state in which the permanent magnets 12a and 12b of the outer rotor 12 and the permanent magnets 11a and 11b of the inner rotor 11 are arranged opposite to each other, and a permanent state of the outer rotor 12. It can be set as appropriate between the magnets 12a, 12b and the field weakening state in which the permanent magnets 11a, 11b of the inner rotor 11 are arranged with the same poles facing each other.

  FIG. 19 is a diagram illustrating a field strengthening state (a) and a field weakening state (b) of the electric motor 1. In the field-strengthened state shown in FIG. 19A, the direction of the magnetic flux Q2 of the permanent magnets 12a and 12b of the outer rotor 12 and the magnetic flux Q1 of the permanent magnets 11a and 11b of the inner rotor 11 is the same. Q3 is large. On the other hand, in the field weakening state shown in FIG. 19B, the directions of the magnetic flux Q2 of the permanent magnets 12a and 12b of the outer rotor 12 and the magnetic flux Q1 of the permanent magnets 11a and 11b of the inner rotor 11 are reversed. The magnetic flux Q3 is small.

  FIG. 20 is a graph showing an induced voltage generated in the armature 10a of the stator 10 when the motor 1 is operated at a predetermined rotation speed in each of the field strengthening state and the field weakening state. The vertical axis of the graph represents the induced voltage (V), and the horizontal axis represents the electrical angle (degrees). Further, symbol a in the figure indicates an induced voltage when the electric motor 1 is in the field strengthening state shown in FIG. 19A, and symbol b indicates that the electric motor 1 has the field weakening shown in FIG. 19B. The induced voltage in the state is shown. As shown in FIG. 20, by changing the phase difference between the outer rotor 12 and the inner rotor 11, the level of the induced voltage that is generated changes significantly.

  As described above, in the electric motor 1 having the double rotor, the induced voltage constant Ke of the electric motor 1 is changed by changing the phase difference between the outer rotor 12 and the inner rotor 11 to increase or decrease the magnetic flux of the field. Can do. As a result, it is possible to expand the operable range with respect to the output and the rotational speed of the electric motor 1 as compared with a general electric motor having one rotor with a constant induced voltage constant Ke. In addition, compared to the case where the field weakening control is performed by energizing the armature on the d axis (field axis) side in the general dq coordinate as the control of the electric motor, the field loss by the phase difference change of the double rotor is less than the copper loss. Therefore, the operating efficiency of the electric motor can be increased.

  FIG. 21 is a graph showing a region where field weakening control is required for the electric motor 1 having a double rotor. The vertical axis of the graph represents the output torque Tr, and the horizontal axis represents the rotational speed N. In addition, the symbol u in the figure indicates the orthogonal line of the motor (when the motor is operated without performing field weakening control, the phase voltage of the motor becomes equal to the power supply voltage due to the combination of the rotation speed and the output torque. Connected line). Symbol X indicates a region that does not require field weakening control, and symbol Y indicates a region that requires field weakening control.

  An electric motor control device disclosed in Patent Document 2 changes a rotor phase difference, which is a phase difference of multiple rotors included in the electric motor, using a rotor phase difference changing unit configured by an actuator and a planetary gear mechanism. In this way, field control is performed. The rotor phase difference changing means operates based on a rotor phase difference command value corresponding to a field weakening current command value that is an energization amount of the armature on the d-axis (field axis) side.

JP 2002-204541 A JP 2007-259549 A JP 2002-359953 A

  The torque of the electric motor is a combined torque of magnet torque and reluctance torque. For this reason, it is necessary to generate the phase difference of the multiple rotors in a direction that causes a magnetic change suitable for the rotation direction and the torque direction of the rotor of the electric motor. However, there are two directions in the torque direction: a direction during power running and a direction during regeneration, which are opposite directions. Furthermore, as shown in FIG. 21, the region Y that requires field weakening control differs between powering and regeneration. For this reason, in the control of the rotor phase difference in the electric motor provided with the double rotor, it is desirable to perform the control according to the positive / negative (powering and regeneration) of the torque direction. However, since the motor control device disclosed in Patent Document 2 described above changes the rotor phase difference in an electrical angle range of 0 ° to 180 °, the performance characteristic of either power running or regeneration is improved. It is limited, and potentials such as torque characteristics and operation efficiency cannot be fully utilized.

  An object of the present invention is to provide an electric motor control device capable of fully extracting the electric motor potential in both power running and regeneration.

