JP6468082B2 - Rotating electrical machine control device - Google Patents

Description

  The present invention relates to a rotating electrical machine control device that controls an AC rotating electrical machine via an inverter that converts power between DC power and three-phase AC power.

  In many cases, an inverter using a semiconductor switching element is used for conversion between direct current and alternating current. As a modulation method for converting DC power to AC power, pulse width modulation is known. In pulse width modulation, a pulse is generated based on the magnitude relationship between the amplitude of an AC waveform (for example, AC voltage waveform) as a command value and the amplitude of a triangular wave (including sawtooth) carrier waveform. In some cases, the pulse is directly generated by digital calculation without being compared with the carrier, but even in that case, the amplitude of the AC waveform as the command value and the amplitude of the virtual carrier waveform have a correlation. Pulse width modulation includes sinusoidal pulse width modulation (SPWM: Sinusoidal PWM), space vector pulse width modulation (SVPWM: Space Vector PWM), and the like. In these modulation methods, the carrier is determined according to the control cycle of the control device, such as the operation cycle of the microcomputer and the operation cycle of the electronic circuit. In other words, even when a plurality of phases of AC power is used for driving an AC rotating electrical machine, the carrier has a cycle that is not directly correlated with the rotational speed or rotation angle (electrical angle) of the rotating electrical machine. Have. Neither the carrier nor each pulse generated based on the carrier is synchronized with the rotation of the rotating electrical machine. Therefore, modulation methods such as sinusoidal pulse width modulation and space vector pulse width modulation may be referred to as “asynchronous modulation methods”.

  On the other hand, a modulation method using a pulse synchronized with the rotation of the rotating electrical machine can be referred to as a “synchronous modulation method”. For example, rectangular wave modulation in which one pulse is output per electrical angle period of a rotating electrical machine is a synchronous modulation method. As long as it is synchronized with the rotation of the rotating electrical machine, a plurality of pulses may be output for one electrical angle cycle. As a synchronous modulation method, multiple pulse modulation is performed to output multiple pulses in synchronization with the rotation of the rotating electrical machine. It is also possible to do. For multi-pulse modulation, 5-pulse modulation, 7-pulse modulation, 9-pulse modulation, etc. can be employed.

  These modulation methods are selected according to operating conditions such as required torque and rotational speed of the rotating electrical machine. If the required torque or rotational speed changes during operation of the rotating electrical machine, the modulation method may be switched. As described in Japanese Patent Laid-Open No. 2013-132135 (Patent Document 1), when the modulation method is switched from the asynchronous modulation method to the synchronous modulation method, a transient current may flow (for example, the 25th to 25th times). 35 paragraphs). In Patent Document 1, the determination of the output limit is delayed so that the instantaneous transient current does not exceed the overcurrent determination threshold value and limit the output of the rotating electrical machine. However, the semiconductor switching elements constituting the inverter are required to have resistance against this transient current. If a semiconductor switching element having such characteristics is selected, it will hinder downsizing of the inverter and it will be difficult to reduce costs. Therefore, it is preferable to reduce the maximum value (absolute value) of the alternating current that increases due to the influence of such a transient current.

JP 2013-132135 A

  In view of the above background, it is desired to provide a technique for reducing the maximum value of the absolute value of an alternating current due to the influence of a transient current generated when switching between asynchronous modulation and synchronous modulation.

As one aspect, a rotary electric machine control device that controls an AC rotary electric machine via an inverter that converts power between DC power and three-phase AC power in view of the above,
Asynchronous modulation for switching control of the inverter by a modulation pulse generated based on a carrier having a carrier frequency not synchronized with the rotation of the rotating electrical machine, and the inverter by a modulation pulse generated in synchronization with the rotation of the rotating electrical machine Switching synchronous control and switching according to operating conditions of the rotating electrical machine including at least the rotational speed of the rotating electrical machine,
Switching of the modulation method between the asynchronous modulation and the synchronous modulation is performed in a transition period defined based on a voltage phase representing a relationship between three-phase AC voltages, and the transition period is a three-phase AC. The signal level of one phase of the voltage is fixed to a high level or a low level, and a state of two-phase modulation in which the signal level of the other two phases changes during a period in which the signal level of the one phase is fixed. The period of the voltage phase is set.

  When the modulation method is switched in a phase where the current of any one of the multiple-phase alternating currents has the maximum amplitude, the transient current is superimposed on the maximum current, so the maximum absolute value of the alternating current is maximum. The value gets bigger. Therefore, it is preferable to avoid switching the modulation system at such a phase and switch the modulation system at a more preferable phase. In many cases, the inverter is of a voltage control type, and it is preferable that the timing for switching the modulation method is defined by the voltage phase of the AC voltage (substantially equivalent to the voltage phase of the modulation pulse). When the number of phases on the AC side of the inverter is three, the voltage level of one phase is fixed, the phase of two-phase modulation in which the voltage level of the other two phases changes, the voltage level of the two phases is fixed, and the rest The phase of the single phase modulation in which the voltage level of the single phase changes may occur. In the phase of one-phase modulation, the amplitude of the current of any one of the three phases increases, and the absolute value of the basic current on which the transient current is superimposed increases. According to experiments and simulations by the inventors, when the modulation method is switched in the phase of one-phase modulation, the absolute value of the alternating current is larger due to the influence of the transient current than in the case of switching the modulation method in the phase of two-phase modulation. It has been confirmed that there is a tendency to become. Therefore, it is preferable that the switching of the modulation system is performed during the voltage phase period in which the two-phase modulation is performed.

  Further features and advantages will be apparent from the following description of an embodiment of a rotating electrical machine control device described with reference to the drawings.

