JP5510156B2 - Rotating machine control device - Google Patents

Description

  The present invention has means for operating a voltage applying means for applying a voltage to a terminal of the rotating machine to control a control amount of the rotating machine having saliency and a cycle different from an electrical angle of the rotating machine. And a superimposing means for superimposing a voltage signal oscillating in an arbitrary phase angle direction on a voltage applied to a terminal of the rotating machine, and the rotation based on the current signal actually flowing through the rotating machine by the superimposed voltage signal. The present invention relates to a control device for a rotating machine that includes an angle estimating unit that estimates a rotation angle of the machine, and uses the estimated rotation angle when controlling a control amount of the rotating machine.

  As this type of control device, for example, as seen in Patent Document 1 below, a current signal that is actually propagated to the motor when a voltage signal that vibrates in the positive and negative directions of the estimated d-axis of the three-phase motor is applied. There has also been proposed a method for estimating the electrical angle of an electric motor based on the above.

Japanese Patent No. 3312472

  By the way, when applying a voltage signal to the three-phase motor in the above-described manner, the inventors have found a phenomenon in which noise increases as the current amplitude for controlling the control amount of the three-phase motor increases. . This phenomenon is manifested by advancing higher torque density that increases the torque for the size of the three-phase motor.

  The present invention has been made to solve the above-described problems, and its purpose is to estimate an electrical angle by applying a voltage signal under a situation where the amplitude of a current for controlling the control amount of a rotating machine becomes large. An object of the present invention is to provide a control device for a rotating machine that can suitably suppress noise at the time.

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

According to a first aspect of the present invention, a means for operating a voltage applying means for applying a voltage to a terminal of the rotating machine to control a control amount of the rotating machine having saliency and a cycle different from an electrical angle of the rotating machine. And superimposing means for superimposing a voltage signal oscillating in an arbitrary phase angle direction on the voltage applied to the terminal of the rotating machine, and a current signal that actually flows through the rotating machine by the superimposed voltage signal, An angle estimating means for estimating a rotation angle of the rotating machine, wherein the superimposing means uses the estimated rotation angle when controlling the controlled variable of the rotating machine. When the amplitude of the current flowing through the rotating machine for control is large, at least one of the period of the voltage signal, the average value of the voltage signal in a predetermined period, and the maximum value of the frequency spectrum of the voltage signal is reduced. Characterized in that it comprises a reduction unit for performing reduction processing that.

  When the amplitude of the current flowing through the rotating machine for controlling the control amount is large, the inductance of the rotating machine becomes small. When the voltage signal is constant, the amplitude of the current signal is increased even though the inductance is reduced. This amplitude has a positive correlation with the sound pressure generated by the rotating machine and the voltage applying means. In the above invention, in view of this point, when the current amplitude for controlling the control amount is large, processing for suppressing or avoiding an increase in the amplitude of the current signal and the maximum value of the frequency spectrum of the current signal is performed. , Suppress or avoid the increase of sound pressure. That is, when the amplitude of the current signal is small, the intensity of noise determined according to the frequency of the current signal is small. Further, if the maximum value of the frequency spectrum of the current signal is reduced, the maximum value of noise can be reduced.

  Here, the increase in the amplitude of the current signal can be suppressed or avoided by reducing the average value of the voltage signal in a predetermined cycle or the cycle of the voltage signal. In addition, an increase in the maximum value of the frequency spectrum of the current signal can be suppressed or avoided by reducing the average value of the voltage signal in a predetermined cycle or the maximum value of the frequency spectrum of the voltage signal.

  According to a second aspect of the present invention, in the first aspect of the invention, the reduction process includes a process of reducing an amplitude of the voltage signal.

  When the amplitude of the voltage signal is reduced, the rate of change of the current signal is reduced, so that an increase in the amplitude of the current signal can be suppressed or avoided.

  According to a third aspect of the present invention, in the first aspect of the invention, the reduction process includes a process of intermittently superimposing the voltage signals.

  When voltage signals are superimposed on each other intermittently, the frequency of the current signal flowing through the rotating machine decreases, so that an increase in the maximum value of the frequency spectrum of the current signal can be suppressed or avoided.

