JP6424773B2 - Control device of AC rotating electric machine - Google Patents

Description

  The present invention relates to a control apparatus for an AC rotating electrical machine that controls energization of an AC rotating electrical machine based on a detection value of a phase current detected by a current sensor.

  Conventionally, in control of an AC rotating electrical machine, a phase current value is detected, and a control amount based on the detected phase current value is fed back to a target value. In such feedback control, when the high-order component is superimposed on the phase current, the high-order component is also superimposed on the operation command to the switching element of each phase of the inverter which is the result of the feedback control. As a result, noise components such as switching noise also contain higher order components, which causes a problem in terms of quietness. Also, offsetting the phase current is undesirable because it causes torque fluctuations and output fluctuations.

  Therefore, the controller for an AC motor described in Patent Document 1 performs Fourier series expansion of the phase current detection value as a function of the electrical angle, and detects and detects a primary current that is a primary component of the phase current. Feedback control is implemented based on Specifically, at the integration angle set by dividing the electrical angle k cycle into N pieces, the control device integrates the calculated value based on the phase current detection value at the integration angle over the electrical angle k cycle. The coefficients are calculated.

JP, 2014-132815, A

  The control device detects the primary current based on the phase current detection value at the integration angle over k electrical cycles. Therefore, when the torque command value is changed, the primary current to be detected will drag the phase current before the torque command value is changed until the potential angle k period elapses after the torque command value is changed. . Therefore, a decrease in responsiveness at the time of changing the torque command value may be a problem. In particular, in the low rotational speed region, the time during which the primary current pulls the phase current before the change of the torque command value becomes longer than that in the high rotational speed region. .

  In view of the above situation, the present invention has as its main object to provide a control device of an AC rotating electrical machine capable of improving responsiveness to a torque command value.

  The invention according to claim 1 includes a three-phase AC rotary electric machine, an inverter for driving the AC rotary electric machine, and a current sensor for detecting a phase current value of at least one phase of the AC rotary electric machine. A control device for an AC rotating electrical machine applied to a system, comprising: an operation angle setting unit that divides an electric angle k period (k is a natural number) into N (N is a natural number) to set an operation angle; Based on the detected value of the phase current value at the calculation angle over the electrical angle m / 2 period (m is a natural number of m ≦ k) of k periods, the remaining electrical angle (k of the electrical angle k period is An estimation unit that estimates the phase current value at the calculation angle over a period of -m / 2, combines the detected value of the phase current value and the estimated value, and sets the phase current value over the electrical angle k period; For each phase angle of the predetermined phase, Coefficient calculation unit for calculating a Fourier coefficient by integrating the calculated value over the electrical angle k period, and a primary current calculation unit for calculating a primary current value based on the calculated primary component of the Fourier coefficient And dq current calculation unit for calculating d-axis current value and q-axis current value by performing dq conversion on the calculated primary current value, and control based on the calculated d-axis current value and the q-axis current value And an operation unit for operating a plurality of switching elements constituting the inverter such that the amount follows a target value of the control amount.

  According to the first aspect of the present invention, the electrical angle k period is divided into N to set the operation angle. Also, based on the detected values of the phase current value at the calculation angle over the electrical angle m / 2 of the electrical angle k period, the phase current value at the calculation angle over the remaining (k−m / 2) period is estimated . Then, the detected value and the estimated value of the phase current value are combined to obtain a phase current value over k electrical cycles. Then, for each operation angle, a calculated value based on the phase current value is integrated over k periods of electrical angle, and a Fourier coefficient is calculated. Thereby, the Fourier coefficient can be calculated from the detected value of the phase current value over k / 2 cycles. That is, the Fourier coefficient can be calculated from the detected value of the phase current value over a period equal to or less than 1⁄2 as compared with the case where the Fourier coefficient is calculated from the detected value of the phase current value over the electrical angle k period.

  Furthermore, a primary current value is calculated based on the calculated primary component of the Fourier coefficient, and the calculated primary current value is converted to a dq current value. Then, the switching element of the inverter is operated such that the control amount based on the converted dq current value follows the target value. Therefore, when the torque command value is changed, compared with the case where the Fourier coefficient is calculated from the detected value of the phase current value over the electrical angle k cycle, the primary current value is the phase current value before the torque command value change. The dragging period can be reduced to half or less. Therefore, the responsiveness to the torque command value can be improved.

  The invention according to claim 5 comprises a three-phase alternating current rotating machine, an inverter for driving the alternating current rotating machine, a current sensor detecting a phase current value of at least one phase of the alternating current rotating machine, and the alternating current rotating machine A control device for an AC rotating electrical machine applied to a rotating electrical machine system including a rotational position sensor for detecting a rotational position of the rotor, wherein N electrical k cycles (k is a natural number) (N is a natural number) And the phase current at a predetermined calculation angle when it is determined that the phase of the phase current and the rotational position of the rotational position sensor are synchronized. An estimation unit that calculates the maximum amplitude of the phase current based on the detected value of the value and the detected value of the rotational position, and estimates the phase current value at the calculation angle over the k periods of the electrical angle from the calculated maximum amplitude And the above A coefficient calculation unit that calculates a Fourier coefficient by integrating a calculated value based on an estimated value of the phase current value of a predetermined phase for each corner over the electrical angle k cycle, and based on the calculated primary component of the Fourier coefficient The primary current calculator for calculating the primary current value, and the dq current calculator for calculating the d-axis current value and the q-axis current value by performing dq conversion on the calculated primary current value; And an operation unit configured to operate a plurality of switching elements forming the inverter such that a control amount based on the d-axis current value and the q-axis current value follows a target value of the control amount.

  According to the fifth aspect of the present invention, the electrical angle k period is divided into N to set the operation angle. When the phase of the phase current and the rotational position of the rotational position sensor are synchronized, the maximum amplitude of the phase current can be calculated from the detection values of at least one set of phase current values and the detection value of the rotational position. Therefore, when it is determined that the detected value of the phase current value and the detected value of the rotational position are synchronized, the phase current is detected based on the detected value of the phase current value at a predetermined calculation angle and the detected value of the rotational position. The maximum amplitude of is calculated, and the phase current value over k periods of electrical angle is estimated from the calculated maximum amplitude of the phase current. Then, for each calculation angle, a calculated value based on the estimated value of the phase current value is integrated over k periods of electrical angle, and a Fourier coefficient is calculated. Furthermore, the primary current value is calculated based on the calculated primary component of the Fourier coefficient, the calculated primary current value is converted to the dq current value, and the control amount based on the converted dq current value is The switching element of the inverter is operated to follow the target value. Therefore, since the primary current can be calculated based on at least one set of the detected value of the phase current value and the detected value of the rotational position, the responsiveness to the torque command value can be improved.

