JP5678837B2 - Rotating machine control device - Google Patents

Description

  The present invention relates to a power conversion circuit including a switching element that opens and closes between a voltage applying unit having a plurality of different voltage values and a terminal of a rotating machine. The present invention relates to controlling a control amount having at least one of a current flowing through the rotating machine, a torque of the rotating machine, and a magnetic flux of the rotating machine by an on / off operation.

  As this type of control device, for example, as seen in Patent Document 1 below, the current of the three-phase motor is predicted for each case where the operation state of the inverter is set variously, and the predicted current and the command current are An apparatus has been proposed that performs so-called model predictive control for operating an inverter so as to achieve an operation state in which a deviation can be minimized. According to this, since the inverter is operated so as to optimize the behavior of the current predicted based on the operation state of the inverter, the followability to the command current at the time of transition can be improved. For this reason, the model predictive control is considered to be highly useful for applications that require particularly high performance as transient tracking characteristics, such as a motor generator control device as a vehicle-mounted main unit.

JP 2010-252432 A

  By the way, in the prediction of the current, a current detection value by a current sensor is required as an initial value. However, the output value of the current sensor may include a stationary offset error between the actual current value. In this case, the controllability of the model predictive control may be reduced due to the offset error.

  The present invention has been made in the process of solving the above-mentioned problems, and its object is to include a switching element that opens and closes between a voltage applying means having a plurality of different voltage values and a terminal of the rotating machine. And a control having at least one of a current flowing through the rotating machine, a torque of the rotating machine, and a magnetic flux of the rotating machine by an on / off operation of a switching element constituting the power converting circuit. An object of the present invention is to provide a new control device for a rotating machine that controls the amount.

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

A first invention relates to a power conversion circuit configured to include a switching element that opens and closes between a voltage applying unit having a plurality of different voltage values and a terminal of a rotating machine, and the switching that configures the power conversion circuit In the control device for a rotating machine that controls a control amount having at least one of an electric current flowing through the rotating machine, a torque of the rotating machine, and a magnetic flux of the rotating machine by an on / off operation of an element. A means for temporarily setting an operation state of the power conversion circuit expressed by a voltage vector determined by an operation, and predicting the control amount corresponding to each of the temporarily set operation states, and the control amount Prediction means including a process of predicting the control amount or a current of the rotating machine as a parameter for calculating the control amount in the process of predicting, and the predicted control amount And determining the operating state of the power conversion circuit, operating means for operating the power conversion circuit so as to be in the determined operating state, and acquiring the detected value of the current flowing through the rotating machine. And the detected value deviates from the predicted current based on the difference between the current corresponding to the operation state determined by the determining means and the current detected by the predicting means. Correction means for correcting the control processing of the control amount so as to compensate for a decrease in controllability of the control amount caused by the control amount.

  When the offset error is superimposed on the detection value, the prediction means has no prediction error between the detection value and the current predicted by the prediction means corresponding to the operation state determined by the determination means. However, divergence can occur. In the above invention, in view of this point, the offset error included in the detected value is grasped using the predicted current as a reference, and the control processing of the control amount is corrected based on this.

  It is desirable that the correction means corrects the control process by correcting the detection value used for controlling the control amount.

According to a second invention, in the first invention, a detected value of the current as a current flowing through a part of the terminals of the rotating machine and a current flowing through the remaining terminals necessary for calculating a current in the rotating coordinate system A rotation coordinate component calculation unit that converts the predicted current as a current in a rotation coordinate system, and the prediction unit uses an output value of the rotation coordinate component calculation unit as an initial value of the current prediction process. It is characterized by using.

  In a rotating machine having a plurality of terminals connected to stator windings connected to each other, current information flowing through each of the terminals less than the total number of terminals can be obtained with sufficient current information flowing through the rotating machine. Can be acquired. Here, if the current detection value alone is insufficient as current information, the shortage can be compensated by using the predicted current. In view of this point, the invention described above uses a current that is predicted upon conversion to the rotating coordinate system.

According to a third invention, in the second invention, the power conversion circuit is a DC / AC conversion circuit including a switching element that selectively connects a terminal of the rotating machine to each of a positive electrode and a negative electrode of a DC voltage source, In the rotating machine, the number of terminals to which the output voltage of the DC / AC converter circuit is applied is 3, and the acquisition unit acquires a detection value of a current flowing through an input terminal of the DC / AC converter circuit, The fixed coordinate component calculation means flows the detected value of the current through any one of the three terminals of the rotating machine when the voltage vector expressing the operation state by the operation means is an effective voltage vector. It is used as a current.