Block diagram schematically showing a system configuration including a rotating electrical machine control device Schematic diagram showing the relationship between rotation speed and torque and modulation method The figure which shows an example of the relationship between a rotational speed and torque, and a modulation system concretely Waveform diagram showing an example of the relationship between an asynchronous modulation pulse and a three-phase current Waveform diagram showing an example of the relationship between the synchronous modulation pulse and the three-phase current Waveform diagram showing an example of transition from asynchronous modulation to synchronous modulation Explanatory drawing which shows an example of the voltage phase vector at the time of the transition from asynchronous modulation to synchronous modulation Explanatory drawing showing an example of transition of modulation system Waveform diagram showing an example of a suitable voltage phase for switching the modulation method Waveform diagram showing an example of switching the modulation method via high-frequency asynchronous modulation Waveform diagram showing an example of switching the modulation method with a suitable voltage phase Waveform diagram showing the relationship between the voltage phase for switching the modulation method and the peak value of the alternating current Waveform diagram showing an example of switching the modulation method at a suitable voltage phase while undergoing high-frequency asynchronous modulation State transition diagram showing a general example of switching the modulation method State transition diagram showing an example of switching the modulation method via high-frequency asynchronous modulation State transition diagram showing an example of switching the modulation method with a suitable voltage phase State transition diagram showing an example of switching the modulation method at a suitable voltage phase while undergoing high-frequency asynchronous modulation The figure which shows an example of the relationship between the modulation frequency and the execution time of high frequency asynchronous control

  Hereinafter, the rotating electrical machine control apparatus according to the present embodiment will be described with reference to the drawings. The block diagram of FIG. 1 schematically shows a system configuration including a rotating electrical machine control device. In this embodiment, the rotating electrical machine 80 is a rotating electrical machine that serves as a driving force source for a vehicle such as a hybrid vehicle or an electric vehicle. The rotating electrical machine 80 is a rotating electrical machine that operates with a plurality of phases of alternating current (here, three-phase alternating current), and can function as both an electric motor and a generator. As will be described later, the rotating electrical machine 80 converts electric power from the high voltage battery 11 (DC power supply) into power via the inverter 10 (power running). Alternatively, the rotating electrical machine 80 converts, for example, a rotational driving force transmitted from an unillustrated internal combustion engine or wheels into electric power, and charges the high voltage battery 11 via the inverter 10 (regeneration).

  As shown in FIG. 1, the rotating electrical machine control device 2 controls the rotating electrical machine drive device 1 including the inverter 10 and controls the AC rotating electrical machine 80 via the rotating electrical machine drive device 1. The inverter 10 is an electric circuit that converts power between DC power (high-voltage battery 11) and a plurality of phases of AC power. That is, the rotary electric machine control device 2 is a control device that controls the AC rotary electric machine 80 via the inverter 10. In the present embodiment, the rotating electrical machine control device 2 is realized by the cooperation of hardware such as a logical operation processor such as a microcomputer or DSP (Digital Signal Processor) and software such as a program or a parameter. Naturally, the rotating electrical machine control device 2 may be configured by hardware having an electronic circuit such as a logic circuit as a core.

  For example, the microcomputer as the core of the rotating electrical machine control device 2 includes a CPU core, a program memory, a parameter memory, a work memory, an A / D converter, a timer (counter), and the like. All of these need not be configured in one integrated circuit. For example, a part such as a program memory may be an element different from the CPU core. The CPU core is configured to include an ALU (Arithmetic Logic Unit), an instruction register, an instruction decoder, a flag register, a general-purpose register, an interrupt controller, a DMA (Direct Memory Access) controller, and the like that perform various operations. . The operating voltage of the rotating electrical machine control device 2 is about 3.3 to 12 [V], and the rotating electrical machine control device 2 receives power from a low-voltage battery (not shown) (for example, rated voltage is about 12 to 24 [V]). Operates upon supply.

  As described above, the inverter 10 is connected to the high voltage battery 11 (DC power supply) and connected to the AC rotating electrical machine 80 to convert power between DC and a plurality of phases of AC (here, three-phase AC). I do. The high voltage battery 11 is, for example, a secondary battery such as nickel metal hydride or lithium ion, a capacitor such as an electric double layer capacitor, or a combination of these, and is a DC power supply capable of storing a large voltage and a large capacity. The rated voltage of the high voltage battery 11 is about 200 to 400 [V]. In the case where a DC converter (DC-DC converter) that boosts the output voltage of the high-voltage battery 11 is provided, the DC power supply can include the converter. Note that this converter functions as a step-down converter when power is regenerated to the high voltage battery 11 via the inverter 10.

  Hereinafter, the voltage on the DC side of the inverter 10 (voltage between terminals of the high voltage battery 11 and output voltage of the converter) is referred to as DC link voltage Vdc. A smoothing capacitor (DC link capacitor 4) for smoothing the DC link voltage Vdc is provided on the DC side of the inverter 10. The DC link capacitor 4 stabilizes a DC voltage (DC link voltage Vdc) that fluctuates according to fluctuations in power consumption of the rotating electrical machine 80.

  As described above, the inverter 10 converts the DC power having the DC link voltage Vdc into a plurality of phases (n is a natural number, n-phase, here three-phase) AC power and supplies the AC power to the rotating electrical machine 80. AC power generated by 80 is converted into DC power and supplied to a DC power source. The inverter 10 includes a plurality of switching elements 3. The switching element 3 includes an IGBT (Insulated Gate Bipolar Transistor) based on silicon (Si), a power MOSFET (Metal Oxide Semiconductor Field Effect Transistor), and a SiC-MOSFET (Silicon Carbide) based on silicon carbide (SiC). -Power semiconductor devices capable of high-frequency operation such as Metal Oxide Semiconductor FET), SiC-SIT (SiC-Static Induction Transistor), and GaN-MOSFET (Gallium Nitride-MOSFET) based on gallium nitride (GaN) Is preferably applied.

  An IGBT is often used as a switching element constituting the inverter 10. In the voltage control type MOSFET, the on-resistance increases and the heat generation increases with the withstand voltage. On the other hand, a bipolar transistor has a low switching speed and is not suitable for high-speed switching. The IGBT is constructed by constructing a MOSFET structure at the input stage and a bipolar transistor structure at the output stage on one semiconductor element so as to compensate for the drawbacks of the MOSFET and the bipolar transistor. The IGBT is a self-extinguishing type that is driven by a voltage between a gate and an emitter and can be turned on / off by an input signal. Due to such characteristics, the IGBT is suitable as the switching element 3 constituting the inverter 10.

  Incidentally, in recent years, cases in which the above-described SiC semiconductor or GaN semiconductor is used as the switching element 3 constituting the inverter 10 are increasing. SiC and GaN have a wider band gap than silicon and are referred to as wide band gap semiconductors, and have high performance as materials for semiconductor materials. For this reason, the inverter 10 can be reduced in size and weight by configuring the inverter 10 using a SiC material or a GaN material FET instead of the silicon material IGBT. Moreover, the loss of the inverter 10 can also be reduced. However, since the area is reduced by downsizing, the heat dissipation of the inverter 10 is lowered. In addition, since SiC semiconductors and GaN semiconductors have higher heat resistance than Si semiconductors, the heat sinks provided in the elements are also, for example, from low-priced but expensive copper to higher thermal resistance than copper but less expensive than copper It is easy to adopt aluminum or the like. Therefore, in the inverter 10 using the SiC semiconductor or the GaN semiconductor, the size and weight can be reduced along with the improvement of the element performance, and the cost of the additional member such as the heat sink can be reduced. There is a possibility that a large advantage over 10 may not be obtained. That is, even in the inverter 10 using the SiC semiconductor or the GaN semiconductor, it is important to continue the heat countermeasure similar to the inverter 10 using the IGBT or to add a further heat countermeasure.

