JP6305603B1 - Control device for rotating electrical machine - Google Patents

Abstract

A control device for a rotating electrical machine that suppresses energy loss by stopping vibration suppression control during power generation operation. If the basic torque command value Tcb from the basic torque command calculation unit is a power generation operation, the addition of the vibration torque command value Tcv from the amplitude addition presence / absence determination unit 38 in the vibration command calculation unit 31 is stopped and the basic vibration is calculated. The rotary electric machine 2 is controlled with the basic vibration torque command value Tcvb calculated by the torque calculation unit 34 as the final torque command value Tcf. [Selection] Figure 1

Description

  The present invention relates to a control device for a rotating electrical machine that superimposes a torque vibration component on the output torque of the rotating electrical machine.

  In recent years, hybrid vehicles and electric vehicles have attracted attention as environmentally friendly vehicles. A hybrid vehicle is a vehicle that uses a rotating electric machine (also called a motor) as a power source in addition to a conventional internal combustion engine. That is, both the internal combustion engine and the rotating electric machine are used as the driving force sources for the wheels. An electric vehicle is a vehicle that uses a rotating electric machine as a driving force source. However, torque vibration components such as torque ripple may be superimposed on the rotating electrical machine, and the vibration components may be transmitted to the wheels. When the vehicle starts, decelerates, or travels at extremely low speed, the driver may feel uncomfortable due to vibration. In the technique disclosed in Patent Document 1 below, the rotating electric machine is configured to output a vibration torque for canceling the torque vibration component.

JP 7-46878 A

When vibration suppression control is performed, the energy loss is larger than when vibration suppression is not performed.
In general, a motor has almost no period for generating power at a low speed, and operates at a speed of 500 rpm or more. Since the on-board motor has a large number of poles so that a large torque can be obtained, the pulsation of torque becomes small, which is a level at which the driver does not feel uncomfortable. When vibration suppression control is performed at the time of power generation, the effect can hardly be realized, and there is a problem that energy loss becomes large compared to a case where vibration suppression is not performed.

  The present invention has been made to solve the above-described problems, and provides a control device for a rotating electrical machine capable of suppressing energy loss without changing the configuration of a conventional control device.

  A control device for a rotating electrical machine according to the present invention includes a basic torque command calculating unit that calculates a basic torque command value that is a basic command value of torque to be output to the rotating electrical machine, and a vibration torque command that is a torque command value that vibrates at a vibration frequency. A vibration command calculation unit that calculates a value, an addition torque command value obtained by adding the vibration torque command value to the basic torque command value, and an addition by a preset upper limit command value corresponding to the maximum output torque of the rotating electrical machine A final torque command calculation unit that calculates the upper limit of the torque command value as a final torque command value commanded to the rotating electrical machine, and the vibration command calculation unit adds the amplitude of the vibration torque command value to the basic torque command value There is a vibration addition presence / absence judgment unit that stops the addition of the vibration torque command value so that the vibration maximum value does not exceed the upper limit command value when the maximum vibration value exceeds the upper limit command value. In a motor controller has a vibration adding state determining section during the generator operation of the rotating electric machine is to stop the addition of the vibration torque command value.

  According to the control apparatus for a rotating electrical machine according to the present invention, it is possible to suppress energy loss without increasing the cost without changing the configuration of the conventional control apparatus.

It is a block diagram which shows the structure of the control apparatus of the rotary electric machine which concerns on Embodiment 1 of this invention. It is a figure which shows schematic structure of the vehicle carrying the control apparatus of the rotary electric machine which concerns on Embodiment 1 of this invention. It is a block diagram which shows the hardware constitutions of the control apparatus of the rotary electric machine which concerns on Embodiment 1 of this invention. It is a block diagram which shows the inverter control part in the control apparatus of the rotary electric machine which concerns on Embodiment 1 of this invention. It is a block diagram which shows the fundamental vibration torque calculation part in the control apparatus of the rotary electric machine which concerns on Embodiment 1 of this invention. It is a figure explaining the amplitude table in the control apparatus of the rotary electric machine which concerns on Embodiment 1 of this invention. It is a time chart for demonstrating the characteristic in embodiment of this invention. It is a time chart for demonstrating the characteristic in embodiment of this invention. It is a time chart for demonstrating the characteristic of the conduction current in embodiment of this invention. It is a time chart which shows the relationship between the energizing current and loss in embodiment of this invention. It is a time chart which shows the relationship between the energizing current and loss in embodiment of this invention. It is a block diagram which shows the structure of the control apparatus of the rotary electric machine which concerns on Embodiment 2 of this invention.

