JP5395465B2 - Motor and its control device - Google Patents

Description

  The present invention relates to a motor that can be used as an electric motor and a generator for a vehicle, and in particular, a motor that can relatively move a stator and a rotor along the direction of a rotation center axis, and a stator and a rotor of the motor. The present invention relates to a control device that controls a relative position in a rotation center axis direction.

Conventionally, a motor that can relatively move a stator and a rotor along the direction of a rotation center axis is known. For example, Patent Document 1 discloses a technology of a motor / generator-equipped engine in which the area of the rotor facing the stator decreases with an increase in engine rotation speed, and a control device thereof.
When the motor is used as a vehicle driving motor, the motor is required to rotate at a high speed and have a low output torque in a constant speed traveling state. In such a case, Patent Document 2 discloses a technique for reducing the overlap of the motor and the rotor in the direction of the rotation center axis so as to allow the motor to rotate at a high speed and reduce the current for weakening control. It is disclosed.

Japanese Patent Laid-Open No. 2004-104943 (see FIG. 1) JP-A-5-336700 (see paragraphs [0023] and [0024])

  However, in a radial motor configured as described in Patent Document 1, a permanent magnet synchronous motor (IPMSM) in which electromagnetic steel plates are laminated on both a stator and a rotor, and a permanent magnet is fixed to the rotor to form a field curve. Apply. When the output torque of the motor may be low, if the rotor is rotated with the area of the opposed portion moved so as to be offset from the stator along the rotation center axis being reduced, the stator and the rotor overlap. In a region where there is no rotation axis, there is no portion that receives the magnetic flux generated by the stator, and the motor efficiency is reduced.

  SUMMARY OF THE INVENTION The present invention solves the above-described conventional problems, and provides a motor having a high motor efficiency and its control device even when the facing area of the stator and rotor field poles is reduced when the load on the motor is low. The purpose is to provide.

In order to solve the above-described problem, the motor according to the first aspect of the present invention is a rotor that is rotatable around a rotation center axis, and is disposed opposite to the outer peripheral surface or the inner peripheral surface of the rotor to wind a coil. And a stator having teeth used as a core of the motor, wherein a permanent magnet is fixed to the rotor to form a field pole, and the first permanent magnet forms a field pole at the one side portion of the rotor And the other side portion opposite to the one side is an iron core region, and the rotor faces the stator when the field pole is moved relatively to one side along the rotation center axis. and the outer peripheral surface or inner peripheral surface of the field pole regions of the rotor to be to reduce the area to exchange flux between the inner peripheral surface or outer peripheral surface facing the field pole region of the teeth of the rotor, the stator, the rotary On the central axis In a straight surface, in order from the end on the one side in the direction of the rotation center axis, it is divided into one end, a center, and the other end, and is divided into one end and the other end of the stator. The portion is composed of a compacted material obtained by compacting particles of a magnetic material covered with an electrical insulating film and compacted, and the central portion of the stator is configured by laminating electromagnetic steel plates, and one end of the stator A non-magnetic material is interposed between the center portion and the central portion, and between the other end portion of the stator and the central portion, respectively .

The rotor field pole can be moved relatively to one side along the rotation center axis to reduce the area for exchanging magnetic flux between the outer peripheral surface or inner peripheral surface of the rotor and the inner peripheral surface or outer peripheral surface of the teeth. In a motor with a low load, etc., it is required to improve the motor efficiency by reducing the amount of magnetic flux between the stator and the rotor.
According to the first aspect of the present invention, even if the overlap in the direction of the rotation center axis between the circumferential surfaces of the rotor field pole region and the teeth facing each other is reduced, the rotor core region and the teeth facing each other are reduced. Since the surfaces overlap, in the case of a low load for passing a low current through the coil, or when performing field weakening control (hereinafter referred to as “weakening control”) and further reducing the amount of magnetic flux between the stator and the rotor, Even if the overlap between the rotor's field pole region and each of the opposing peripheral surfaces of the stator decreases, the rotor core region generates reluctance torque with the stator, so the torque generated by the motor and the current of the stator coil The ratio to the value (hereinafter referred to as “motor torque constant”) is improved, and the motor efficiency at a low load is improved as compared with the above-described conventional technique.
The one end and the other end of the stator are made of a compacted material obtained by compacting particles of magnetic material covered with an electrical insulating film, and the central portion of the stator is laminated with electromagnetic steel plates. Therefore, regardless of the relative movement position of the rotor in the direction of the rotation center axis, the electromagnetic wave that constitutes the stator by the magnetic flux leaking from one of the ends of the rotation center axis in the direction of the stator The eddy current generated in the steel sheet can be suppressed.
As a result, in the central portion of the stator, the generation of eddy current is suppressed, and the iron loss of the motor is reduced. As a result, the friction torque of the motor can be reduced, and an efficient motor can be configured.
Further, the rotor is moved to one side by a predetermined amount to reduce the area for exchanging magnetic flux between the stator and the field pole region of the rotor. At this time, the magnetic flux penetrating from the field pole region of the rotor protruding to one side of the stator to the side surface of the stator (in the direction of the rotation center axis) penetrates the central portion of the stator made of the electromagnetic steel plate. Suppressed by one end of the stator and the nonmagnetic material. As a result, the central portion of the stator formed by laminating electromagnetic steel sheets is suppressed from generating eddy currents, and the iron loss of the motor is reduced.
Similarly, the rotor is moved to the other side by a predetermined amount to maximize the area for exchanging magnetic flux between the stator and the field pole region of the rotor. At this time, the magnetic flux penetrating from the rotor core region protruding to the other side of the stator to the side surface of the stator (in the direction of the rotation center axis) penetrates the central portion of the stator made of the electromagnetic steel plate. Suppression is performed by the other end portion of the stator and the nonmagnetic material. As a result, the central portion of the stator formed by laminating electromagnetic steel sheets is suppressed from generating eddy currents, and the iron loss of the motor is reduced.
As a result, the friction torque of the motor can be reduced, and an efficient motor can be configured.
In particular, a non-magnetic material having a very high magnetic resistance is interposed between one end of the stator and the center of the stator and between the other end of the stator and the center of the stator. Thus, it is possible to suppress the magnetic flux penetrating the side surface of the stator (in the direction of the rotation center axis) from reaching the center portion of the stator made of the electromagnetic steel sheet, and one end portion and the other of the stator made of the dust material The thickness of the teeth of the side end portions in the direction of the rotation center axis can be reduced, and the motor can be configured compactly. When the magnetic resistance of the nonmagnetic material is very high, the magnetic flux hardly penetrates, so that the thickness of the nonmagnetic material in the direction of the rotation center axis can be reduced.

  In the motor according to the second aspect of the invention, in addition to the configuration according to the first aspect, the first permanent magnets in the field pole region of the rotor are embedded at equal intervals in the circumferential direction, and are embedded in the iron core region of the rotor. Is characterized in that the second permanent magnet having a magnetic force weaker than that of the first permanent magnet is embedded in the circumferential direction at equal intervals in the same circumferential arrangement phase as the first permanent magnet. .

  According to the second aspect of the present invention, in the case of a low load in which a low current flows through the coil, or when the amount of magnetic flux between the stator and the rotor is further reduced by performing weakening control, the field pole region of the rotor and the stator The amount of magnetic flux between the stator and the rotor due to the second magnet in the iron core region of the rotor is smaller than the amount of magnetic flux between the field pole region of the rotor and the stator, so that the torque constant of the motor is improved. The motor efficiency at the time of low load is improved as compared with the above-described conventional technology.

  In the motor according to the third aspect of the invention, in addition to the configuration of the invention according to the first aspect, the first permanent magnets in the field pole region of the rotor are embedded at equal intervals in the circumferential direction, and the iron core region of the rotor is The electrical angle of the first permanent magnet is retarded by 45 ° with respect to the circumferential arrangement of the first permanent magnet.

In the permanent magnet synchronous motor to which the present invention is applied, between the rotating magnetic field formed by the stator and the rotor, the magnetic field generated by the permanent magnet of the rotor (rotor) and the rotating magnetic field attracted and repelled, and A reluctance torque is generated when the salient pole portion of the rotor is attracted to the rotating magnetic field. The reluctance torque generated in the rotor core region that is only attracted by the rotating magnetic field of the stator is a sine wave, and the current phase is a magnet torque that is a cosine wave in the field pole region where the field pole is formed by a permanent magnet. Is a half-cycle phase of the current phase.
According to the third aspect of the present invention, since the iron core region of the rotor is shaped to retard the electrical angle by 45 ° with respect to the circumferential arrangement of the first permanent magnet, the reluctance torque generated in the iron core region And the resultant force with the magnet torque generated in the field pole region when the advance angle is 0 ° is maximized, and the motor efficiency is improved.

  According to a fourth aspect of the present invention, in addition to the configuration of the third aspect of the invention, the iron core region is a slit type reluctan score.

  According to the fourth aspect of the present invention, since the iron core region is a slit-type reluctance score, when the rotor does not move relative to one side, it is a simple iron core, and moves relative to one side to move the stator teeth. A reluctance torque is generated when the rotating magnetic field of the stator passes through the inner peripheral surface. Therefore, when it is not opposed to the inner peripheral surface of the stator teeth, no torque is generated and no friction loss occurs.

  According to a fifth aspect of the present invention, in addition to the structure of the third aspect, the iron core region is a salient pole type reluctan score.