  According to a fourth aspect of the present invention, in the first aspect of the present invention, the reducing means includes a process of spreading the frequency of the voltage signal.

  When the frequency of the voltage signal is diffused, the frequency of appearance of the current signal of each frequency decreases, so that an increase in the maximum value of the frequency spectrum of the current signal can be suppressed or avoided.

  According to a fifth aspect of the present invention, in the invention according to any one of the first to fourth aspects, the reduction means performs the reduction process when the inductance of the rotating machine decreases due to the large amplitude of the current. It is characterized by performing.

  The invention according to claim 6 is the invention according to any one of claims 1 to 5, wherein the rotating machine has a larger amplitude of a current flowing through the rotating machine for controlling the control amount. The direction in which the inductance is minimized deviates from the d-axis direction, and the angle estimation means includes means for estimating the rotation angle by using as input current information flowing through the rotating machine for control of the control amount. The reduction processing is performed when the angle estimation means estimates the rotation angle by using the current information as an input.

  In the above-described invention, the rotation angle is estimated by an estimation method based on the premise that the current signal is deflected in the d-axis direction in a situation where noise increases due to an increase in the amplitude of the current flowing through the rotating machine for control amount control. Estimation accuracy decreases. On the other hand, the current passed through the rotating machine for control amount control includes information on the inductance of the rotating machine, and therefore includes information on the vibration direction (deflection direction) and amplitude of the current signal. For this reason, it is possible to acquire information about what happens to the current signal when the estimated rotation angle is correct, based on the current flowing through the rotating machine for control of the control amount. In the above invention, in view of this point, the rotation angle is estimated using current information for controlling the control amount.

  A seventh aspect of the present invention is the invention according to any one of the first to sixth aspects, wherein the voltage applying means is configured to connect a terminal of the rotating machine to each of a positive electrode and a negative electrode of a DC power source. A DC / AC converter circuit configured to include an element, wherein a fundamental wave amplitude of an output line voltage of the DC / AC converter circuit on which the voltage signal is superimposed by the superimposing unit is smaller than a voltage of the DC power supply. It is characterized by.

  The invention according to an eighth aspect is the invention according to any one of the first to seventh aspects, wherein the superimposing unit superimposes the voltage signal on condition that an electrical angular velocity of the rotating machine is small. And

  The invention according to claim 9 is the invention according to any one of claims 1 to 8, wherein the rotating machine is mounted on a vehicle.

  In a rotating machine mounted on a vehicle, the demand for high torque density is extremely large due to restrictions on the mounting space, and thus the above-mentioned noise tends to be noticeable. However, low noise is strongly desired from the viewpoint of passenger comfort. For this reason, the utility value of the said reduction means is especially large.

1 is a system configuration diagram according to a first embodiment. FIG. The figure for demonstrating the problem accompanying an angle estimation process. The figure which shows the effect of the said embodiment. The system block diagram concerning 2nd Embodiment. The system block diagram concerning 3rd Embodiment. The figure which shows the setting of the voltage signal concerning 4th Embodiment. The figure which shows the setting of the voltage signal concerning 5th Embodiment. The figure which shows the change of the vibration direction of the electric current signal accompanying magnetic saturation. The system block diagram concerning 6th Embodiment. The figure which shows the modification of each said embodiment.

<First Embodiment>
Hereinafter, a first embodiment in which a control device for a rotating machine according to the present invention is applied to a control device for a rotating machine as an in-vehicle main machine will be described with reference to the drawings.

  FIG. 1 shows a system configuration according to the present embodiment.

  The illustrated motor generator 10 is a three-phase permanent magnet synchronous motor. The motor generator 10 is a rotating machine (saliency pole machine) having saliency. Specifically, the motor generator 10 is an embedded magnet synchronous motor (IPMSM). The motor generator 10 is an in-vehicle main machine, and the rotating shaft thereof is mechanically coupled to the drive wheels.

  The motor generator 10 is connected to a high voltage battery 14 via an inverter 12. Inverter 12 is a DC / AC conversion circuit including a series connection body of switching elements that selectively connects each terminal of motor generator 10 to each of a positive electrode and a negative electrode of high-voltage battery 14.