BRIEF DESCRIPTION OF THE DRAWINGS The figure which shows schematic structure of the motor system which concerns on each embodiment. The figure explaining the control mode of an alternating current motor. The figure which shows the correspondence of the operation state of an AC motor, and a control mode. FIG. 2 is a block diagram showing a configuration of a control device of an AC motor corresponding to a PWM control mode. The figure which shows an example of the calculation angle of a Fourier coefficient. The figure which shows the calculation object of the (a) Fourier coefficient which concerns on the conventional, and the calculated primary current value (b). The figure which shows the (a) calculation object of a Fourier coefficient which concerns on this embodiment, (b) phase current value over 1 period estimated, and (c) primary current value calculated. The figure which shows (a) voltage and (b) phase current. The figure which shows the detection value of the phase current value of (a) U phase, and (b) the detection value and estimation value of the phase current value of U phase. The figure which shows the detection value of the phase current value of (a) V phase, and (b) the detection value and estimation value of the phase current value of V phase. The figure which shows the detection value of the phase current value of (a) W phase, and (b) the detection value and estimation value of the phase current value of W phase. 5 is a flowchart showing a processing procedure for calculating dq current according to the first embodiment. The time chart which shows the characteristic of the rotation position to the (a) time concerning a 1st embodiment, and the characteristic of the phase current of the V phase to (b) time. The flowchart which shows the process sequence which calculates dq electric current which concerns on the modification of 1st Embodiment. The block diagram which shows the structure of the control apparatus of the alternating current motor corresponding to a square wave control mode. (A) The figure which shows the detected value of the phase current value containing offset error. (B) The figure which shows the estimated value estimated from the detected value of the phase current value with offset error. The block diagram which shows the function which correct | amends phase current value by offset error. The flowchart which shows the process sequence which calculates dq electric current which concerns on 2nd Embodiment. The flowchart which shows the process sequence which calculates dq electric current which concerns on the modification of 2nd Embodiment. The flowchart which shows the process sequence which calculates dq electric current which concerns on 3rd Embodiment. The time chart which shows the characteristic of the rotational position with respect to (a) time which concerns on 3rd Embodiment, and the characteristic of the phase current of V phase with respect to time (b).

  Hereinafter, embodiments embodying a control device for an AC rotating electrical machine will be described with reference to the drawings. The control device of the AC rotating electrical machine according to each embodiment is assumed to be applied to a motor system that drives a hybrid vehicle. In the following embodiments, parts identical or equivalent to each other are denoted by the same reference numerals in the drawings, and the description of the same parts will be incorporated.

First Embodiment
First, a motor system according to the present embodiment will be described with reference to FIG. A motor system (a rotating electrical machine system) according to the present embodiment includes a motor 30, an inverter 20, a DC power supply 10, current sensors 31, 32, a rotational position sensor 33, and a control device 40. Torque command value Trq * is input to control device 40 from vehicle control device 100.

  MG30 (AC electric rotating machine) includes a stator and a rotor on which U-phase, V-phase, and W-phase three-phase coils are wound, and has three-phase functions as a motor and a generator. It is a motor generator. The MG 30 is a driving source of a hybrid vehicle. MG 30 may be a three-phase motor having only a function as an electric motor.

  The inverter 20 is a bridge circuit in which three series bodies in which two switching elements are connected up and down are connected in parallel. As the switching element, for example, a gate drive type IGBT, a MOS transistor or the like can be adopted. By inputting operation signals gua, gub, gva, gvb, gwa and gwb transmitted from the control device 40 described later to the gate terminals of the switching elements, on / off of each switching element is operated. As a result, AC voltages Vu, Vv and Vw are applied to the coils of each phase of MG 30, and the drive of MG 30 is controlled.

  The DC power supply 10 is, for example, a lithium ion or nickel hydrogen secondary battery, and exchanges electric power with the MG 30 via the inverter 20. The DC voltage of the DC power supply 10 is the system voltage VH input to the inverter 20. When a boost converter is connected between DC power supply 10 and inverter 20, the DC voltage boosted by the boost converter becomes system voltage VH input to inverter 20.

  The current sensor 31 is provided in the V-phase coil, detects the phase current Iv of the V phase at a predetermined cycle, and transmits the value of the detected phase current Iv to the control device 40. Further, the current sensor 32 is provided in the W-phase coil, detects the phase current Iw of the W phase at a predetermined cycle, and transmits the value of the detected phase current Iw to the control device 40. Here, since the sum of the three phase currents is always zero according to Kirchhoff's law, if the V phase current Iv and the W phase current Iw are known, the remaining U phase currents Iu are calculated. Be In the present embodiment, the current sensors 31 and 32 are provided in two phases of the V phase and the W phase, but the current sensors 31 and 32 may be provided in any two of the three phases.

  The rotational position sensor 33 is provided near the rotor of the MG 30, detects the rotational position θ of the rotor, and transmits the detected rotational position θ to the control device 40. The rotational position θ is a value represented by an electrical angle, and the rotational speed Nr of the MG 30 is calculated from the rotational position θ. As the rotational position sensor 33, a resolver or an encoder can be employed.

  The vehicle control device 100 is a control device that controls the entire hybrid vehicle higher than the control device 40, and is mainly configured of a microcomputer including a CPU, a ROM, a RAM, an I / O, and the like. The vehicle control device 100 detects the driving state of the vehicle based on detection values of various sensors such as an accelerator sensor, a brake sensor, and a shift position sensor. Then, the vehicle control device 100 calculates a torque command value Trq * according to the detected driving state of the vehicle, and transmits the calculated torque command value Trq * to the control device 40.

  The control device 40 (control device for an AC rotating electric machine) is mainly configured of a microcomputer provided with a CPU, a ROM, a RAM, an I / O, and the like. The control device 40 realizes various functions to be described later by software processing in which a program stored in the ROM is executed by the CPU or hardware processing by a dedicated electric circuit, and controls the driving of the MG 30.

  As shown in FIG. 2, control device 40 selects and executes one of the three control modes according to modulation factor m as the control mode of MG 30. The modulation factor m is defined by the following equation (1). Vr is the magnitude of the voltage vector applied to the MG 30 on the rotation coordinate plane.

  When the modulation factor m is less than 0 to 1.27, the controller 40 implements the sine wave PWM control mode and the overmodulation PWM control mode. The sine wave PWM control mode is a mode in which switching elements of each phase of inverter 20 are controlled based on comparison of a voltage command value of each phase of sine wave and a carrier, and the amplitude of the sine wave voltage command is carrier wave. It is carried out in the range below the amplitude. On the other hand, in the overmodulation PWM control mode, the same PWM control as in the sine wave PWM control mode is performed in the range where the amplitude of the sine wave component of the voltage command is larger than the amplitude of the carrier wave. In the sine wave PWM control mode and the overmodulation PWM control mode, “current feedback control” is performed to control the amplitude and phase of the voltage applied to the MG 20 by feedback of the current flowing through the MG 30.