  In the case of a rotating machine where the number of terminals to which the output voltage of the DC / AC converter circuit is applied is 3, one terminal or two terminals are connected to the positive electrode of the DC voltage source in the operation state represented by the effective voltage vector. And the remaining terminals are connected to the negative electrode of the DC voltage source. For this reason, for the positive electrode or the negative electrode having one connected terminal, the current flowing through the terminal and the detected value of the current match at least in absolute value. In view of this point, the above invention uses the detected current value when the effective voltage vector is adopted.

According to a fourth invention, in the invention according to any one of the first to third inventions, the correction means detects the detected current value based on an output of an integral element of a difference between the detected current value and the predicted current. It is characterized by correcting.

  Offset error is a stationary error between true values. For this reason, it is possible to compensate easily and appropriately by applying an integral element having a function of compensating for a steady deviation. In view of this point, the above invention uses an integral element.

The system block diagram concerning one Embodiment. The figure which shows the voltage vector expressing the operation state of an inverter. The flowchart which shows the procedure of the model prediction process concerning the said embodiment. The flowchart which shows the procedure of the acquisition process of the initial value of the estimated electric current concerning the embodiment. The time chart which shows the offset error of a current sensor. The time chart which shows the effect of the said embodiment.

  Hereinafter, an 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 the overall configuration of a motor generator control system according to this embodiment. The motor generator 10 as an in-vehicle main machine 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 connected to the high voltage battery 12 and the capacitor 13 via the inverter INV. The high voltage battery 12 is a DC voltage source whose terminal voltage is, for example, 100 V or more. The inverter INV includes three sets of series connection bodies of switching elements S * p, S * n (* = u, v, w), and the connection points of these series connection bodies are the U, V, Each is connected to the W phase. In the present embodiment, insulated gate bipolar transistors (IGBTs) are used as the switching elements S * # (* = u, v, w; # = p, n). In addition, a diode D * # is connected in antiparallel to each of these.

  In the present embodiment, the following is provided as detection means for detecting the state of the motor generator 10 and the inverter INV. First, a rotation angle sensor 14 for detecting the rotation angle (electrical angle θ) of the motor generator 10 is provided. Further, a current sensor 16 that detects a current (bus current IDC) flowing through the input terminal (here, the negative side input terminal) of the inverter INV is provided. Furthermore, a voltage sensor 18 for detecting an input voltage (power supply voltage VDC) of the inverter INV is provided.

  The detection values of the various sensors are taken into the control device 20 constituting the low voltage system via an interface (not shown). The control device 20 generates and outputs an operation signal for operating the inverter INV based on the detection values of these various sensors. Here, the signal for operating the switching element S * # of the inverter INV is the operation signal g * #.

  The control device 20 operates the inverter INV so as to control the torque of the motor generator 10 to the required torque Tr. Specifically, the inverter INV is operated so that the command current for realizing the required torque Tr matches the current flowing through the motor generator 10. That is, in the present embodiment, the torque of the motor generator 10 becomes the final control amount. In order to control the torque, the current flowing through the motor generator 10 is directly controlled as a control current. To do. In particular, in the present embodiment, in order to control the current flowing through the motor generator 10 to a command current, the current of the motor generator 10 is predicted and predicted when the operation state of the inverter INV is temporarily set to each of a plurality of types. The temporarily set operation state is evaluated based on the current. Then, model predictive control is performed in which the highly evaluated one is adopted as the actual operation state of the inverter INV.

  Specifically, the bus current IDC detected by the current sensor 16 is input to the current reproduction unit 22. The current reproduction unit 22 calculates the actual currents id and iq in the rotating coordinate system from the bus current IDC and the like. Further, the electrical angle θ detected by the rotation angle sensor 14 is input to the speed calculation unit 23, and thereby the rotation speed (electrical angular speed ω) is calculated. On the other hand, the command current setting unit 24 receives the required torque Tr and outputs command currents idr and iqr in the dq coordinate system. The command currents idr and iqr, the actual currents id and iq, and the electrical angle θ are input to the model prediction control unit 30. The model prediction control unit 30 determines a voltage vector Vi that defines the operation state of the inverter INV based on these input parameters, and inputs the voltage vector Vi to the operation unit 26. The operation unit 26 generates the operation signal g * # based on the input voltage vector Vi and outputs it to the inverter INV.