In order to solve the above-described problems and achieve the object, an electric motor control device according to a first aspect of the present invention is a rotating shaft (for example, electric motor 1 in the embodiment) of a permanent magnet field type electric motor. For example, an outer rotor (for example, an outer rotor 2 provided concentrically around the rotation shaft 2) in the embodiment and rotating in the same direction with respect to the stator of the motor (for example, the stator 10 in the embodiment) . The motor control device controls the relative displacement angle (for example, rotor phase difference in the embodiment) of the outer rotor 12) and the inner rotor (for example, the inner rotor 11 in the embodiment) in the embodiment. A rotation number detection unit (for example, the resolver 101 and the rotation number calculation unit 103 in the embodiment) for detecting the rotation number per unit time of the outer rotor or the inner rotor, and a request including a positive / negative sign Torque value (e.g. Based on the torque command value T) in the embodiment and the rotation speed detected by the rotation speed detector (for example, the rotation speed Nm in the embodiment), any value within a range of ± 180 ° is obtained. A command value determining unit (for example, command value determining unit 121 in the embodiment) that determines the command value of the relative displacement angle (for example, the command value θc of the rotor phase difference in the embodiment), and the command value determination A control unit that controls the relative displacement angle of the outer rotor and the inner rotor of the electric motor in accordance with a command value of the relative displacement angle determined by a unit (for example, a rotor phase difference control unit in the embodiment) 123), and the magnets of the outer rotor and the inner rotor are opposite in polarity with respect to the relative displacement angle in a state where the magnets of the outer rotor and the inner rotor are arranged in the same pole. Relative when changing to a lined state The sign of the command value of position angle is different the electric motor each at the time of regeneration and power running, the control unit, when the sign of the command value is + (positive), the direction of rotation of the front Symbol outer rotor the advance how direction of the inner rotor to control the relative displacement angle to be the same, the sign of the command value is against - the case (negative), the inner rotating against the direction of rotation of the front Symbol outer rotor It is characterized by advancing way direction of the child to control the relative displacement angle so as to be reversed.

  Furthermore, in the motor control device according to the second aspect of the present invention, the command value determination unit is a data map (for example, in the embodiment) in which an optimum relative displacement angle is recorded for each combination of the torque value and the rotational speed. The command value of the relative displacement angle is determined with reference to the optimum θ map).

  Furthermore, in the motor control device according to the third aspect of the present invention, the contents of the data map differ depending on the output voltage of the battery that is the power source of the motor (for example, the battery voltage Vdc in the embodiment). A plurality of tables are included, and the command value determination unit determines the command value of the relative displacement angle with reference to a table corresponding to the output voltage of the battery.

Furthermore, in the motor control apparatus according to the fourth aspect of the present invention, an actual relative displacement angle (for example, rotor phase difference θs in the embodiment) of the outer rotor and the inner rotor of the motor is detected. A relative displacement angle detection unit (for example, a rotor phase difference detection unit 117 in the embodiment) is provided, and the control unit detects the relative displacement angle command value determined by the command value determination unit and the relative displacement angle detection. deviation of the relative angular displacement detected by parts (e.g., deviation Δθ in the embodiment) is characterized by controlling so as to decrease.

Furthermore, in the motor control device according to the fifth aspect of the present invention, the rotation shaft (for example, the rotation shaft 2 in the embodiment) of the permanent magnet field type motor (for example, the motor 1 in the embodiment) is provided. An outer rotor (for example, the outer rotor 12 in the embodiment) and an inner rotation that are provided concentrically around the rotor and rotate in the same direction with respect to the stator of the motor (for example, the stator 10 in the embodiment). A control device for an electric motor that controls a relative displacement angle (for example, a rotor phase difference in the embodiment) of a child (for example, an inner rotor 11 in the embodiment), the control device for the outer rotor or the inner rotor A rotation number detection unit (for example, the resolver 101 and the rotation number calculation unit 103 in the embodiment) that detects a rotation number per unit time, and a requested torque value including a positive / negative sign (for example, in the embodiment) Torque command value T) Based on this, the sign of the relative displacement angle (for example, the θ sign in the embodiment) is determined, and the rotational speed (for example, the rotation in the embodiment) detected by the torque value and the rotational speed detection unit. A command value determination unit (for example, command value determination in the embodiment) that determines a command value of the induced voltage constant of the motor (for example, a command value Ke_c of the induced voltage constant in the embodiment) based on the number Nm) 221) and the relative displacement angle of the outer rotor and the inner rotor of the electric motor according to the sign of the relative displacement angle determined by the command value determination unit and the command value of the induced voltage constant. Control unit (e.g., rotor phase difference control unit 223 in the embodiment), and with the relative displacement angle in a state where the magnets of the outer rotor and the inner rotor are arranged in the same pole as a reference, The outer rotor and And the sign of the relative displacement angle command value when the magnets of the inner rotor are changed to a state in which the magnets are arranged in opposite polarities are different when the motor is in power running and during regeneration, and the control unit If the sign of the displacement angle + (positive), the advance direction of the inner rotor controls the relative displacement angle to be the same against the direction of rotation of the front Symbol outer rotor, of the relative angular displacement code is - (negative), it is characterized by advancing the way toward the inner rotor against the direction of rotation of the front Symbol outer rotor to control the relative displacement angle so as to be reversed.