In the present embodiment, when the inverter 12 is operated to control the control amount of the motor generator 10, processing for estimating the rotation angle (electrical angle θ) of the motor generator 10 is performed. In the following, “control of the control amount of the motor generator 10” will be described first, and then “estimation processing of the electrical angle θ of the motor generator 10” will be described.
"Control of control amount of motor generator 10"
The current flowing through the motor generator 10 is detected by the current sensor 16. The three-phase real currents iu, iv, iw detected by the current sensor 16 are converted into real currents iα, iβ in a fixed coordinate system by the αβ converter 20. Here, the positive direction of the α axis coincides with the U phase, and the β axis is a direction advanced by “π / 2” with respect to this. The actual currents iα and iβ on the αβ axis are converted by the dq converter 22 into the actual currents id and iq in the rotating coordinate system based on the electrical angle θ of the motor generator 10. These real currents id and iq have high frequency components removed by the low-pass filter 24.

  On the other hand, command current setting unit 26 sets command values (command currents idr, iqr) on the dq axis of the current flowing through motor generator 10 based on command torque Tr. The deviation calculating unit 28 subtracts the actual current id from which the high frequency component has been removed from the command current idr, and the deviation calculating unit 30 subtracts the actual current iq from which the high frequency component has been removed from the command current iqr.

  The command voltage setting unit 32 calculates the command voltage vdr as an operation amount for performing feedback control of the actual current id from which the high frequency component has been removed to the command current idr, and uses the actual current iq from which the high frequency component has been removed as the command current iqr. The command voltage vqr is calculated as an operation amount for feedback control. Here, the feedback controller is preferably constituted by a proportional element and an integral element. When calculating the command voltages vdr and vqr, it is desirable to add a feedforward term such as known non-interference control or induced voltage compensation to the output of the feedback controller.

The αβ converter 36 converts the command voltages vdr and vqr into a command voltage vαr on the α axis and a command voltage vβr on the β axis based on the electrical angle θ of the motor generator 10. The three-phase conversion unit 38 converts the command voltages vαr and vβr into three-phase command voltages vur, vvr, and vwr. The PWM signal generation unit 40 generates and outputs an operation signal for operating the switching element of the inverter 12 so that the output voltage of the inverter 12 becomes the three-phase command voltages vur, vvr, and vwr. In generating the operation signal, the voltage of the high voltage battery 14 detected by the voltage sensor 42 is used.
“Estimation Process of Electric Angle θ of Motor Generator 10”
In the present embodiment, the electric angle θ is estimated based on the induced voltage of the motor generator 10 in the high rotation speed region of the motor generator 10, and the high frequency voltage is superimposed on the motor generator 10 in the low rotation speed region. The electrical angle θ is estimated based on the high-frequency current that actually flows through. Here, “high frequency” in the high frequency voltage or high frequency current means a frequency higher than the electrical angular frequency determined according to the electrical angular velocity ω of the motor generator 10. Further, the modulation factor at the time of estimating the electrical angle θ based on the high-frequency current is smaller than “1”. On the other hand, the expansion induced voltage observer 44 is used for estimating the electrical angle θ in the high rotation speed region. For the extended induced voltage observer, for example, a method described in “Extended induced voltage observer for sensorless control of salient pole type brushless DC motor 1999 National Institute of Electrical Engineers of Japan No. 1026” may be used. Hereinafter, the estimation process of the electrical angle θ in the low rotation speed region will be described.

  The high-frequency components (high-frequency currents idh, iqh) are extracted from the actual currents id, iq output from the dq converter 22 by the high-pass filter 50. On the other hand, the high frequency voltage generator 52 generates a high frequency voltage vdh. The high-frequency voltage vdh is a periodic pulse signal (rectangular wave signal) that oscillates between the positive and negative directions of the d-axis. The high frequency voltage vdh is superimposed on the d-axis command voltage vdr in the superimposing unit 34.

