JP6341116B2 - Motor control device and offset value calculation method - Google Patents

Motor control device and offset value calculation method Download PDF

Info

Publication number
JP6341116B2
JP6341116B2 JP2015034462A JP2015034462A JP6341116B2 JP 6341116 B2 JP6341116 B2 JP 6341116B2 JP 2015034462 A JP2015034462 A JP 2015034462A JP 2015034462 A JP2015034462 A JP 2015034462A JP 6341116 B2 JP6341116 B2 JP 6341116B2
Authority
JP
Japan
Prior art keywords
motor
command
rotation angle
phase
offset value
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
JP2015034462A
Other languages
Japanese (ja)
Other versions
JP2016158393A (en
Inventor
達哉 山口
達哉 山口
奨 正木
奨 正木
Original Assignee
株式会社デンソー
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社デンソー filed Critical 株式会社デンソー
Priority to JP2015034462A priority Critical patent/JP6341116B2/en
Publication of JP2016158393A publication Critical patent/JP2016158393A/en
Application granted granted Critical
Publication of JP6341116B2 publication Critical patent/JP6341116B2/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Description

  The present invention relates to a motor control device that corrects a rotation angle of a motor detected by a rotation angle sensor with an offset value, and an offset value calculation method.

  As shown in Patent Document 1, a synchronous motor control device that corrects a deviation between a rotational position of a synchronous motor obtained from an output of a rotational position detector and an actual rotational position of the synchronous motor is known. In addition to the rotational position detector, the synchronous motor control device includes an angular velocity calculator, a current command generator, a three-phase two-phase converter, a current controller, a phase calculator, a voltage converter, and an inverter. Have. The angular velocity calculator obtains the rotational angular velocity from the rotational position of the synchronous motor detected by the rotational position detector, and the current command generator calculates the d-axis current command and the q-axis current command from the rotational angular velocity and the torque command input from the external device. Ask. The three-phase two-phase converter converts the three-phase current flowing through the synchronous motor into a d-axis current and a q-axis current, and the current controller is a difference between the d-axis current command and the q-axis current command and the d-axis current and the q-axis current. To obtain a d-axis voltage command and a q-axis voltage command. The phase calculator obtains the rotor position angle from the rotational position detected by the rotational position detector, and the voltage converter converts the d-axis voltage command and the q-axis voltage command into a three-phase voltage command. When the three-phase voltage command is input, the inverter flows a three-phase current to the synchronous motor.

  In addition to the above components, the synchronous motor control device has a phase correction amount detector and an adder. When the phase correction command is input, the phase correction amount detector obtains an offset amount for making the d-axis voltage command zero when each of the d-axis current command and the q-axis current command is zero. The adder outputs a rotor position angle (hereinafter referred to as a correction angle) obtained by adding the offset amount to the rotor position angle to the three-phase two-phase converter and the voltage converter. The three-phase two-phase converter converts a three-phase current into a d-axis current and a q-axis current based on the correction angle, and the voltage converter converts the d-axis voltage command and the q-axis voltage command into a three-phase voltage command based on the correction angle. Convert to

  When a phase correction command is input from an external device, the current command generator fixes each of the d-axis current command and the q-axis current command to zero. At this time, if there is no deviation between the rotational position obtained by the rotational position detector and the actual rotational position of the synchronous motor, the d-axis voltage command generated by the current controller becomes zero. However, if there is a deviation, the d-axis voltage command becomes finite, and a three-phase current flows through the synchronous motor. Therefore, the phase correction amount detector sequentially updates the correction angle by changing the offset amount in an arithmetic series when each of the d-axis current command and the q-axis current command is fixed to zero as described above, The d-axis voltage command is sequentially brought close to zero. The phase correction amount detector uses a value obtained by subtracting 0.5 ° from the offset amount when the sign of the d-axis voltage command is inverted as the final offset amount. The adder adds this final offset amount to the rotor position angle to generate a correction angle, and outputs it to the three-phase two-phase converter and the voltage converter.

JP 2004-266935 A

  As described above, in the synchronous motor control device disclosed in Patent Document 1, the offset amount is changed in a differential series while each of the d-axis current command and the q-axis current command is set to zero. In this way, the correction angle is sequentially updated, and the final offset amount is detected by sequentially bringing the d-axis voltage command close to zero. However, since the d-axis voltage command and the q-axis voltage command take finite values when the offset amount is obtained, a three-phase current flows through the synchronous motor, thereby rotating the synchronous motor. In the case where the rotation of the synchronous motor is transmitted to the output shaft of the vehicle, the vehicle moves in one direction when the offset value is obtained.

  In view of the above problems, an object of the present invention is to provide a motor control device capable of obtaining an offset value while suppressing movement of the vehicle in one direction, and an offset value calculation method.