  Further, when the modulation factor m = 1.27, the control device 40 implements the rectangular wave control mode. The rectangular wave control mode is a mode in which one rectangular wave pulse is applied to the MG 30 such that the ratio of the on period of the upper arm to the on period of the lower arm is 1: 1 within a certain period. In the rectangular wave control mode, since the amplitude of the voltage applied to MG 30 is fixed, “torque feedback control” is performed to control the phase of the rectangular wave voltage pulse based on the deviation between torque command value Trq * and estimated torque value Trqe. Conduct.

  FIG. 3 shows the correspondence between the operation state of the MG 30 and each control mode. In the low rotational speed region I, a sine wave PWM control mode is implemented to suppress torque fluctuation. In medium rotation speed range II where rotation speed Nr of MG 30 increases and system voltage VH exceeds the maximum value, the control mode is switched from sine wave PWM control mode to overmodulation PWM control mode, and output in middle rotation speed range II Raise Furthermore, when the rotation speed Nr of the MG 30 is increased, the over modulation PWM control mode is switched to the rectangular wave control mode to increase the output in the high rotation speed region III. The PWM control mode including the sine wave PWM control and the overmodulation PWM control mode and the rectangular wave control mode will be respectively described below.

<PWM control>
First, the PWM control mode will be described. In the PWM control mode, in order to implement current feedback control, the control amount of feedback becomes a current value. FIG. 4 shows the configuration of the controller 40 corresponding to the PWM control mode. Control device 40 includes current command generation unit 41, FF term calculation unit 42, deviation calculation units 43 and 44, PI control units 45 and 46, addition units 47 and 48, two-phase to three-phase conversion unit 49, rφ conversion unit 50, The functions of the voltage DUTY conversion unit 51 and the PWM unit 52 are provided. Furthermore, the control device 40 has functions of an estimation unit 53, a Fourier coefficient calculation unit 54, a primary current calculation unit 55, a dq current calculation unit 56, and a calculation angle setting unit 71.

  The current command generation unit 41 generates current command values Id * and Iq * of the rotating coordinate system based on the torque command value Trq * and the current command map. The current command map is a map showing the correspondence between the torque command value Trq * and the current command values Id * and Iq *, and is stored in advance in the storage device. In the PWM control mode, current command values Id * and Iq * correspond to target values of the control amount.

  The FF term calculation unit 42 calculates feedforward terms Vd_ff and Vq_ff of the d-axis voltage command value and the q-axis voltage command value, respectively, based on the generated current command values Id * and Iq * (Japanese Patent Laid-Open No. 2014- 132815). The deviation calculation units 43 and 44 calculate the current deviations ΔId and ΔIq between the generated current command values Id * and Iq * and the actual currents Id and Iq of the rotational coordinate system calculated by the dq current calculation unit 56 described later. Calculate each. PI control units 45 and 46 calculate feedback terms Vd_fb and Vq_fb of d-axis voltage command value and q-axis voltage command value by proportional integral control, respectively, so that the calculated current deviations ΔId and ΔIq converge to 0. . The adders 47 and 48 respectively add the feedforward terms Vd_ff and Vq_ff and the feedback terms Vd_fb and Vq_fb to calculate voltage command values Vd * and Vq * of the rotational coordinate system. The actual currents Id and Iq (the total of the actual currents Id and Iq are collectively referred to as dq current) correspond to the control amount.

  The two-phase to three-phase conversion unit 49 uses the rotational position θ received from the rotational position sensor 33 to calculate the voltage command values Vd * and Vq * of the rotational coordinate system into voltage command values Vu *, of the fixed coordinate system. Convert to Vv *, Vw *. The rφ conversion unit 50 converts the voltage command values Vd * and Vq * of the rotating coordinate system into a command voltage vector of a size Vr on the rotating coordinate plane and a phase φq based on the q axis. The phase φ q defines the direction counterclockwise from the q axis as positive.

  Voltage duty converter 51 converts voltage command values Vu *, Vv *, Vw * of each phase into command duties Du, Dv, Dw based on rotational position θ, calculated phase φq, and modulation factor m. . The modulation factor m is calculated from the magnitude of the calculated vector Vr, the system voltage VH and a multiplication of the coefficient. The PWM unit 52 generates the operation signals gua, gub, gva, gvb, gwa, gwb based on the command duties Du, Dv, Dw, and transmits the generated operation signals to the switching elements of the inverter 20. Each operation signal is a signal for controlling on / off of each switching element of the inverter 20. In the PWM control mode, the functions from the above-described FF term calculation unit 42 to the PWM unit 52 correspond to the operation unit.

  By controlling the on / off of each switching element by the operation signal, three-phase AC voltages Vu, Vv, and Vw are applied to the coils of each phase of MG 30. With the application of the three-phase AC voltages Vu, Vv, Vw, the torque corresponding to the torque command value Trq * is output from the MG 30 and the phase currents Iu, Iv, Iw flow through the coils of each phase of the MG 30.

  Control device 40 detects phase currents Iu, Iv, Iw of each phase to calculate actual currents Id, Iq, and feeds back actual currents Id, Iq to current command values Id *, Iq *. At this time, high-order components may be superimposed on the phase currents Iu, Iv, Iw, or the phase currents Iu, Iv, Iw may be offset. When actual currents Id and Iq are calculated from phase currents Iu, Iv and Iw in which high-order components are superimposed, high-order components are also superimposed on command duties Du, Dv and Dw, and noise components such as switching noise of inverter 20 accordingly. Also include higher order components. In particular, in the overmodulation PWM control mode, high-order components are included in the PWM pulse, so the high-order components are likely to be superimposed on the phase current value, resulting in a problem of increased noise. In addition, when the phase current value is offset, torque fluctuation and power fluctuation occur.

  Therefore, the controller 40 performs Fourier series expansion of the phase current value as a function of the rotational position θ. Formulas (2) and (3) show general formulas of Fourier series expansion. Equation (2) is an equation for calculating the n-th Fourier coefficient an of the cos function and the n-th Fourier coefficient b n of the sin function. F ((theta)) shown by Formula (3) is a periodic function of period 2 (pi) which makes (theta) a variable, Comprising: It represents with the sum of a trigonometric function. In addition, character "n" in Formula (2), (3) is independently used only by these formulas, and shall be different from "n" used in another location.

  In the equation (3), the zero-order component a0 / 2 is a direct current component and corresponds to the offset amount of the center of the current amplitude with respect to the current 0 (A). The second and higher order components correspond to higher order components. Therefore, the control device 40 extracts only the primary component of the phase current, calculates the actual currents Id and Iq from the primary current value which is the primary component of the extracted phase current, and implements current feedback control.