  Furthermore, in the motor control apparatus according to the invention of claim 6, the command value determining unit is a data map (for example, in the embodiment) in which an optimum induced voltage constant is recorded for each combination of the torque value and the rotational speed. The command value of the induced voltage constant is determined with reference to the optimum Ke map).

  Furthermore, in the motor control device according to the seventh aspect of the present invention, the contents of the data map differ depending on the output voltage of the battery that is the power source of the motor (for example, the battery voltage Vdc in the embodiment). A plurality of tables are included, and the command value determination unit determines a command value of the induced voltage constant with reference to a table corresponding to the output voltage of the battery.

  Furthermore, in the motor control apparatus according to the eighth aspect of the present invention, an induced voltage constant calculation unit (for example, in the embodiment) that calculates the induced voltage constant of the motor (for example, the induced voltage constant Ke in the embodiment). Ke calculation unit 219), and the control unit includes a deviation between the command value of the induced voltage constant determined by the command value determination unit and the induced voltage constant calculated by the induced voltage constant calculation unit (for example, implementation) The deviation ΔKe) is controlled so as to decrease.

According to the control device for an electric motor of the invention described in claims 1 to 8, the relative displacement angle of the outer rotor and the inner rotor of the motor can be changed to the advance side or the retard side within a range of ± 180 °. In addition, since the relative displacement angle is set to an electric angle with a sign that can generate a large torque, the potential of the electric motor can be sufficiently extracted in both cases of power running and regeneration.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  The electric motor used in the present embodiment is the same as the permanent magnet field type electric motor 1 shown in FIG. 18, and includes an inner rotor 11 and an outer rotor 12 provided concentrically around the rotating shaft 2, and an armature 10a. And a stator 10 having The electric motor is used as, for example, a drive source of a hybrid vehicle or an electric vehicle, and operates as an electric motor and a generator when mounted on the hybrid vehicle.

  In the present embodiment, the phase difference between the outer rotor 12 and the inner rotor 11 can be changed to the advance side or the retard side within a range of ± 180 ° in electrical angle by using a rotor phase difference changing unit described later. . In the following description, the phase difference of the double rotor when the rotation direction of the outer rotor 12 with respect to the stator 10 and the advance angle direction of the inner rotor 11 with respect to the outer rotor 12 are the same is represented by a + (positive) value. The phase difference of the double rotor when the rotation direction of the rotor 12 and the advance direction of the inner rotor 11 with respect to the outer rotor 12 are opposite is represented by a negative value.

  Therefore, the case where the magnet of the inner rotor 11 is located in the middle between the NS poles of the magnet of the outer rotor 12 is referred to as “intermediate phase”, and the absolute value of the phase difference is 90 ° in the phase difference of the intermediate phase. There are two cases: + 90 ° shown in FIG. 1 (a) and −90 ° shown in FIG. 1 (b). Further, when the magnets of the inner rotor 11 and the outer rotor 12 are arranged in opposite directions in the radial direction is referred to as “weak phase”, there are two types of phase difference of the weak phase: + 180 ° and −180 °. There are, however, indistinguishable due to the magnetic configuration of the motor. Further, when the magnets of the inner rotor 11 and the outer rotor 12 are arranged in the same polarity in the radial direction, the phase difference between the stronger phases is 0 °.

  As described above, when the phase difference is ± X °, when 0 <X <180, the same or different polarities of the inner rotor 11 and the outer rotor 12 between + X ° and −X °. The area of the overlapping magnets is the same except for the orientation. Therefore, as shown in FIG. 2, when the phase difference is + 90 ° (a) and when it is −90 ° (b), the change of the inductance (L) with respect to the phase current phase (θ) is the same, that is, the reluctance torque. The change with respect to the phase current phase (θ) has the same tendency. However, in this case, since the distribution of the magnetic flux (Φ) at the intermediate phase does not have line symmetry, it is relatively relative to the magnet torque when the phase difference is + 90 ° and −90 °. A phase difference occurs. As a result, the waveform of the combined torque with respect to the phase current phase differs between when the phase difference is + 90 ° and when it is −90 °.