  Here, the voltage vectors expressing the operation state of the inverter INV are eight voltage vectors shown in FIG. For example, a voltage vector representing an operation state (indicated as “lower” in the drawing) in which the low-potential side switching elements Sun, Svn, Swn are turned on is the voltage vector V0, and the high-potential side switching elements Sup, A voltage vector representing an operation state (indicated as “upper” in the drawing) in which Svp and Swp are turned on is a voltage vector V7. These voltage vectors V0 and V7 are for short-circuiting all phases of the motor generator 10 and are called zero voltage vectors because the voltage applied to the motor generator 10 from the inverter INV becomes zero. On the other hand, the remaining six voltage vectors V1 to V6 are defined by an operation pattern in which switching elements that are turned on exist in both the upper arm and the lower arm, and are called effective voltage vectors. Yes. As shown in FIG. 2B, each of the voltage vectors V1, V3, and V5 corresponds to the positive side of the U phase, the V phase, and the W phase, respectively.

  Next, details of the processing of the model prediction control unit 30 will be described. In the operation state setting unit 31 shown in FIG. 1, the operation state of the inverter INV is set. Here, the voltage vectors V0 to V7 shown in FIG. 2 are set as the operation state of the inverter INV. The dq conversion unit 32 calculates the voltage vector Vdq = (vd, vq) in the dq coordinate system by performing dq conversion on the voltage vector set by the operation state setting unit 31. In order to perform such conversion, the voltage vectors V0 to V7 in the operation state setting unit 31 are, for example, “upper” as “VDC / 2” and “lower” as “−VDC / 2” in FIG. It can be expressed as above. In this case, for example, the voltage vector V0 is (−VDC / 2, −VDC / 2, −VDC / 2), and the voltage vector V1 is (VDC / 2, −VDC / 2, −VDC / 2). .

In the prediction unit 33, the current id when the operation state of the inverter INV is set to the state set by the operation state setting unit 31 based on the voltage vector (vd, vq), the actual currents id, iq, and the electrical angular velocity ω. , Iq is predicted. Here, the voltage equation expressed by the following (c1) and (c2) is discretized from the following state equations (formulas (c3) and (c4)) obtained by solving the current differential term. Predict.
vd = (R + pLd) id−ωLqiq (c1)
vq = ωLdid + (R + pLq) iq + ωφ (c2)
pid
= − (R / Ld) id + ω (Lq / Ld) iq + vd / Ld (c3)
piq
= −ω (Ld / Lq) id− (Rd / Lq) iq + vq / Lq−ωφ / Lq (c4)
Incidentally, in the above formulas (c1) and (c2), the resistance R, the differential operator p, the d-axis inductance Ld, the q-axis inductance Lq, and the armature flux linkage constant φ are used.

  The prediction of the current is performed for each of a plurality of operation states temporarily set by the operation state setting unit 31.

  On the other hand, the operation state determination unit 34 receives the predicted currents ide and iq predicted by the prediction unit 33 and the command currents idr and iqr, and determines the operation state of the inverter INV. Based on the operation state thus determined, the operation unit 26 generates and outputs an operation signal g * #.

  FIG. 3 shows a model prediction control processing procedure according to the present embodiment. This process is repeatedly executed at a predetermined cycle (control cycle Tc).

  In this series of processes, first, in step S10, the electrical angle θ (n) is detected, the actual currents id (n) and iq (n) are calculated by the process described later, and the voltage determined in the previous control cycle. The vector V (n) is output. In subsequent step S12, the current (ide (n + 1), iqe (n + 1)) in one control cycle ahead is predicted. This is a process of predicting what will happen to the current one control cycle ahead based on the voltage vector V (n) output in step S10. Here, the currents ide (n + 1) and iqe (n + 1) are calculated by using the model expressed by the above equations (c3) and (c4) discretized by the forward difference method with the control cycle Tc. . At this time, the actual currents id (n) and iq (n) detected in step S10 are used as the initial value of the current, and the voltage vector V (n) is used as the voltage vector on the dq axis. The one obtained by dq conversion using the electrical angle θ (n) detected in FIG.