  In general, Fourier coefficients are calculated based on N phase current values at calculation angles set by dividing the electrical angle k period (k is a natural number) into N (N is a natural number). For example, as shown in FIG. 5, when k = 1 and one electric angle period is divided into 12 and the operation angle is set, the operation angle and the 11 operation angles immediately before the operation angle are obtained at a certain operation angle. Fourier coefficients are calculated based on the 12 phase current values at the calculation angle. Each operation angle is the operation start timing of the Fourier coefficient. In this embodiment, it is assumed that the detection timings of the phase currents Iv and Iw by the current sensors 31 and 32 are synchronized with the calculation angle which is the calculation start timing.

  FIG. 6A shows a range of phase current values to be calculated in the conventional calculation process of Fourier coefficients when k = 1. In the time points t0, t1, t2, and t3, the interval between adjacent time points is an electrical angle half cycle. Conventionally, based on the equation (2), Fourier coefficients are calculated by integrating a calculated value based on a phase current value at a calculation angle over one electrical angle period over one electrical angle period. FIG. 6 (b) shows the primary current value calculated from the primary component of the calculated Fourier coefficient.

  Conventionally, when the torque command value Trq * is changed, the Fourier coefficient and hence the primary current value is changed to the torque command value Trq * from the time the torque command value Trq * is changed until one cycle of the electrical angle elapses. Affected by previous phase current value. For example, as shown in FIG. 6A, when torque command value Trq * is changed at time t1 and dq current at time t2 is calculated, phase current values from time t0 to time t1 before the change of the command value; The primary current value is calculated based on the phase current value from time t1 to time t2 after the change of the command value. Therefore, the calculated primary current value has a relatively large error with respect to the actual primary current value at time t2. As a result, the responsiveness of the actual torque to the torque command value Trq * is reduced.

  In FIG. 6 (a), when the command value is changed at time t1, the calculated primary current value subtracts the phase current value before the change of the command value until the dq current is calculated at time t3. Become. In particular, in the low rotational speed region, the time required for the rotor to rotate by one electrical angle period is longer than that in the high rotational speed region. Therefore, when changing the torque command value Trq *, the primary current value is commanded The time to pull the phase current value before the value change becomes long. Therefore, particularly in the low rotational speed region, a decrease in responsiveness at the time of change of the torque command value Trq * becomes a problem, and improvement of the responsiveness at the time of change of the torque command value is desired.

  Therefore, the estimation unit 53 determines the remaining electrical angle (k−m / m) based on the detected value of the phase current value at the calculation angle over the electrical angle m / 2 period of the electrical angle k period among the electrical angle k period. 2) It was decided to estimate the phase current value at the operation angle over the period. m is a natural number such that m ≦ k. Then, the estimation unit 53 combines the detected value of the phase current value over m / 2 cycles and the estimated value of the phase current value over the remaining electrical angle (k-m / 2) cycles to obtain a phase over k electrical cycles. Let it be the current value. The Fourier coefficient calculation unit 54 (coefficient calculation unit) integrates the calculated value based on the phase current value over the electrical angle k period of the predetermined phase calculated by the estimation unit 53 over the electrical angle k period to obtain the Fourier coefficient of the predetermined phase Calculate the primary component of In the present embodiment, k = 1, and the estimation unit 53 estimates the phase current value over the remaining electrical angle half cycle based on the detected value of the phase current value over the electrical angle 1/2 cycle.

  A specific estimation method of the phase current value by the estimation unit 53 will be described below. When torque command value Trq * is constant, as shown in FIG. 7A, the magnitude of the voltage command value of the predetermined phase at an electrical angle of 0 ° to 180 ° and the electrical angle of 180 ° to 360 ° in one electrical angle cycle. The magnitudes of the voltage command values of the predetermined phases in degrees become equal. In this case, as shown in FIG. 7B, the phase current value at an electrical angle of 0 ° to 180 ° shifts the phase current value at an electrical angle of 180 ° to 360 ° by an electrical angle of 180 °, and the amplitude direction of the phase current The value is inverted with respect to the central axis passing through the center of.

  Therefore, as shown in FIGS. 8 (a) and 8 (b), the estimation unit 53 shifts the detection value of the phase current value over a half period of the electrical angle by 180 electrical degrees and inverts it with respect to the central axis. An estimated value of the phase current value over the electrical angle half cycle is calculated. Here, to shift the detection value of the phase current value by 180 ° electrical angle and to invert it with respect to the central axis is referred to as translational inversion. Then, the estimation unit 53 combines the detection value of the phase current value over the electrical half cycle with the detection value of the phase current value over the remaining electrical half cycle to obtain the phase current over one electrical angle cycle. Thus, assuming that the value obtained by translating and inverting the phase current value of the electrical angle half cycle is the phase current value of the remaining electrical angle half cycle, an ideal state is obtained in the Fourier series expansion. FIG. 8C shows a primary current value calculated based on the calculated phase current value over one cycle of the electrical angle. 9 (a) and 9 (b) show the detected values of the phase current value of the U phase by black circles, and show estimated values obtained by inverting the detected values in translation by white circles. FIGS. 10A and 10B show the detected values of the phase current value of the V phase by black squares, and show the estimated values obtained by inverting the detected values in translation by white squares. 11 (a) and 11 (b) show the detected values of the phase current value of the W phase by black triangles, and show the estimated values obtained by translating and inverting the detected values by white triangles.

  By calculating phase current values Iue, Ive, Iwe over one electrical angle cycle of each phase from detected values of phase current values for half electrical cycle, the remaining torque command value Trq * remains constant. The phase current value in the electrical angle half cycle is estimated with high accuracy. Further, when the torque command value Trq * is changed, a period in which the primary current value pulls the phase current value before the change of the torque command value Trq * is shortened to 1⁄2 of the conventional case. For example, as shown in FIG. 8A, when the torque command value Trq * is changed at time t1 and the dq current at time t2 is calculated, the detected value of the phase current value from time t1 to time t2 and time t1 The primary current value is calculated based on the estimated value estimated from the detected value of the phase current value at time t2. Therefore, when calculating the dq current at time t2, the primary current value does not drag the phase current value before the change of the command value. Conventionally, while the period in which the primary current value drags the phase current value before the change of the command value is from time t1 to time 3, in the present embodiment, the time to drag is shortened from time t1 to time t2. Be done. Therefore, compared to the conventional case, the decrease in responsiveness of the actual torque with respect to torque command value Trq * at the time of change of torque command value Trq * is suppressed.