  Next, modes for carrying out the present invention will be described with reference to the drawings. In addition, in each figure, the same code | symbol shall show the same or an equivalent part.

Embodiment 1 FIG.
A control device (hereinafter simply referred to as a control device) for a rotating electrical machine according to Embodiment 1 will be described with reference to the drawings. FIG. 1 is a schematic block diagram of a control device 1 according to the present embodiment.

  The rotating electrical machine 2 includes a stator that is fixed to a non-rotating member, and a rotor that is disposed on the radially inner side of the stator and is rotatably supported by the non-rotating member. In the present embodiment, the rotating electrical machine 2 is a permanent magnet type synchronous rotating electrical machine, in which three-phase windings Cu, Cv, Cw are wound around a stator, and a permanent magnet is provided on a rotor. The rotating electrical machine 2 is electrically connected to a DC power source 4 via an inverter 10 that performs DC / AC conversion. The rotating electrical machine 2 has at least a function of an electric motor that generates power upon receiving power supply from the DC power supply 4. The rotating electrical machine 2 may have a generator function in addition to the function of the electric motor.

  The inverter 10 is a DC / AC converter that performs power conversion between the DC power supply 4 and the rotating electrical machine 2. The inverter 10 includes two switching elements connected in series between a positive electrode wire connected to the positive electrode of the DC power source 4 and a negative electrode wire connected to the negative electrode of the DC power source 4. Three sets of bridge circuits are provided corresponding to the windings of (V phase, W phase). A connection point for connecting the switching element on the positive electrode side and the switching element on the negative electrode side in series is connected to the winding of the corresponding phase. As the switching element, a chip such as an IGBT (Insulated Gate Bipolar Transistor) in which freewheel diodes are connected in reverse parallel or a MOSFET (Metal Oxide Semiconductor Field Effect Transistor) is used. The inverter 10 includes a current sensor 11 for detecting a current flowing through each winding. The current sensor 11 is provided on an electric wire of each phase that connects a series circuit of switching elements and a winding.

  In the present embodiment, as shown in FIG. 2, the rotating electrical machine 2 is used as a driving force source of the vehicle, and the rotating shaft of the rotor of the rotating electrical machine 2 has two left and right sides via a speed reducer 6 and a differential gear 7. Connected to the wheel 8.

  The control device 1 is a control device that controls the rotating electrical machine 2 by controlling the inverter 10. As shown in FIG. 1, the control device 1 includes functional units such as a basic torque command calculation unit 30, a vibration command calculation unit 31, a final torque command calculation unit 32, and an inverter control unit 33. Each unit 30 to 33 included in the control device 1 is realized by a processing circuit included in the control device 1. Specifically, as illustrated in FIG. 3, the control device 1 includes, as processing circuits, an arithmetic processing device 90 (computer) such as a CPU (Central Processing Unit) or a DSP (Digital Signal Processor), an arithmetic processing device 90 and data. A storage device 91 that exchanges data, an input circuit 92 that inputs an external signal to the arithmetic processing device 90, an output circuit 93 that outputs a signal from the arithmetic processing device 90 to the outside, and the like. As the storage device 91, a RAM (Random Access Memory) configured to be able to read and write data from the arithmetic processing device 90, a ROM (Read Only Memory) configured to be able to read data from the arithmetic processing device 90, and the like. Is provided. The input circuit 92 is connected to various sensors and switches, and includes an A / D converter or the like that inputs output signals of these sensors and switches to the arithmetic processing unit 90. The output circuit 93 is connected to an electrical load such as a switching element, and includes a drive circuit that outputs a control signal from the arithmetic processing unit 90 to these electrical loads. In the present embodiment, the current sensor 11, the rotation speed sensor 12, the temperature sensor 13, and the like are connected to the input circuit 92. The output circuit 93 is connected to an inverter 10 (a switching element or a gate drive circuit for the switching element).

  And each function of each part 30-33 with which the control apparatus 1 is provided, the arithmetic processing unit 90 executes the software (program) memorize | stored in memory | storage devices 91, such as ROM, the memory | storage device 91, the input circuit 92, and This is realized by cooperating with other hardware of the control device 1 such as the output circuit 93. Note that setting values such as determination values and tables used by the units 30 to 33 are stored in a storage device 91 such as a ROM as part of software (program). Hereinafter, each function of the control device 1 will be described in detail.