One of the disclosed inventions for achieving the above-described object is a motor control device for a motor (300) for transmitting power to an output shaft of a vehicle,
A rotation angle sensor (10) for generating an electrical signal corresponding to the rotation angle of the motor;
A rotation angle calculator (20) for calculating the rotation angle of the motor based on the electrical signal of the rotation angle sensor;
An instruction unit (40) for generating a d-axis current command and a q-axis current command according to a command from an external device;
Correction that generates a correction angle by correcting the rotation angle calculated by the rotation angle calculator based on the offset value for correcting the difference between the rotation angle calculated by the rotation angle calculator and the actual rotation angle of the motor Part (50);
A three-phase two-phase converter (60) for converting a three-phase current flowing in the three-phase stator coil of the motor into a d-axis current and a q-axis current based on the correction angle;
a current controller (90) for generating a d-axis voltage command and a q-axis voltage command based on the difference between the d-axis current command and the d-axis current, and the difference between the q-axis current command and the q-axis current, respectively;
a two-phase three-phase converter (100) for converting the d-axis voltage command and the q-axis voltage command into a three-phase voltage command based on the correction angle;
An inverter (110) for flowing a three-phase current to the three-phase stator coil by controlling an electrical connection between the three-phase stator coil and the power source based on the three-phase voltage command;
When a phase correction command is input as a command from an external device, the instruction unit enters an offset mode that calculates an offset value.
The indicator is in offset mode
By setting each of the d-axis current command and the q-axis current command to zero, the d-axis output from the current controller due to the difference between the rotation angle calculated by the rotation angle calculator and the actual rotation angle of the motor Rotate the motor in one direction with each of the voltage command and q-axis voltage command as finite values, and sequentially update the correction angle in the correction unit by sequentially updating the offset value when the motor is rotating in one direction Update process,
When the rotation angle in one direction of the motor reaches a threshold value in the update process, a d-axis current command and a q-axis current command for rotating the motor in the opposite direction opposite to the one direction are generated and output to the current controller. And reverse rotation processing to rotate the motor in the reverse direction,
When the rotation angle of the motor in the reverse rotation process reaches the rotation angle of the motor when the phase correction command is input, the reverse rotation process is switched to the update process,
As a result of sequentially updating the offset value in the update process, the offset value when the d-axis voltage command becomes zero is calculated.

  Thus, according to the present invention, when the motor (300) rotates by a threshold value in one direction when the offset value is obtained, the motor (300) can rotate in the reverse direction so that the rotation angle returns to the beginning. Repeated. According to this, the rotation angle of the motor (300) at the time of obtaining the offset value becomes pseudo zero, and the movement of the vehicle becomes pseudo zero. Therefore, the vehicle is suppressed from moving in one direction when the offset value is obtained.

  In addition, the code | symbol with the parenthesis is attached | subjected to the element as described in the claim as described in a claim, and each means for solving a subject. The reference numerals in parentheses are for simply indicating the correspondence with each component described in the embodiment, and do not necessarily indicate the element itself described in the embodiment. The description of the reference numerals with parentheses does not unnecessarily narrow the scope of the claims.

It is a block diagram which shows schematic structure of the motor control apparatus which concerns on 1st Embodiment. It is a timing chart for demonstrating operation | movement of the motor control apparatus at the time of phase correction instruction | command A * input. It is a flowchart for demonstrating acquisition of offset value (DELTA) (theta). It is a flowchart for demonstrating an acquisition process. It is a flowchart for demonstrating a reverse rotation process.

DESCRIPTION OF EMBODIMENTS Hereinafter, an embodiment in which the present invention is applied to a motor control device for a motor that transmits power to an output shaft of a hybrid vehicle will be described with reference to the drawings.
(First embodiment)
A motor control device and an offset value calculation method according to the present embodiment will be described with reference to FIGS. FIG. 1 also shows a motor in addition to the motor control device. Further, in FIG. 2, in order to clearly show the vehicle state, the operation mode and the vehicle state are illustrated although they are not electric signals.

  The motor control device 200 controls driving of a motor 300 having a rotating shaft connected to an output shaft of a vehicle via a power distribution mechanism. Although not shown, the motor 300 includes a rotor having a rotating shaft fixed thereto and a three-phase stator coil provided around the rotor. The motor control device 200 generates a magnetic flux from the stator coil by causing a three-phase current to flow through the three-phase stator coil. The rotor has a permanent magnet, and a magnetic torque generated by the stator coil acts on the permanent magnet, whereby a rotational torque is generated in the rotor. The rotational shaft fixed to the rotor is rotated by the rotational torque, and the rotation is transmitted to the output shaft and the internal combustion engine via the power distribution mechanism.

  At least one of a torque command T * and a phase correction command A * is input to the motor control device 200 from an electronic control device provided in the vehicle. When the torque command T * is input, the motor control device 200 performs vector control on the motor 300 so that the target rotational torque included in the torque command T * is generated in the motor 300. On the other hand, when the phase correction command A * is input, the motor control device 200 performs an operation of calculating an offset value Δθ described later. The electronic control device is an engine ECU or a hybrid ECU, and corresponds to an external device described in the claims. Hereinafter, the components of the motor control device 100 will be described individually.

  As shown in FIG. 1, the motor control device 200 includes a rotation angle sensor 10, a rotation angle calculator 20, and a rotation angular velocity calculator 30. The rotation angle sensor 10 according to the present embodiment is a resolver, generates two electrical signals having a phase difference of 90 °, and outputs them to the rotation angle calculator 20 and the rotation angular velocity calculator 30 respectively. The rotation angle calculator 20 calculates the rotation angle θ of the motor 300 based on the output signal of the rotation angle sensor 10. The rotation angle θ calculated by the rotation angle calculator 20 is input to an instruction unit 40 and an adder 50 described later. The rotation angular velocity calculator 30 calculates the rotation angular velocity ω of the motor 300 based on the output signal of the rotation angle sensor 10. The rotational angular velocity ω calculated by the rotational angular velocity calculator 30 is input to the instruction unit 40.