  The primary current calculator 55 calculates the primary current values Iu_1, Iv_1, Iw_1 of each phase based on the Fourier coefficients au1, bu1, av1, bv1, aw1, bw1 of each phase calculated by the Fourier coefficient calculator 54. Calculate each. The details of the calculation of the Fourier coefficient and the calculation of the primary current value of each phase will be described later.

  The dq current calculation unit 56 converts the calculated three-phase primary current values Iu_1, Iv_1, Iw_1 into an actual current Id (d-axis current value) and an actual current Iq (q-axis current value) of the rotary seat system. Do.

  The calculation angle setting unit 71 divides one cycle of the electric angle into N pieces to set the calculation angle.

  Next, a method of calculating the dq current from the detected value of the phase current value will be described with reference to the flowchart of FIG. 12 and the time chart of FIG.

  FIG. 13 (a) shows the characteristic of the rotational position θ with respect to time, and FIG. 13 (b) shows the characteristic of the phase current Iv (θ) of the V phase with respect to time. In FIG. 13 (a), the rotational position θ linearly increases in proportion to time in the range of 0 to 360 °, and changes in time to a sawtooth wave shape returning to 0 ° simultaneously with reaching 360 °. The (n−1) th, nth, and (n + 1) th calculation angles θ [n−1], θ [n], and θ [n + 1] are shown on the vertical axis. The sample interval, which is the interval between consecutive calculation angles, is constant at Δθ = 360 / N, and is an interval obtained by equally dividing one electrical angle cycle by N. Therefore, in one cycle of the electrical angle, calculation angles θ [1] to θ [N] (= θ [0]) are set. In one continuous electrical angle period, the operation angle θ [0] of the later period is the same rotational position θ as the operation angle θ [N] of the previous period. N calculation angles are set as calculation angles for one cycle of the electrical angle.

  Hereinafter, a processing procedure for calculating the dq current from the detected value of the phase current will be described with reference to the flowchart of FIG. The control device 40 repeatedly executes this processing procedure for each calculation angle.

  First, the value of n is increased by 1 from the value of n at the time of the previous processing (S10). Subsequently, it is determined whether n is larger than N (S11). If n is equal to or less than N (S11: NO), the process directly proceeds to the process of S13. If n is larger than N (S11: YES), n is set to 1 (S12), and the process proceeds to S13.

  Subsequently, the phase current value Iv (θ [n]) of V phase detected by the current sensor 31 and the phase current value Iw (θ [n]) of W phase detected by the current sensor 32 are acquired (S13) ). The phase current value Iv (θ [n]) and the phase current value Iw (θ [n]) are the phase current value of the V phase and the phase current value of the W phase at the calculation angle θ [n], respectively.

  Subsequently, using the phase current value Iv (θ [n]) and the phase current value Iw (θ [n]) acquired in S13, the phase current value of the U phase at the calculation angle θ [n] according to Kirchhoff's law Iu (θ [n]) is calculated (S14). The calculated phase current value Iu (θ [n]) of the U phase is a detected value of the phase current value of the U phase at the calculation angle θ [n].

  Subsequently, phase current values Iue, Ive, Iwe over one period of the electrical angle of each phase are estimated from phase current values over the electrical angle half period of each phase (S15). Specifically, for each phase, phase currents detected at calculation angles θ [n], θ [n-1], θ [n-2]... Over the most recent electric angle half cycle before the calculation angle θ [n] The detected value of the value and the estimated value obtained by translating and inverting the detected value of the phase current value are combined to estimate the phase current values Iue, Ive, Iwe over one period of the electrical angle. When N is an even number, N / 2 estimated values are calculated from the latest N / 2 detected values. When N is an odd number, (N + 1) / 2 estimated values are calculated from the latest (N + 1) / 2 detected values. If N is an odd number, a portion where the detected value and the estimated value overlap is generated, so either is selected.

  Subsequently, first-order Fourier coefficients av1 and bv1 are calculated for the phase current value Ive over one cycle of the V-phase electrical angle calculated in S15, using the equation shown in FIG. The equations shown in FIG. 12 are equations obtained by discretizing equations (2) and (3). Ive (θ [n]) · cos θ [n] · (θ [n] −θ [n−1]) is integrated from n = 1 to N to calculate a Fourier coefficient av1. Further, Ive (θ [n]) · sin θ [n] · (θ [n] −θ [n−1]) is integrated from n = 1 to N to calculate a Fourier coefficient bv1.

  Then, the V-phase primary current value Iv_1 (θ [n]) is calculated from the calculated Fourier coefficients av1 and bv1 (S16). Similarly, first-order Fourier coefficients au1, bu1, aw1, bw1 are calculated for phase current values Iue and Iwe over one period of the U-phase and W-phase electric angles calculated in S15, and the first-order U and W phases are calculated. The current values Iu_1 (θ [n]) and Iw_1 (θ [n]) are calculated. FIG. 12 shows the formulas for calculating the V-phase Fourier coefficients av1 and bv1 representatively, but the formulas for calculating the U-phase Fourier coefficients au1 and bu1 and the W-phase Fourier coefficients aw1 and bw1 are calculated. The formula is also the same.

  In the present embodiment, Ive (θ [n]) (n = 1, 2,... N) corresponds to each phase current value of the V phase. Also, Ive (θ [n]) · cos θ [n] · (θ [n] −θ [n−1]), and Ive (θ [n]) · sin θ [n] · (θ [n] −θ [n-1] corresponds to the calculated value based on each phase current value of the V phase. The same applies to the U phase and the W phase.

  Subsequently, the three-phase primary current values Iu1 (θ [n]), Iv_1 (θ [n]), Iw_1 (θ [n]) calculated in S16 are calculated using the matrix shown in FIG. It converts into real current Id and Iq (S17). This is the end of the process.

  Next, a modification of the processing procedure for calculating the dq current from the detected value of the phase current will be described with reference to the flowchart of FIG. The control device 40 repeatedly executes this processing procedure for each calculation angle.

  First, in S20 to S22, the same processing as S10 to S12 is performed. Subsequently, only the phase current value Iv (θ [n]) of the V phase detected by the current sensor 31 is acquired (S23). Subsequently, as in S15, the detected value of the phase current value Iv (θ [n]) over the latest electrical angle half cycle is translationally inverted to calculate the phase current value Ive over one electrical angle cycle (S24).

  Subsequently, since the phase current values of the respective phases are in a relation of being shifted by an electrical angle of 120 °, the phase current value Ive over one cycle of the electrical angle calculated in S24 is shifted by an electrical angle of 120 ° in the advancing direction. The phase current value Iue of the U phase over one period is calculated. Further, the phase current value Ive of the W phase over one period of the electrical angle is calculated by shifting the phase current value Ive in the retardation direction by 120 ° (S25). Subsequently, in S26 and S27, the same processing as S16 and S17 is performed. This is the end of the processing procedure.