  As shown in the block diagram of FIG. 4, the inverter control unit 33 sets the switching element of the inverter 10 so that the rotating electrical machine 2 outputs the torque of the final torque command value Tcf transmitted from the final torque command calculation unit 32 described later. On / off control. In the present embodiment, the inverter control unit 33 is configured to perform current feedback control using a vector control method. The inverter control unit 33 includes a dq-axis current command calculation unit 40, a current feedback control unit 41, a voltage coordinate conversion unit 42, a PWM signal generation unit 43, a current coordinate conversion unit 44, and a rotation speed detection unit 45.

  The rotational speed detector 45 detects the rotational speed of the rotating electrical machine 2. The rotational speed detector 45 detects the electrical angle θ (magnetic pole position θ) and electrical angular speed of the rotor based on the output signal of the rotational speed sensor 12 provided on the rotational shaft of the rotor.

  The final torque command value Tcf calculated by the final torque command calculation unit 32 is input to the dq axis current command calculation unit 40. The dq-axis current command calculation unit 40 is a d-axis in which the current flowing through the three-phase windings Cu, Cv, and Cw is expressed in the dq-axis rotation coordinate system in order to cause the rotating electrical machine 2 to output the torque of the final torque command value Tcf. The current command value Idc and the q-axis current command value Iqc are calculated. The d-axis current command value Idc and the q-axis current command value Iqc are collectively referred to as dq-axis current command values Idc and Iqc. The dq-axis current command calculation unit 40 calculates dq-axis current command values Idc and Iqc according to a current vector control method such as maximum torque current control, weak flux control, Id = 0 control, and maximum torque flux control. In the maximum torque current control, dq axis current command values Idc and Iqc are calculated so as to maximize the generated torque with respect to the same current. In the flux weakening control, the dq-axis current command values Idc and Iqc are moved on the constant induced voltage ellipse according to the final torque command value Tcf. In Id = 0 control, the d-axis current command value Idc is set to 0, and the q-axis current command value Iqc is changed according to the final torque command value Tcf and the like. In the maximum torque magnetic flux control, dq-axis current command values Idc and Iqc are calculated such that the linkage flux is minimized when the same torque is generated. In the present embodiment, the dq axis current command calculation unit 40 uses a torque current conversion map in which the relationship between the final torque command value Tcf and the dq axis current command values Idc and Iqc is set in advance, and sets the final torque command value Tcf. Corresponding dq-axis current command values Idc and Iqc are calculated.

  The dq axis rotation coordinates are the d axis determined in the direction of the N pole (magnetic pole position) of the permanent magnet provided on the rotor, and the q axis determined in a direction advanced by 90 ° (π / 2) in electrical angle from the d axis. Are two-axis rotation coordinates that rotate in synchronization with the rotation of the rotor at the electrical angle θ.

  The current coordinate conversion unit 44 detects the three-phase currents Iu, Iv, and Iw flowing from the inverter 10 to the windings Cu, Cv, and Cw of each phase of the rotating electrical machine 2 based on the output signal of the current sensor 11. The current coordinate conversion unit 44 performs three-phase two-phase conversion and rotational coordinate conversion on the three-phase currents Iu, Iv, and Iw flowing through the windings of each phase based on the magnetic pole position θ, and represents them in the dq-axis rotational coordinate system. Converted to the d-axis current Id and the q-axis current Iq.

  The current feedback control unit 41 uses a d-axis voltage representing a command signal of a voltage applied to the rotating electrical machine 2 in a dq-axis rotational coordinate system so that the dq-axis currents Id and Iq approach the dq-axis current command values Idc and Iqc. Current feedback control is performed in which the command value Vd and the q-axis voltage command value Vq are changed by PI control or the like. After that, the voltage coordinate conversion unit 42 performs fixed coordinate conversion and two-phase three-phase conversion on the dq-axis voltage command values Vd and Vq based on the magnetic pole position θ, and the AC voltage to the three-phase windings The command values are converted into three-phase AC voltage command values Vu, Vv, and Vw.

  The PWM signal generation unit 43 compares each of the three-phase AC voltage command values Vu, Vv, and Vw with a carrier wave (triangular wave) that has a vibration width of the DC power supply voltage and vibrates at the carrier frequency, and generates an AC voltage command. When the value exceeds the carrier wave, the rectangular pulse wave is turned on. When the AC voltage command value falls below the carrier wave, the rectangular pulse wave is turned off. The PWM signal generation unit 43 outputs a rectangular pulse wave of each phase of the three phases to the inverter 10 as the inverter control signals Su, Sv, Sw of each phase of the three phases, and turns on / off each switching element of the inverter 10.