  In addition to the above components, the motor control device 200 includes an instruction unit 40, an adder 50, a three-phase two-phase converter 60, subtracters 70 and 80, a current controller 90, a two-phase three-phase converter 100, and An inverter 110 is included. At least one of the torque command T * and the phase correction command A * is input to the instruction unit 40. When only the torque command T * is input, the instruction unit 40 enters the normal mode, and the d-axis current command Id for setting the rotational torque T generated by the rotational angular velocity ω to the target rotational torque included in the torque command T *. * And q-axis current command Iq * are generated and output to subtracters 70 and 80. On the other hand, when the phase correction command A * is input, the instruction unit 40 enters the offset mode and ignores the torque command T *. The offset mode includes an acquisition mode and a reverse rotation mode. The instruction unit 40 sets the d-axis current command Id * and the q-axis current command Iq * to zero in the acquisition mode, and outputs them to the subtracters 70 and 80. In contrast, the instruction unit 40 outputs a d-axis current command Id * and a q-axis current command Iq * for rotating the motor 300 in the reverse direction to the subtracters 70 and 80 in the reverse rotation mode. In the acquisition mode described above, the instruction unit 40 determines the actual rotation angle of the motor 300 and the rotation angle θ indicated by the signal generated by the rotation angle sensor 10 due to the displacement of the installation position of the rotation angle sensor 10 with respect to the motor 300. An offset value Δθ for correcting the deviation is calculated. The calculation of the offset value Δθ will be described in detail later.

  The adder 50 adds the rotation angle θ calculated by the rotation angle calculator 20 and the offset value Δθ calculated by the instruction unit 40. By this addition processing, a correction angle θ + Δθ in which a deviation between the actual rotation angle of the motor 300 and the rotation angle θ indicated by the signal generated by the rotation angle sensor 10 is corrected is calculated. The correction angle θ + Δθ is output from the adder 50 to the three-phase two-phase converter 60 and the two-phase three-phase converter 100, respectively. The adder 50 corresponds to a correction unit described in the claims.

  The three-phase to two-phase converter 60 converts the three-phase currents Iu, Iv, and Iw flowing through the three-phase stator coil of the motor 300 into dq axis currents Id and Iq based on the correction angle θ + Δθ. The d-axis current Id indicates the magnetic flux generated in the permanent magnet of the rotor due to the rotation of the motor 300, and the q-axis current Iq indicates the rotational torque generated in the motor 300. The d-axis current Id and the q-axis current Iq are input to the instruction unit 40 and the subtracters 70 and 80, respectively. The d-axis current command Id * generated by the instruction unit 40 is a value for canceling the magnetic flux generated by the permanent magnet of the rotor, and the q-axis current command Iq * is the target rotation of the motor 300 in a stopped state. The rotational torque required for the number is shown.

  The subtractors 70 and 80 are used for subtracting the current commands Id * and Iq * from the dq axis currents Id and Iq. The first subtractor 70 makes a difference between the d-axis current command Id * and the d-axis current Id, and outputs the value (first difference value) to the current controller 90. Then, the second subtracter 80 makes a difference between the q-axis current command Iq * and the q-axis current Iq, and outputs the value (second difference value) to the current controller 90.

  The current controller 90 performs proportional-integral control (PI control) on the first difference value and the second difference value, and further performs non-interference control that subtracts terms that interfere with each other, thereby performing a d-axis voltage command Vd * and a q-axis voltage command. Vq * is generated. The voltage commands Vd * and Vq * depend on the dq axis currents Id and Iq, the rotational angular velocity ω, the dq axis inductance, and the resistance of the stator coil. The q-axis voltage command Vq * also depends on the magnetic flux of the rotor. When each of the dq-axis currents Id and Iq becomes zero by setting the current commands Id * and Iq * to zero, the q-axis voltage command Vq * does not become zero, but the d-axis voltage command Vd * Becomes zero. However, when the installation position of the rotation angle sensor 10 with respect to the motor 300 is deviated as described above, each of the dq axis currents Id and Iq is shifted to zero by setting the current commands Id * and Iq * to zero. However, the d-axis voltage command Vd * is not zero. Since the d-axis voltage command Vd * has such a property, when the offset value Δθ for correcting the rotation angle θ due to the deviation of the set position is updated, the d-axis voltage command Vd * is sequentially reduced to zero. It is expected to show behavior that approaches. The calculation of an offset value Δθ described later is performed based on the behavior of the d-axis voltage command Vd *.

  The two-phase three-phase converter 100 converts the voltage commands Vd * and Vq * into three-phase voltage commands Vu *, Vv *, and Vw * based on the correction angle θ + Δθ. Each of the three-phase voltage commands Vu *, Vv *, Vw * is input to a plurality of switches constituting the inverter 110.

  The inverter 110 controls the electrical connection between the three-phase stator coil and the power source based on the three-phase voltage commands Vu *, Vv *, and Vw *, so that the three-phase currents Iu, Iv, and Iw are changed to the three-phase stator. The coil is made to flow. The inverter 110 has a plurality of switches corresponding to the three-phase stator coils, and three-phase voltage commands Vu *, Vv *, Vw * are input to the control terminals of these switches. When the switch is opened and closed and the power source and the stator coil are connected, the three-phase currents Iu, Iv, and Iw flow through the three-phase stator coil. Thereby, rotational torque is generated in the rotor, and the rotating shaft fixed to the rotor rotates. As described above, the motor control device 200 performs vector control of the motor 300.