  Furthermore, the processing procedure for calculating the dq current from the detected value of the phase current value may be modified as follows. In S13, while acquiring only the phase current value of any one phase, for example, the phase current value Iv (θ [n]) of V phase, the process of S14 is omitted, and in S15, one electrical angle cycle of V phase Only the phase current value Ive over the phase may be estimated. Also, the process of S25 may be omitted. Then, only the V-phase primary current value Iv_1 is calculated in S16 and S26, and the V-phase primary current value Iv_1 is shifted by 120 ° electrical angle in the advancing direction direction and the retarding direction direction respectively, and the U-phase primary current is calculated. The value Iu_1 and the W-phase primary current value Iw_1 may be calculated. Alternatively, the U-phase primary current value Iu_1 or the W-phase primary current value Iw_1 is calculated from the V-phase primary current value Iv_1, and the calculated two-phase primary current value and Kirchhoff's law and FIG. The actual currents Id and Iq may be calculated from the matrix shown.

  Also, the process of S24 and the process of S25 may be performed in the reverse order. That is, the phase current value Iv (θ [n]) of the V phase is shifted by an electrical angle of 120 °, and the phase current value Iu (θ [n] + 120 °) of the U phase and the W phase, Iw (θ [n] −120 The phase current value over one electrical angle period may be calculated from the phase current value over the electrical angle half cycle of each phase.

<Square wave control>
Next, the rectangular wave control mode will be described. In the rectangular wave control mode, the amount of feedback control is torque in order to perform torque feedback control. FIG. 15 shows the configuration of the control device 40 corresponding to the rectangular wave control mode. The control device 40 has functions of a deviation calculation unit 61, a PI control unit 62, a rectangular pulse generation unit 63, and a signal generation unit 64. Further, the control device 40 has functions of an estimation unit 53, a Fourier coefficient calculation unit 54, a primary current calculation unit 55, a dq current calculation unit 56, a torque estimation unit 65, and a calculation angle setting unit 71. The functions of the estimation unit 53, the Fourier coefficient calculation unit 54, the primary current calculation unit 55, the dq current calculation unit 56, and the calculation angle setting unit 71 are the same as in the PWM control mode, and thus the description thereof is omitted.

  The deviation calculating unit 61 calculates a torque deviation ΔTrq between the torque command value Trq * and a torque estimated value Trqe estimated by a torque estimating unit 65 described later. The estimated torque value Trqe is an estimated value of the actual torque. PI control unit 62 calculates voltage phase command value φq * by proportional integral control so that torque deviation ΔTrq converges to 0, in order to make torque estimated value Trqe follow torque command value Trq *. In the rectangular wave control mode, the torque estimated value Trqe corresponds to the control amount, and the torque command value Trq * corresponds to the target value of the control amount.

  The rectangular pulse generation unit 63 generates a rectangular wave based on the voltage phase command value φq * that is the command value of the phase φq described above and the rotational position θ, and the voltage command values Vu *, Vv *, Vw * of each phase are generated. Generate The signal generation unit 64 generates the operation signals gua, gub, gva, gvb, gwa, gwb based on the voltage command values Vu *, Vv *, Vw * and the modulation factor m of each phase, and generates the generated operation signals. It transmits to each switching element of the inverter 20. In the rectangular wave control mode, the functions from the deviation calculation unit 61 to the signal generation unit 64 described above correspond to the operation unit.

  The torque estimation unit 65 calculates a torque estimated value Trqe based on the actual currents Id and Iq calculated by the dq current calculation unit 56 and a torque map or a mathematical expression. The torque map is a map showing the correspondence between the actual currents Id and Iq and the actual torque, and is stored in advance in the storage device.

  Although the configuration corresponding to the PWM control mode and the configuration corresponding to the rectangular wave control mode are shown as the configuration of the control device 40, the controller 40 supports both the PWM control mode and the rectangular wave control mode. The configuration may be That is, control device 40 has a function corresponding to PWM control from current command generation unit 41 to PWM unit 52, and a function corresponding to rectangular wave control from deviation calculation unit 61 to signal generation unit 64, Depending on the modulation factor m, the function corresponding to PWM control and the function corresponding to rectangular wave control may be switched.

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

  The Fourier coefficient is calculated based on the detected value of the phase current value over the electrical angle half cycle. Therefore, when the torque command value Trq * is changed, the primary current value is the phase current before the torque command value change, as compared with the case where the Fourier coefficient is calculated from the detected value of the phase current value over one electrical angle cycle. You can halve the period for dragging the value. Therefore, responsiveness to torque command value Trq * can be improved.

  · Estimate the phase current value over the remaining half electrical period of the electrical angle by shifting the electrical angle 180 ° and inverting the detected value of the phase current value over the half electrical period of one electrical angle cycle with respect to the central axis be able to. Further, by setting the detection value of the phase current used for calculation of the Fourier coefficient to the minimum necessary electrical half cycle, the response to the torque command value Trq * can be improved.

  · From the detected value of the phase current value of one phase over the electrical half cycle, it is possible to estimate the phase current value over one electrical angle cycle of the phase and estimate the phase current over the other two phase electrical cycle Can.

  The phase current values of the respective phases are in a relation of being shifted by an electrical angle of 120 °. Therefore, the phase current value over one electrical angle period of a predetermined phase, consisting of the detected value of the phase current value over half an electrical angle and the estimated value of the phase current value over an electrical half period, is advanced and retarded respectively By shifting the electrical angle by 120 °, it is possible to calculate the phase current value over one cycle of the other two phases of electrical angle.

Second Embodiment
Next, the differences between the control device 40 according to the second embodiment and the first embodiment will be described with reference to FIGS. 16 to 19. The control apparatus 40 which concerns on 2nd Embodiment is provided with the function of offset error calculation part 72,73 and correction | amendment part 74,75, as shown in FIG. FIG. 17 shows only the function of control device 40 between MG 30 and estimation unit 53. The configuration of the control device 40 other than the part shown in FIG. 17 is the same as that of FIG. 4 or FIG.

  As described above, the phase current value of the MG 30 is a signal having the first-order component as the main component, and the high-order component and the offset error a0 / 2, which is the zero-order component, superimposed. As shown in the equation (3), the phase current value is subjected to Fourier series expansion, and the first-order component is extracted, so that it is possible to obtain the phase current value not including the offset error or the high-order component. However, in the case of selecting a phase current value over an electrical angle half cycle and translating the selected phase current value back and forth to estimate the phase current value over one electrical angle cycle, removing the offset error included in the phase current value Can not.

  In FIG. 16A, the phase current value including the offset error is indicated by a black square, and the phase current value not including the offset error is indicated by a solid line. Further, in FIG. 16B, a phase current value including an offset error over an electrical angle half cycle is indicated by a black square, and a phase current value obtained by translating and inverting the phase current value is indicated by a white square. As shown in FIGS. 16 (a) and 16 (b), when the selected phase current value includes an offset error offset in the positive direction, the phase current value obtained by translating the selected phase current value is , Offset errors in the negative direction will be included.