Next, calculation of the final torque command value Tcf will be described.
As shown in FIG. 1, the basic torque command calculation unit 30 calculates a basic torque command value Tcb that is a basic command value of torque to be output to the rotating electrical machine 2. In the present embodiment, the basic torque command calculation unit 30 calculates the vehicle request torque required for driving the wheels 8 according to the accelerator opening, the vehicle speed, the amount of charge of the DC power supply 4, and the like. A basic torque command value Tcb is set based on the vehicle request torque.

  The vibration command calculation unit 31 calculates a vibration torque command value Tcv that is a torque command value that vibrates at a vibration frequency. In the present embodiment, the vibration command calculation unit 31 includes a basic vibration torque calculation unit 34 and an amplitude addition presence / absence determination unit 38. The basic vibration torque calculation unit 34 calculates a basic vibration torque command value Tcvb that is a basic value of the vibration torque command value. The amplitude addition presence / absence determination unit 38 performs the amplitude addition presence / absence determination described later on the basic vibration torque command value Tcvb to calculate a final vibration torque command value Tcv.

  The basic vibration torque calculation unit 34 is configured to set the vibration frequency to a frequency corresponding to the rotation frequency (electrical angular frequency) of the rotating electrical machine 2. The basic vibration torque command value Tcvb is a torque command value for canceling torque vibration components such as torque ripple and cogging torque generated in the output torque of the rotating electrical machine 2, and is set to a torque having an opposite phase to the torque vibration component. The torque ripple is generated by the interaction between the magnetic flux caused by the current and the magnetic flux caused by the magnet, and has a frequency 6n times (n is a natural number of 1 or more) the basic frequency (electrical angular frequency) of the current. The cogging torque is caused by a difference in the static magnetic attractive force between the stator and the rotor depending on the rotor position, and has a frequency of the least common multiple of the number of slots of the stator and the number of magnetic poles of the rotor × electrical angular frequency.

  In the present embodiment, the basic vibration torque calculation unit 34 vibrates at the vibration frequency of the order m of the electrical angular frequency (m is a natural number of 1 or more) as the basic vibration torque command value Tcvb, as shown in Expression (1). Then, a sine wave (or cosine wave) having a fundamental amplitude Ab having a phase γ difference with respect to m times the electrical angle θ is calculated.

  Tcvb = Ab × sin (m × θ + γ) (1)

  As shown in the block diagram of FIG. 5, the basic vibration torque calculation unit 34 includes an amplitude setting unit 35, a vibration waveform calculation unit 36, and a multiplier 37. The amplitude setting unit 35 sets the basic amplitude Ab based on the basic torque command value Tcb. In this example, the amplitude setting unit 35 uses an amplitude table in which the relationship between the basic torque command value Tcb and the basic amplitude Ab is set in advance as shown in FIG. 6, and the basic torque calculated by the basic torque command calculation unit 30 is used. A basic amplitude Ab corresponding to the command value Tcb is calculated.

  The vibration waveform calculation unit 36 calculates a vibration waveform based on the electrical angle θ detected by the rotation speed detection unit 45, the preset order m, and the preset phase γ. In this example, the vibration waveform calculation unit 36 calculates sin (m × θ + γ) as the vibration waveform. The vibration waveform calculation unit 36 may change the phase γ according to operating conditions such as the basic torque command value Tcb and the electrical angular velocity. Then, the multiplier 37 multiplies the basic amplitude Ab set by the amplitude setting unit 35 and the vibration waveform sin (m × θ + γ) calculated by the vibration waveform calculation unit 36 to obtain the basic vibration torque command value Tcvb. calculate.

  An example of an amplitude table and phase γ setting method will be described. When the vibration torque command value Tcv for canceling the torque vibration is not superimposed on the basic torque command value Tcb, the output torque of the rotating electrical machine 2 is measured by a torque sensor under a plurality of operating conditions such as different basic torque command values Tcb. measure. Then, the measured output torque waveform is approximated to a sine wave by the least square method or the like. Let the amplitude of the approximated sin wave be the basic amplitude Ab, and let the opposite phase of the phase of the approximated sin wave be the phase γ. As shown in FIG. 6, the relationship between the basic torque command value Tcb and the basic amplitude Ab is preset as an amplitude table.