  According to the fifth aspect of the present invention, since the iron core region is a salient pole type reluctance score, when the rotor does not move relative to one side, it is a simple iron core, and moves relative to one side to move the stator teeth. The reluctance torque is generated when the rotating magnetic field of the stator passes through the inner peripheral surface of the stator. Therefore, when it is not opposed to the inner peripheral surface of the stator teeth, no torque is generated and no friction loss occurs. In addition, the salient pole type reluctance score has a larger amount of cutout in the rotor core region than the iron core with a magnet and slit type reluctance score, so the amount of moment of the rotor can be reduced and the influence during motor rotation is less. .

According to a sixth aspect of the present invention, in addition to the configuration of the first aspect of the invention, the back yoke at one end of the stator extends to one side, and the back yoke at the other end of the stator. Is extended to the other side opposite to the one side.

According to the sixth aspect of the present invention, when the motor is operated by moving the rotor to one side by a predetermined amount, the side surface of the stator (in the direction of the rotation center axis) from the field pole region of the rotor protruding to one side of the stator. The magnetic flux penetrating into the stator can be prevented from bypassing one end portion of the stator made of a dust material and reaching the center portion of the stator. Iron loss is reduced. Furthermore, it is possible to prevent the magnetic flux from the field pole region of the rotor from generating eddy current between not only the stator but also the motor case to generate friction torque.
Further, when the motor is operated by moving the rotor to the other side, the magnetic flux penetrating from the rotor core region protruding to the other side of the stator to the side surface of the stator (in the direction of the rotation center axis) is composed of a dust material. Further, it is possible to suppress the other side end portion of the stator from reaching the central portion of the stator, and the central portion of the stator is suppressed from generating eddy currents, and the iron loss of the motor is reduced. Furthermore, it is possible to suppress the magnetic flux from the iron core region from generating eddy current between not only the stator but also the motor case and generating friction torque.
As a result, the friction torque of the motor can be reduced as compared with the motor according to the first aspect of the invention, and an efficient motor can be configured.
In addition, the iron loss can be reduced by the magnetic path expansion effect in the back yoke regardless of whether or not the rotor moves along the rotation center axis.

In the motor according to the seventh aspect of the invention, in addition to the configuration of the invention according to any one of the first to sixth aspects, the relative position movement along the rotation center axis of the rotor is performed by hydraulic pressure. It is characterized by.

According to the seventh aspect of the present invention, since the relative position movement along the rotation center axis of the rotor is performed by hydraulic pressure, the output torque required for the motor and the friction torque corresponding to the regenerative torque due to power generation are small. The motor can be maintained in an efficient driving state.

According to an eighth aspect of the present invention, there is provided a motor control apparatus that uses the motor according to the seventh aspect as a vehicle driving motor, and that controls the movement of the relative position along the rotation center axis of the rotor; Traveling position acquisition means for acquiring a traveling state of the vehicle, and the position control means controls relative position movement based on a signal indicating the traveling state of the vehicle acquired by the traveling state acquisition means.

According to the eighth aspect of the invention, since the position control means controls the relative position movement based on the signal indicating the running condition of the vehicle acquired by the running condition acquisition means, the motor corresponding to the running condition of the vehicle is determined. When realizing the output torque or the regenerative torque due to the power generation action, the motor can be operated in an efficient state.

According to a ninth aspect of the present invention, in the motor control apparatus according to the ninth aspect , in addition to the configuration of the eighth aspect of the invention, the position control means is configured to use at least one of a motor rotational angular velocity and a required torque as a traveling state of the vehicle. And controlling the relative position movement.

According to the ninth aspect of the present invention, since the movement of the relative position of the rotor is controlled using at least one of the motor rotational angular velocity and the required torque, the motor output torque or power generation corresponding to the running state of the vehicle When the regenerative torque due to the action is realized, the motor can be operated in an efficient state. In particular, when the vehicle is traveling at a constant speed, the output torque (necessary torque) required for the motor is small and is a fraction of the maximum output torque required when the vehicle is accelerated. In such a case, the rotational speed of the motor is high. On the contrary, the output torque and regenerative torque (necessary torque) required for the motor are large when the vehicle has a low rotational speed of the motor or when the vehicle is accelerating.
Therefore, when the rotational speed of the motor is low, or when the required torque, which is the output torque and regenerative torque required for the motor, is large, the magnetic flux between the outer peripheral surface of the rotor field pole region and the inner peripheral surface of the teeth is reduced. Maximize the area for communication and supply the necessary power. Conversely, when the motor rotation speed is higher, or when the required output torque or regenerative torque required for the motor is small, the area is reduced, and the reduced amount is reduced in the iron core region of the rotor. By generating reluctance torque between the outer peripheral surface and the inner peripheral surface of the teeth, the torque constant of the motor is improved, drag loss during rotation is reduced, and the motor can be operated in an efficient state.

  According to the present invention, it is possible to provide a motor having a large ratio of the torque and the current value of the coil, and a control device thereof, which can reduce the area of the opposed portion of the rotor field pole to the stator.

1 is an overall configuration diagram of a motor and its control device according to an embodiment. FIG. 2 is an enlarged cross-sectional view of the stator and the rotor in FIG. 1, (a) is an enlarged cross-sectional view of the stator and the rotor in the rotation center axis direction when the rotor is at the “maximum load position” in the rotation center axis direction; These are the expanded sectional views of the rotation center axis direction of the stator and rotor when the rotor is in the “minimum load position” in the rotation center axis direction. 2A is a cross-sectional view taken along the line YY in FIG. 2B, FIG. 3B is a cross-sectional view taken along the line ZZ in FIG. 2B, and FIG. It is sectional drawing corresponding to the ZZ arrow sectional drawing in FIG.2 (b) in the motor of the modification of embodiment of FIG. It is explanatory drawing of the usable area | region in a motor rotational speed-motor torque operation map of a motor, and a practical use area | region. It is explanatory drawing of the permanent-magnet synchronous motor which can move the rotor in the motor of a comparative example to a rotation center axis direction relatively with respect to a stator. It is explanatory drawing of the change with respect to the electric current phase difference (beta) of a magnet torque and a reluctance torque. It is explanatory drawing which shows the relationship between the coil current Ia and the output torque Tq. (A) is a cross-sectional view of the stator and rotor of the second embodiment corresponding to the cross-sectional view taken along the arrow YY in FIG. 2 (b), and FIG. 8 (b) is a cross-sectional view of FIG. Sectional drawing of the stator and rotor of 2nd Embodiment corresponded to ZZ arrow sectional drawing, (c) is 2nd Embodiment corresponded to ZZ arrow sectional drawing of (b) of FIG. It is sectional drawing of the stator and rotor of a 1st modification of this. It is sectional drawing of the stator and rotor of the 2nd modification of 2nd Embodiment equivalent to ZZ arrow sectional drawing of FIG.2, (b). FIG. 10 is an enlarged cross-sectional view of a stator and a rotor in a rotation center axis direction according to a third embodiment, and (a) is a rotation center axis direction of the stator and the rotor when the rotor is at a “maximum load position” in the rotation center axis direction. FIG. 4B is an enlarged cross-sectional view of the stator and the rotor in the direction of the rotation center axis when the rotor is at the “minimum load position” in the direction of the rotation center axis.

<< First Embodiment >>
Hereinafter, a motor and a control device thereof according to an embodiment of the present invention will be described with reference to the drawings. FIGS. 1 to 3 show a motor and a control device thereof when the motor according to the first embodiment of the present invention is applied as a vehicle motor, and FIG. 1 is an overall configuration diagram of the motor and the control device of the embodiment. .

(overall structure)
As shown in FIG. 1, a motor 100A that is a synchronous motor (IPMSM (Interior Permanent Magnet Synchronous Motor)) using a permanent magnet is arranged in series between a crankshaft of an engine (not shown) and an input shaft of a transmission (not shown). Are connected to the left and right ends of the rotor shaft 2, respectively. For example, at the left end of the rotor shaft 2 in FIG. 1, it is connected to the right end of the crank of the engine via a damper with a flywheel (not shown), and at the right end of the rotor shaft 2 in FIG. Connected to the left end of the shaft.

As is well known, the stator 110A of the motor 100A is formed by projecting a large number of teeth 110b projecting radially inward from the annular back yoke 110a in the circumferential direction so as to form a magnetic core, and adjacent to the circumferential direction. A stator coil (coil) 111 constituting a U, V, W phase is wound around each tooth 110b by a predetermined procedure using a slot formed between the teeth 110b.
Although the detailed configuration will be described later, the rotor disk 7 that supports the rotor base portion 7a of the annular body to which the rotor 120A is fixed from the rotor shaft 2 moves hydraulically along the direction of the rotation center axis L of the rotor shaft 2. It is possible to attach to the rotor shaft 2 by a spline engagement structure using a ball spline 35.
Detailed configurations of the stator 110A and the rotor 120A will be described later.

  An inverter unit 130 is provided for current control of the stator coil 111 of the motor 100A. The inverter unit 130 converts the DC power from the battery 133 into a three-phase AC current and causes the motor 100A to act as a generator and a motor control unit 130a configured with a switching element that controls the motor 100A as a motor that performs powering. The generator control unit 130b includes a switching element that converts the generated three-phase AC power into DC and charges the battery 133.

The inverter unit 130 includes a microcomputer having a CPU, a ROM, a RAM, an input / output interface, and the like. The inverter unit 130 is connected to a host engine control ECU 201 as a control system through a communication line, and the motor 100A from the engine control ECU 201 is connected. In response to the request torque command, the microcomputer described above indicates the motor rotation angle from the motor rotation angle sensor 211 for detecting the motor rotation angle of the motor 100A and the motor rotation angle from the motor rotation angle sensor 211. Based on the motor rotational angular velocity obtained by time differentiation of the signal, the switching elements of the motor control unit 130a and the generator control unit 130b are switched to control, for example, the d-axis current and the q-axis current.
Since motor 100A has rotor shaft 2 directly connected to the crankshaft of the engine, engine rotational speed may be used as the motor rotational angular speed.