  Next, the operation when the phase correction command A * is input to the motor control device 200 according to the present embodiment will be described with reference to FIG. That is, the calculation of the offset value Δθ will be described with reference to FIG. Note that FIG. 2 shows that the offset value Δθ is calculated from the state where the vehicle is stopped, and the offset value Δθ shown below is updated every fixed period t0. The progress value shown in FIG. 2 indicates the degree of progress of the vehicle, and is shown as an absolute value in order not to distinguish the travel direction.

  As shown in FIG. 2, when the vehicle stops and the phase correction command A * is not input, the instruction unit 40 is in the normal mode. At this time, the motor 300 is not rotating and its rotation angle θ is zero. The d-axis voltage command Vd * is also zero, and the offset value Δθ is also zero. In addition, lamps (for example, headlamps and room lamps) mounted on the vehicle are turned off, and the progress value indicating the progress of the motor 300 is zero.

  However, when the phase correction command A * is input at time t1, the instruction unit 40 switches from the normal mode to the offset mode. In the offset mode, the instruction unit 40 instructs the lamp mounted on the vehicle to blink. This notifies the person inside and outside the vehicle that it is in the offset mode.

  As described above, the offset mode includes the acquisition mode for acquiring the offset value Δθ and the reverse rotation mode for rotating the motor 300 in the reverse direction. When the phase correction command A * is input, the instruction unit 40 enters the acquisition mode as shown in FIG. At this time, the instruction unit 40 fixes each of the d-axis current command Id * and the q-axis current command Iq * to zero. As described above, when the installation position of the rotation angle sensor 10 with respect to the motor 300 is deviated, the d-axis voltage command Vd * does not become zero but takes a finite value. Therefore, three-phase currents Iu, Iv, and Iw flow through the three-phase stator coil, thereby generating rotational torque in the rotor. Therefore, the motor 300 rotates in one direction, and the rotation angle θ increases. As shown in FIG. 2, in the present embodiment, the vehicle 300 moves forward when the motor 300 rotates in one direction. However, the voltage commands Vd * and Vq when the current commands Id * and Iq * are fixed to zero are shown. Depending on the value of *, the vehicle may move backward.

  As described above, when the current commands Id * and Iq * are fixed to zero and the motor 300 is rotated in one direction, the instruction unit 40 corrects by sequentially updating the offset value Δθ every fixed period t0. Update the angle θ + Δθ. In the present embodiment, the instruction unit 40 sequentially increases or decreases the offset value Δθ by a unit angle (for example, 1 °) every fixed period t0. At this time, the instruction unit 40 observes fluctuations in the voltage level of the d-axis voltage command Vd *. When the correction angle θ + Δθ is sequentially updated by updating the offset value Δθ, the difference between the correction angle θ + Δθ and the actual rotation angle of the motor 300 is sequentially reduced. Then, as shown in FIG. 2, the d-axis voltage command Vd * is also decreased sequentially, and it is expected to approach zero sequentially. The unit angle corresponds to a natural number times the minimum rotation angle (resolution) that can be detected by the rotation angle sensor 10. This natural number is a value of 1 or more excluding zero.

  At time t2, or when the progress value (rotation angle in one direction) of the motor 300 exceeds the threshold value, the instruction unit 40 switches from the acquisition mode to the reverse rotation mode. Then, the instruction unit 40 generates a d-axis current command Id * and a q-axis current command Iq * for returning the rotation angle θ of the motor 300 to the initial position, and outputs them to the current controller 90. As a result, the motor 300 rotates in the opposite direction opposite to the one direction, and thereby the vehicle moves in the opposite direction (retreats). As a result, the vehicle returns to the position where the offset value Δθ starts to be obtained. Note that the behavior of the d-axis voltage command Vd * generated at this time is not related to the calculation of the offset value Δθ. Therefore, in FIG. 2, in order to clearly show the decrease in the d-axis voltage command Vd * in the acquisition mode, the d-axis voltage command Vd * in the reverse rotation mode is illustrated as being constant.

  At time t3 or when the rotation angle θ of the motor 300 returns to the initial position, the instruction unit 40 switches from the reverse rotation mode to the acquisition mode. Then, the instruction unit 40 again fixes the d-axis current command Id * and the q-axis current command Iq * to zero, and sequentially updates the offset value Δθ.

  Similarly, at time t4 or when the progress value of the motor 300 exceeds the threshold value, the instruction unit 40 switches from the acquisition mode to the reverse rotation mode. Then, instructing unit 40 again generates d-axis current command Id * and q-axis current command Iq * for returning rotation angle θ of motor 300 to the initial position.

  When the rotation angle θ of the motor 300 returns to the initial position at time t5, the instruction unit 40 switches to the acquisition mode, and the d-axis current command Id * and the q-axis current command Iq * are fixed to zero. The offset value Δθ is sequentially updated.