  In subsequent steps S14 to S22, a process of predicting a current two control cycles ahead is performed for each of cases where a plurality of voltage vectors are set in the next control cycle. That is, first, in step S14, the number j that defines the voltage vector is set to “0”. In subsequent step S16, voltage vector Vj is set as voltage vector V (n + 1) in the next control cycle. In subsequent step S18, predicted currents ide (n + 2) and iqe (n + 2) are calculated in the same manner as in step S12. However, here, the predicted currents ide (n + 1) and iqe (n + 1) calculated in step S12 are used as the initial value of the current, and the voltage vector V (n + 1) is used as the voltage vector on the dq axis. What dq-transformed by the angle which added (omega) Tc to the electrical angle (theta) (n) detected in step S10 is used.

  In a succeeding step S20, it is determined whether or not the number j is “7”. This process is for determining whether or not the current prediction process has been completed for all of the voltage vectors V0 to V7 that determine the operating state of the inverter INV. If a negative determination is made in step S20, the number j is incremented in step S22, and the process returns to step S16. On the other hand, when a positive determination is made in step S20, the process proceeds to step S24.

  In step S24, a process for determining the voltage vector V (n + 1) in the next control cycle is performed. Here, the highest voltage vector evaluated by the evaluation function J is the final voltage vector V (n + 1). In the present embodiment, an evaluation function J having a value that increases as the evaluation is lower is employed. Specifically, the evaluation function J is calculated based on the inner product value of the difference between the command current vector Idqr = (idr, iqr) and the predicted current vector Idqe = (ide, iqe). This is a method for expressing that the evaluation is lower as the value is larger in view of the fact that the deviation of each component between the command current vector Idqr and the predicted current vector Idqe can be both positive and negative values. As a result, it is possible to construct an evaluation function J in which the evaluation becomes lower as the difference between the components of the command current vector Idqr and the predicted current vector Idqe is larger.

  Here, when an affirmative determination is made in step S20, predicted currents ide (n + 2) and iqe (n + 2) are calculated for each of the voltage vectors V0 to V7. Therefore, eight values of the evaluation function J can be calculated using these eight predicted currents ide (n + 2) and iqe (n + 2). In the subsequent step S26, the voltage vectors V (n) and V (n + 1) are set to the voltage vectors V (n−1) and V (n), respectively, and the electrical angle θ (n) is the electrical angle θ (n−1). And real currents id (n) and iq (n) are assumed to be real currents id (n-1) and iq (n-1), respectively.

  In addition, when the process of step S26 is completed, this series of processes is once complete | finished.

  As described above, in the present embodiment, the means for detecting the current of the motor generator 10 is only the current sensor 16 for detecting the bus current IDC. When the voltage vector expressing the operation state of the inverter INV is an effective voltage vector, the absolute value of the bus current IDC matches the current of any one phase of the motor generator 10. On the other hand, in order to specify the current flowing through the three-phase rotating machine, at least two-phase current information is required. For this reason, in the present embodiment, the detection value of the current detection means is smaller than the number of detection values necessary for specifying the current flowing through the motor generator 10. For this reason, in the present embodiment, the current flowing through the motor generator 10 is specified in cooperation with the bus current IDC and the predicted currents ide and iqe, and this is used as the input of the prediction unit 33.

  In other words, the UVW conversion unit 40 shown in FIG. 1 converts the predicted currents ide and iqe into three-phase predicted currents iue, ive and iwe. The current reproduction unit 22 selectively selects a part of the bus current IDC and the predicted currents iue, ive, and iwe as three-phase current values based on the voltage vector Vi representing the current operation state of the inverter INV as dq. The actual currents id and iq are calculated by conversion and output to the prediction unit 33. The actual currents id and iq output from the current reproduction unit 22 are calculated using not only the bus current IDC but also the predicted currents iue, eve and iwe. It is not a detected value of the current that is present, but is a mixed value of the detected value and the estimated value.

  FIG. 4 shows the procedure of the selection process performed by the current reproduction unit 22 according to the present embodiment. This process is executed repeatedly in synchronization with the process shown in FIG. 3 and prior to the process of step S10 in FIG.