  As the absolute value of the basic torque command value Tcb increases, the amplitude of torque vibration such as torque ripple also increases. Therefore, the amplitude table is set such that the basic amplitude Ab increases as the absolute value of the basic torque command value Tcb increases. Therefore, the torque vibration whose amplitude increases as the basic torque command value Tcb increases can be canceled by the vibration torque command value. However, when the basic torque command value Tcb increases to the vicinity of an upper limit command value Tcmx, which will be described later, the upper limit of the vibration torque command value having an increased amplitude is limited by the upper limit command value Tcmx.

  In order to cope with the case where the orders of the electrical angular frequencies of the torque ripple and the cogging torque are different, the vibration command calculation unit 31 calculates a plurality of basic vibration torque command values Tcvb having different orders m, and a plurality of basic vibration torques. The total value of the command value Tcvb may be calculated as the final basic vibration torque command value Tcvb.

  The amplitude addition presence / absence determining unit 38 determines whether or not the vibration torque command value Tcv is added based on the basic torque command value Tcb. Further, when the basic torque command value Tcb output from the basic torque command calculation unit 30 is negative, the amplitude addition presence / absence determination unit 38 determines that power is generated, and when it is positive, it is determined as power running.

  As shown in FIG. 1, the final torque command calculation unit 32 adds the vibration torque command value Tcv calculated by the vibration command calculation unit 31 to the basic torque command value Tcb calculated by the basic torque command calculation unit 30. The torque command value Tcsm is calculated, and finally the value obtained by upper limit limiting the additional torque command value Tcsm with the preset upper limit command value Tcmx corresponding to the maximum output torque of the rotating electrical machine 2 is finally commanded to the rotating electrical machine 2 Calculated as the torque command value Tcf.

  Here, the maximum output torque of the rotating electrical machine 2 is the maximum value of the average value of the output torque that can be output to the rotating electrical machine 2 by the control device 1, and torque vibration components such as torque ripple and cogging torque are averaged. Output torque. That is, the maximum output torque is the maximum average output torque. In the present embodiment, upper limit command value Tcmx is set to match the maximum output torque of rotating electrical machine 2. The maximum output torque of the rotating electrical machine 2 varies according to the electrical angular velocity of the rotor, the power supply voltage of the DC power supply 4, the charge amount, and the like. The final torque command calculation unit 32 is configured to set an upper limit command value Tcmx based on the electrical angular velocity of the rotor, the power supply voltage of the DC power supply 4, and the charge amount.

  As shown in Expression (2), the final torque command calculation unit 32 determines that the final torque command value Tcsm obtained by adding the vibration torque command value Tcv to the basic torque command value Tcb is larger than the upper limit command value Tcmx. The upper limit command value Tcmx is set to the command value Tcf. On the other hand, when the added torque command value Tcsm is equal to or lower than the upper limit command value Tcmx, the final torque command calculating unit 32 sets the added torque command value Tcsm as the final torque command value Tcf.

1) When Tcsm (= Tcb + Tcv)> Tcmx
Tcf = Tcmx
2) When Tcsm (= Tcb + Tcv) ≦ Tcmx (2)
Tcf = Tcsm = Tcb + Tcv

  Here, unlike the present embodiment, a description will be given of a comparative example in which the amplitude addition determination processing is not performed by the amplitude addition presence / absence determination unit 38 described later. As shown in the time chart of FIG. 7, in the state where the basic torque command value Tcb is increased to the vicinity of the upper limit command value Tcmx, the vibration torque command value Tcv () that has not been subjected to amplitude reduction processing is added to the basic torque command value Tcb. When the addition torque command value Tcsm obtained by adding the basic vibration torque command value Tcvb) is calculated, the upper limit of the addition torque command value Tcsm is limited by the upper limit command value Tcmx, and the peak portion of the vibrating vibration torque command value Tcv is cut off. It becomes a state. Therefore, the average value Tcfave of the final torque command value Tcf after the upper limit is lower than the basic torque command value Tcb.

  Further, the time chart of FIG. 8 shows the behavior of the output torque Tm of the rotating electrical machine 2 according to the comparative example. In the upper time chart of FIG. 8, unlike the present embodiment, the basic torque command value Tcb is set to the final torque command value Tcf as it is without adding the vibration torque command value Tcv to the basic torque command value Tcb. This is the behavior of the output torque Tm of the rotating electrical machine 2. The output torque Tm of the rotating electrical machine 2 has a waveform in which a torque vibration component such as torque ripple is superimposed on the basic torque command value Tcb. The average value Tmave of the output torque Tm of the rotating electrical machine 2 is lower than the upper limit command value Tcmx (maximum output torque), but the peak portion of the torque vibration component of the output torque Tm is higher than the upper limit command value Tcmx. .