  As one of the countermeasures against heat, it is important to reduce the peak value (absolute value) of the alternating current due to a transient current as described below (for example, a transient current generated when the modulation method is switched). As one countermeasure, it is conceivable that the transient current is reduced by increasing the switching frequency of the inverter 10 and the peak value of the alternating current resulting from the transient current is also reduced. However, when the switching frequency of the inverter 10 is increased, the amount of heat generated by the switching element 3 constituting the inverter 10 also increases. Therefore, a measure of simply increasing the switching frequency of the inverter 10 is not preferable. As described above, there is a limit to the heat capacity of the inverter 10 regardless of whether the switching element 3 is an IGBT or an FET made of a SiC semiconductor or a GaN semiconductor. In other words, the switching element 3 constituting the inverter 10 of the present embodiment is generated when the modulation method is switched regardless of whether the switching element 3 is an IGBT based on silicon or an FET based on silicon carbide or gallium nitride. It is important to reduce the peak value (absolute value) of the alternating current due to a transient current or the like. For this reason, in FIG. 1, the structure of the switching element 3 is illustrated without specifying it. Needless to say, this does not prevent the use of a bipolar transistor as the switching element 3.

  The inverter 10 is configured by a bridge circuit including a plurality of sets of switching elements 3. The inverter 10 includes a pair of switching elements 3 on the upper stage side and the lower stage side for each arm corresponding to the stator coil 8 of each phase of the rotating electrical machine 80 (in the case of three phases, U phase, V phase, W phase). It is configured. Specifically, as shown in FIG. 1, an AC one-phase arm is configured by a series circuit of an upper stage side switching element 31 and a lower stage side switching element 32. Each switching element 3 is connected in parallel with a diode (freewheel diode 5) with the direction from the lower side to the upper side as the forward direction. In other words, the free wheel diode 5 is connected in parallel (reverse parallel connection) to each switching element 3 with the direction opposite to the flow direction when the switching element 3 is in the ON state as the forward direction.

  Each of the switching elements 3 operates according to a switching control signal (for example, a gate drive signal that drives the gate terminal of the IGBT or MOSFET) output from the rotating electrical machine control device 2. A gate drive signal input to a control terminal (gate terminal) of an IGBT or MOSFET that switches a high voltage requires a voltage higher than an operating voltage of an electronic circuit (such as a microcomputer) constituting the rotating electrical machine control device 2. . For this reason, the switching control signal generated by the rotating electrical machine control device 2 is voltage-converted (for example, boosted) by the driver circuit 30 and then input to the inverter 10.

  As shown in FIG. 1, the rotating electrical machine 80 includes a rotation sensor 13 that detects a magnetic pole position (rotational angle of the rotor) and a rotational speed at each time point of the rotor of the rotating electrical machine 80. The rotation sensor 13 is, for example, a resolver. The current flowing through the stator coil 8 of each phase of the rotating electrical machine 80 is measured by the current sensor 12. In the present embodiment, a configuration in which all three phases are measured by the non-contact type current sensor 12 is illustrated. The rotating electrical machine control device 2 performs current feedback control based on the required torque, rotational speed, and modulation rate of the rotating electrical machine 80. The required torque is provided to the rotating electrical machine control device 2 from another control device (not shown) such as a vehicle control device or a vehicle travel control device. The modulation factor is an index indicating the ratio of the effective value of the three-phase AC power to the DC voltage (DC link voltage Vdc).

  The rotating electrical machine control device 2 generates and outputs a pulse (modulation pulse) for switching control of the inverter 10 according to the required torque, rotational speed, modulation factor, and the like. The modulation pulse may be generated each time, or a pulse pattern is stored in advance in a memory or the like according to the operating conditions of the rotating electrical machine 80 or the inverter 10 and is output without applying a load to the processor by DMA transfer or the like. It may be a form.

  By the way, the case of converting from direct current to alternating current can be referred to as modulation, and the case of conversion from alternating current to direct current can be referred to as demodulation, and both can be collectively referred to as modulation / demodulation. The conversion is also referred to as modulation. In the present embodiment, the rotating electrical machine control device 2 performs current feedback control using a vector control method, and controls the rotating electrical machine 80 via the inverter 10. The vector control method is simply described as follows, and detailed description thereof is omitted.

  First, the rotating electrical machine control device 2 calculates a current command in the orthogonal vector coordinate system in vector control based on the DC link voltage Vdc, the required torque, the modulation factor, and the like. This orthogonal vector coordinate system is a coordinate system in which the direction of the magnetic pole of the rotor of the rotating electrical machine 80 is one axis (d-axis) and the direction orthogonal to this axis (d-axis) is the other axis (q-axis). The three-phase current (actual current) flowing through the stator coil 8 is also coordinate-converted into this orthogonal vector coordinate system based on the magnetic pole position. In the orthogonal vector coordinate system, calculation of proportional-integral control (PI control) and proportional-integral-derivative control (PID control) is performed based on the deviation between the current command and the actual current, and the voltage command is derived. This voltage command is inversely transformed into a three-phase voltage command based on the magnetic pole position, and a modulation pulse (switching control signal) is generated according to the selected modulation method.

  By the way, as a modulation method, pulse width modulation is known. In pulse width modulation, a pulse is generated based on the magnitude relationship between the amplitude of an AC waveform (for example, AC voltage waveform) as an output command and the amplitude of a triangular wave (including sawtooth) carrier waveform. In some cases, the PWM waveform is directly generated by digital calculation without being compared with the carrier, but even in that case, the amplitude of the AC waveform as the command value and the amplitude of the virtual carrier waveform have a correlation. Pulse width modulation includes sinusoidal pulse width modulation (SPWM), space vector pulse width modulation (SVPWM), and so on.