  As shown in FIG. 16A, if the offset errors are not included uniformly over one period of the electrical angle, the offset errors can not be calculated correctly even if the Fourier series expansion is performed. Therefore, if an offset error is included in the selected phase current value, the offset error is correctly calculated and the offset error is removed even if the phase current value over one cycle of the estimated electrical angle is subjected to Fourier series expansion. I can not do it. As a result, the extracted primary component also contains an error.

  Therefore, offset error calculation units 72 and 73 are not phase current values over one electrical angle period estimated from phase current values of V phase and W phase over half an electrical angle period, but V phase and W phase over one electrical angle period Offset errors of the V phase and the W phase are calculated based on the detected values of the phase current values. However, when the offset error is calculated based on the detected value of the phase current value over one electrical angle cycle, as described above, when changing the torque command value Tr *, the phase current value before and after changing the torque command value Tr * The offset error will be calculated using both of the detected values of. Therefore, when the torque command value Tr * is changed, the calculation error of the offset error becomes large, which may impair the high response. Here, in general, the offset error does not change significantly before and after the change of the torque command value Tr *.

  Therefore, offset error calculation units 72 and 73 calculate the offset error when the amount of change in torque command value Tr * in a predetermined period is equal to or less than the threshold, that is, when torque command value Tr * is not changed. Update to the error. Further, when the amount of change exceeds the threshold value, that is, when the torque command value Tr * is changed, the offset error calculation units 72 and 73 maintain the offset error as the value of the offset error at the previous calculation time. As a result, the offset error having a large calculation error, which is calculated based on both of the detected values of the phase current value before and after changing the torque command value Tr *, is not used. The amount of change in the estimated torque value Tre may be used instead of the torque command value Tr *.

  The correction units 74 and 75 correct the detected values of the phase current values of the V and W phases using the offset errors of the V and W phases calculated by the offset error calculation units 72 and 73. Specifically, the correction units 74 and 75 add an offset error to the detected values of the phase current values of the V-phase and the W-phase, respectively, thereby performing correction. The estimation unit 53 translates and inverts the detection value of the phase current value over the electrical angle half cycle after correction, and calculates the phase current value over one electrical angle cycle.

  Next, a method of calculating the dq current from the detected value of the phase current value according to the second embodiment will be described with reference to the flowchart of FIG. The control device 40 repeatedly executes this processing procedure for each calculation angle.

  First, in S30 to S33, the same processing as S10 to S13 is performed. Subsequently, using the equation shown in FIG. 18, the offset value aV0 / 2 of the V phase and the W phase are detected from the detected value Ivd of the phase current of V phase and the detected value Iwd of the phase current of W phase over one electrical angle cycle. Offset error aW0 / 2 is calculated (S34). Note that Ivd (θ [n]) · (θ [n] −θ [n−1]) and Iwd (θ [n]) · (θ [n] −θ [n−1]) are V-phase And the calculated value based on the detected value of the phase current value of the W phase.

  Subsequently, it is determined whether or not the variation of the torque command value Trq * within the predetermined period is within the threshold (S35). If the amount of change is within the threshold (S35: YES), the offset error is updated (S36). On the other hand, if the amount of change exceeds the threshold (S35: NO), the offset error is maintained at the value at the time of the previous processing (S37).

  Subsequently, offset errors Ivof, Iwof are respectively added to the detection values Ivd, Iwd of the phase current values of V phase and W phase to correct them, and phase current values Iv, Iw of V phase and W phase are calculated (S38 ).

  Subsequently, in S39 to S42, the same processing as S14 to S17 is performed. This is the end of the process.

  Next, a method of calculating the dq current from the detected value of the phase current value according to the modification of the second embodiment will be described with reference to the flowchart of FIG. The control device 40 repeatedly executes this processing procedure for each calculation angle.

  First, in S50 to S53, the same processing as S20 to S23 is performed. Subsequently, the offset error aV0 / 2 of the V phase is calculated from the detection value Ivd of the V phase current over one electrical angle cycle using the equation shown in FIG. 19 (S54).

  Subsequently, in S55 to S57, the same processing as S35 to S37 is performed.

  Subsequently, the offset error Ivof is added to the detection value Ivd of the V-phase phase current for correction to calculate the V-phase phase current value Iv (S58).

  Subsequently, in S59 to S62, the same processing as S24 to S27 is performed. This is the end of the process.

  According to the second embodiment described above, the effects of the first embodiment can be obtained, and the following effects can be obtained.

  Even when an offset error is included in the detected value of the phase current value over the selected electrical angle half cycle, the offset error can be accurately calculated to remove the offset error. As a result, highly accurate primary current can be calculated.

  When the change amount of the torque command value * in the predetermined period exceeds the threshold value, the offset error is not updated, so there is no risk of impairing the high response of the primary current calculation.

Third Embodiment
Next, in the control device 40 according to the third embodiment, differences from the first embodiment will be described with reference to FIGS. 20 and 21. FIG. The control apparatus 40 which concerns on 2nd Embodiment differs in the estimation method of the phase current value by the estimation part 53. FIG.

  As shown in FIG. 21, when 0 to 360 ° of the rotational position θ detected by the rotational position sensor 33 and 0 to 360 ° of the phase current of any phase are synchronized, the rotational position θ The maximum amplitude A of the phase current can be estimated from the detected value of the phase current value and the detected value of the phase current value. Once the maximum amplitude A is estimated, the phase current value at each operation angle can be estimated. Therefore, the control device 40 determines whether or not the phase of the phase current of one of the phases and the rotational position θ detected by the rotational position sensor 33 are synchronized.

  When it is determined that the phase of the phase current of any phase and the rotational position θ detected by the rotational position sensor 33 are synchronized, the estimation unit 53 detects the phase current value at a predetermined calculation angle. Based on the value and the rotational position θ detected by the rotational position sensor 33, the maximum amplitude A of the phase current is calculated. In this embodiment, it is assumed that the phase of the phase current of the V phase and the rotational position θ are synchronized.

  Hereinafter, the processing procedure for calculating the dq current from the detected value of the phase current value will be described with reference to the flowchart of FIG. The control device 40 repeatedly executes this processing procedure for each calculation angle.

  First, in S30 to S32, the same processing as S10 to S12 is performed. Subsequently, the phase current value Iv (θ [n]) of the V phase detected by the current sensor 31 and the rotational position θ detected by the rotational position sensor 33 are acquired (S33).