  When the saliency of the electric motor 1 depends on the outer rotor 12, as shown in FIG. 3, when the phase difference is an intermediate phase other than 90 °, the inductance is different when the phase difference is + X ° and −X °. Although the change with respect to the phase current phase (θ) of (L) is the same, a phase difference occurs in the distribution of the magnet magnetic flux (Φ). Further, when the saliency of the electric motor 1 depends on the outer rotor 12 and the inner rotor 11, as shown in FIG. 4, when the phase difference is an intermediate phase other than 90 °, the change of the reluctance torque with respect to the phase current phase (θ) is Since the inductance distribution at the intermediate phase does not have line symmetry, it differs depending on whether the phase difference is + X ° or -X °. Similarly, since the magnetic flux distribution at the intermediate phase does not have line symmetry, a phase difference occurs in the magnet torque when the phase difference is + X ° and −X °.

  As a result, for example, as shown in FIG. 5, the induced voltage waveform (FIG. 5A) with respect to the electrical angle when the sign of the phase difference is − (negative) and the sign when the sign of the phase difference is + (positive). The induced voltage waveform with respect to the electrical angle (FIG. 5B) is slightly symmetric but slightly different. For this reason, the torque characteristics of the electric motor 1 differ between when the sign of the phase difference is + (positive) and when it is − (negative). The difference in torque characteristics depending on the sign of the phase difference also affects the torque characteristics during power running and the torque characteristics during regeneration. That is, when the electric motor 1 that is powered by a predetermined phase difference (mechanical angle) is switched to the regenerative operation while maintaining the phase difference, the sign of the phase difference at the electrical angle is reversed. For this reason, the electric motor 1 in a state where the phase difference is fixed by the mechanical angle has different torque characteristics during power running and during regeneration.

  FIG. 6 is a graph showing reluctance torque, magnet torque, and combined torque with respect to a phase current phase having a constant amplitude when the phase difference of the double rotor is an intermediate phase of ± 90 °. As shown in FIG. 6, the change of the reluctance torque with respect to the phase current phase is the same regardless of the sign of the phase difference of the double rotor, but the sign of the phase difference of the phase difference of the magnet torque with respect to the reluctance torque is + (positive ) And-(negative). For this reason, as shown in FIG. 6, the combined torque, which is a combination of the reluctance torque and the magnet torque, also differs depending on the sign of the phase difference. According to FIG. 6, when the electric motor 1 generates a power running torque, the phase difference of the double rotor is set to + 90 °, and when the regenerative torque is generated, the phase difference is set to −90 °. 1 can generate a large torque both during power running and during regeneration.

  FIG. 7 is a graph showing the combined torque with respect to the phase current during the intermediate phase. FIG. 8 is a graph showing the operating efficiency (motor efficiency) of the electric motor 1 with respect to the phase current during the intermediate phase. As shown in FIGS. 7 and 8, the sign of the phase difference that can generate a larger torque can realize a larger motor efficiency. For this reason, better motor efficiency can be obtained by setting the phase difference of the code that can generate a large torque.

<Control device of electric motor 1>
A control device for the electric motor 1 (hereinafter simply referred to as “control device”) includes a current control system that controls a current supplied to the electric motor 1 based on a torque command value and the like, a torque command value, and a sign of the torque command value. It is comprised from the phase difference control system which controls the phase difference of the double rotor of the electric motor 1 according to the driving | running mode (power running operation or regenerative operation) shown, rotation speed, etc. The electric motor 1 includes a rotor phase difference changing unit that changes a rotor phase difference that is a phase difference between the inner rotor 11 and the outer rotor 12 in accordance with control by the phase difference control system.