  In these modulation schemes, the carrier is determined according to the control cycle of the rotating electrical machine control device 2, such as the calculation cycle of the microcomputer and the operation cycle of the electronic circuit. That is, even when a plurality of phases of AC power is used to drive the AC rotating electrical machine 80, the carrier is not restricted by the rotational speed or the rotation angle (electrical angle) of the rotating electrical machine 80 (period not synchronized). have. Therefore, neither the carrier nor each pulse generated based on the carrier is synchronized with the rotation of the rotating electrical machine 80. Therefore, modulation methods such as sinusoidal pulse width modulation and space vector pulse width modulation are sometimes referred to as “asynchronous modulation methods”.

  On the other hand, a modulation method in which pulses are generated in synchronization with the rotation of the rotating electrical machine 80 is referred to as a “synchronous modulation method”. For example, there is a modulation method called rectangular wave modulation (one pulse modulation) as a rotation-synchronous modulation method in which one pulse is output per electrical angle period of the rotating electrical machine 80.

  Incidentally, as described above, as an index indicating the conversion rate from DC voltage to AC voltage, there is a modulation rate indicating the ratio of the effective value of the line voltage of the AC voltage of a plurality of phases to the DC voltage. Generally, the maximum modulation rate of sinusoidal pulse width modulation is about 0.61, and the maximum modulation rate of space vector pulse width modulation control is about 0.71. There is also a modulation scheme having a modulation rate exceeding about 0.71, and this modulation scheme is referred to as “overmodulation pulse width modulation” as a modulation scheme having a higher modulation ratio than usual. The maximum modulation rate of “overmodulation pulse width modulation” is about 0.78. This modulation factor 0.78 is a physical (mathematical) limit value in power conversion from direct current to alternating current. In overmodulation pulse width modulation, when the modulation rate reaches 0.78, rectangular wave modulation (one pulse modulation) is performed in which one pulse is output in one cycle of the electrical angle. In the rectangular wave modulation, the modulation rate is fixed to about 0.78 which is a physical limit value.

  Overmodulation pulse width modulation with a modulation rate of less than 0.78 can be realized by using either the synchronous modulation method or the asynchronous modulation method. A typical modulation method is a modulation method called discontinuous PWM (DPWM). The discontinuous pulse width modulation can be realized by using any principle of a synchronous modulation method and an asynchronous modulation method, but here, a mode using the synchronous modulation method is exemplified. In the above description, in the rectangular wave modulation (one pulse modulation), one pulse is output in one cycle of the electrical angle, but a plurality of pulses can be output in one cycle of the electrical angle. When a plurality of pulses are output in one cycle of the electrical angle, the effective period of the pulses is reduced correspondingly, so that the modulation rate is lowered. Therefore, not only the modulation rate fixed at about 0.78 but also any modulation rate less than 0.78 can be realized by the synchronous modulation method. For example, it is possible to output pulses such as 9 pulses and 5 pulses in one cycle of the electrical angle. In this embodiment, such a modulation method is referred to as multi-pulse modulation. As described above, this multi-pulse modulation belongs to the “synchronous modulation method” because a pulse is output in synchronization with the rotation of the rotating electrical machine 80.

  In the present embodiment, the rotating electrical machine control device 2 controls the rotating electrical machine 80 by switching the modulation method between asynchronous modulation and synchronous modulation according to the operating conditions of the rotating electrical machine 80. Here, the operating conditions include at least the rotational speed of the rotating electrical machine 80. As the rotational speed of the rotating electrical machine 80 increases, the back electromotive force increases and the modulation rate needs to be increased. For this reason, when the rotational speed of the rotating electrical machine 80 is increased, it is preferable to select a modulation method capable of modulation at a higher modulation rate. It is preferable that the operating conditions for switching the modulation method include a required torque (output torque) of the rotating electrical machine 80, a DC link voltage Vdc, and the like as illustrated in FIGS. However, for ease of explanation, in the present embodiment, the description will be made assuming that the rotating electrical machine control device 2 switches the modulation method according to at least the rotational speed of the rotating electrical machine 80.

  FIG. 2 schematically shows a region where asynchronous modulation and synchronous modulation are applied, with the required torque on the vertical axis and the rotational speed on the horizontal axis. In this embodiment, asynchronous modulation (space vector pulse width modulation, etc.) is mainly used in the low rotation / high torque region, and synchronous modulation (rectangular wave (one pulse / multiple pulses)) is mainly used in the high rotation / low torque region. Adopted. The rotating electrical machine control device 2 selectively employs modulation methods of asynchronous modulation and synchronous modulation based on at least the rotational speed of the rotating electrical machine 80, and generates a modulation pulse (switching control signal) for controlling the switching element 3. . FIG. 3 specifically shows an example of the relationship between the rotation speed and torque and the modulation method when 9 pulses, 5 pulses, and 1 pulse are employed as the synchronous modulation. In the present embodiment, description will be made using an example in which the modulation scheme is switched between space vector pulse width modulation (SVPWM) and nine-pulse modulation when the modulation scheme is switched between asynchronous modulation and synchronous modulation.

  Here, consider the region A shown in FIG. 3, that is, the case where the modulation method is switched from asynchronous modulation (SVPWM) to synchronous modulation (9-pulse modulation) in a state where the required torque is high. FIG. 4 shows a three-phase alternating current waveform and a pulse waveform of the switching control signal (modulation pulse) when the switching control signal (modulation pulse) is generated by asynchronous modulation (SVPWM) in the region A and the inverter 10 is subjected to switching control. The simulation result is shown. FIG. 5 shows a three-phase alternating current waveform and a switching control signal (modulation pulse) in the region A when a switching control signal (modulation pulse) is generated by synchronous modulation (9-pulse modulation) and the inverter 10 is subjected to switching control. ) Shows a simulation result with a pulse waveform. FIG. 6 shows a simulation of a three-phase alternating current waveform and a pulse waveform of a switching control signal (modulation pulse) when the modulation method is switched from asynchronous modulation (SVPWM) to synchronous modulation (9-pulse modulation) in region A. Results are shown. 4 to 6, Su +, Sv +, and Sw + represent gate drive signals (switching control signals and modulation pulses) for the upper switching elements 31 of the U phase, the V phase, and the W phase, respectively. Iu, Iv, and Iw indicate U-phase, V-phase, and W-phase AC currents, respectively.