  Finally, at time t6, when the sign of the d-axis voltage command Vd * is inverted, a value obtained by subtracting or adding a half value (for example, 0.5 °) of the unit angle to the offset value Δθ at that time is used as the d-axis voltage command. It is stored as an offset value Δθ when Vd * becomes zero. Then, the instruction unit 40 outputs to the electronic control device that the calculation of the offset value Δθ has been completed. As a result, the phase correction command A * is not input, and the instruction unit 40 switches to the normal mode. The instruction unit 40 switches the lamp from the blinking state to the unlit state. Note that FIG. 2 shows an example in which unit angles are sequentially added when the offset value Δθ is updated. In this case, a final offset value Δθ is calculated by subtracting a half value of the unit angle from the offset value Δθ when the sign of the d-axis voltage command Vd * is inverted. In contrast to this, when the unit angle is sequentially subtracted when the offset value Δθ is updated, the half value of the unit angle is added to the offset value Δθ when the sign of the d-axis voltage command Vd * is inverted. The final offset value Δθ is calculated.

  Next, the calculation process of the offset value Δθ will be described in detail with reference to FIGS. Note that the motor control device 200 performs a series of processes shown in FIGS.

  As shown in FIG. 3, in step S10, the instruction unit 40 determines whether or not there is an input of a phase correction command A *. If there is a phase correction command A *, the instruction unit 40 enters the offset mode and proceeds to step S20. On the other hand, if there is no phase correction command A *, the instruction unit 40 enters the normal mode and proceeds to step S30. Note that immediately after the phase correction command A * is input (the phase correction command A * is switched from OFF to ON), the instruction unit 40 enters the acquisition mode as the offset mode. The input process of the phase correction command A * corresponds to the correction command step described in the claims.

  If it progresses to step S20, the instruction | indication part 40 will blink the lamp provided in the vehicle, and will progress to step S40. On the other hand, when the process proceeds to step S30, the instruction unit 40 turns off the lamp and ends the process. As long as there is no input of the phase correction command A *, the instruction unit 40 sequentially repeats step S30 and maintains the lamp in the off state.

  If it progresses to step S40, the instruction | indication part 40 will acquire rotation angle (theta) and dq axis | shaft current Id and Iq, and will progress to step S50.

  In step S50, the instruction unit 40 determines whether or not the operation mode is the acquisition mode. In other words, the instruction unit 40 determines whether the operation mode is the acquisition mode or the reverse rotation mode. When the operation mode is the acquisition mode, the instruction unit 40 proceeds to step S60, and when the operation mode is the reverse rotation mode, the instruction unit 40 proceeds to step S80. As described above, the instruction unit 40 enters the acquisition mode immediately after the input of the phase correction command A *. Therefore, at the beginning of the calculation of the offset value Δθ, the instruction unit 40 proceeds to step S60.

  If it progresses to step S60, the instruction | indication part 40 will perform the acquisition process shown in FIG. 4, and will complete | finish the process. On the other hand, when the process proceeds to step S80, the instruction unit 40 performs the reverse rotation process shown in FIG. 5 and ends the process. The acquisition process corresponds to the update process and update step described in the claims, and the reverse rotation process corresponds to the reverse rotation step described in the claims.

  When the process proceeds to step S61 illustrated in FIG. 4, the instruction unit 40 determines whether the acquisition process is in the second cycle or later. If the acquisition process is after the second cycle, the instruction unit 40 proceeds to step S62. If the acquisition process is not after the second cycle (the first cycle), the instruction unit 40 proceeds to step S63.

  When the process proceeds to step S63 because the acquisition process is one cycle, the instruction unit 40 sets the initial phase to the current phase (rotation angle when the phase correction command A * is input). Then, the instruction unit 40 proceeds to step S64.

  In step S64, the instruction unit 40 sets each of the current commands Id * and Iq * to zero. Then, the instruction unit 40 proceeds to step S62.

  In step S62, the instruction unit 40 calculates an absolute value obtained by subtracting the initial phase from the current phase as a progress value. As described above, when the acquisition process is in the first cycle, since the initial phase is set to the current phase, the progress value becomes zero. After this, the instruction unit 40 proceeds to step S65.

  If it progresses to step S65, the instruction | indication part 40 will determine whether a progress value is larger than a threshold value. If the progress value is greater than the threshold value, the instruction unit 40 proceeds to step S66. In contrast, if the progress value is lower than the threshold value, the instruction unit 40 proceeds to step S67. When the acquisition process is in the first period, the progress value is zero, so it is smaller than the threshold value. Therefore, the instruction unit 40 proceeds to step S67.

  When the process proceeds to step S67 because the progress value is lower than the threshold value, the instruction unit 40 determines whether or not the sign of the d-axis voltage command Vd * is inverted. When the sign of the d-axis voltage command Vd * is reversed, the instruction unit 40 proceeds to step S68. In contrast, if the sign of the d-axis voltage command Vd * is not reversed, the instruction unit 40 proceeds to step S69. If the acquisition process is in the first cycle, the offset value Δθ is not updated at all, and the instruction unit 40 proceeds to step S69.

  In step S69, the instruction unit 40 updates the offset value Δθ. More specifically, a unit angle is added to or subtracted from the offset value Δθ. Then, the process ends. Steps S61 to S65, S67, and S69 in the acquisition process described above are performed, for example, at time t1 in FIG. In the following, unless the progress value exceeds the threshold value, steps S61, S62, S65, S67, and S69 are sequentially repeated, and the offset value Δθ is sequentially updated. However, for example, when the progress value exceeds the threshold value as indicated by time t2 in FIG. 2, the instruction unit 40 proceeds to step S66 in step S65.