  The lower time chart of FIG. 8 shows the behavior of the output torque Tm of the rotating electrical machine 2 corresponding to the comparative example of FIG. The peak portion of the torque vibration component of the output torque Tm is canceled out by the valley portion of the vibration torque command value Tcv that is not limited to the upper limit, and is reduced to the basic torque command value Tcb. On the other hand, the trough portion of the torque vibration component of the output torque Tm is not fully canceled because the crest portion of the vibration torque command value Tcv is limited to the upper limit, and is lower than the basic torque command value Tcb. Therefore, the average value Tmave of the output torque Tm of the rotating electrical machine 2 is also lower than the basic torque command value Tcb. Therefore, in the comparative example, when the output torque Tm of the rotating electrical machine 2 is increased to the vicinity of the upper limit command value Tcmx to accelerate the vehicle, there is a problem that the output torque Tm decreases.

Therefore, in the present embodiment, the vibration command calculation unit 31 uses the function of the amplitude addition presence / absence determination unit 38 to obtain a vibration maximum value obtained by adding the amplitude of the vibration torque command value Tcv to the basic torque command value Tcb from the upper limit command value Tcmx. When it becomes larger, the addition of the vibration torque command value Tcv is stopped so that the vibration maximum value becomes equal to or less than the upper limit command value Tcmx.
In the present embodiment, the amplitude addition presence / absence determination unit 38, when the determination vibration maximum value (Tcb + Ab) obtained by adding the basic amplitude Ab of the basic vibration torque command value Tcvb to the basic torque command value Tcb is larger than the upper limit command value Tcmx, The addition of the vibration torque command value Tcv is stopped. According to this configuration, it is possible to minimize the torque range in which the vibration torque command value Tcv is not added, and to minimize the reduction in the torque vibration reduction effect.

  Assuming that the amplitude of the vibration torque command value Tcv is A, it is sufficient to set A = 0 if Tcb + A> Tcmx. Specifically, as shown in Expression (3), the amplitude addition presence / absence determination unit 38 has an upper limit of a determination vibration maximum value (Tcb + Ab) obtained by adding the basic amplitude Ab of the basic vibration torque command value Tcvb to the basic torque command value Tcb. When it is larger than the command value Tcmx, the vibration torque command value Tcv = 0. On the other hand, if the determination vibration maximum value (Tcb + Ab) is equal to or less than the upper limit command value Tcmx, the amplitude addition presence / absence determination unit 38 sets the basic vibration torque command value Tcvb as it is as the final vibration torque command value Tcv.

1) When Tcb + Ab> Tcmx Tcv = 0
2) In the case of Tcb + Ab ≦ Tcmx (3)
Tcv = Tcvb

  When the total value of a plurality of basic vibration torque command values Tcvb having different orders m is the final basic vibration torque command value Tcvb, the amplitude addition presence / absence determining unit 38 determines the amplitude of the total value as the basic amplitude Ab. To calculate the expression (3).

However, when vibration suppression is carried out, the energy loss is larger than when vibration suppression control is not performed.
In the vibration suppression control in the region of Tcb + Ab ≦ Tcmx in the first embodiment of the present invention, a sinusoidal torque ripple correction amount is subtracted from the torque command received from the vehicle control device. Therefore, there is a portion where the corrected torque command becomes larger than the torque command, and there is a portion where the corrected torque command becomes smaller than the torque command, and the average torque is constant.

  Next, the loss when torque ripple correction is performed will be described with reference to FIGS. FIGS. 9-11 is a figure which shows the time chart for demonstrating the relationship between the torque ripple correction | amendment and loss in the control apparatus of the rotary electric machine which concerns on Embodiment 1 of this invention.

  FIG. 9 shows the energization current when torque ripple correction is executed. In a motor that is a rotating electrical machine, the torque and the energization current are proportional to each other. Therefore, when torque ripple correction is performed using a sinusoidal torque, a sinusoidal energization current waveform is obtained. In FIG. 9, I1 = I0−b and I2 = I0 + a. Furthermore, a = b.

  FIG. 10 shows the energization current and the loss with respect to the loss proportional to the first power of the energization current. Generally, in an inverter, switching loss or the like corresponds to this.