The engine control ECU 201 includes a motor rotation angular velocity calculated by the inverter unit 130 and an accelerator opening sensor 213. A brake depression amount signal is input from a crank pulse sensor 215, a vehicle speed sensor 217, a brake pedal sensor 218, and the like for detecting the rotational speed of the engine. The rotor position control unit 201a of the engine control ECU 201 outputs a target position control signal, which will be described later, to the hydraulic pressure control unit 203 based on the signals from the sensors. The hydraulic control unit 203 receives a signal from a position sensor 214 that detects a position of the rotor disk 7 in the rotation center axis L direction (hereinafter simply referred to as “axial position”), and a target from the rotor position control unit 201a. The axial position of the rotor disk 7 is controlled based on the position control signal.
The specific operation of the engine control ECU 201 will be described in detail in the position control of the rotor disk 7.

(Structure of rotor disk)
Next, the structure of the rotor disk will be described with reference to FIG. In FIG. 1, the lower half and the upper half of the rotation center axis L of the rotor shaft 2 are each in a state where the amount of movement along the rotation center axis L of the rotor disk 7 is the minimum (leftward end in FIG. 1) , This axial position is referred to as “maximum load position”), and the movement amount is maximum (rightward end in FIG. 1) (hereinafter, this axial position is referred to as “minimum load position”). .
When the axial position of the rotor disk 7 is the “maximum load position” (lower half of FIG. 1, FIG. 2A) , the outer peripheral surface of the field pole region 120a of the rotor 120A and the stator 110 facing the outer peripheral surface. It faces the inner peripheral surface of the A tooth 110b and overlaps 100% in the direction of the central axis of rotation, and the area for exchanging magnetic flux is in the maximum state. On the other hand, when the rotor disk 7 moves to the right side (one side) in FIG. 1, the outer peripheral surface of the field pole region 120a of the rotor 120A and the inner peripheral surface of the teeth 110b of the stator 110 facing the offset are offset. In addition, the area for exchanging magnetic flux is reduced. When the axial position of the rotor disk 7 is the “minimum load position” (the upper half of FIG. 1, FIG. 2B) , the overlap in the rotation center axis direction overlaps, for example, the minimum 50%.
Incidentally, the movement of the rotor disk 7 in the present embodiment to the right side relative to the stator 110 </ b> A in the direction of the rotation center axis is “relatively moved to one side” described in the claims. Correspondingly, “the other side which is the opposite side of the one side” described in the claims corresponds to the left side in FIG. 1 of the present embodiment.

  The rotor shaft 2 of the motor 100A is supported at its left end in the direction of the rotation center axis by a left casing (not shown) via a ball bearing 32, and near the right end at a right casing (not shown) via a ball bearing 34. Supported.

  The rotor disk 7 is supported on the outer periphery of the rotor shaft 2 via a ball spline 35 so as to be slidable in the direction of the rotation center axis and not to be relatively rotatable. A piston member 36 is fixed to the outer periphery of the rotor shaft 2 so as to face the right side surface of the rotor disk 7, and an inner cylinder member 37 is further arranged on the outer periphery of the rotor shaft 2 so as to face the right side surface of the piston member 36. Fixed.

An outer cylinder member 38 is fixed to the right side surface of the outer peripheral portion of the rotor disk 7, and a seal member 39 provided on the outer periphery of the piston member 36 abuts slidably on the inner peripheral surface of the outer cylinder member 38. A first disk oil chamber 8 is defined between the rotor disk 7, the piston member 36 and the rotor shaft 2. In the first disk oil chamber 8, a spring 40 that urges the rotor disk 7 leftward in FIG. 1 is stored in a compressed state.
A seal member 41 provided on the inner periphery of the outer cylinder member 38 is slidably brought into contact with the outer peripheral surface of the inner cylinder member 37. As a result, a second disk oil chamber 43 is defined between the piston member 36, the outer cylinder member 38, the inner cylinder member 37 and the rotor shaft 2.

  Inside the rotor shaft 2, a blind hole-shaped shaft oil chamber 2 a that opens to the right end surface is formed coaxially with the rotation center axis L, and the right end of the rotor shaft 2 is partitioned so as to partition the shaft oil chamber 2 a. The substantially cylindrical first plug 42 press-fitted from the opening is oil-tightly fixed at a position where it abuts on the step portion of the rotor shaft 2.

  Further, on the right side of the ball bearing 34, that is, on the outer side of the right casing, an annular hydraulic supply ring 44 having an E-shaped cross section and the opening side facing radially inward is provided on the outer circumference of the rotor shaft 3 at a predetermined interval. An annular seal 45A, 45B, 45C is interposed between the inner peripheral edges 44a, 44b, 44c of the hydraulic pressure supply ring 44 and the corresponding grooves, respectively. The rotor shaft 2 and the hydraulic pressure supply ring 44 are attached so as to be relatively rotatable. Between the outer periphery of the rotor shaft 2 and the inner peripheral surface of the hydraulic pressure supply ring 44, oil chambers 49A and 49B that are oil-tight with seals 45A, 45B, and 45C are formed. An oil passage 44d communicating with 49A and an oil passage 44e communicating with the oil chamber 49B from the outer peripheral surface of the hydraulic pressure supply ring 44 are provided. A pressure adjusting pipe 50A from the hydraulic control unit 203 is connected to the oil path 44d, and a pressure adjusting pipe 50B from the hydraulic control unit 203 is connected to the oil path 44e, and the pressure is adjusted by the hydraulic control unit 203. The supplied hydraulic pressure is supplied or the hydraulic pressure is released.

  Inside the rotor shaft 2, a substantially cylindrical second plug 48 press-fitted from the right end opening of the rotor shaft 2 so as to partition the oil chamber 2 a in the shaft is oiled at a position where it abuts against the step portion of the rotor shaft 2. Closely fixed. A blind oil hole 48a formed at the center of the second plug 48 is fitted to the right end of the feed pipe 46 extending in the axial direction of the rotation center through the seal chamber 47B. The oil hole 48a communicates with an annular oil groove 48c formed in the circumferential direction on the outer periphery of the second plug 48 by, for example, three oil holes 48b extending radially at 120 ° intervals in the radial direction. ing. The annular oil groove 48c of the second plug 48 communicates with the oil chamber 49A via a plurality of oil holes 2b,... Penetrating the rotor shaft 2 in the radial direction.

  The left end of the feed pipe 46 is fitted into a blind oil hole 42a formed at the center of the first plug 42 via a seal member 47A. The first plug 42 includes three oil holes 42b extending radially from the oil holes 42a at intervals of 120 °, and an annular oil groove 42c communicating with the outer ends of the three oil holes 42b,. have. The annular oil groove 42c of the first plug 42 includes a plurality of oil holes 2c that pass through the rotor shaft 2 in the radial direction, and a plurality of oil holes 7b that pass through the cylindrical portion of the rotor disk 7 in the radial direction. To communicate with the first disk oil chamber 8.

  The in-shaft oil chamber 2a communicates with the second disk oil chamber 43 through a plurality of oil holes 2d,... Penetrating the rotor shaft 2 in the radial direction, and a plurality of oils penetrating the rotor shaft 2 in the radial direction. It communicates with the oil chamber 49B of the hydraulic pressure supply ring 44 through the holes 2e,.

(Position control of rotor disk in engine control ECU)
Next, the control of the motor 100A in the engine control ECU 201 will be specifically described. The engine control ECU 201 reads the driver's accelerator depression amount (accelerator opening amount) from the accelerator opening sensor 213, the engine rotation speed from the crank pulse sensor 215, the vehicle speed from the vehicle speed sensor 217, and the brake depression amount from the brake pedal sensor 218. Based on these signals, the engine required torque for the engine and the motor required torque for the motor 100A are calculated with reference to a multi-dimensional map of the engine speed, accelerator opening, vehicle speed, and brake depression amount.

Then, for example, fuel injection and engine intake air amount are controlled according to the calculated engine request torque and engine rotation speed, and the calculated motor request torque is output to the inverter unit 130 as a motor request torque command. When the calculated motor required torque is a positive value, it is a case of an electric motor mode in which the motor 100A is powered as an electric motor, and when the calculated motor required torque is a negative value, the regenerative power generation that operates the motor 100A as a generator. This is the mode.
Incidentally, the multi-dimensional map of the engine speed, the accelerator opening, the vehicle speed, and the brake depression amount is stored in advance in the ROM of the engine control ECU 201.

The CPU of the engine control ECU 201 has a rotor position control unit 201a as a functional unit that executes the above-described position control of the rotor disk 7 by a program. The rotor position control unit 201a calculates the most efficient rotor position by referring to the rotor position map based on the motor rotation angular velocity calculated by the inverter unit 130 and the calculated motor required torque, and performs hydraulic control. Output to the unit 203 as a target position.
Incidentally, the rotor position map is stored in advance in the ROM of the engine control ECU 201 in the form of a two-dimensional map of the motor rotational angular velocity and the motor required torque.
When the engine crankshaft and the rotor shaft 2 are directly connected, the engine rotation speed can be used instead of the motor rotation angular speed from the inverter unit 130.
Here, the rotor position control unit 201a, the hydraulic control unit 203, and the position sensor 214 constitute a “position control unit” recited in the claims, and a function part for calculating a motor required torque in the engine control ECU 201, motor rotation The angle sensor 211, the accelerator opening sensor 213, the crank pulse sensor 215, the vehicle speed sensor 217, the brake pedal sensor 218, and the like correspond to “traveling state acquisition means” described in the claims.