  FIG. 9 is a diagram illustrating an internal structure of a rotor phase difference changing unit included in the electric motor 1. As shown in FIG. 9, the rotor phase difference changing unit 30 is a single-pinion type planetary gear mechanism disposed in the hollow portion on the inner peripheral side of the inner rotor 11, and is formed coaxially and integrally with the outer rotor 12. The first ring gear R1, the second ring gear R2 that is coaxially and integrally formed with the inner rotor 11, the first planetary gear 31 that meshes with the first ring gear R1, and the second planetary gear 32 that meshes with the second ring gear R2. The first planetary gear C1 that is supported by the sun shaft S, which is an idle gear meshing with the first planetary gear 31 and the second planetary gear 32, and the first planetary gear 31 is rotatably supported and is rotatably supported by the rotary shaft 2. , And a second planetary carrier C2 that rotatably supports the second planetary gear 32 and is fixed to the stator 10.

  The first ring gear R1 and the second ring gear R2 have substantially the same gear shape, and the first planetary gear 31 and the second planetary gear 32 also have substantially the same gear shape. The rotating shaft 33 of the sun gear S is disposed coaxially with the rotating shaft 2 of the electric motor 1 and is rotatably supported by a bearing 34. For this reason, the 1st planetary gear 31 and the 2nd planetary gear 32 mesh with the sun gear S, and the outer side rotor 12 and the inner side rotor 11 rotate in synchronization. Further, the rotation shaft 35 of the first planetary carrier C1 is disposed coaxially with the rotation shaft 2 of the electric motor 1 and is connected to the actuator 25, and the second planetary carrier C2 is fixed to the stator 10.

  The actuator 25 rotates the first planetary carrier C1 in the normal rotation direction or the reverse rotation direction by hydraulic pressure according to a control signal input from the phase difference control system of the control device, or the first planetary carrier C1 around the rotation axis 2. Regulate the rotation of When the first planetary carrier C1 is rotated by the actuator 25, the relative positional relationship (phase difference) between the outer rotor 12 and the inner rotor 11 changes. An actuator that rotates the first planetary carrier C1 by electric power instead of hydraulic pressure may be used.

(First embodiment)
FIG. 10 is a block diagram showing a first embodiment of the control device of the electric motor 1. As shown in FIG. 10, the control device of the first embodiment includes a resolver 101, a rotation speed calculation unit 103, a current command calculation unit 105 included in a current control system, a bandpass filter (BPF) 107, and a three-phase. -Dp converter 109, current FB controller 111, rθ converter 113, PWM calculator 115, actuator 25 described above, rotor phase difference detector 117, Ke calculator 119, and phase difference control system Command value determination unit 121 and rotor phase difference control unit 123.

  The resolver 101 detects the mechanical angle of the outer rotor 12 and outputs an electrical angle θm corresponding to the detected mechanical angle. The electrical angle θm output from the resolver 101 is sent to the three-phase-dq converter 109 and the rotation speed calculator 103. The rotational speed calculation unit 103 calculates the rotational speed Nm per unit time of the outer rotor 12 from the electrical angle θm input from the resolver 101. The rotation speed Nm output from the rotation speed calculation unit 103 is sent to the current command calculation unit 105 and the command value determination unit 121.

  The current command calculation unit 105 is based on the torque command value T input from the outside, the rotation number Nm of the motor 1 calculated by the rotation number calculation unit 103, and the induced voltage constant Ke calculated by the Ke calculation unit 119. The command value Id_c of the current (hereinafter referred to as “d-axis current”) flowing through the d-axis side armature (hereinafter referred to as “d-axis armature”) and the q-axis side armature (hereinafter referred to as “q-axis armature”). The command value Iq_c of the current (hereinafter referred to as “q-axis current”) to be passed through is determined.

  The three-phase-dq converter 109 is based on the current detection signals Iu and Iw detected by the current sensors 131 and 133 and unnecessary components removed by the BPF 107, and the electrical angle θm of the outer rotor 12 detected by the resolver 73. Three-phase-dq conversion is performed to calculate a detected value Id_s of the d-axis current and a detected value Iq_s of the q-axis current.

  The current FB control unit 111 is configured to reduce the deviation ΔId between the d-axis current command value Id_c and the detection value Id_s and the deviation between the q-axis current command value Iq_c and the detection value Iq_s ΔIq. Hereinafter, a command value Vd_c of “d-axis voltage”) and a command value Vq_c of a terminal voltage of the q-axis armature (hereinafter referred to as “q-axis voltage”) are determined. The deviation ΔId is controlled by the field controller 141. The deviation ΔIq is controlled by the power control unit 143.

  The rθ converter 113 converts the d-axis voltage command value Vd_c and the q-axis voltage command value Vq_c into components of magnitude V1 and angle θ. The PWM calculation unit 115 converts the component of the magnitude V1 and the angle θ into a three-phase (U, V, W) AC voltage by PWM control.