  In this series of processes, first, in step S30, whether or not the voltage vector V (n) output in the process of step S10 performed subsequent to this series of processes is one of the voltage vectors V1 and V4. Judging. This process is for determining whether or not the absolute value of the bus current IDC matches the absolute value of the U-phase current. That is, in the case of the voltage vector V1, since the switching elements Sup, Svn, Swn are turned on, the bus current IDC is the sum of the current flowing through the V-phase lower arm and the current flowing through the W-phase lower arm. Corresponds to the current flowing through the U-phase upper arm. On the other hand, in the case of voltage vector V4, switching elements Sun, Svp, and Swp are turned on, so that bus current IDC matches the current flowing through the U-phase lower arm.

  If an affirmative determination is made in step S30, it is determined in step S32 whether or not the voltage vector V (n) is the voltage vector V4. If an affirmative determination is made in step S32, the U-phase actual current iu is set to "-IDC" in step S34, whereas if a negative determination is made in step S32, the U-phase actual current iu is set to "IDC" in step S36. " In the present embodiment, these processes correspond to setting the polarity of the phase current to be positive when the current flows from the inverter INV to the motor generator 10. When the processes in steps S34 and S36 are completed, the actual current iu and the predicted currents ive and iwe are selected in step S38.

  On the other hand, if a negative determination is made in step S30, it is determined in step S40 whether or not voltage vector V (n) is voltage vectors V3 and V6. This process is for determining whether or not the absolute value of the bus current IDC matches the absolute value of the V-phase phase current. If an affirmative determination is made in step S40, in the processing of steps S42 to S48, it is selected whether the actual current iv is set to "IDC" or "-IDC" in the manner of the processing of steps S32 to S38. Processing is performed.

  Similarly, if a negative determination is made in step S40, it is determined in step S50 whether or not the voltage vector V (n) is the voltage vectors V2 and V5. This process is for determining whether or not the absolute value of the bus current IDC matches the absolute value of the W-phase current. If an affirmative determination is made in step S50, then in the process of steps S52 to S58, it is selected whether the actual current iw is set to “IDC” or “−IDC” in the manner of the process of steps S32 to S38. Processing is performed.

  On the other hand, when a negative determination is made in step S50, since the voltage vector V (n) is a zero voltage vector, the predicted currents iue, ive, and iwe are selected in step S60.

  When the processes in steps S38, S48, S58, and S60 are completed, the selected three-phase current values are dq converted in step S62, and this series of processes is temporarily terminated.

  Of the three-phase predicted currents iue, ive, and iwe, those used in the processes of steps S38, S48, S58, and S60 are the predicted currents ide () in the previous cycle of the process shown in FIG. n + 1) and iqe (n + 1) are three-phase converted values. When the prediction currents ide (n + 1) and iqe (n + 1) are input to the prediction unit 33, they are not estimated values of future currents but are estimated values of currents. For this reason, the phase of the bus current IDC and the predicted currents iue, ive, and iwe can be synchronized by synchronizing the detection timing of the bus current IDC with the processing of step S10 shown in FIG.

  However, when the voltage vector is changed, when the voltage vector V (n) is output (updated), the bus current IDC does not become the phase current assumed in steps S38, S48, and S58 due to the dead time. There is a fear. Therefore, actually, it is desirable that the bus current IDC detected immediately before the voltage vector is changed be the actual currents iu, iv, iw selected in steps S38, S48, S58. Further, the processing of steps S38, S48, and S58 may be performed prior to detection of the bus current IDC immediately before the voltage vector is changed. In this case, the processing of steps S38, S48, and S58 is processing for determining the handling of the bus current IDC detected in the near future.

  By the way, a phenomenon may occur in the current sensor 16 that outputs a value that is constantly deviated by a constant value (offset error Δ) with respect to the actual current. FIG. 5A shows the offset error Δ when the detection value of the current sensor 16 always corresponds to the current value of one phase. As shown in the figure, when an offset error occurs in the current sensor 16, not only the offset error Δ is superimposed on the phase current but also a sine wave at the zero cross point of the phase current. This is a phenomenon peculiar to detecting the phase current by the bus current IDC. That is, as can be seen from the processing shown in FIG. 4 above, the bus current IDC and the phase current have the same absolute value, but the signs may be the same as the case where they are the same. The point switches to the border. For this reason, at the zero cross point, the phase current based on the bus current IDC does not have a sine wave shape.