In this way, with respect to the loss proportional to the first power of the energizing current, when an energizing current superimposed with a sine wave as shown in FIG. Loss decreases in a portion smaller than I0.
Further, the loss reduction amount X when the energization current becomes I1 and the loss increase amount Y when the energization current becomes I2 have the same value, and even if a sine wave is superimposed, the loss is averagely seen. It will not increase.

FIG. 11 shows the energization current and the loss with respect to the loss proportional to the square of the energization current. Generally, this is the steady loss of IGBT (loss due to collector-emitter voltage).
In this way, with respect to the loss proportional to the square of the energization current, when an energization current superimposed with a sine wave as shown in FIG. 9 is passed, the loss increases at a portion larger than the energization current I0, and the energization current Loss decreases in a portion smaller than I0.
Further, the loss increase amount V is larger in the loss reduction amount U when the energization current becomes I1 and the loss increase amount V when the energization current becomes I2. In other words, the loss increases on average.
As described above, by executing the vibration suppression control, a loss that is proportional to the square of the energization current increases on average.

In the present embodiment, if the torque command value output from the basic torque command calculation unit is negative, the amplitude addition presence / absence determination unit determines that the power generation operation is performed and stops adding the vibration torque command value. By performing this control, loss can be suppressed.

Embodiment 2. FIG.
Next, a control device according to Embodiment 2 will be described. FIG. 12 is a schematic block diagram of the control device 1 according to the present embodiment. The description of the same components as those in the first embodiment is omitted. The basic configuration and processing of the rotating electrical machine 2 and the control device 1 according to the present embodiment are the same as those of the first embodiment, but the determination signal from the temperature determination unit 39 is transmitted to the amplitude addition presence / absence determination unit 38. It is configured. The amplitude addition presence / absence determination unit 38 can stop adding the vibration torque command value based on the determination signal from the temperature determination unit 39.

Specifically, the temperature determination unit 39 operates to stop the addition of the vibration torque command value to the amplitude addition presence / absence determination unit 38 when the detected temperature detected by the temperature detector 40 exceeds the determination temperature value.
The temperature detector 40 includes a motor coil temperature 40 a of the rotating electrical machine 2, a chip temperature 40 b of a chip including a switching element of the inverter 10 controlled by the control device 1, and a current sensor of a current sensor that detects a current flowing through the rotating electrical machine 2. Each of the temperatures 40c is detected.

That is, as in the first embodiment, in addition to the condition that the torque command value is negative, it may be determined that the vibration suppression control is stopped when the motor coil temperature 40a exceeds the determination temperature.
The motor coil temperature 40a is detected by a thermistor attached to the coil, and it is determined whether or not the coil temperature has exceeded a temperature determination value by a temperature determination unit 39 inside the control device, and a determination signal is transmitted to the amplitude addition presence / absence determination unit 38. To do. When the judgment temperature is exceeded, the addition of the vibration torque command value is stopped.
As described above, the loss is large when the vibration suppression control is present. By performing this control, it is possible to suppress a loss when the motor coil temperature is high, to prevent the determination temperature from being exceeded, and to reduce the period of control (derating control) for reducing the output for safety.

In addition to the condition that the torque command value is negative, if the chip temperature 40b of the chip (MOSFET / IGBT) including the switching element of the inverter 10 exceeds the determination temperature, it is determined that the addition of the vibration torque command value is stopped. Also good.
The chip temperature 40b is detected by a temperature sensor inside the control device, the temperature determination unit 39 inside the control device determines whether or not the chip temperature exceeds the determination temperature, and transmits a determination signal to the amplitude addition determination unit 38. When the judgment temperature is exceeded, the addition of the vibration torque command value is stopped.
As described above, the loss is large when the vibration suppression control is present. By performing this control, it is possible to suppress a loss when the chip temperature is high, to prevent the determination temperature from being exceeded, and to reduce a control (derating control) period during which the output is reduced for safety.

In addition to the condition that the torque command value is negative, it may be determined that the addition of the vibration torque command value is stopped when the current sensor temperature 40c exceeds the determination temperature.
The current sensor temperature 40a is detected by a thermistor attached to the current sensor, the temperature determination unit 39 inside the control device determines whether or not the current sensor temperature 40a exceeds the determination temperature, and the determination signal is sent to the amplitude addition presence / absence determination unit 38. Send to. When the judgment temperature is exceeded, the addition of the vibration torque command value is stopped.
As described above, the loss is large when the vibration suppression control is present. By carrying out this control, it is possible to suppress a loss when the motor coil temperature is high, to prevent the determination temperature from being exceeded, and to reduce the period of control (derating control) for reducing the output for safety.