  FIG. 4 shows a waveform immediately before the modulation method is switched from asynchronous modulation (SVPWM) to synchronous modulation (9 pulse modulation), and FIG. 5 shows the modulation method from asynchronous modulation (SVPWM) to synchronous modulation (9 pulse modulation). It can be said that the waveform immediately after is switched. In asynchronous modulation, a modulation pulse is generated at a carrier frequency (first carrier frequency cf1) having a frequency “cf1”. The average frequency (modulation frequency) of the modulation pulse is “cf1”. In the asynchronous modulation using the first carrier frequency cf1, the average frequency (modulation frequency) of the modulation pulses is the same regardless of the rotation speed of the rotating electrical machine 80. Therefore, the higher the rotational speed of the rotating electrical machine 80, the smaller the number of modulation pulses per electrical angle cycle.

  On the other hand, in synchronous modulation, the number of modulation pulses per electrical angle period is constant regardless of the rotational speed of the rotating electrical machine 80, but the average frequency of the modulation pulses changes according to the rotational speed. In the form illustrated in FIG. 4 (asynchronous modulation), the number of modulation pulses per electrical angle period is about 5 pulses. Since the form illustrated in FIG. 5 (synchronous modulation) is 9-pulse modulation, the number of modulation pulses per electrical angle period is 9 pulses. Therefore, in the present embodiment, the modulation frequency at the time when the modulation method is switched is higher in the synchronous modulation. That is, since the rotating speed of the rotating electrical machine 80 is high, the modulation frequency of the synchronous modulation is higher than the first carrier frequency cf1. In the present embodiment, the first carrier frequency cf1 is about half of the frequency of the modulation pulse of the synchronous modulation (9 pulse modulation) at this time.

  In the asynchronous modulation shown in FIG. 4, a ripple having a larger amplitude than that of the synchronous modulation shown in FIG. 5 is generated in the alternating current due to the relatively low modulation frequency (carrier frequency). That is, “asynchronous modulation ripple RP1> synchronous modulation ripple RP2”, and “RP1” is approximately twice “RP2” in the simulation result. In asynchronous modulation, the number of modulation pulses per cycle of the electrical angle is smaller than that of synchronous modulation, and the electrical angle (rotation of the rotating electrical machine 80) and the modulation pulse are not synchronized. The AC current waveform tends to vary. In other words, the three-phase alternating current waveform tends to be in an unbalanced state. According to the simulation result, in the case of asynchronous modulation, as shown in FIG. 4, a difference of “UB1” is generated in the peak value of the three-phase alternating current. On the other hand, in synchronous modulation, the number of modulation pulses per cycle of the electrical angle is larger than that of asynchronous modulation, and the electrical angle (rotation of the rotating electrical machine 80) and the modulation pulse are synchronized, so that three-phase AC The current waveform is easy to stabilize. According to the simulation result, in the case of the synchronous modulation, as shown in FIG. 5, the difference “UB2” in the peak value of the three-phase alternating current is almost zero.

  FIG. 6 is a simulation of a case where the modulation system having such characteristics is switched under unfavorable conditions. Since the modulation pulse generation method is different between asynchronous modulation and synchronous modulation, in this embodiment, the period during which the signal level of the V-phase gate drive signal “Sv +” is in a high state at the time of switching (V-phase upper switching element 31). The period during which is turned on) is long. Accordingly, on the contrary, in the U phase and the W phase, the period during which the gate drive signal is at a high level may be shortened. As a result, the three-phase AC voltage and the three-phase AC current tend to vary. In addition, as illustrated in FIG. 6, the disturbance (unbalance) of the three-phase alternating current due to the asynchronous modulation in the high rotation speed region also affects the alternating current after the modulation method shifts to the synchronous modulation. Yes.

  In the simulation example shown in FIG. 6, since the modulation method is switched at a phase where the W-phase AC current reaches a peak, the value of the peak current is very large due to the transient current generated at the time of switching. . In other words, since the value of the initial current of the alternating current when the transient current is superimposed is high, the value of the alternating current after the transient current is superimposed is also high. It is not preferable that the peak current value (absolute value) exceeds the maximum allowable current (absolute value) of the inverter 10.

  That is, the maximum value (absolute value) of the alternating current when the modulation method is switched differs depending on the phase (current phase or voltage phase) when switching. As described above with reference to FIG. 6, when the modulation method is switched in a phase in which any one of a plurality of alternating currents has a maximum amplitude, a transient current is superimposed on the maximum current. become. For this reason, the maximum absolute value of the alternating current increases. Therefore, it is preferable to avoid switching the modulation system at such a phase and switch the modulation system at a more preferable phase. In many cases, the inverter 10 is a voltage control type, and it is preferable that the timing for switching the modulation method is defined by the voltage phase of the AC voltage or the voltage phase of the modulation pulse.

  For example, when the number of phases on the AC side of the inverter 10 is three, the voltage level of one phase is fixed, the phase of two-phase modulation in which the voltage level of the other two phases changes, and the voltage level of the two phases is fixed And the phase of the one-phase modulation in which the voltage level of the remaining one phase changes may occur. FIG. 7 is an enlarged view of a modulation pulse in the vicinity of the phase at which the modulation method is switched in the form illustrated in FIG. In the form illustrated in FIG. 6, the modulation method is switched in the phase of one-phase modulation. Although details will be described later, according to experiments and simulations by the inventors, in the case of one-phase modulation, the absolute value of the alternating current tends to be larger due to the influence of the transient current than in the case of two-phase modulation. It was recognized that

Based on the simulation results as described above, it is preferable to pay attention to the following points as conditions for switching the modulation method.
(A) The modulation frequency (carrier frequency) of asynchronous modulation is increased to reduce ripples and to reduce the unbalance of the three-phase current.
(B) The modulation method is switched at a phase where the voltage phase (or current phase) is optimum to reduce the unbalance of the three-phase current, and the initial current value at the time of switching is lowered.
There are the following modes (A) and (B) for switching the modulation schemes that satisfy the conditions (a) and (b).

(A) When switching the modulation scheme, the modulation scheme is switched through high-frequency asynchronous modulation that generates a modulation pulse based on the second carrier frequency cf2, which is higher than the first carrier frequency cf1 (see FIG. 8). The high-frequency asynchronous modulation is preferably continued for a time during which the current waveform is stabilized (stable time (alternating current for AC current)). However, when the switching element 3 is switched by a modulation pulse having a higher frequency, the power consumption of the inverter 10 increases and heat generation also increases. Therefore, it is preferable that the period during which high-frequency asynchronous modulation is performed is limited to an allowable time (temperature increase allowable time) in which heat generation accompanying an increase in power consumption is allowable. In the present embodiment, the high frequency asynchronous modulation is executed for a predetermined execution time T1 (high frequency asynchronous modulation execution time). The execution time T1 is preferably set to a length equal to or longer than the stabilization time (alternating current stabilization time) and less than the allowable time (temperature increase allowable time) (described later with reference to FIG. 18).