  As a result, even if the remaining two-phase currents have a sine wave shape, the currents id (d) and iq (d) obtained by dq conversion of the currents are the sixth-order ripples as shown in FIG. Are superimposed and have a sawtooth-shaped complicated error.

  Therefore, in the present embodiment, when the value of the current sensor 16 steadily deviates from the actual value by a constant value (offset error Δ), a process for compensating for this is further performed.

  That is, as shown in FIG. 1, the predicted currents iue, ive, iwe output from the UVW converter 40 are selectively output to the deviation calculator 44 by the selector 42. On the other hand, the bus current IDC is output to the deviation calculation unit 44 through the selector 46 as it is, or as a value multiplied by “−1” by the multiplier 48. Here, when the voltage vector Vi is an effective voltage vector, the multiplier 48 and the selector 46, although the bus current IDC matches the absolute value of any one phase current, the sign may be reversed. This is for matching any one-phase current including the sign.

  The deviation calculation unit 44 calculates the difference between the output of the selector 46 and the output of the selector 42 and outputs the difference to the feedback control unit 50. The feedback control unit 50 calculates an operation amount for feedback control of the output value of the deviation calculation unit 44 to zero. This is calculated as the difference between the output of the proportional element, integral element and derivative element of the difference. This manipulated variable is added to the bus current IDC in the correction unit 52, and the output of the correction unit 52 is taken into the current reproduction unit 22. Here, the bus current IDC as an input parameter of the deviation calculating unit 44 and the predicted currents iue, ive, and iwe are assumed to be synchronized. For example, when the sampling timing of the bus current IDC is immediately before the process of step S10 of FIG. 3, the predicted currents iue, eve, and iwe are processed by the process of step S12 one control cycle Tc before that. This can be realized by assuming that the predicted currents ide (n + 1) and iqe (n + 1) that have been predicted are three-phase converted.

  According to such a configuration, the bus current IDC is feedback-controlled to a corresponding one of the predicted currents iue, ive, and iwe. Here, the predicted currents iue, ive, and iwe correspond to the voltage vector Vi selected by the operation state setting unit 34. Then, when an offset error occurs in the bus current IDC, even if there is no prediction error in the prediction unit 33, the predicted current iue, ive, iwe and the detected value of the phase current calculated from the bus current IDC There is a gap between them. For this reason, this deviation can be used as a parameter having a correlation with the offset error. Accordingly, by correcting the bus current IDC by the feedback operation amount based on the bus current IDC and the predicted currents iue, ive, and iwe, even if an offset error occurs in the bus current IDC, the output of the correction unit 52 Is a value obtained by reducing this.

FIG. 6 shows the effect of this embodiment. As shown in FIG. 6A, according to the present embodiment, current ripple, DC error, and the like as in the comparative example shown in FIG. .
<Other embodiments>
Each of the above embodiments may be modified as follows.

About correction means
The present invention is not limited to calculating the feedback manipulated variable (correction amount) as the sum of the outputs of the proportional element, integral element and derivative element. For example, the manipulated variable may be calculated using only the outputs of the proportional element and the integral element, or the manipulated variable may be calculated using only the output of the integral element.

  In addition, the current detection value used in the prediction process is not limited to the operation, and for example, the currents ide and iq predicted in step S12 of FIG. 3 may be corrected.

"Rotating coordinate component calculation means"
The present invention is not limited to dq conversion of any one or two of the bus current IDC and the predicted currents iue, ive, and iwe. For example, the current sensor 16 detects a specific one-phase current of the motor generator 10, and the detected value and the remaining one-phase or two-phase values of the predicted currents iue, ive, and iwe are obtained. dq conversion may be performed.

  Also, a sufficient number of current sensors may be provided to specify the components of the dq coordinate system, and each detected value may be dq transformed.

About prediction means
It is not limited to predicting only the control amount generated by the next voltage vector V (n + 1). For example, the control amount by the operation of the inverter INV at the update timing several control cycles ahead may be sequentially predicted.

  Further, the current is not limited to predicting the current on the dq axis, but may be predicting the current in the fixed coordinate system. In this case, there is no need to provide a rotation coordinate component calculation means for converting the predicted currents ide and iq into components of the fixed coordinate system.