  The outer product calculation unit 54 calculates the outer product value op of the high-frequency currents idh and iqh and the high-frequency voltage vdh. The outer product value op has a correlation with the angle formed between the high-frequency currents idh and iqh and the high-frequency voltage vdh. Therefore, if the electrical angle θ is manipulated so that the outer product value op becomes zero, the manipulated electrical angle θ can be made the true electrical angle of the motor generator 10. That is, since the direction in which the inductance of the motor generator 10 is minimized is the d-axis direction, the high-frequency currents idh and iqh are deflected to the d-axis. For this reason, if the superposition direction of the high frequency voltage vdh is the d-axis direction, the outer product value op can be made zero.

  The angle estimator 56 calculates the electrical angular velocity ω as the sum of the output of the proportional element and the output of the integral element with the outer product value op as an input, and calculates the electrical angle θ by integrating this. The electrical angle θ calculated in this way is used by the αβ converter 36 and the dq converter 22.

  By the way, the inventors have found that when the high-frequency voltage vdh is superimposed in a situation where the torque of the motor generator 10 is increased, the noise generated thereby increases. FIG. 2 shows the relationship between the torque vH, the amplitude vh of the high frequency voltage, the amplitude ih of the high frequency current, and the sound pressure.

  As shown in the figure, when the torque is increased while the amplitude vh of the high-frequency voltage is fixed, the amplitude ih of the high-frequency current increases, and the sound pressure increases accordingly. This is considered to be because magnetic saturation occurs when the current flowing through the motor generator 10 increases, and the inductance decreases due to the magnetic saturation. That is, when the inductance decreases, the amplitude ih of the high-frequency current increases even with the same applied voltage.

  Therefore, in the present embodiment, as shown in FIG. 1, the high-frequency voltage generator 52 receives the command torque Tr, and decreases the amplitude vh of the high-frequency voltage vdh as the command torque Tr increases. Thereby, the increase in the amplitude ih of the high-frequency current due to the increase in torque can be suitably suppressed.

  FIG. 3 shows the effect of this embodiment. As shown in the drawing, the increase in the amplitude ih of the high-frequency current can be suppressed (in the figure, an example of keeping the constant value) by reducing the amplitude vh of the high-frequency voltage as the torque increases. As a result, an increase in sound pressure can be suitably suppressed.

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

  (1) The amplitude vh of the high frequency voltage was reduced as the command torque Tr was increased. Thereby, an increase in sound pressure can be suppressed or avoided.

(2) The electrical angle θ was estimated when controlling the control amount of the motor generator 10 as the in-vehicle main machine. In this case, the demand for a high torque density for the motor generator 10 becomes very large due to restrictions on the mounting space and the like, so noise tends to increase when the electrical angle θ is estimated, but it is low from the viewpoint of passenger comfort. Noise reduction is strongly desired. For this reason, the utility value of the process of reducing the amplitude vh is particularly great.
<Second Embodiment>
Hereinafter, the second embodiment will be described with reference to the drawings with a focus on differences from the first embodiment.

  FIG. 4 shows a system configuration according to the present embodiment. In FIG. 4, processes and members corresponding to the processes shown in FIG. 1 are given the same reference numerals for convenience.

  In the present embodiment, the amplitude I of the actual currents id and iq is used as an input parameter for variably setting the amplitude vh of the high-frequency voltage. That is, the current amplitude calculation unit 60 calculates the amplitude I of the actual currents id and iq from which the high-frequency component has been removed by the low-pass filter 24, and outputs this to the high-frequency voltage generation unit 52. The amplitude I is a current amplitude for controlling the control amount of the motor generator 10 and is a parameter having a correlation with the degree of magnetic saturation of the motor generator 10.

Also according to the present embodiment described above, an effect according to the first embodiment can be obtained.
<Third Embodiment>
Hereinafter, the third embodiment will be described with reference to the drawings with a focus on differences from the first embodiment.

  FIG. 5 shows a system configuration according to the present embodiment. In FIG. 5, processes and members corresponding to the processes shown in FIG. 1 are given the same reference numerals for convenience.

  In the present embodiment, the inductance L of the motor generator 10 is used as an input parameter for variably setting the amplitude vh of the high frequency voltage. That is, the current amplitude calculation unit 60 calculates the amplitude I of the actual currents id and iq from which the high-frequency component has been removed by the low-pass filter 24, and outputs this to the inductance estimation unit 62. The inductance estimation unit 62 estimates that the inductance L is a smaller value as the amplitude I is larger, and outputs the estimated inductance L to the high-frequency voltage generation unit 52.