(Hydraulic control unit)
Next, an outline of the hydraulic control unit 203 will be described. The hydraulic control unit 203 includes a hydraulic circuit and a microcomputer including a CPU, ROM, RAM, and interface circuit that control a linear solenoid valve included in the hydraulic circuit, and is connected to the engine control ECU 201 via a communication line. doing. The hydraulic control unit 203 receives the target position calculated by the rotor position control unit 201a of the engine control ECU 201, feeds back the position detected by the position sensor 214, and adjusts the axial position of the rotor disk 7 to the target position. To do.

A hydraulic circuit (not shown) included in the hydraulic control unit 203 will be briefly described. The hydraulic circuit includes an oil tank, an oil pump, a first linear solenoid, a high pressure control valve, a high pressure regulator valve, a second linear solenoid, a shift control valve, a first shift valve, a second shift valve, a relief valve, and oil. It includes a cooler and a filter.
The control oil pumped and pressurized from the oil tank by the oil pump is regulated by a high pressure regulator valve connected to a high pressure control valve operated by the first linear solenoid. The control oil adjusted to a high pressure is supplied to the oil chamber 49A of the hydraulic pressure supply ring 44 via the pressure adjustment pipe 50A by the first shift valve connected to the shift control valve operated by the second linear solenoid. And the flow direction can be switched to supply to the oil chamber 49B of the hydraulic supply ring 44 via the pressure control pipe 50B. When the first shift valve is held in the neutral position, the flow of control oil is blocked in both the pressure control pipes 50A and 50B connected to the first shift valve.
The shift control valve described above is also connected to a second shift valve described later, and operates the first shift valve and the second shift valve in conjunction with each other.

The pressure control pipes 50A and 50B are also connected to the second shift valve, and receive the control oil in which the pressure control pipe 50A is adjusted to a high pressure from the first shift valve as described above. At this time, the pressure adjusting pipe 50B side is connected to the relief valve via the second shift valve, and is returned to the oil tank through the oil cooler and the filter.
Conversely, as described above, when the pressure adjusting pipe 50B is supplied with the control oil whose pressure is adjusted to a high pressure from the first shift valve, the pressure adjusting pipe 50A side is connected via the second shift valve. It is connected to the relief valve and returned to the oil tank through the oil cooler and filter.
When the second shift valve is held in the neutral position, the flow of control oil is blocked in both the pressure control pipes 50A and 50B connected to the second shift valve.

The high-pressure oil for control supplied to the oil chamber 49A of the hydraulic pressure supply ring 44 via the pressure adjusting pipe 50A passes through the oil holes 2b,..., The oil groove 48c, the oil hole 48b, and the oil hole 48a. The oil flows through the feed pipe 46 accommodated in the oil chamber 2a in the shaft and flows into the oil hole 42a of the first plug 42. From there, the oil hole 42a, the radial oil holes 42b,. It passes through the groove 42c and is further supplied to the first disk oil chamber 8 through the oil holes 2c,... Of the rotor shaft 2 and the oil holes 7b,.
Further, the high-pressure oil for control supplied to the oil chamber 49B of the hydraulic pressure supply ring 44 via the pressure adjusting pipe 50B is supplied to the oil chamber 2a in the shaft of the rotor shaft 2 through the oil holes 2e,. , Oil holes 2d,... Are supplied to the second disk oil chamber 43 of the rotor disk 7.

  In this way, by controlling the amount of control oil supplied to the first disc oil chamber 8 and the second disc oil chamber 43, the rotor disc 7 can be arbitrarily moved within the movable range in the rotation center axis direction. It is possible to move to and hold the position.

  When the motor 100A functions as a generator or an electric motor with the maximum regenerative torque or the maximum output torque, the rotor disk 7 is made of high-pressure oil acting on the first disk oil chamber 8 of the rotor disk 7, and the rotor disk 7 is located at the left end in FIG. Move to “maximum load position”. As a result, the volume of the second disc oil chamber 43 is reduced and the control oil in the second disc oil chamber 43 is pushed out to the in-shaft oil chamber 2a, and the control oil passes through the pressure adjusting pipe 50B. Then, it is collected in an oil tank (not shown) of the hydraulic control unit 203.

  When the motor 100A is idled without functioning as a generator or an electric motor, the rotor disk 7 is moved to the “minimum load position” at the right end in FIG. 1 by the high pressure oil acting on the second disk oil chamber 43. Move. As a result, the volume of the first disc oil chamber 8 is reduced, and the control oil in the first disc oil chamber 8 is pushed out to the feed pipe 46, and the control oil is supplied to the oil through the pressure adjusting pipe 50A. It is collected in the tank.

  Even when the position of the rotor disk 7 within the movable range in the direction of the rotation center axis cannot be controlled due to a failure of the hydraulic control unit 203, for example, a control oil outflow or an oil pump failure, the biasing force of the spring 40 Thus, the position of the rotor disk 7 is held at the “maximum load position”, so that the torque assist and regenerative power generation function by the motor 100A can be maintained.

(Structure of rotor and stator)
Next, a detailed configuration of the stator 110A and the rotor 120A of the motor 100A in the present embodiment will be described with reference to FIGS.
2 is an enlarged cross-sectional view of the stator and the rotor in FIG. 1, and FIG. 2A is an enlarged cross-sectional view of the stator and the rotor in the rotation center axis direction when the rotor is at the “maximum load position” in the rotation center axis direction. (B), It is an expanded sectional view of the rotation center axis direction of a stator and rotor in case a rotor exists in the "minimum load position" of a rotation center axis direction.
3A is a cross-sectional view taken along line YY in FIG. 2B, and FIG. 3B is a ZZ cross-sectional view in FIG. 2B. FIG. 3C is a cross-sectional view corresponding to the cross-sectional view taken along the line ZZ in FIG. 2B in the motor of the modification of the first embodiment.

  The motor 100A in the present embodiment is a synchronous motor (IPMSM) using a permanent magnet as described above, and the stator 110A extends from the back yoke 110a and the back yoke 110a radially inward. A slot having a predetermined shape is formed between the teeth 110b and 110b adjacent to each other in the circumferential direction so that the stator coil 111 can be wound around the teeth 110b. Similar to a normal permanent magnet synchronous motor, the stator 110A of the motor 100A is configured by stacking a large number of thin electromagnetic steel plates 113, for example, silicon steel plates in the direction of the rotation center axis.

  A cylindrical rotor 120A fixed to the rotor base 7a (see FIG. 1) has a field pole extending from the right side (one side) end to the left side (the other side) in FIG. It is comprised in order of the area | region 120a and the iron core area | region 120b. The field pole region 120a of the rotor 120A is formed by laminating a large number of annular thin electromagnetic steel plates 121, for example, silicon steel plates in the direction of the rotation center axis, and rotates to a position at a predetermined depth from the outer peripheral surface of the field pole region 120a. A hole is formed in the central axis direction. A permanent magnet 123 is inserted and fixed in the hole in the direction of the rotation center axis to form a field pole. The permanent magnets are periodically and regularly arranged so as to form a plurality of field poles in the circumferential direction of the field pole region 120a.

As shown in FIG. 2A and FIG. 3A, which is a cross-sectional view taken along the line YY in FIG. 2B, the field pole region 120a of the rotor 120A has a transverse cross section perpendicular to the direction of the rotation center axis. Two permanent magnets 123 are arranged in a V shape so as to be embedded radially inward from the outer peripheral surface of the field pole region 120a to form one field pole. The field poles adjacent to each other in the circumferential direction at an angle theta _1, for example, are arranged in the circumferential direction at equal intervals of 45 °. A salient pole is formed between the V-shaped permanent magnets 123 and 123 that are adjacent to the V-shaped permanent magnets 123 and 123 in the circumferential direction by an angle θ _{2 of} mechanical angle, for example, 22.5 °. .

As shown in FIG. 2 and FIG. 3 (b), which is a cross-sectional view taken along the line ZZ in FIG. 2 (b), the core region 120b rotates an annular thin electromagnetic steel plate 125, for example, a silicon steel plate. A plurality of holes are stacked in the direction of the central axis, and a plurality of holes having a predetermined shape are formed in the rotational central axis direction at a predetermined depth from the outer peripheral surface of the iron core region 120b to form a set of slits 126. Yes. The one set of slits 126 is periodically and regularly arranged in the circumferential direction so as to form salient poles with another set of slits 126 adjacent in the circumferential direction of the iron core region 120b. Then, as shown in (b) of FIG. 3, salient poles adjacent to each other in the circumferential direction is offset from the field poles of a half-value angle theta ₁ angle theta ₂ only field pole region 120a, the angle theta ₁ interval For example, it arrange | positions in the circumferential direction at equal intervals of 45 degrees. The iron core region 120b configured in this manner is referred to as a slit-type reluctan score.
Incidentally, the electromagnetic steel plates 113, 121, and 125 of the stator 110A and the rotor 120A are not limited to silicon steel plates, and may be other types of electromagnetic steel plates that do not use silicon.