  The rotor phase difference detection unit 117 detects the actual rotor phase difference θs. As described above, when the field magnetic flux changes according to the rotor phase difference, the induced voltage constant Ke of the electric motor 1 also changes. Therefore, the Ke calculator 119 calculates the induced voltage localization number Ke from the actual rotor phase difference θs detected by the rotor phase difference detector 117.

  The command value determination unit 121 is based on the torque command value T input from the outside, the rotation speed Nm of the electric motor 1 calculated by the rotation speed calculation unit 103, and the battery voltage Vdc of a capacitor (not shown) input from the outside. Thus, the rotor phase difference command value θc is determined. When determining the rotor phase difference command value θc, the command value determination unit 121 uses the optimum θ map shown in FIG. 11 stored in a memory (not shown). The optimum θ map is created in advance based on the graph shown in FIG. 12 and stored in the memory. FIG. 12 is a graph showing the optimal rotor phase difference for the relationship between the rotational speed Nm of the electric motor 1 and the torque.

  Further, the optimum θ map is provided with a plurality of tables having different contents depending on the battery voltage Vdc. For example, as shown in FIG. 11, a plurality of tables such as a table that is referenced when the battery voltage Vdc is approximately V1, a table that is referenced when it is approximately V2, and a table that is referenced when it is approximately V3 are optimal θ maps. Is provided.

  As shown in FIG. 13, the command value determination unit 121 uses the optimum θ map of the table corresponding to the battery voltage Vdc input from the outside to determine the optimum rotor phase difference θ for the torque command value T and the rotation speed Nm. The rotor phase difference command value θc is output. The rotor phase difference command value θc is −180 ° ≦ θc ≦ + 180 ° in electrical angle.

  The rotor phase difference control unit 123 controls the rotor phase difference command value θc output from the command value determination unit 121 and the control signal so that the deviation Δθ between the actual rotor phase difference θs detected by the rotor phase difference detection unit 117 decreases. And the actuator 25 is controlled.

  As described above, according to the control device of the first embodiment, the rotor phase difference of the electric motor 1 can be changed to the advance side or the retard side within the range of ± 180 degrees in electrical angle. In both cases of regeneration and regeneration, potentials such as torque characteristics and operation efficiency can be sufficiently extracted.

(Second embodiment)
FIG. 14 is a block diagram showing a second embodiment of the control device of the electric motor 1. As shown in FIG. 14, the control device of the second embodiment includes a resolver 101, a rotation speed calculation unit 103, a current command calculation unit 105 included in a current control system, a bandpass filter (BPF) 107, and a three-phase. -Dp conversion unit 109, current FB control unit 111, rθ conversion unit 113, PWM calculation unit 115, actuator 25, Ke calculation unit 219, command value determination unit 221 and rotor phase difference control included in the phase difference control system Part 223. 14, components common to FIG. 10 (resolver 101, rotation speed calculation unit 103, current command calculation unit 105, BPF 107, three-phase-dp conversion unit 109, current FB control unit 111, rθ conversion unit 113, PWM calculation) The part 115 and the actuator 25) are denoted by the same reference numerals, and the operation is the same as in the first embodiment, so that the description thereof is omitted.

The Ke calculation unit 219 of the present embodiment calculates an induced voltage constant Ke from the following formula (1).
Ke = (Vq−ω · Ld · Id−R · Iq) / ω (1)
(Ω: angular velocity of motor 1, R: resistance of q-axis armature and d-axis armature, Iq: q-axis current, Vq: voltage between terminals of q-axis armature, Ld: inductance of d-axis armature, Id: d-axis current)
Even in the present embodiment, the induced voltage localization number Ke may be calculated from the actual rotor phase difference obtained from the rotor phase difference detection unit 117 as in the first example.

  The command value determination unit 221 according to the present embodiment determines the sign of the rotor phase difference (hereinafter referred to as “θ code”) based on the torque command value T input from the outside, and the torque command value T, A command value Ke_c of the induced voltage constant is determined based on the rotation speed Nm of the electric motor 1 calculated by the rotation speed calculation unit 103 and the battery voltage Vdc of a capacitor (not shown) input from the outside. When the command value determination unit 221 determines the θ code, if the torque command value T is 0 or more (T ≧ 0), the θ code is set to + (positive), and the torque command value T is less than 0 (T <0). If so, the θ sign is determined to be negative. In addition, when determining the command value Ke_c of the induced voltage constant, the command value determination unit 221 uses an optimum Ke map shown in FIG. 15 stored in a memory (not shown). The optimum Ke map is created in advance based on the graph shown in FIG. 16, and is stored in the memory. FIG. 16 is a graph showing the optimum induced voltage constant and the θ sign for the relationship between the rotational speed Nm of the electric motor 1 and the torque.