  In step S66, the instruction unit 40 switches the operation mode from the acquisition mode to the reverse rotation mode. Then, the instruction unit 40 proceeds to step S71.

  In step S71, the instruction unit 40 sets the initial phase to the current phase (the rotation angle when the phase correction command A * is input + the threshold value). Then, the instruction unit 40 proceeds to step S72.

  In step S72, the instruction unit 40 generates current commands Id * and Iq * for returning the rotation angle θ of the motor 300 to the initial position, outputs them to the current controller 90, and ends the processing. At this time, the values obtained in step S40 and obtained by inverting the signs of the dq axis currents Id and Iq are used for calculating the current commands Id * and Iq *. Steps S65, S66, S71, and S72 in the acquisition process described above are performed, for example, at time t2 in FIG.

  Going back to the flow, when the operation mode is the reverse rotation mode in step S50 of FIG. 3 and the process proceeds to step S80, the instruction unit 40 performs the reverse rotation process shown in FIG.

  When the process proceeds to step S81 shown in FIG. 5, the instruction unit 40 calculates an absolute value obtained by subtracting the initial phase from the current phase as a progress value. When reverse rotation processing is performed for the first time, since the initial phase is set to the current phase, the progress value becomes zero. After this, the instruction unit 40 proceeds to step S82.

  If it progresses to step S82, the instruction | indication part 40 will determine whether a progress value is larger than a threshold value. If the progress value is greater than the threshold value, the instruction unit 40 proceeds to step S83. In contrast, if the progress value is lower than the threshold value, the instruction unit 40 ends the process. Since the progress value is zero in the first cycle of the reverse rotation process, it is smaller than the threshold value. Therefore, the instruction unit 40 ends the process. In the following, unless the progress value exceeds the threshold value, steps S81 and S82 are sequentially repeated. However, for example, when the progress value exceeds the threshold value as indicated by time t3 in FIG. 2, the instruction unit 40 proceeds to step S83.

  In this embodiment, the threshold value used in the acquisition mode and the reverse rotation mode is set to the same value. However, if the vehicle does not travel in one direction as perceived by humans during the calculation process of the offset value Δθ, the mode is used. The threshold value used may differ. In other words, if the difference between the threshold value in the acquisition mode and the threshold value in the reverse rotation mode is set to a value that makes it difficult for humans to perceive the vehicle's progress (forward or backward), the threshold value used differs depending on the mode. May be. Note that the threshold value itself is also set to a value that is difficult for humans to perceive the forward and backward movement of the vehicle during the calculation process of the offset value Δθ. For example, the threshold value is set to 15 ° (mechanical angle 60 °) around the rotor of the motor 300.

  In step S83, the instruction unit 40 switches the operation mode from the reverse rotation mode to the acquisition mode. Then, the instruction unit 40 proceeds to step S84.

  In step S84, the instruction unit 40 sets the initial phase to the current phase (the rotation angle when the phase correction command A * is input). Then, the instruction unit 40 proceeds to step S85.

  In step S85, the instruction unit 40 sets each of the current commands Id * and Iq * to zero in order to update the offset value Δθ again, and ends the process. Steps S82 to S85 described above are performed, for example, at time t3 in FIG.

  As a result of repeating the updating of the offset value Δθ, it is determined in step S67 shown in FIG. 4 that the sign of the d-axis voltage command Vd * has been reversed, and when the process proceeds to step S68, the instruction unit 40 determines the offset value at that time. Subtract or add half the unit angle to Δθ. By doing so, the instruction unit 40 determines the calculated offset value Δθ as the offset value Δθ when the d-axis voltage command Vd * becomes zero, and stores this. Then, the instruction unit 40 proceeds to step S70. In addition, when the unit angle addition process is performed in step S69, the instruction unit 40 performs a subtraction process of a value half the unit angle in step S68. On the other hand, if the unit angle is subtracted in step S69, the instruction unit 40 adds half the unit angle in step S68.

  In step S70, the instruction unit 40 notifies the electronic control device that phase correction is complete, and switches the operation mode to the normal mode. By performing the above processing, the calculation (calculation) of the offset value Δθ is completed.

  Next, operational effects of the motor control device 200 and the calculation method of the offset value Δθ according to the present embodiment will be described. As described above, when the motor 300 rotates by a threshold value in one direction while obtaining the offset value Δθ, the motor 300 is repeatedly rotated in the reverse direction so that the rotation angle returns to the beginning. According to this, the rotation angle of the motor 300 at the time of obtaining the offset value Δθ becomes pseudo zero, and the movement of the vehicle becomes pseudo zero. Therefore, the vehicle is prevented from moving in one direction when the offset value Δθ is obtained.

  In the offset mode, the instruction unit 40 instructs the lamp mounted on the vehicle to blink. According to this, it is possible to notify the people inside and outside the vehicle that it is the offset mode.

  The threshold value is set to a value that makes it difficult for humans to perceive forward and backward movement of the vehicle during the calculation process of the offset value Δθ. This suppresses human perception of vehicle movement during the acquisition process and the reverse rotation process.

  The preferred embodiments of the present invention have been described above. However, the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the spirit of the present invention.