When the rotor 120A is at the “maximum load position” in the direction of the rotation center axis as shown in FIG. 2A, the teeth 110b of the stator 110A and the inner peripheral surfaces facing each other of the field pole region 120a of the rotor 120A The outer peripheral surface overlaps 100% in the direction of the rotation center axis (100% of lap allowance), and on the left side (the other side) along the rotation center axis L (see FIG. 1) of the field pole region 120a of the rotor 120A. The arranged core region 120b protrudes to the left from the left end face of the teeth 110b of the stator 110A. That is, in FIG. 2A from the permanent magnet 123 in the field pole region 120a to the teeth 110b, the magnetic flux A penetrates from the rotor 120 radially outward toward the teeth 110b. Yes. Incidentally, when the magnetic poles of the permanent magnets are reversed, the arrow A of the magnetic flux A is reversed. When the rotor 120A is in the “maximum load position” in the movable range in the direction of the rotation center axis, the motor 100A can extract the maximum torque including the magnet torque and the reluctance torque.
Such an axial position is an efficient position when a high load is required for the motor 100A.

  On the other hand, when the rotor 120A moves to the “minimum load position” in the movable range in the direction of the rotation center axis as indicated by an arrow X in FIG. 2B, the teeth 110b of the stator 110A and the rotor 120A are moved. The overlap of the inner and outer surfaces of the field pole region 120a facing each other in the direction of the rotation center axis is reduced to, for example, about 50% (lapping margin 50%).

However, even if the overlap of the teeth 110b and the field pole region 120a of the rotor 120A in the direction of the rotation center axis is reduced to 50%, the teeth 110b of the stator 110A and the inner peripheral surface and the outer peripheral surface of the iron core region 120b of the rotor 120A rotate. Since it overlaps 50% in the direction of the central axis, 100% of the magnetic flux generated by the teeth 110b is received by the field pole region 120a and the iron core region 120b facing the inner peripheral surface of the teeth 110b. Rotation between the field pole region 120a of the rotor 120A and the stator 110A in the case of a low load that causes a low current to flow through the coil, or when weakening control is performed and the amount of magnetic flux between the stator 110A and the rotor 120A is reduced. Even if the overlap in the central axis direction is reduced, the iron core region 120b of the rotor 120A generates a reluctance torque with the stator 110A, so that the torque constant of the motor 100A is improved and the load is lower than that of the above-described conventional technology. The motor efficiency is improved.
The position where the rotor 120A is shifted to the right side (one side) from the “maximum load position” is an efficient position when the load required for the motor 100A in normal traveling is low.
The rotor 120 </ b> A can set the “maximum load position” and the “minimum load position” as any axial position between both ends including both ends as a movable range.

FIG. 4 is an explanatory diagram of a usable area and a practical usable area in the motor rotation speed-motor torque operation map of the motor. Referring to FIG. 4, the motor 100A is used between the engine output shaft and the transmission input shaft and mounted on the vehicle for use in assisting the engine output and for regenerative power generation. explain.
The vertical axis indicates the motor torque (Nm), the upper area indicated by plus (+) indicates the output torque when powering as a motor (motor mode), and the lower area indicated by minus (−) Indicates the regenerative torque when operating as a generator (regenerative power generation mode).

  A region C indicates a usable region of the motor 100A. Among them, a right oblique line region indicated by a reference C1 is a maximum torque current for controlling the motor 100A so that the generated torque or the regenerative torque is maximized with respect to the same current. This is an area realized when control is performed, and is referred to as a strong area C1. Incidentally, control of the current of the motor 100A in the strong region C1 is normally performed with a current phase angle that gives a maximum torque where the d-axis current is not zero in order to achieve efficient operation using the reluctance torque. .

  The left hatched area indicated by reference numeral C2 is an area that is realized when current control for demagnetizing the magnetic flux of the permanent magnet 123 is performed in the motor 100A so that the d-axis current is made to actively flow, and the weakening control area C2 (See FIG. 4).

  And the area | region enclosed with the thick line shown with the code | symbol D has shown the practical use area | region D where a motor is used with high frequency by the actual driving | running | working of a vehicle. As shown in FIG. 4, the practical use region D is a low load (low torque) compared to the maximum torque that can be output, and the rotor 120A is operated while being shifted to the right side from the “maximum load position”. Is efficient.

  FIG. 5 is an explanatory diagram of a permanent magnet synchronous motor that can move the rotor in the motor of the comparative example relative to the stator in the direction of the central axis of rotation. The stator 110 of the motor 150 has the same configuration as the stator 110A of the motor 100A in this embodiment, but the rotor 140 has the same length in the direction of the rotation center axis as the stator 110, and the field pole of the rotor 120A in this embodiment. It consists only of the area 120a. When the stator 110 and the rotor 140 in the motor 150 of the comparative example are relatively shifted to the right side along the direction of the rotation center axis L (see FIG. 1), the lap allowance is 50 as shown in FIG. % Decrease. This is because the amount of the magnetic flux A between the permanent magnet 123 and the tooth 110b is reduced, and not only the magnet torque is reduced, but also the reluctance torque is reduced, and the magnetic flux generated by the teeth 110b is reduced to the rotor 140. It is useless and is wasted and is not an efficient motor.

  However, according to the present embodiment, even when the rotor 120A is shifted to the right side from the “maximum load position” at the time of low load, the peripheral surface of the teeth 110b of the stator 110A as shown in FIG. The outer peripheral surfaces of the field pole region 120a and the iron core region 120b of the rotor 120A are opposed to each other, and the magnetic flux generated in the teeth 110b of the stator 110A is not wasted as shown in FIG. Efficient operation is possible.

Hereinafter, the output torque Tq when the rotor 120A is shifted to the right side from the “maximum load position” at the time of low load will be described in detail with reference to FIG.
FIG. 6 is an explanatory diagram of changes of the magnet torque and the reluctance torque with respect to the current phase difference β.
As shown in FIGS. 3A and 3B, V-shaped permanent magnets 123 and 123 that form one field curvature in the field pole region 120a are arranged around the rotation center axis L, for example, in the figure. With respect to the origin of the rotation angle indicated by the d-axis arrow, it is periodically arranged at a mechanical angle θ ₁ (45 °) and formed between two sets of slits 126 adjacent in the circumferential direction in the iron core region 120b. The rotation center axis L is shifted from the above-mentioned field pole by a mechanical angle θ ₂ (22.5 °), for example, with reference to the origin of the rotation angle indicated by the d-axis arrow in the figure. Are periodically arranged at a mechanical angle θ ₁ (45 °).

ここで、Ｐ：ステータ１１０Ａの極対数
Φ_mag：永久磁石１２３による磁束
Ｎ：ステータコイルの巻数
Ｌｄ：ｄ軸インダクタンス
Ｌｑ：ｑ軸インダクタンス
Ｉｄ：ｄ軸電流（Ｉｄ＝Ｉａ・ｓｉｎβ）
Ｉｑ：ｑ軸電流（Ｉｑ＝Ｉａ・ｃｏｓβ） The current phase difference β is a phase difference between the coil current Ia and the rotating magnetic field Φa that create the rotating magnetic field Φa and the q axis, and Ia is expressed as a vector Ia = [Id, Iq] ^T.
The output torque Tq (total torque in FIG. 6) of the permanent magnet synchronous motor is expressed by the following equation (1).

Where P: the number of pole pairs of the stator 110A
Φ _mag : Magnetic flux generated by the permanent magnet 123
N: Number of turns of stator coil
Ld: d-axis inductance
Lq: q-axis inductance
Id: d-axis current (Id = Ia · sin β)
Iq: q-axis current (Iq = Ia · cos β)

The first term on the right side of Equation (1) represents the magnet torque, and the second term on the right side represents the reluctance torque. Id × Iq in the term of reluctance torque is expressed as {(1/2) × (Ia) ² × sin (2β)}, and the period of the current phase is ½ of β. The salient pole formed between two adjacent sets of slits 126, 126 is set so as to be shifted from the d-axis by a mechanical angle θ ₂ (see FIG. 3B), so that the reluctance as shown in FIG. The torque is obtained by retarding the current phase difference (electrical angle) β by 45 ° with respect to the magnet torque that has not been advanced, and the total torque (corresponding to the output torque Tq) that is the resultant of the magnet torque and the reluctance torque. Can be maximized at a phase position of less than 45 ° with a current phase difference β, and the motor efficiency is improved.
As a result, when the rotor 120A is operated by shifting to the right side from the “maximum load position”, the reluctance torque due to the iron core region 120b contributes more than the magnet torque due to the field pole region 120a, and the total torque that is the resultant force is The current phase difference β can be maximized at a phase position of 45 °, and the motor efficiency is improved.

  Further, when the rotor 120A is operated while being shifted to the right side from the “maximum load position”, the rotating magnetic field Φa is not wasted as in the comparative example, and a reluctance torque can be obtained. Therefore, the output torque T and the coil current The ratio of Ia, that is, the torque constant is improved.

  The portion of the iron core region 120b of the rotor 120A that does not face the inner peripheral surface of the teeth 110b of the stator 110A does not generate any torque and does not cause friction loss.

FIG. 7 is an explanatory diagram showing the relationship between the coil current Ia and the output torque Tq. The curve x indicates that the wrap margin of the field pole region 120a of the rotor 120A in this embodiment is 100% (the axial position is “maximum load position”). ]) Is a coil current-output torque characteristic polar line, and the curve y indicates that the wrap margin of the field pole region 120a of the rotor 120A in this embodiment is 50% (the axial position is “minimum load position”). 5 is a coil current-output torque characteristic polar line, and the curve z indicates the coil current-output when the lapping margin of the rotor 140 in the comparative example shown in FIG. 5 is 50% (the axial position is “minimum load position”). Torque characteristic polar wire.
Incidentally, the curve x is also a coil current-output torque characteristic polar line when the lapping margin of the rotor 140 in the comparative example shown in FIG. 5 is 100% (the axial position is “maximum load position”).