(B) The modulation method is switched during the transition period TP defined based on the voltage phase representing the relationship between the three-phase AC voltages (see FIG. 9). For example, during this transition period TP, the signal level of one phase of a three-phase AC voltage (equivalent to a three-phase modulation pulse) is fixed to a high level or a low level, and the signal level of the one phase is fixed. It is set to the voltage phase period (TP1 to TP6) in which the two-phase signal level changes during the period in which the two-phase signal levels change. Such a voltage phase period (TP1 to TP6) is set according to the voltage phase in the synchronous modulation when the modulation method is switched from the synchronous modulation to the asynchronous modulation. On the other hand, when the modulation method is switched from asynchronous modulation to synchronous modulation, this period (TP1 to TP6) is preferably set according to the voltage phase in the synchronous modulation immediately after the modulation method is switched. In other words, when the modulation method is switched from asynchronous modulation to synchronous modulation, this period (TP1 to TP6) is set based on the voltage phase when the modulation method is assumed to be synchronous modulation. Is preferred.

  According to the simulations by the inventors, it is confirmed that the maximum value (absolute value) of the alternating current is reduced even when only one of the above (A) and (B) is performed. It has been. Naturally, the effect is further increased if the modulation system is switched by applying both (A) and (B).

  FIG. 10 shows a waveform when the modulation method is switched by applying (A). As is apparent from a comparison between FIG. 6 and FIG. 10, in FIG. 10, the carrier frequency of asynchronous modulation is higher than in FIG. 6, and the modulation pulses are dense. As a result, the ripple of the alternating current is reduced by about half from “RP1” to “RP3”. Further, the imbalance of the AC currents of the three phases, specifically, the difference in peak value is greatly reduced from “UB1” to “UB3”. The voltage phase at the time of switching the modulation method is the same phase “θb” in FIGS. 6 and 10, but the absolute value of the current at the time of switching is reduced by reducing ripples and imbalances. That is, even when the transient current is superimposed on the alternating current when the modulation method is switched, the peak value (absolute value) is reduced by applying (A).

  As described above, when the frequency of a carrier serving as a reference for generating a modulation pulse in asynchronous modulation is low (in the case of the first carrier frequency cf1), the carrier frequency is relatively high (in the second carrier frequency cf2). In the case of conversion from direct current to alternating current, the resolution is reduced and the pulsation (ripple) in the alternating current is increased. In asynchronous modulation, the phase of the alternating voltage or alternating current and the phase of the modulation pulse differ depending on the period of the alternating current, so that the alternating current waveform is not stable and unbalance is often generated. By performing high-frequency asynchronous modulation that performs asynchronous modulation using the carrier of the second carrier frequency cf2, the resolution for conversion from direct current to alternating current is increased, pulsation is reduced, and the waveform of the alternating current is further stabilized.

  The second carrier frequency cf2 is a value greater than the first carrier frequency cf1, and is a frequency represented by “cf2 = cf1 × N”, where “N” is greater than 1. In order to simplify the configuration of the rotating electrical machine control device 2, the second carrier frequency cf2 is preferably an integer multiple of the first carrier frequency cf1. For example, the second carrier frequency cf2 is preferably twice or three times the first carrier frequency cf1. In the present embodiment (FIGS. 10 and 13 with respect to FIG. 6), the second carrier frequency cf2 is twice the first carrier frequency cf1. As described above, in the present embodiment, since the first carrier frequency cf1 is about half of the modulation frequency of synchronous modulation (9-pulse modulation), the second carrier frequency cf2 is substantially equivalent to the modulation frequency of synchronous modulation. Become.

  As one aspect, it is preferable that the second carrier frequency cf2 is set based on the frequency of the modulation pulse of the synchronous modulation when the modulation method is switched. As described above with reference to FIGS. 2 and 3, generally, asynchronous modulation is used when the rotational speed of the rotating electrical machine 80 is relatively low, and synchronous modulation is performed when the rotational speed is high. Used. Therefore, the rotational speed of the rotating electrical machine 80 when switching the modulation method is often on the relatively high rotational speed side. In the asynchronous modulation using the first carrier frequency cf1, the average frequency (modulation frequency) of the modulation pulses is the same regardless of the rotation speed of the rotating electrical machine 80. On the other hand, in synchronous modulation, the average frequency of the modulation pulse changes according to the rotation speed of the rotating electrical machine 80. For example, in the present embodiment, the modulation frequency at the time when the modulation method is switched is higher in the synchronous modulation, and the modulation frequency of the synchronous modulation is higher than the first carrier frequency cf1.

  In particular, when multiple pulse modulation is performed, the number of pulses (modulation frequency) is often set in consideration of reduction of pulsation of alternating current and stabilization of amplitude in each phase. Therefore, it is preferable that the modulation frequency of the high-frequency asynchronous modulation is set so that the pulsation of the alternating current is reduced and the amplitude in each phase is stabilized based on the modulation frequency of the synchronous modulation when the modulation method is switched. is there. In the present embodiment, the frequency of the modulation pulse of the first carrier frequency cf1 for synchronous modulation (9-pulse modulation) is approximately twice the frequency of the first carrier frequency cf1, and based on this relationship, the second carrier frequency cf2 Is preferably set to twice the first carrier frequency cf1.

  By the way, as a condition for switching the modulation method, in addition to the rotational speed, the DC link voltage Vdc and the torque of the rotating electrical machine 80 may be applied. In other words, there is a possibility that the modulation frequency of synchronous modulation (for example, 9-pulse modulation) when the modulation method is switched also varies. Therefore, the second carrier frequency cf2 may be a variable frequency. As one aspect, when the second carrier frequency cf2 is set based on the frequency (modulation frequency) of the modulation pulse of the synchronous modulation when the modulation method is switched, the second carrier frequency cf2 is a variable frequency. Each time the modulation method is switched, it may be set so as to match the modulation frequency of the synchronous modulation at the time of switching.