Also according to the present embodiment described above, an effect according to the first embodiment can be obtained.
<Fourth Embodiment>
Hereinafter, the fourth embodiment will be described with reference to the drawings with a focus on differences from the first embodiment.

  In the present embodiment, as shown in FIG. 6, when the torque increases, the superposition process of the high-frequency voltage vdh is temporarily interrupted. 6A shows the transition of the high-frequency voltage vdh, and FIG. 6B shows the relationship between the interruption period T and the command torque Tr. As shown in the figure, in this embodiment, the superposition is interrupted for the suspension period T every time the high-frequency voltage vdh is superposed over one period. In this way, by intermittently superimposing the high-frequency voltage vdh, the frequency of noise generation can be reduced, and as a result, an increase in sound pressure can be suppressed.

  The interruption period T is set longer as the command torque Tr is larger.

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

(3) When the command torque Tr is large, the high frequency voltage vdh is superimposed intermittently. As a result, the frequency at which the high-frequency currents idh and iqh flow can be reduced, and consequently the frequency of noise associated therewith can be reduced. For this reason, an increase in sound pressure can be suitably suppressed.
<Fifth Embodiment>
Hereinafter, a fifth embodiment will be described with reference to the drawings, focusing on differences from the first embodiment.

  In the present embodiment, as shown in FIG. 7, when the torque increases, the frequency of the high-frequency voltage vdh is spread. FIG. 7A shows the transition of the high-frequency voltage vdh, FIG. 7B shows the spectrum of the high-frequency current, and FIG. 7C shows the relationship between the width in which the frequency is variable and the command torque Tr. Show. As illustrated, in the present embodiment, the spectrum of the high-frequency current (intensity corresponding to the frequency) can be reduced by diffusing the frequency of the high-frequency voltage vdh. For this reason, an increase in the maximum value of the sound pressure can be suitably suppressed.

  Note that the range in which the frequency is variable is set to be larger as the command torque Tr is larger.

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

(4) When the command torque Tr is large, the frequency of the high frequency voltage vdh is diffused. Thereby, the raise of the maximum value of a sound pressure can be suppressed suitably.
<Sixth Embodiment>
Hereinafter, the sixth embodiment will be described with reference to the drawings with a focus on differences from the first embodiment.

  When magnetic saturation occurs in the motor generator 10, the direction in which the inductance of the motor generator 10 is minimized deviates from the d-axis direction, as shown in FIG. Here, FIG. 8B shows a high-frequency current that actually flows through the motor generator 10 when a high-frequency voltage is superimposed in all directions while the amplitude is constant as shown in FIG. 8A. Specifically, FIG. 8B shows that when the current vector for controlling the control amount of the motor generator 10 (command current idr, iqr) becomes a current vector on the q axis, the direction in which the inductance is minimized is the d axis. An example is shown in which a phenomenon occurs that shifts from the direction toward the control current vector direction. In this case, the vector of the high-frequency current that actually flows through the motor generator 10 is deflected to the control current vector side by superposition of the high-frequency voltage.

  In the present embodiment, the electrical angle θ is estimated in consideration of this point. This can be performed by setting the operation amount for feedback control of the amplitude of the high-frequency current to the assumed amplitude as the electrical angle θ. Specifically, as described in Japanese Patent Application Laid-Open No. 2008-220089, the amplitude ih (d) of the current signal flowing through the motor generator 10 when a high frequency voltage is superimposed on each of the estimated d-axis direction and the estimated q-axis direction. ), Ih (q) can be performed by operating the electrical angle θ to feedback control the multiplication value to the target value.

  FIG. 9 shows a system configuration according to the present embodiment. In FIG. 9, only the process at the low rotation speed is specified as the estimation process of the electrical angle θ. In FIG. 9, the same reference numerals are given for the sake of convenience to the processes and members corresponding to the processes shown in FIG.

  As shown in the figure, the high frequency voltages vdh and vqh generated by the high frequency voltage generator 52 are added to the command voltages vdr and vqr in the superimposing units 34 and 35, respectively.