As can be seen from FIG. 7, according to the present embodiment, in order to obtain the output torque value T ₁ when the wrap margin between the teeth 110b of the stator 110A and the field pole region 120a of the rotor 120A is 100%. The coil current Ia needs to flow only by the value I ₁ , whereas when the wrap margin between the teeth 110b of the stator 110A and the field pole region 120a of the rotor 120A is 50%, the coil current Ia is larger than the value I _1. Only I ₂ needs to flow.
On the other hand, in the case of the comparative example shown in FIG. 5, in order to obtain the output torque value T ₁ when the wrap margin between the teeth 110 b of the stator 110 and the rotor 140 is 100%, the coil current Ia has the value I ₁ to need to flow, if the lapping teeth 110b and the rotor 140 of the stator 110 is 50%, the coil current Ia is required to feed a large value I ₃ further than the value I _2. Therefore, in the case of this embodiment to obtain the same output torque T ₁ , the current can be reduced by ΔI.

  As described above, since the movement of the relative position of the rotor is controlled using the two-dimensional map using the motor rotation angular velocity and the motor required torque (required torque) as parameters, the output torque or power generation of the motor 100A corresponding to the running state of the vehicle. When realizing the regenerative torque by the action, the motor 100A can be operated in an efficient state. In particular, when the vehicle is traveling at a constant speed, the output torque (necessary torque) required for the motor 100A is small and is a fraction of the maximum output torque required when the vehicle is accelerated. In such a case, the rotation speed of the motor 100A is high. On the other hand, the output torque and regenerative torque (necessary torque) required for the motor 100A are large when the vehicle 100A is traveling at a low speed or during acceleration.

  In summary, according to the present embodiment, when the rotation speed of the motor 100A is low, or when the output torque and regenerative torque that are required torques of the motor 100A are large, the outer peripheral surface of the field pole region 120a of the rotor 120A. The motor 100A can be operated with good motor efficiency by supplying the necessary power or absorbing the necessary regenerative torque by maximizing the area for exchanging the magnetic flux between the tooth 110b and the inner peripheral surface of the tooth 110b. . Further, when the rotation speed of the motor 100A is higher, or when the output torque and the regenerative torque that are necessary torques required for the motor 100A are small, the gap between the outer peripheral surface of the field pole region 120a and the inner peripheral surface of the teeth 110b. The area where the magnetic flux is exchanged is reduced, and the amount is compensated by the area where the magnetic flux is exchanged between the outer peripheral surface of the iron core region 120b and the inner peripheral surface of the tooth 110b, and the motor 100A is operated in a state where the motor efficiency is good. it can.

(Modification of the first embodiment)
In the motor 100A according to the first embodiment, the iron core region 120b of the rotor 120A is a slit-type reluctan score, but is not limited thereto. A motor 100B according to a modification of the first embodiment will be described with reference to FIGS. 3 (a) and 3 (c). The motor 100B shown in FIGS. 3A and 3C is different from the motor 100A in the first embodiment only in that the rotor 120A is replaced with the rotor 120B, and the other parts are the same as those in the first embodiment. It is.
The same components as those of the first embodiment in the present modification are denoted by the same reference numerals, and redundant description is omitted.

The field pole region 120a of the rotor 120B of the motor 100B has the same configuration as that of the first embodiment, and only the core region 120b has a salient pole type reactor reactance shape as shown in FIG. Has been. FIG. 3C is a cross-sectional view of the stator 110A and the rotor 120B of the present modification corresponding to the cross-sectional view taken along the line ZZ in FIG.
As shown in FIG. 3 (c), the iron core region 120b is configured by stacking a large number of substantially annular thin electromagnetic steel plates 125, for example, silicon steel plates in the direction of the rotation center axis, and a predetermined amount from the outer peripheral surface of the iron core region 120b. The recess 120b ₂ is formed over the entire length of the core region 120b in the direction of the rotation center axis by being cut out to a depth and stacked. The recess 120b ₂ leaves a protrusion 120b ₁ between the other recess 120b ₂ adjacent in the circumferential direction of the iron core region 120b, and the protrusion 120b ₁ is periodically and regularly arranged in the circumferential direction. . The protrusion 120b ₁ corresponds to a salient pole of a salient pole type reluctan score.

As shown in FIG. 3C, the salient poles adjacent to each other in the circumferential direction are shifted from the d-axis by an angle θ ₂ that is a half value of the angle θ ₁ , for example, at an equal interval of a mechanical angle of 45 °. Arranged in the direction.
According to this modification, when the rotor 120B is operated by shifting to the right side from the “maximum load position”, the reluctance torque by the iron core region 120b contributes more than the magnet torque of the field pole region 120a, and the resultant force A certain total torque can be maximized at a phase position of 45 ° with a current phase difference β, and the motor efficiency is improved.
Further, when the rotor 120B is operated by shifting to the right side from the “maximum load position”, the rotating magnetic field Φa is not wasted as in the comparative example, and a reluctance torque can be obtained. Therefore, the output torque T and the coil current The ratio of Ia, that is, the torque constant is improved.

  The portion of the iron core region 120b of the rotor 120B that does not face the inner peripheral surface of the teeth 110b of the stator 110A does not generate any torque and does not cause friction loss.

<< Second Embodiment >>
In the field pole region 120a of the rotor 120A of the motor 100A according to the first embodiment, the arrangement of the permanent magnets forming one field pole is assumed to be two permanent magnets 123 arranged in a V shape, but is not limited thereto. It is not a thing. The field poles may be formed in other arrangements.
A motor 100C according to a second embodiment of the present invention will be described with reference to FIGS. 8 (a) and 8 (b). The motor 100C shown in FIGS. 8A and 8B is different from the motor 100A in the first embodiment only in that the rotor 120A is replaced with the rotor 120C, and the others are the same as those in the first embodiment. It is.
In the present embodiment, the same components as those in the first embodiment are denoted by the same reference numerals, and redundant description is omitted.

8A is a cross-sectional view of the stator and rotor of the second embodiment corresponding to the cross-sectional view taken along the line YY of FIG. 2B, and FIG. 8B is a cross-sectional view of FIG. It is sectional drawing of the stator and rotor of 2nd Embodiment equivalent to ZZ arrow sectional drawing of b).
In the rotor 120C, the field pole of the field pole region 120a is inserted and fixed in the direction of the rotation center axis in a hole formed in the electromagnetic steel plate 121 with a single plate-shaped permanent magnet 123 having a rectangular cross section in the direction of the rotation center axis. The only difference is the configuration of the rotor 120A in the first embodiment, and the rest is the same as the rotor 120A in the first embodiment.

A cylindrical rotor 120C fixed to the rotor base 7a (see FIG. 1) is configured in the order of the field pole region 120a and the iron core region 120b from the right side (one side) end in FIG. ing. The field pole region 120a of the rotor 120C is configured by laminating a large number of annular thin electromagnetic steel plates 121, for example, silicon steel plates in the direction of the rotation center axis, and rotates to a position at a predetermined depth from the outer peripheral surface of the field pole region 120a. A hole having a rectangular cross section in the central axis direction is formed. A flat plate-shaped permanent magnet 123 having a rectangular cross section in the direction of the rotation center axis is inserted and fixed in the hole in the direction of the rotation center axis, thereby forming a field pole. The field poles adjacent to each other in the circumferential direction at an angle theta _1, for example, are arranged in the circumferential direction at equal intervals of 45 °. Then, the angle θ ₂ , for example, 22.5 °, is shifted by a mechanical angle between the permanent magnet 123 circumferentially adjacent to the flat plate-shaped permanent magnet 123 whose cross section in the rotation center axis direction is rectangular, and the salient pole Is formed.

The iron core region 120b of the rotor 120C is a slit-type reluctan score having the same configuration as the iron core region 120b in the rotor 120A described above, and the two adjacent slits 126 have a mechanical angle with respect to the rotation center axis L at an angle θ ₁ . As shown in FIGS. 8A and 8B, the salient poles arranged in the circumferential direction at intervals and formed between two adjacent slits 126 are in phase with the salient poles of the field poles. Has been placed.

(First Modification of Second Embodiment)
The core region 120b of the rotor 120C is not limited to the slit type reluctan score. 8A and 8C, a motor 100D according to a first modification of the second embodiment will be described.
FIG. 8C is a cross-sectional view of the stator 110A and the rotor 120D of the present modification corresponding to the cross-sectional view taken along the line ZZ in FIG. The motor 100D shown in FIGS. 8A and 8C is different from the motor 100B in the second embodiment only in that the rotor 120C is replaced with the rotor 120D.

The field pole region 120a of the rotor 120D of the motor 100D has the same configuration as that of the second embodiment, and only the iron core region 120b is in the modification of the first embodiment as shown in FIG. The shape of the salient pole type reactance score is the same as that of the iron core region 120b in the rotor 120B.
Accordingly, the same components are denoted by the same reference numerals and redundant description is omitted.

According to the motor 100C in the second embodiment and the motor 100D in the first modification, when the rotor 120C or the rotor 120D is operated to the right side from the “maximum load position”, the magnet in the field pole region 120a is used. The reluctance torque by the iron core region 120b contributes more than the torque, and the total torque, which is the resultant force, can be maximized at a phase position of 45 ° with the current phase difference β, and the motor efficiency is improved.
Further, when the rotor 120C or the rotor 120D is operated while being shifted to the right side from the “maximum load position”, the rotating magnetic field Φa is not wasted as in the comparative example, and the reluctance torque can be obtained. And the coil current Ia, that is, the torque constant is improved.