  However, when the second carrier frequency cf2 is set to be a variable frequency in this way, there is a possibility that the calculation load of the rotating electrical machine control device 2 is increased. Therefore, the second carrier frequency cf2 may be set as a constant value according to the modulation frequency of the synchronous modulation when the modulation method is switched when the operating condition of the inverter 10 is the worst condition. Specifically, for the second carrier frequency cf2, the maximum rated voltage is applied to the DC side terminal of the inverter 10, the rotating electrical machine 80 outputs the maximum rated torque, and the rotational speed of the rotating electrical machine 80 can output the maximum rated torque. It is preferable that it is set in accordance with the frequency of the modulation pulse of the synchronous modulation under the condition that the maximum rotation speed is within a certain range. This condition can be said to be the worst condition in which the heat generation of the inverter 10 is maximized. By defining the second carrier frequency cf2 in accordance with the modulation frequency under these conditions, high-frequency asynchronous modulation can be performed while satisfying conditions such as heat resistance.

  The modulation method is performed based on at least the rotational speed. In order to prevent hunting in which the modulation system is frequently switched due to fluctuations in the rotational speed, the rotational speed of switching from asynchronous modulation to synchronous modulation and synchronous modulation are used. The rotational speed for switching from to asynchronous modulation may be different from the rotational speed. In this case, the modulation frequency of the synchronous modulation corresponding to the rotation speed is also different. Therefore, even when the second carrier frequency cf2 is a fixed frequency, at least two types of frequencies may be set.

  FIG. 11 shows a waveform when the modulation method is switched in the form (B). In the form illustrated in FIG. 6 (and FIG. 10), the modulation method is switched when the voltage phase is “θb”, but in this example, the modulation method is switched when the voltage phase is “θa”. In FIG. 11, although it is difficult to understand because the modulation pulse is switched, the signal level of the V-phase voltage (equivalent to the V-phase modulation pulse, hereinafter the same) is fixed to the high state in the voltage phase “θa”. During the period, it is included in the phase range (transition period TP) in which the signal level of the U-phase voltage and the W-phase voltage changes to a two-phase modulation state. In other words, in the form illustrated in FIG. 11, the switching of the modulation method between the asynchronous modulation and the synchronous modulation is a transition period (TP) defined based on the voltage phase representing the relationship between the three-phase AC voltages. Has been done.

  Further, immediately before the voltage phase “θa”, there is a state in which the V-phase voltage is at a low level. This state is a state in which all three phases of the U, V, and W phases are at a low level, and is a state of a zero vector indicated by “000” as described later. When the number of phases on the AC side of the inverter 10 is three, eight space vectors can be defined by the three-phase voltage phases (substantially equivalent to the voltage phase of the modulation pulse). Specifically, eight space vectors of 100, 010, 001, 110, 101, 011, 111,000 can be defined. Of these, 111 and 000 are called zero vectors, and the other six are called active vectors. Since the space vector has a correlation with the voltage phase, in the following description, the space vector (the state of the space vector) and the voltage phase may be used as targets indicating the same condition.

  As will be described later with reference to FIG. 12, according to simulations by the inventors, when the modulation scheme is switched before and after the active vector period, the absolute value of the alternating current tends to increase due to the influence of the transient current. It was confirmed that there is. On the contrary, when the modulation method is switched before and after the zero vector period, the absolute value of the alternating current due to the influence of the transient current tends to be small. Therefore, it is preferable that the voltage phase period in which the period in which the three-phase AC voltage is in the zero vector state exists at least immediately before and immediately after is set as the transition period TP. The voltage phase “θa” is included in the voltage phase period in which the period of the zero vector state exists at least immediately before and immediately after “θa”.

  The voltage phase “θa” is also a voltage phase at which the U-phase current becomes zero. As described above, it is preferable to switch the modulation method during the transition period TP and include a voltage phase (for example, θa) in which any one of the three-phase alternating currents is zero. . In other words, a voltage phase range including a voltage phase (for example, “θa”) in which any one of the three-phase alternating currents becomes zero, and a voltage phase range (two-phase modulation) ( TP1 to TP6) and a voltage phase range included in any of the voltage phase ranges (TP11 to TP16) in which the period of the zero vector state exists at least immediately before and immediately after (TP11 to TP16) (FIG. 12). TP21 to TP26) are preferably set as the transition period TP.

  The three-phase alternating current is balanced, and the instantaneous value of the three-phase current is theoretically zero. Therefore, when the current of one of the three phases is zero, the other two phases have the same value for both positive and negative. In addition, since the phases of the three-phase currents are shifted by 120 degrees, in the phase where the current of one of the three phases is zero, the currents of the other two phases are not the phase where the amplitude is maximum. Therefore, even if the transient current is superimposed, the absolute value of the base current is a relatively small value. Therefore, it is preferable to switch the modulation method during a period including a voltage phase in which any one of the phase alternating currents is zero. As is clear from the comparison between FIG. 11 and FIG. 6, when the voltage phase is “θa”, none of the three-phase alternating currents is a peak. Therefore, even if the transient current generated when switching the modulation method is superimposed on the three-phase alternating current, the absolute value of the current can be kept small.

  FIG. 12 shows a simulation result of the relationship between the voltage phase for switching the modulation method and the peak value (absolute value) of the three-phase alternating current. The upper line graph in FIG. 12 shows the peak value (absolute value) of the three-phase alternating current calculated by performing a sweep simulation in which the voltage phase for switching the modulation method is shifted by 4 degrees between electrical angles 0 to 360 degrees. Show. The solid line graph “Ip1” shows the simulation results when only (B) is applied, and the broken line graph “Ip2” shows the simulation results when both (A) and (B) are applied. Show. The comparison between “Ip1” and “Ip2” will be described later. The lower part of FIG. 12 shows the three-phase voltage waveform (equivalent to the waveform of the modulation pulse of the upper side switching element 31), as in FIG.

  As shown in FIGS. 9 and 12, TP1 to TP6 as examples of the transition period TP are set to a voltage phase period in which two-phase modulation is performed. Referring to “Ip1” in FIG. 12, it can be seen that these periods TP1 to TP6 are set so as not to substantially include a voltage phase having a large absolute value of the peak current. “TP1” and “TP5” include a voltage phase in which the absolute value of the peak current is large, but the transition period TP is preferably TP11 to TP16 with a further limited range. Since TP11 to TP16 are set without substantially including a voltage phase having a large absolute value of the peak current, they are more suitable as a transition period. TP11 to TP16 are voltage phase periods in which a period in which the three-phase AC voltage (three-phase modulation pulse) is in a zero vector state exists at least immediately before and immediately after.