  On the other hand, in the high frequency amplitude calculation unit 68, the high frequency currents idh and iqh are input, and the amplitude ih (d) of the current signal when the high frequency voltage vdh is superimposed and the amplitude of the current signal when the high frequency voltage vqh is superimposed. ih (q) is calculated and output. Each of the amplitudes ih (d) and ih (q) is multiplied by the multiplication unit 70. On the other hand, the target value setting unit 72 calculates the target value of the product of the amplitudes ih (d) and ih (q) using the actual currents id and iq and the electrical angular velocity ω as inputs. Here, the actual currents id and iq are parameters having information on the inductance of the motor generator 10. In other words, it is a parameter having information on the amplitude of the high-frequency currents idh and iqh. The deviation calculation unit 74 calculates the error signal Δθ by subtracting the multiplication value output from the multiplication unit 70 from the target value set by the target value setting unit 72. This error signal Δθ is a parameter having a correlation with the estimation error of the electrical angle θ. The speed estimation unit 76 estimates the speed using the error signal Δθ as an input. Here, for example, the electrical angular velocity ω may be calculated as the sum of the output of the proportional element and the output of the integral element that receive the error signal Δθ. Based on the electrical angular velocity ω thus estimated, the integrator 78 estimates the electrical angle θ.

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

(5) In estimating the electrical angle θ, current information (output of the low-pass filter 24) for controlling the control amount of the motor generator 10 was used. Thereby, the electrical angle θ can be estimated with high accuracy regardless of magnetic saturation.
<Other embodiments>
Each of the above embodiments may be modified as follows.

"About reduction measures"
The method for suppressing the increase in the amplitude of the high-frequency current is not limited to those exemplified in the above embodiments. For example, as shown in FIG. 10, one time period in each of the d-axis positive direction and the negative direction may be shortened. Thereby, it is possible to suppress or avoid an increase in the amplitude value of the high-frequency current due to magnetic saturation.

  Note that the reduction process is not limited to performing only one of the process exemplified in the first embodiment, the process exemplified in the fourth embodiment, the process exemplified in the fifth embodiment, and the like.

About angle estimation means
The rotation angle estimation method based on the vibration direction of the high-frequency current that actually flows through the rotating machine when the high-frequency voltage is superimposed is not limited to the one that performs the outer product calculation. For example, the one described in Patent Document 1 may be used.

  The means for estimating the rotation angle by using the current information flowing through the rotating machine for the control of the control amount of the rotating machine is not limited to that exemplified in the sixth embodiment. For example, as described in Japanese Patent Application Laid-Open No. 2008-125260, the rotation angle estimated based on the vibration direction of the high-frequency current accompanying superposition of the high-frequency voltage is set to the amplitude of the high-frequency current signal estimated from the current information. It may be corrected by feedback control to the target value. At this time, as described in JP 2009-148017 A, the vibration direction of the high-frequency voltage may be variably set. Further, for example, as described in Japanese Patent Application Laid-Open No. 2008-220089, the rotation angle estimated based on the vibration direction of the high-frequency current caused by the superposition of the high-frequency voltage is used as the multiplication value feedback according to the sixth embodiment. You may correct | amend by control.

  In the first to fifth embodiments as well, when performing processing unique to the present application, such as processing for reducing the amplitude vh of the high-frequency voltage, the direction in which the inductance is minimized due to magnetic saturation is the d-axis direction. Therefore, in order to maintain high angle estimation accuracy, it is desirable to add the correction processing based on the amplitude of the high-frequency current. On the contrary, when a means for correcting the rotation angle estimated based on the vibration direction of the high-frequency current accompanying the superposition of the high-frequency voltage is provided based on the current information, when the correction process is started, It is particularly effective to perform the reduction process.

  By the way, as means for estimating the rotation angle by inputting the current information flowing to the rotating machine for controlling the control amount of the rotating machine, the difference between the amplitude value of the current signal corresponding to the current information and the actual amplitude value is obtained. The present invention is not limited to operating the electrical angle θ estimated to be shortened. For example, the phase angle that minimizes the inductance may be specified based on the current information.