When the motor coil temperature 40a, the chip temperature 40b, and the current sensor temperature 40c exceed the determination temperature, it is determined that the addition of the vibration torque command value is stopped not only when the torque command value is negative but also when the power running operation is performed.
Since whether or not to perform vibration suppression control is determined according to the state of the heat generation location, it is possible to reduce the period of control (derating control) for reducing output for safety.
In addition, a margin may be given to the determination temperature set so as not to cause demagnetization in the motor, and a value obtained by multiplying 0.9 may be used as the determination temperature.

[Other Embodiments]
Other embodiments of the present invention will be described. Note that the configuration of each embodiment described below is not limited to being applied independently, and can be applied in combination with the configuration of other embodiments as long as no contradiction arises.

  In each of the embodiments described above, the case where the rotating electrical machine 2 is used as a driving force source of an electric vehicle has been described as an example. However, the embodiment of the present invention is not limited to this. That is, the rotating electrical machine 2 may be a driving force source for a hybrid vehicle including an internal combustion engine, or may be a driving force source for a device other than a vehicle.

  In each of the above-described embodiments, the case where the rotating electrical machine 2 is a permanent magnet type synchronous rotating electrical machine has been described as an example. However, the embodiment of the present invention is not limited to this. That is, the rotating electrical machine 2 may be various rotating electrical machines such as an induction rotating electrical machine.

The present invention can be suitably used for a control device for a rotating electrical machine that superimposes a torque vibration component on the output torque of the rotating electrical machine.
The present invention can also be applied to a hybrid vehicle, and the same effect as in the first embodiment can be obtained.

  Within the scope of the present invention, the present invention can be freely combined with each other, or can be appropriately modified or omitted.

DESCRIPTION OF SYMBOLS 1 Control apparatus, 11 Current sensor, 13 Temperature sensor, 30 Basic torque command calculation part, 31 Vibration command calculation part, 32 Final torque command calculation part, 38 Amplitude addition existence judgment part, 39 Temperature determination part, Ab basic amplitude, Ka amplitude Decrease coefficient, Tcb basic torque command value, Tcf final torque command value

Claims (5)

A basic torque command calculation unit that calculates a basic torque command value that is a basic command value of torque to be output to the rotating electrical machine, a vibration command calculation unit that calculates a vibration torque command value that is a torque command value that vibrates at a vibration frequency, and A value obtained by calculating an additional torque command value obtained by adding the vibration torque command value to the basic torque command value, and upper-limiting the additional torque command value by an upper limit command value set in advance corresponding to the maximum output torque of the rotating electrical machine A final torque command calculation unit that calculates a final torque command value for commanding the rotating electrical machine,
The vibration command calculation unit may prevent the vibration maximum value from exceeding the upper limit command value when a vibration maximum value obtained by adding the amplitude of the vibration torque command value to the basic torque command value is larger than the upper limit command value. In addition, in a control device for a rotating electrical machine having a vibration addition presence / absence determining unit that stops addition of the vibration torque command value,
The control device for a rotating electrical machine, wherein the vibration addition presence / absence determining unit stops the addition of the vibration torque command value during a power generation operation of the rotating electrical machine.   2. The control apparatus for a rotating electrical machine according to claim 1, wherein when the motor coil temperature of the rotating electrical machine is higher than a preset temperature determination value of the motor coil temperature, the addition of the vibration torque command value is stopped. .   The addition of the vibration torque command value is stopped when the chip temperature of the chip including the switching element of the inverter controlled by the control device of the rotating electrical machine is higher than a temperature determination value of a preset chip temperature. The control apparatus of the rotary electric machine according to claim 1 or 2.   2. The addition of the vibration torque command value is stopped when a current sensor temperature of a current sensor that detects a current flowing through the rotating electrical machine is higher than a preset temperature determination value of the current sensor temperature. The control device for a rotating electrical machine according to any one of claims 1 to 3.   A motor coil temperature of the rotating electrical machine, a chip temperature of a chip including a switching element of an inverter controlled by the control device of the rotating electrical machine, or a current sensor temperature of a current sensor that detects a current flowing through the rotating electrical machine is set in advance. The control of the rotating electrical machine according to any one of claims 1 to 4, wherein the addition of the vibration torque command value is stopped even during power running when the temperature determination value is higher than the determined temperature determination value. apparatus.

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