  Further, the optimum Ke map is provided with a plurality of tables different depending on the battery voltage Vdc, as in the optimum θ map of the first embodiment. For example, as shown in FIG. 15, a plurality of tables such as a table used when the battery voltage Vdc is about V1, a table used when about V2, and a table used when about V3 are provided in the optimum Ke map. ing.

  As shown in FIG. 17, the command value determination unit 221 determines the θ sign according to the torque command value T, and uses the optimum Ke map of the table corresponding to the battery voltage Vdc input from the outside to generate the torque. An optimum induced voltage constant Ke is determined for the command value T and the rotational speed Nm, and a command value ke_c of the θ sign and the induced voltage constant is output.

  The rotor phase difference control unit 223 of the present embodiment instructs the command so that the deviation ΔKe between the command value Ke_c of the induced voltage constant output from the command value determination unit 221 and the induced voltage constant Ke calculated by the Ke calculation unit 219 decreases. A control signal is output in accordance with the θ code output from the value determining unit 221 to control the actuator 25. When the rotor phase difference is changed by the actuator 25, the magnetic flux of the field changes, so that the induced voltage constant Ke of the electric motor 1 also changes.

  As described above, according to the control device of the second embodiment, the rotor phase difference of the electric motor 1 is advanced in the range of ± 180 degrees in electrical angle based on the two parameters of the induced voltage constant Ke and the θ sign. Since the angle can be changed to the angular side or the retarded side, potentials such as torque characteristics and driving efficiency can be sufficiently extracted in both cases of power running and regeneration.

The figure which shows the state of the inner side rotor and outer side rotor at the time of an intermediate phase Diagram showing inductance distribution and magnetic flux distribution at intermediate phase with phase difference of ± 90 ° The figure which shows the inductance distribution and magnet magnetic flux distribution at the time of the intermediate phase whose phase difference is ± X ° when the saliency of the motor depends on the outer rotor The figure which shows the inductance distribution and magnet magnetic flux distribution at the time of the intermediate phase whose phase difference is ± X ° when the saliency of the electric motor depends on the outer rotor and the inner rotor Diagram showing induced voltage waveform during intermediate phase A graph showing reluctance torque, magnet torque, and combined torque with respect to a phase current phase having a constant amplitude when the phase difference of the double rotor is an intermediate phase of ± 90 °. Graph showing combined torque against phase current during intermediate phase Graph showing motor operating efficiency (motor efficiency) with respect to phase current during intermediate phase The figure which shows the internal structure of the rotor phase difference change part which the electric motor 1 has The block diagram which shows the 1st Example of the control apparatus of the electric motor 1 The figure which shows the optimal (theta) map used with the control apparatus of 1st Example. The graph which shows the optimal rotor phase difference for the relationship between the rotation speed Nm and the torque of the electric motor 1 The flowchart which shows operation | movement of the command value determination part 121 with which the control apparatus of 1st Example is provided. The block diagram which shows the 2nd Example of the control apparatus of the electric motor 1 The figure which shows the optimal Ke map used with the control apparatus of 2nd Example. The graph which shows the optimal induced voltage constant and (theta) code | symbol for the relationship between the rotation speed Nm of the electric motor 1, and a torque. The flowchart which shows operation | movement of the command value determination part 221 with which the control apparatus of 2nd Example is provided. Cross section of electric motor with double rotor The figure which shows the field strengthening state (a) and field weakening state (b) of an electric motor A graph showing the induced voltage generated in the armature of the stator when the motor is operated at a predetermined number of revolutions in each of the field strong state and the field weak state. The graph which shows the area | region where the field weakening control of the electric motor provided with the double rotor is required

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Electric motor 2 Rotating shaft 11 Inner rotor 12 Outer rotor 10a Armature 10 Stator 30 Rotor phase difference change part R1 1st ring gear R2 2nd ring gear 31 1st planetary gear 32 2nd planetary gear 33, 35 Rotating shaft 34 Bearing S Sun gear C1 1st planetary carrier C2 2nd planetary carrier 101 Resolver 103 Rotation speed calculation part 105 Current command calculation part 107 Band pass filter (BPF)
109 Three-phase-dp conversion unit 111 Current FB control unit 113 rθ conversion unit 115 PWM calculation unit 25 Actuator 117 Rotor phase difference detection unit 119, 219 Ke calculation unit 121, 221 Command value determination unit 123, 223 Rotor phase difference control unit