  In addition, as a feedback controller for operating the electrical angle θ to control the error (the outer product value op and the error signal Δθ) of the electrical angle θ calculated based on the high-frequency current to be zero, The integral value of the sum with the output of the integral element is not limited to the feedback manipulated variable. For example, the sum itself may be used as a feedback operation amount (electrical angle θ). Moreover, not only the sum of the output of the proportional element and the output of the integral element, but for example, the sum of the outputs of the proportional element, the integral element, and the differential element, or the sum of the outputs of the proportional element, the integral element, and the double integral element A feedback operation amount (or an electrical angular velocity ω) may be used.

"Angle estimation in high rotation speed range"
The angle estimation method in the high rotation speed region is not limited to the one using the extended induced voltage observer. For example, the high frequency current may be used.

"Voltage application means"
The voltage application means is not limited to the inverter 12. For example, it may be a voltage applying unit that applies three or more voltages having different values, and may include a switching element that opens and closes between each of the output terminals and the terminal of the rotating machine. As a voltage applying means for applying three or more voltages having different values to each terminal of the rotating machine, there is one exemplified in Japanese Patent Application Laid-Open No. 2006-174697, for example.

"others"
The final control amount of the motor generator 10 is not limited to torque, and may be, for example, a rotational speed. Further, the present invention is not limited to performing current vector control, and for example, torque feedback control may be performed.

  The structural rotating machine having saliency is not limited to the motor generator 10 described above. For example, a synchronous reluctance motor (SynRM) may be used.

  -The rotating machine is not limited to the in-vehicle main machine. For example, an electric motor mounted on a vehicle-mounted power steering may be used.

  DESCRIPTION OF SYMBOLS 10 ... Motor generator, 12 ... Inverter, 52 ... High frequency voltage generation part, 56 ... Angle estimation part.

Claims (9)

Means for operating a voltage applying means for applying a voltage to a terminal of the rotating machine to control a control amount of the rotating machine having saliency, and an arbitrary phase having a period different from the electrical angle of the rotating machine; A superimposing means for superimposing a voltage signal oscillating in an angular direction on a voltage applied to a terminal of the rotating machine, and a rotation angle of the rotating machine based on a current signal actually flowing through the rotating machine by the superimposed voltage signal. In the control device for a rotating machine that uses the estimated rotation angle when controlling the control amount of the rotating machine,
Said superimposing means, when the amplitude of the current applied to the rotary machine for the control of the control amount is large, the average value, and at least one of the maximum value of the frequency spectrum of the voltage signal in a predetermined period before Symbol voltage signal A control device for a rotating machine, comprising a reduction means for performing a reduction process for reducing the rotation.   The control device for a rotating machine according to claim 1, wherein the reduction process includes a process of reducing an amplitude of the voltage signal.   The control device for a rotating machine according to claim 1, wherein the reduction process includes a process of intermittently superimposing the voltage signals.   The control device for a rotating machine according to claim 1, wherein the reducing means includes a process of diffusing the frequency of the voltage signal.   The said reduction | decrease means performs the said reduction process when the inductance of the said rotary machine falls because the amplitude of the said current is large, Control of the rotary machine of any one of Claims 1-4 characterized by the above-mentioned. apparatus. In the rotating machine, the direction in which the inductance is minimized deviates from the d-axis direction by increasing the amplitude of the current flowing through the rotating machine for the control of the control amount.
The angle estimation means includes means for estimating the rotation angle by using, as input, current information flowing through the rotating machine for control of the control amount,
6. The control device for a rotating machine according to claim 1, wherein the reduction process is performed when the angle estimation unit estimates a rotation angle by using the current information as an input. 6. The voltage applying means is a DC / AC conversion circuit configured to include a switching element for connecting a terminal of the rotating machine to each of a positive electrode and a negative electrode of a DC power source,
7. The fundamental wave amplitude of the output line voltage of the DC / AC converter circuit on which the voltage signal is superimposed by the superimposing means is smaller than the voltage of the DC power supply. The control apparatus of the rotary machine as described in 2.   8. The control device for a rotating machine according to claim 1, wherein the superimposing unit superimposes the voltage signal on condition that an electrical angular velocity of the rotating machine is small. 9.   The control device for a rotating machine according to claim 1, wherein the rotating machine is mounted on a vehicle.

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