  A portion of the iron core region 120b of the rotor 120C or the rotor 120D that is not opposed to the inner peripheral surface of the teeth 110b of the stator 110A does not generate any torque and does not cause friction loss.

(Second modification of the second embodiment)
Next, a motor 100E according to a second modification of the second embodiment will be described with reference to FIGS.
FIG. 9 is a cross-sectional view of a stator and a rotor according to a second modification of the second embodiment corresponding to the cross-sectional view taken along the line ZZ in FIG. The motor 100E shown in FIG. 8A and FIG. 9 differs from the motor 100B in the second embodiment only in that the rotor 120C is replaced with the rotor 120E.

The field pole region 120a of the rotor 120E of the motor 100E has the same configuration as that of the second embodiment, and only the core region 120b is shown in FIG. 9, and the field pole region 120a of the rotor 120A in the first embodiment described above. As in, two permanent magnets (second permanent magnets) 127 are arranged in a V shape, one field pole is formed, the field poles are circumferentially arranged at equal intervals at mechanical angles of angle θ ₁ , A salient pole is formed between field poles adjacent to each other in the circumferential direction, the salient pole is shifted from the field pole by a mechanical angle by an angle θ ₂ , and is arranged in the circumferential direction at equal intervals at an angle θ ₁ . Here, the permanent magnet 127 has a magnetic force weaker than that of the permanent magnet 123 described above, but has a different configuration from the field pole region 120a in the rotor 120A.
Accordingly, the same components are denoted by the same reference numerals and redundant description is omitted.

According to the motor 100E in the second modified example of the second embodiment, when the rotor 120E is shifted to the right side from the “maximum load position”, the core region is added to the magnet torque of the field pole region 120a. In addition to the magnet torque of 120b, the reluctance torque by the iron core region 120b also contributes, and the total torque, which is the resultant force, can be maximized at the phase position of 45 ° with the current phase difference β, improving the motor efficiency. To do.
Further, when the rotor 120E is operated to the right side from the “maximum load position”, the rotating magnetic field Φa is not wasted as in the comparative example, and the magnet torque and the reluctance torque can be obtained, so that the output torque T And the coil current Ia, that is, the torque constant is improved.

<< Third Embodiment >>
Next, a motor 100F according to a third embodiment of the present invention will be described with reference to FIG.
FIG. 10 is an enlarged cross-sectional view of the stator and the rotor in the third embodiment in the direction of the rotation center axis. FIG. 10A is a view of the stator and rotor when the rotor is at the “maximum load position” in the direction of the rotation center axis. FIG. 4B is an enlarged cross-sectional view in the rotation center axis direction of the stator and the rotor when the rotor is at the “minimum load position” in the rotation center axis direction.

  The motor 100F in the present embodiment is a synchronous motor (IPMSM) using a permanent magnet as described above, and the stator 110B extends from the back yoke 110a and the back yoke 110a radially inward. A slot having a predetermined shape is formed between the teeth 110b and 110b adjacent to each other in the circumferential direction so that the stator coil 111 can be wound around the teeth 110b. As shown in FIG. 10A, the stator 110B of the motor 100F has a left end (the other end of the stator) 110d, a center (the center of the stator) 110c, a right end ( It is divided in the order of one end portion of the stator) 110e. The central portion 110c is configured by stacking a large number of thin electromagnetic steel plates 113, for example, silicon steel plates in the direction of the rotation center axis, like a normal permanent magnet synchronous motor, but the left end portion 110d and the right end portion 110e are Unlike normal permanent magnet synchronous motors, particles coated with an electrical insulating material such as resin on magnetic powder such as iron (particles of magnetic material covered with an electrical insulating film) over the length of the specified rotation center axis Is further formed of a compacted material 115 obtained by compression molding using a resin as a binder.

And the dust material back yoke parts 115a and 115a which are the back yoke parts of the dust material 115 constitute the teeth 110b by combining the teeth part of the electromagnetic steel plate 113 and the dust material teeth parts 115b and 115b, and the teeth 110b. The stator coil 111 wound as a core is extended along the rotation center axis l (see FIG. 1) to the outer end of the left direction side (the other side) and the right direction side (the one side).
Incidentally, the central portion 110c and the left end portion 110d of the stator 110B, and the central portion 110c and the right end portion 110e are coated with an adhesive on the opposing surfaces and bonded, and then the stator coil 111 is wound with the teeth 110b as a core. By turning, they are firmly integrated with each other.

  The thickness of the powder material tooth portion 115b of the left end portion 110d in the rotation center axis direction is such that the movement amount of the rotor 120 in the rotation center axis direction to the left side in FIG. 10) of the dust material teeth portion 115b, the magnetic flux B1 from the left side surface (in the direction of the rotation center axis) is thick enough to attenuate before reaching the electromagnetic steel sheet 113. Say it. Further, the thickness of the powder material tooth portion 115b of the right end portion 110e in the rotation center axis direction is such that the movement amount of the rotor 120 in the rotation center axis direction to the right side in FIG. In the state of “minimum load position”, the magnetic flux B2 from the right side surface (in the direction of the rotation center axis) in FIG. 10B of the dust material teeth portion 115b is sufficiently attenuated before reaching the electromagnetic steel sheet 113. Thickness.

The cylindrical rotor 120 fixed to the rotor base 7a (see FIG. 1) may be any of the rotors 120A, 120B, 120C, 120D, and 120E. FIG. 10 representatively shows the rotor 120A.
Therefore, the description of the configuration of the rotors 120A to 120E up to the motors 100A to 100E is omitted.
In the following, in FIG. 10, the rotor 120 exemplifies the rotor 120A described above as indicated in parentheses.

  When the rotor 120 is at the “maximum load position” in the direction of the rotation center axis as shown in FIG. 10A, the teeth 110b of the stator 110B and the inner and outer surfaces facing each other of the field pole region 120a of the rotor 120 are opposed. The surface overlaps 100% in the direction of the central axis of rotation (100% wrap allowance). And the iron core area | region 120b of the rotor 120 protrudes on the left side (the other side). In FIG. 10A from the permanent magnet 123 in the rotor 120 to the teeth 110b, the magnetic flux A penetrates radially outward from the rotor 120 toward the teeth 110b. The area for exchanging magnetic flux between the outer peripheral surface of the field pole region 120b and the inner peripheral surface of the tooth 110b is 100%.

  However, the magnetic flux slightly leaking from the permanent magnet 123 to the iron core region 120b enters from the side surface (in the direction of the rotation center axis) of the left end portion 110d of the stator 110B, as indicated by the arrow B1. This is because when the rotor 120E is used as the rotor 120, a large magnetic flux B1 is generated by the magnetic flux from the permanent magnet 127 included in the iron core region 120b. The magnetic flux B1 is prevented from flowing around the back yoke portion of the electromagnetic steel plate 113 at the central portion 110c of the stator 110B by the dust material back yoke portion 115a of the left end portion 110d, and penetrates the dust material teeth portion 115b. The magnetic flux is also attenuated so as not to penetrate the electromagnetic steel sheet 113 adjacent to the dust material 115 in the direction of the rotation center axis.

Further, the dust material back yoke portion 115a at the left end portion 110d restricts the magnetic flux from penetrating the motor case when the motor case for fixing the stator 110B of the motor 100F is made of a conductive member. It is possible to suppress the generation of friction torque by generating an eddy current between the motor case and the motor case.
Incidentally, when the magnetic poles of the permanent magnets are reversed, the arrow A of the magnetic flux A is reversed.

When the rotor 120 is in the “maximum load position” in the movable range, the ability of the portion formed of the electromagnetic steel plate 113 of the central portion 110c that has a better magnetic flux flow than the dust material 115 can be utilized to the maximum.
Such an axial position is an efficient position when a high load is required for the motor 100F.

  On the other hand, when the rotor 120 is at the “minimum load position” in the movable range in the rotation center axis direction as indicated by an arrow X in FIG. 10B, the teeth 110b of the stator 110B and the rotor 120 The overlap in the rotation center axis direction between the inner peripheral surface and the outer peripheral surface of the field pole region 120a facing each other is reduced to, for example, about 50% (lapping margin 50%), and the iron core is used instead of the field pole region 120a in which the overlap is reduced. Region 120b compensates.

  Then, as shown in FIG. 10B, the magnetic flux A from the permanent magnet 123 in the overlapping field pole region 120a to the teeth 110b, as indicated by the arrow A, is radially outward from the rotor 120. 10B, the permanent magnet 123 in the field pole region 120a that protrudes to the right in the direction of the rotation center axis that does not overlap the inner peripheral surface of the tooth 110b in FIG. 10B from the permanent magnet 123 to the tooth 110b. The magnetic flux B2 is prevented from wrapping around the back yoke portion of the electromagnetic steel plate 113 at the center portion 110c by the dust material back yoke portion 115a of the right end portion 110e of the stator 110B, and the dust material teeth of the right end portion 110e are prevented. The magnetic flux penetrating the portion 115b does not penetrate the electromagnetic steel plate 113 of the central portion 110c adjacent to the dust material 115 in the direction of the rotation center axis. It would be attenuated.

  Further, the dust material back yoke portion 115a of the right end portion 110e restricts the magnetic flux from penetrating the motor case when the motor case for fixing the stator 110B of the motor 100F is made of a conductive member. It is possible to suppress the generation of friction torque by generating an eddy current between the motor case and the motor case.