Claims (8)

Motor controller for controlling the relative displacement angle of an outer rotor and an inner rotor which are provided concentrically around a rotating shaft of a permanent magnet field motor and rotate in the same direction with respect to the stator of the motor Because
A rotational speed detection unit for detecting the rotational speed per unit time of the outer rotor or the inner rotor;
Command value determination for determining any value within a range of ± 180 ° as a command value for the relative displacement angle based on a requested torque value including a positive / negative sign and a rotational speed detected by the rotational speed detection unit And
A control unit that controls a relative displacement angle of the outer rotor and the inner rotor of the electric motor according to a command value of the relative displacement angle determined by the command value determination unit;
When changing to a state in which the magnets of the outer rotor and the inner rotor are arranged in reverse poles with reference to the relative displacement angle in which the magnets of the outer rotor and the inner rotor are arranged in the same pole The sign of the command value of the relative displacement angle is different between when the electric motor is in power running and during regeneration,
The controller is
If the sign of the command value is + (positive), the advance way direction of said inner rotor by controlling the relative displacement angle to be the same against the direction of rotation of the front Symbol outer rotor,
Sign of the command value is - (negative), characterized in that the advancing way direction of the inner rotor against the direction of rotation of the front Symbol outer rotor to control the relative displacement angle so as to be reversed Electric motor control device. The motor control device according to claim 1,
The command value determination unit determines a command value of the relative displacement angle with reference to a data map in which an optimum relative displacement angle is recorded for each combination of a torque value and a rotational speed. apparatus. The motor control device according to claim 2,
The data map includes a plurality of tables having different contents according to the output voltage of a capacitor that is a power source of the electric motor,
The command value determination unit determines a command value of the relative displacement angle with reference to a table corresponding to the output voltage of the battery. The motor control device according to claim 1, 2, or 3,
A relative displacement angle detector that detects actual relative displacement angles of the outer rotor and the inner rotor of the electric motor;
The control unit controls the motor so that a deviation between the command value of the relative displacement angle determined by the command value determination unit and the relative displacement angle detected by the relative displacement angle detection unit is reduced. Control device. Motor controller for controlling the relative displacement angle of an outer rotor and an inner rotor which are provided concentrically around a rotating shaft of a permanent magnet field motor and rotate in the same direction with respect to the stator of the motor Because
A rotational speed detection unit for detecting the rotational speed per unit time of the outer rotor or the inner rotor;
Based on the requested torque value including a positive and negative sign, the sign of the relative displacement angle is determined, and the induced voltage of the motor is determined based on the torque value and the rotational speed detected by the rotational speed detection unit. A command value determining unit for determining a constant command value;
A control unit for controlling the relative displacement angle of the outer rotor and the inner rotor of the electric motor according to the sign of the relative displacement angle determined by the command value determination unit and the command value of the induced voltage constant; With
When changing to a state in which the magnets of the outer rotor and the inner rotor are arranged in reverse poles with reference to the relative displacement angle in which the magnets of the outer rotor and the inner rotor are arranged in the same pole The sign of the command value of the relative displacement angle is different between when the electric motor is in power running and during regeneration,
The controller is
If the sign of the relative displacement angle is + (positive), the advance way direction of said inner rotor by controlling the relative displacement angle to be the same against the direction of rotation of the front Symbol outer rotor,
Sign of the relative displacement angle is - (negative), and characterized in that the advance way direction of the inner rotor against the direction of rotation of the front Symbol outer rotor to control the relative displacement angle so as to be reversed The motor control device. The motor control device according to claim 5,
The command value determining unit determines a command value of the induced voltage constant by referring to a data map in which an optimum induced voltage constant is recorded for each combination of a torque value and a rotational speed. apparatus. The electric motor control device according to claim 6,
The data map includes a plurality of tables having different contents according to the output voltage of a capacitor that is a power source of the electric motor,
The command value determining unit determines a command value of the induced voltage constant with reference to a table corresponding to the output voltage of the battery. The electric motor control device according to claim 5, 6 or 7,
An induced voltage constant calculating unit for calculating an induced voltage constant of the electric motor;
The control unit performs control so that a deviation between the command value of the induced voltage constant determined by the command value determination unit and the induced voltage constant calculated by the induced voltage constant calculation unit is reduced. Control device.

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