  In the present embodiment, an example is shown in which the motor control device 200 is applied to drive control of the motor 300 that transmits power to the output shaft of the hybrid vehicle. However, the motor to which the motor control device 200 is applied is not limited to the motor 300 of the hybrid vehicle described above, and any motor that transmits power to the output shaft of the vehicle can be used as appropriate.

  The rotation angle sensor 10 which concerns on this embodiment showed the example which is a resolver. However, the rotation angle sensor 10 is not limited to the above example, and an encoder or the like may be employed, for example.

  In the present embodiment, as shown in FIG. 2, an example is shown in which the vehicle is stopped when calculating the offset value Δθ. However, the vehicle may be in a traveling state when calculating the offset value Δθ. However, in this case, the combustion engine is not driven to burn, and the vehicle is in a traveling state only by the power of the motor 300.

  In the present embodiment, an example in which a lamp mounted on a vehicle blinks in the offset mode is shown. However, the lighting state of the lamp in the offset mode is not limited to the above example, and may be a constantly lighting state, for example.

DESCRIPTION OF SYMBOLS 10 ... Rotation angle sensor 20 ... Rotation angle calculator 30 ... Rotation angular velocity calculator 40 ... Indication part 50 ... Addition part 60 ... Three-phase two-phase converter 90 ... Current controller 100 ... Two-phase three-phase converter 110 ... Inverter 200 ... Motor controller 300 ... Motor

Claims (6)

  1. A motor control device for a motor (300) for transmitting power to an output shaft of a vehicle,
    A rotation angle sensor (10) for generating an electrical signal corresponding to the rotation angle of the motor;
    A rotation angle calculator (20) for calculating the rotation angle of the motor based on the electrical signal of the rotation angle sensor;
    An instruction unit (40) for generating a d-axis current command and a q-axis current command according to a command from an external device;
    Based on the offset value for correcting the difference between the rotation angle calculated by the rotation angle calculator and the actual rotation angle of the motor, the rotation angle calculated by the rotation angle calculator is corrected. A correction unit (50) for generating a correction angle;
    A three-phase two-phase converter (60) for converting a three-phase current flowing in the three-phase stator coil of the motor into a d-axis current and a q-axis current based on the correction angle;
    A current controller (90) that generates a d-axis voltage command and a q-axis voltage command based on the difference between the d-axis current command and the d-axis current, and the difference between the q-axis current command and the q-axis current, respectively. When,
    A two-phase three-phase converter (100) for converting the d-axis voltage command and the q-axis voltage command into a three-phase voltage command based on the correction angle;
    And an inverter (110) for controlling the electrical connection between the three-phase stator coil and a power source based on the three-phase voltage command to flow the three-phase current to the three-phase stator coil. And
    When the phase correction command is input as the command from the external device, the instruction unit is in an offset mode for calculating the offset value,
    The instruction unit is in the offset mode,
    By setting each of the d-axis current command and the q-axis current command to zero, the current control is performed due to the difference between the rotation angle calculated by the rotation angle calculator and the actual rotation angle of the motor. The d-axis voltage command and q-axis voltage command output from the device are finite values, the motor is rotated in one direction, and the offset value is sequentially updated when the motor is rotating in the one direction. An update process for sequentially updating the correction angle in the correction unit,
    When the rotation angle of the motor in the one direction reaches a threshold value in the update process, the d-axis current command and the q-axis current command are generated to rotate the motor in a direction opposite to the one direction. And performing reverse rotation processing to rotate the motor in the reverse direction by outputting to the current controller,
    In the reverse rotation process, when the rotation angle of the motor reaches the rotation angle of the motor when the phase correction command is input, the reverse rotation process is switched to the update process,
    A motor control device that calculates the offset value when the d-axis voltage command becomes zero as a result of sequentially updating the offset value in the updating process.
  2.   The motor control device according to claim 1, wherein when the phase correction command is input, the instruction unit instructs a lamp provided in the vehicle to turn on.
  3.   In the update process, the instruction unit sequentially updates the offset value by adding or subtracting the offset value by a unit angle, and as a result of sequentially updating the offset value, the sign of the d-axis voltage command is inverted. 3. The motor according to claim 1, wherein a value obtained by subtracting or adding a half value of the unit angle to the offset value at the time is calculated as the offset value when the d-axis voltage command becomes zero. Control device.
  4. A rotation angle sensor (10) for generating an electrical signal corresponding to a rotation angle of a motor for transmitting power to the output shaft of the vehicle;
    A rotation angle calculator (20) for calculating the rotation angle of the motor based on the electrical signal of the rotation angle sensor;
    An instruction unit (40) for generating a d-axis current command and a q-axis current command according to a command from an external device;
    Based on the offset value for correcting the difference between the rotation angle calculated by the rotation angle calculator and the actual rotation angle of the motor, the rotation angle calculated by the rotation angle calculator is corrected. A correction unit (50) for generating a correction angle;
    A three-phase two-phase converter (60) for converting a three-phase current flowing in the three-phase stator coil of the motor into a d-axis current and a q-axis current based on the correction angle;
    A current controller (90) that generates a d-axis voltage command and a q-axis voltage command based on the difference between the d-axis current command and the d-axis current, and the difference between the q-axis current command and the q-axis current, respectively. When,
    A two-phase three-phase converter (100) for converting the d-axis voltage command and the q-axis voltage command into a three-phase voltage command based on the correction angle;
    And an inverter (110) for controlling the electrical connection between the three-phase stator coil and a power source based on the three-phase voltage command, thereby causing the three-phase current to flow into the three-phase stator coil. An offset value calculation method for calculating the offset value using a motor control device,
    A correction command step for setting the instruction unit to an offset mode for calculating the offset value by inputting a phase correction command as the command to the instruction unit;
    By setting each of the d-axis current command and the q-axis current command generated by the instruction unit to zero, the rotation angle calculated by the rotation angle calculator and the actual rotation angle of the motor Due to the difference, the d-axis voltage command and the q-axis voltage command output from the current controller are set as finite values, the motor is rotated in one direction until the threshold is reached, and the motor rotates in the one direction. An updating step of sequentially updating the correction angle in the correction unit by sequentially updating the offset value when
    The d-axis current command and the q-axis current command for rotating the motor in a direction opposite to the one direction when the rotation angle of the motor in the one direction reaches the threshold in the updating step. And a reverse rotation step of rotating the motor in the reverse direction.
    In the reverse rotation step, when the rotation angle of the motor reaches the rotation angle of the motor when the phase correction command is input, switching to the update step,
    An offset value calculation method for calculating the offset value when the d-axis voltage command becomes zero by repeating the updating step and the reverse rotation step until the d-axis voltage command becomes zero by updating the offset value. .
  5.   The offset value calculation method according to claim 4, wherein when the updating step and the reverse rotation step are performed, the instructing unit is instructed to turn on a lamp provided in the vehicle.
  6.   In the updating step, the offset value is sequentially updated by adding or subtracting the offset value by a unit angle, and the offset value is obtained when the offset value is sequentially updated. The offset value calculation method according to claim 4 or 5, wherein a value obtained by subtracting or adding half the unit angle to the value is calculated as the offset value when the d-axis voltage command becomes zero. .
JP2015034462A 2015-02-24 2015-02-24 Motor control device and offset value calculation method Active JP6341116B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2015034462A JP6341116B2 (en) 2015-02-24 2015-02-24 Motor control device and offset value calculation method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2015034462A JP6341116B2 (en) 2015-02-24 2015-02-24 Motor control device and offset value calculation method