About the decision means
For example, in the first embodiment, the absolute value of the difference between the predicted current ide (n + 2) and the command current idr (n + 2) and the absolute value of the difference between the predicted current iqe (n + 2) and the command current iqr (n + 2) The weighted average processing value may be used as a parameter for evaluating the degree of deviation. In short, in order to quantify that the evaluation becomes lower as the degree of divergence is larger, it may be quantified by a parameter having a positive or negative correlation between the degree of divergence and the evaluation.

"About controlled variables"
The control amount used for determining the operation of the inverter INV (the control amount to be evaluated for the degree of deviation from the command value) is not limited to current. For example, as described in Patent Document 1, torque and magnetic flux may be used. Further, for example, only torque or only magnetic flux may be used. Even in this case, when current is used for torque or magnetic flux prediction, the predicted current is used as reference current information for grasping the error of the detected current value in the manner of each of the above embodiments. Can do.

  In each of the above embodiments, the ultimate control amount of the rotating machine (the control amount that is ultimately required to be a desired amount regardless of whether or not it is a prediction target) is the torque. For example, the rotational speed may be used.

"About rotating machines"
The rotating machine is not limited to a three-phase rotating machine, and may be a four-phase or more rotating machine such as a five-phase rotating machine. For example, in the case of a five-phase rotating machine, current information for four or more phases is required. However, the number of current sensors is not limited to four, and the shortage may be compensated by a predicted current or the like.

  In the above embodiment, it is assumed that the stator windings are star-connected, but the present invention is not limited to this and may be delta-connected. In this case, the terminal and phase of the rotating machine do not match.

  The rotating machine is not limited to an embedded magnet synchronous machine, and may be an arbitrary synchronous machine such as a surface magnet synchronous machine or a field winding type synchronous machine. Furthermore, it is not limited to a synchronous machine, but may be an induction rotating machine such as an induction motor.

  The rotating machine is not limited to that used as the main machine of the vehicle.

  DESCRIPTION OF SYMBOLS 22 ... Current reproduction part, 40 ... UVW conversion part (one embodiment of fixed coordinate component calculation means), 42 ... Selector, 44 ... Deviation calculation part, 46 ... Selector, 50 ... Feedback control part, 52 ... Correction part.

Claims (3)

ON / OFF operation of switching elements constituting a power conversion circuit including a switching element that opens and closes between a voltage applying means having a plurality of different voltage values and a terminal of a rotating machine In the control device for a rotating machine that controls a control amount having at least one of the current flowing through the rotating machine, the torque of the rotating machine, and the magnetic flux of the rotating machine,
Means for temporarily setting an operation state of the power conversion circuit expressed by a voltage vector determined by the on / off operation, and predicting the control amount according to each of the temporarily set operation states; A predicting unit including a process of predicting the control amount or a current of the rotating machine as a parameter for calculating the control amount in the process of predicting the control amount;
Determining means for determining an operation state of the power conversion circuit based on the predicted control amount;
Operating means for operating the power conversion circuit so as to be in the determined operating state;
Obtaining means for obtaining a detected value of a current flowing through the rotating machine;
Based on the difference between the current corresponding to the operation state determined by the determination means among the current predicted by the prediction means and the detected value of the current, the detection value is caused to deviate from the predicted current. Correction means for correcting the control amount control process to compensate for a decrease in controllability of the control amount;
The detected value of the current as the current flowing through a part of the terminals of the rotating machine and the predicted current as the current flowing through the remaining terminals necessary for calculating the current of the rotating coordinate system are expressed as rotational coordinates. Rotation coordinate component calculation means for converting into system current,
The control device for a rotating machine, wherein the prediction means uses an output value of the rotation coordinate component calculation means as an initial value of the current prediction processing . The power conversion circuit is a DC AC conversion circuit including a switching element that selectively connects a terminal of the rotating machine to each of a positive electrode and a negative electrode of a DC voltage source,
In the rotating machine, the number of terminals to which the output voltage of the DC / AC converter circuit is applied is three,
The acquisition means acquires a detection value of a current flowing through an input terminal of the DC / AC conversion circuit,
The rotation coordinate component calculation means flows the detected value of the current through any one of the three terminals of the rotating machine when the voltage vector expressing the operation state by the operation means is an effective voltage vector. 2. The rotating machine control device according to claim 1 , wherein the control device is used as an electric current. 3. The rotating machine control according to claim 1, wherein the correction unit corrects the detected current value based on an output of an integral element of a difference between the detected current value and the predicted current. apparatus.