Further, since the left end portion 110d and the right end portion 110e are made of a powder material 115 obtained by compacting particles of magnetic material covered with an electrical insulating film, the magnetic flux is applied to the particles of magnetic material. Even if the strength changes through the direction, the eddy current characteristic does not have directionality.
Furthermore, regardless of whether or not the rotor 120 moves along the rotation center axis, the iron loss can be reduced by the magnetic path expansion effect in the powdered material back yoke portion 115a.
As a result, even if the rotor 120 moves from the “maximum load position” in the rotation center axis direction to any position in the right direction, the magnetic flux penetrating from the rotation center axis direction to the electromagnetic steel sheet 113 of the central portion 110c of the stator 110B is almost equal. Even if the motor 100F is idling with no load in that state, that is, being driven by the engine in that state, generation of friction torque due to iron loss due to generation of eddy current in the electromagnetic steel sheet 113 is suppressed. it can. That is, the friction torque when the motor 100F is rotated is reduced, which contributes to an improvement in the fuel consumption of the vehicle.
The position where the rotor 120 is shifted to the right side from the “maximum load position” is an efficient position when the load required for the motor 100F in normal traveling is low.

  In summary, according to the present embodiment, when the rotation speed of the motor 100F is low, or when the output torque and regenerative torque that are required torques of the motor 100F are large, the outer peripheral surface of the field pole region 120a of the rotor 120 The motor 100F can be operated with good motor efficiency by maximizing the area for exchanging magnetic flux between the inner surface of the teeth 110b and the teeth 110b to supply necessary power or absorb necessary regenerative torque. . When the rotation speed of the motor 100F is higher, or when the output torque and the regenerative torque, which are necessary torques required for the motor 100F, are small, the area is reduced to reduce drag loss during rotation. It can be operated with good motor efficiency.

(Modification of the third embodiment)
In addition, the stator 110B of the motor 100F of the present embodiment includes a central portion 110c configured by laminating electromagnetic steel plates 113, and a left end portion 110d and a right end portion 110e each configured by a dust material 115. As the nonmagnetic material, a material having a very high magnetic resistance, for example, a nonmagnetic stainless steel plate may be interposed. Thus, by sandwiching the non-magnetic material in the stator 110B, it is possible to efficiently suppress the magnetic flux that may penetrate through the electromagnetic steel plate 113 of the central portion 110c from the rotation center axis direction. As a result, the thickness of the dust material teeth portion 115b of the stator 110B in the rotation center axis direction can be reduced, and the motor 100F can be configured more compactly in the rotation center axis direction.

<< Other modifications >>
In the first to third embodiments and the modifications thereof, the rotor 120 is moved in the direction of the rotation center axis along the outer periphery of the rotor shaft 2, and is configured to be relatively shifted from the stators 110A and 110B in the direction of the rotation center axis. Although the overlapping area in the rotation center axis direction with the field pole region 120a of the opposing rotors 120A to 120E is variable, it is not limited thereto. The rotors 120A to 120E may be fixed to the rotor shaft 2 and the stators 110A and 110B fixed to the casings of the motors 100A to 100F may be moved along with the ball bearings 32 and 34 along the rotor shaft.

  Furthermore, the hydraulic control unit 203 that moves the rotor disks 7 of the motors 100A to 100F in the first to third embodiments and the modifications thereof in the direction of the rotation center axis may be part of the hydraulic control unit that controls the transmission. . In that case, instead of arranging the hydraulic pressure supply ring 44 on the outer peripheral surface of the rotor shaft 2, the rotor shaft 2 is integrated with the input shaft of the transmission, and from the right end side of the input shaft of the transmission, Japanese Patent Laid-Open No. 10-252850 As shown in FIG. 2, two oil passages may be provided in the transmission cover so that the hydraulic pressure is supplied into the oil chamber 2 a in the shaft and the feed pipe 46.

  In the first to third embodiments and modifications thereof, when the motors 100A to 100F are used for driving a vehicle, the target position in the control of the axial position of the rotor 120 (120A to 120E) is controlled by the engine control. The calculation is made with reference to the two-dimensional map of the motor request torque and the motor rotation angular velocity based on the motor request torque and the motor rotation angular velocity calculated by the ECU 201, but is not limited thereto. The target position may be calculated with reference to a one-dimensional map of the motor required torque or the motor rotational angular speed based on the motor required torque or the motor rotational angular speed (that is, the engine rotational speed).

Further, the engine control ECU 201 is connected to a transmission control ECU that controls the transmission via a communication line, and receives a signal from a shift position detection sensor that detects a shift position of the transmission. The engine control ECU 201 receives the shift position, the accelerator opening degree, In order to determine the engine brake state from the brake pedal depression amount, vehicle speed, etc., and to request the maximum regenerative torque as the motor required torque, the rotor position control unit 201a sets the “maximum load position” as the target position, and the hydraulic control unit You may make it output to 203.
In this case, the shift position detection sensor is also included in the “running state acquisition unit” recited in the claims.

  In the first to third embodiments and the modifications thereof, the motors 100A to 100F are inner rotor type radial motors, but are not limited thereto, and may be outer rotor type radial motors. .

2 Rotor shaft 2a Shaft oil chamber 2b, 2c, 2d, 2e, 7b, 42a, 42b, 48a, 48b Oil hole 7 Rotor disk 7a Rotor base 8 First disk oil chamber 35 Ball spline 36 Piston member 37 Inner cylinder member 38 Outer cylinder member 40 Spring 42 First plug 42c, 48c Oil groove 43 Second disc oil chamber 44 Hydraulic supply ring 44a, 44b, 44c Inner edge 46 Feed pipe 48 Second plug 49A, 49B Oil chamber 100A, 100B , 100C, 100D, 100E, 100F Motor 110, 110A, 110B Stator 110a Back yoke 110b Teeth 110c Center portion 110d Left end portion (the other end portion)
110e Right end (one end)
111 Stator coil (coil)
113, 121, 125 Magnetic steel sheet 115 Dust material 115a Dust material back yoke part 115b Dust material teeth part 120, 120A, 120B, 120C, 120D, 120E Rotor 120a Field magnetic pole area 120b Iron core area 120b ₂ recess 120b ₁ protrusion 123, 127 Permanent magnet 126 Slit 130 Inverter unit 130a Electric motor control unit 130b Generator control unit 133 Battery 201 Engine control ECU (running state acquisition means)
201a Rotor position control unit (position control means)
203 Hydraulic control unit (position control means)
211 Motor rotation angle sensor (running state acquisition means)
213 Accelerator opening sensor (running state acquisition means)
214 Position sensor (position control means)
215 Crank pulse sensor (running state acquisition means)
217 Vehicle speed sensor (running state acquisition means)
218 Brake pedal sensor (running state acquisition means)
L Rotation center axis

Claims (9)

A rotor rotatable around a rotation center axis, and a stator having teeth disposed as opposed to an outer peripheral surface or an inner peripheral surface of the rotor and used as a core for winding a coil. A motor that forms a field pole by fixing a magnet,
A field pole region having a first permanent magnet that forms a field pole on the one side portion of the rotor, and a portion on the other side opposite to the one side as an iron core region,
The rotor has an outer peripheral surface or an inner peripheral surface of a field magnetic pole region of the rotor facing the stator, and when the field magnetic pole is relatively moved to one side along the rotation center axis, and the teeth Reduce the area for exchanging magnetic flux between the inner and outer peripheral surfaces facing the field pole region of the rotor,
The stator is divided into three sections, one end, a center, and the other end, in order from the one end in the direction of the rotation axis in a plane perpendicular to the rotation center axis.
The one end and the other end of the stator are made of a compacted material obtained by compacting particles of magnetic material covered with an electrical insulating film.
The central portion of the stator is configured by laminating electromagnetic steel plates,
A motor comprising a nonmagnetic material interposed between one end portion of the stator and the central portion, and between the other end portion of the stator and the central portion, respectively . The first permanent magnets in the field pole region of the rotor are embedded at equal intervals in the circumferential direction,
In the iron core region of the rotor, second permanent magnets having a magnetic force weaker than that of the first permanent magnets are embedded at equal intervals in the circumferential direction at the same circumferential phase as the first permanent magnets. The motor according to claim 1, wherein the motor is arranged. The first permanent magnets in the field pole region of the rotor are embedded at equal intervals in the circumferential direction,
The motor according to claim 1, wherein the iron core region of the rotor has a shape that retards an electrical angle by 45 ° with respect to the circumferential arrangement of the first permanent magnet.   The motor according to claim 3, wherein the iron core region is a slit type reluctan score.   The motor according to claim 3, wherein the iron core region is a salient pole type reluctan score. The back yoke at one end of the stator extends to the one side, and the back yoke at the other end of the stator extends to the other side opposite to the one side. Item 6. The motor according to Item 5 . Movement of the relative position along the axis of rotation of said rotor, a motor as claimed in any one of claims 6, characterized in that it is made by hydraulic pressure. The motor according to claim 7 is used as a vehicle driving motor,
Position control means for controlling movement of a relative position along the rotation center axis of the rotor;
Traveling state acquisition means for acquiring the traveling state of the vehicle,
The position control means controls the movement of the relative position based on a signal indicating the running state of the vehicle obtained by the running state obtaining means. 9. The motor control apparatus according to claim 8 , wherein the position control means controls the movement of the relative position using at least one of a motor rotation angular velocity and a required torque as a running state of the vehicle. .

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