Publications (2)

Publication Number Publication Date
JP2016158393A JP2016158393A (en) 2016-09-01
JP6341116B2 true JP6341116B2 (en) 2018-06-13

Family

ID=56826870

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2015034462A Active JP6341116B2 (en) 2015-02-24 2015-02-24 Motor control device and offset value calculation method

Country Status (1)

Country Link
JP (1) JP6341116B2 (en)

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2003067748A1 (en) * 2002-02-07 2003-08-14 Mitsubishi Denki Kabushiki Kaisha Device for detecting magnetic pole of synchronous ac motor, and magnetic pole detecting method therefor
JP3789895B2 (en) * 2003-02-28 2006-06-28 三菱電機株式会社 Winding field type synchronous motor control device and method for correcting rotational position deviation of winding field type synchronous motor
JP4502734B2 (en) * 2004-07-15 2010-07-14 三菱電機株式会社 Origin offset amount calculation method for motor rotational position detection device and motor control device using this calculation method
JP2007228700A (en) * 2006-02-22 2007-09-06 Toyota Motor Corp Motor control device
JP2010007266A (en) * 2008-06-24 2010-01-14 Sumitomo (Shi) Construction Machinery Co Ltd Drive controller and construction machinery including it

Also Published As

Publication number Publication date
JP2016158393A (en) 2016-09-01

Similar Documents

Publication Publication Date Title
US8174220B2 (en) Apparatus for controlling permanent-magnet rotary electric machine
US6674261B2 (en) Motor control apparatus
US6771039B2 (en) Motor control apparatus and method
JP6367332B2 (en) Inverter control device and motor drive system
JP5693652B2 (en) Synchronous machine controller
US7728541B2 (en) Electric motor drive control method and apparatus
US7999501B2 (en) Motor controller
JP4881635B2 (en) Vector controller for permanent magnet motor
JP3674919B2 (en) Electric power steering apparatus and control method thereof
EP2779415A2 (en) Motor control system to compensate for torque ripple
JP5534292B2 (en) Vehicle steering system
JP4434184B2 (en) Method and apparatus for feedback control of electric motor
KR100636419B1 (en) Motor controller
JP2007166735A (en) Position-detecting device and synchronous motor drive device using the same
US9413281B2 (en) Apparatus for controlling AC motor
US9112436B2 (en) System for controlling controlled variable of rotary machine
US9093936B2 (en) Control apparatus for AC motor
US9419553B2 (en) Apparatus for controlling rotary machine
JP2012170210A (en) Control device for rotating machine
JP2010095075A (en) Vehicle steering apparatus
JP2007525137A (en) Position sensorless control algorithm for AC machines
JP6158115B2 (en) Magnet magnetic flux amount estimation device, abnormal demagnetization determination device, synchronous motor drive device, and electric vehicle
JP2017123736A (en) Current detector and controller of dynamo-electric machine including current detector
JP2005006420A (en) Electric power steering device
JP4803286B2 (en) Vehicle drive motor control device

Legal Events

Date Code Title Description
A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20170627

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20180405

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20180417

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20180430

R151 Written notification of patent or utility model registration

Ref document number: 6341116

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R151