  Subsequently, the maximum amplitude A [n] is obtained from the phase current value Iv (θ [n]) and rotational position θ obtained in S33, and the formula Iv (θ [n]) = A [n] · sin θ [n]. Is calculated (S34). Subsequently, the amplitude A_av is calculated by averaging the m (m is a natural number) amplitudes A [n], A [n-1],... Calculated at the latest calculation angle (S35). Note that m may be one. That is, the maximum amplitude A [n] calculated in S34 may be used as it is as the amplitude A_av.

  Subsequently, using the amplitude A_av calculated in S35, the phase current values Iue, Ive, Iwe of each phase at the calculation angle over one period of the electric angle are calculated respectively (S36).

  Subsequently, in S37 and S38, the same processing as S16 and S17 is performed. This is the end of the process. A variation of the processing procedure of the first embodiment may be applied as appropriate to this processing procedure.

  According to the second embodiment to be described above, since the primary current value can be calculated based on at least one set of detected values of the phase current value and the detected value of the rotational position θ, responsiveness to the torque command value Trq * can be obtained. It can be improved.

(Other embodiments)
The Fourier coefficient may be calculated by integrating a calculated value based on phase current values over k electrical cycles over k electrical cycles. In this case, the detected value of the phase current value over one of the electrical angles 1/2, 1, 3, 2... M / 2 period (m ≦ k) is repeatedly translationally inverted and the remaining (k−m / 2) It is sufficient to estimate the phase current value over the period. For example, in the case of k = 3, the remaining electrical angle 5/2 period, the electrical angle 2 period, from the detection value of the phase current over any of the electrical angle half period, the electrical angle 1 period, and the electrical angle 3/2 period. It is sufficient to estimate the phase current value over 3/2 period of electrical angle.

  The three phase current may be detected by the current sensor. In this case, in the flowchart of FIG. 12, in the process of S13, detected values of phase current values of three phases are acquired, and the process of S14 is omitted.

  The detection timing of the phase current value by the current sensors 31 and 32 may not be synchronized with the calculation angle. In this case, the detection value of the phase current value may be linearly interpolated to calculate the detection value of the phase current value at the timing of the calculation angle, and may be used for calculation of the Fourier coefficient.

  20 ... inverter, 30 ... MG, 31, 32 ... current sensor, 33 ... rotational position sensor, 40 ... control device.

Claims (7)

A three-phase AC rotary electric machine (30), an inverter (20) for driving the AC rotary electric machine, and a current sensor (31, 32) for detecting a phase current value of at least one phase of the AC rotary electric machine A control device (40) of an AC rotating electric machine applied to a rotating electric machine system,
An operation angle setting unit that divides an electrical angle k period (k is a natural number) into N (N is a natural number) and sets an operation angle;
Remaining electricity of the electrical angle k period based on the detected value of the phase current value at the calculation angle over the electrical angle m / 2 period (m is a natural number of m ≦ k) of the electrical angle k period The phase current value at the operation angle over the angle (k−m / 2) period is estimated, and the detected value and the estimated value of the phase current value are combined to obtain the phase current value over the electrical angle k period Department,
A coefficient calculation unit that calculates a Fourier coefficient by integrating a calculated value based on each phase current value of a predetermined phase for each of the calculation angles over k periods of the electrical angle;
A primary current calculator that calculates a primary current value based on the calculated primary component of the Fourier coefficient;
A dq current calculation unit that calculates d-axis current value and q-axis current value by performing dq conversion on the calculated primary current value;
An operation unit that operates a plurality of switching elements forming the inverter such that a control amount based on the calculated d-axis current value and the q-axis current value follows a target value of the control amount;
Control device for an AC rotating electrical machine comprising: The electrical angle k period is one electrical angle period,
The estimation unit shifts the detection value of the phase current value at the calculation angle over an electrical angle half cycle by 180 degrees of electrical angle and inverts it with respect to a central axis passing through the center of the amplitude direction of the phase current to obtain the electrical angle 1 The control device for an AC rotating electrical machine according to claim 1, wherein the phase current value at the calculation angle over the remaining half electric period of the period is estimated. The current sensor detects a phase current value flowing in only one phase,
The estimation unit is configured to determine the one of the calculation angles over the electrical angle (k−m / 2) period based on a detected value of the phase current value of the one phase in the calculation angle over the electrical angle m / 2 period. The control device for an AC rotating electrical machine according to claim 1 or 2, wherein the phase current value of the phase and the phase current value of the phase different from the one phase at the calculation angle over the electrical angle k cycle are estimated.   The control of the AC rotating electrical machine according to claim 3, wherein the estimation unit estimates the phase current value of the different phase by shifting the detected value and the estimated value of the phase current value of the one phase by an electrical angle of 120 °. apparatus. The phase current is calculated based on the detected values of the phase current values at the calculation angle over the electrical angle k cycle to calculate a Fourier coefficient of a zero-order component based on the calculated Fourier coefficient of the zero-order component An offset error calculation unit that calculates an offset error of the detected value of the value;
The control device for an AC rotating electrical machine according to any one of claims 1 to 4, further comprising: a correction unit that corrects the detected value of the phase current value using the calculated offset error.   The offset error calculation unit updates the offset error to the calculated offset error when the amount of change in torque of the AC rotating electric machine in a predetermined period is equal to or less than a threshold, and the amount of change exceeds the threshold. The control device for an AC rotating electrical machine according to claim 5, wherein the offset error is maintained at a value at a previous calculation time. Three-phase alternating current rotating machine (30), inverter (20) for driving the alternating current rotating machine, current sensor (31, 32) for detecting a phase current value of at least one phase of the alternating current rotating machine, the alternating current A control device (40) of an AC rotating electrical machine applied to a rotating electrical machine system comprising: a rotational position sensor (33) for detecting a rotational position of a rotor of the rotating electrical machine,
An operation angle setting unit that divides an electrical angle k period (k is a natural number) into N (N is a natural number) and sets an operation angle;
When it is determined that the phase of the phase current and the rotational position of the rotational position sensor are synchronized, based on the detected value of the phase current value and the detected value of the rotational position at a predetermined calculation angle, An estimation unit that calculates the maximum amplitude of the phase current and estimates the phase current value at the calculation angle from the calculated maximum amplitude to the electrical angle k period;
A coefficient calculation unit that calculates a Fourier coefficient by integrating a calculated value based on an estimated value of the phase current value of a predetermined phase for each of the calculation angles over the electrical angle k cycle;
A primary current calculator that calculates a primary current value based on the calculated primary component of the Fourier coefficient;
A dq current calculation unit that calculates d-axis current value and q-axis current value by performing dq conversion on the calculated primary current value;
An operation unit that operates a plurality of switching elements forming the inverter such that a control amount based on the calculated d-axis current value and the q-axis current value follows a target value of the control amount;
Control device for an AC rotating electrical machine comprising:

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