  The transition period is preferably a voltage phase range in which the range is further limited among TP11 to TP16. As shown in FIG. 12, it is preferable that the voltage phase range (TP21 to TP26) is ½ to ３ of TP11 to TP16 at the center of TP11 to TP16. TP21 to TP26 are voltage phase ranges including at least a voltage phase (for example, “θa”) in which any one of the three-phase alternating currents becomes zero. As is clear from FIG. 12, the absolute values of the peak currents in these voltage phase ranges (TP21 to TP26) are generally smaller than the absolute values of the peak currents in other voltage phases.

  As apparent from FIG. 12, in order to switch the modulation method at a more appropriate timing, the transition period is preferably limited to an appropriate width (phase width). This phase width is preferably set based on the relationship between the control cycle of the rotating electrical machine control device 2 and the electrical angle of the rotating electrical machine 80. In order to rotate the rotating electrical machine 80 smoothly, it is preferable that 5 to 9 modulation pulses exist in one cycle of the electrical angle except for one-pulse modulation during high rotation. Referring to FIG. 9 and FIG. 12 and the like, there is a period in which the pulse width of the modulation pulse becomes longer, so that the pulse width (phase width) is calculated on the assumption that 5 to 9 pulses exist in the half cycle of the electrical angle. can do. If there are 9 pulses in 180 degrees, the pulse width (phase width) is 20 degrees. This phase width generally corresponds to the transition period exemplified as TP11 to TP16. Further, since the transition period TP exemplified as TP21 to Tp26 is 1/3 to 1/2, the phase width is approximately 6 to 10 degrees.

  As described above, the pulse width (phase width) of the modulation pulse varies depending on the carrier frequency. Further, the pulse width (phase width) of the modulation pulse varies depending on the control cycle of the rotating electrical machine control device 2. In the present embodiment, an example in which the second carrier frequency cf2 is twice the first carrier frequency cf1 is shown. Therefore, it is preferable that the phase width of the transition period TP described above is set with a margin of about twice. In the above description, the transition period TP exemplified as TP21 to Tp26 is exemplified to be 6 to 10 degrees, but it is preferable that the phase width is set within a range of about 6 to 20 degrees.

  By the way, “Ip2” in FIG. 12 indicates a simulation result when the modulation method is switched by applying both (A) and (B). As is apparent from a comparison between “Ip1” and “Ip2”, “Ip2” has a smaller absolute value of the peak current. Therefore, by applying both modes (A) and (B), the absolute value of the peak value of the three-phase alternating current when the modulation method is switched can be further reduced.

  FIG. 13 shows waveforms when the modulation scheme is switched by applying both (A) and (B). As is clear from comparison between FIG. 13 and FIG. 6, comparison between FIG. 13 and FIG. 10, comparison between FIG. 13 and FIG. 11, and these three comparison results, (A) and (B) Is applied together, the absolute value of the peak value of the three-phase alternating current when switching the modulation method can be reduced, and the unbalance of the three-phase alternating current can also be reduced.

  The principle of switching the modulation method has been described above. Hereinafter, a specific control method by the rotating electrical machine control device 2 will be described with reference to the state transition diagrams of FIGS. FIG. 14 exemplifies a state transition when the modulation method is switched without performing any of (A) and (B), and corresponds to the form shown in FIG. FIG. 15 illustrates state transitions when the modulation scheme is switched by applying the form (A), and corresponds to the forms shown in FIGS. 8 and 10. FIG. 16 exemplifies state transitions when the modulation scheme is switched by applying the mode (B), and corresponds to the modes illustrated in FIGS. 9, 11, and 12 (“Ip1”). FIG. 17 exemplifies a state transition when the modulation scheme is switched by applying both the forms (A) and (B), and corresponds to the forms shown in FIG. 12 (“Ip2”) and FIG. In each state transition diagram, the SW frequency (switching frequency) corresponds to the average frequency (modulation frequency) of the modulation pulse.

  As shown in FIG. 14, the rotating electrical machine control device 2 transitions the modulation method based on the rotation speed and the modulation rate when switching the modulation method without performing either (A) or (B). The rotating electrical machine control device 2 makes a transition to synchronous modulation when the rotation speed exceeds “ω2” and the modulation rate exceeds “M2” when the modulation pulse is generated by asynchronous modulation (# 11). ). On the other hand, when the modulation pulse is generated by synchronous modulation, the rotating electrical machine control device 2 makes a transition to asynchronous modulation when the rotation speed is less than “ω1” and the modulation rate is less than “M1” (# 21). Here, the threshold value of the rotation speed is “ω1 <ω2”, and the threshold value of the modulation factor is “M1 <M2”. By providing the hysteresis in this way, the modulation method does not cause hunting even when the rotation speed and the modulation rate fluctuate near the threshold value.

  In this embodiment, the control period in asynchronous modulation and the control period in synchronous modulation are the same period of “CP1”. Note that the modulation frequency (carrier frequency) in asynchronous modulation is the first carrier frequency cf1. The first carrier frequency cf1 is ½ of the reciprocal of the control cycle “CP1”. That is, the modulation pulse is generated so that the signal level changes once in one control cycle.

  As shown in FIG. 15, even when the modulation scheme is switched by applying the form (A), the modulation scheme is changed based on the rotation speed and the modulation rate. However, in this embodiment, the rotating electrical machine control device 2 switches the modulation method through high-frequency asynchronous modulation. This high-frequency asynchronous modulation is executed for a predetermined execution time T1. In the present embodiment, the second carrier frequency cf2, which is a modulation frequency (carrier frequency) in high-frequency asynchronous modulation, is N times the first carrier frequency cf1. Therefore, the control cycle when high-frequency asynchronous modulation is performed is also shortened to “CP2”, which is 1 / N cycle of “CP1”.

  When the rotating electrical machine control device 2 generates a modulation pulse by asynchronous modulation, when the rotational speed exceeds “ω2” and the modulation rate exceeds “M2”, first, the rotating electrical machine control device 2 makes a transition to high-frequency asynchronous modulation. (# 11). Then, the rotating electrical machine control device 2 shifts to the synchronous modulation when the elapsed time after the transition to the high frequency asynchronous modulation becomes equal to or longer than the predetermined execution time T1 (# 12). The control period in the synchronous modulation may be “CP2” by taking over the control period of the high-frequency asynchronous modulation, or may be “CP1” similar to the asynchronous modulation. On the other hand, when the rotating electrical machine control device 2 generates the modulation pulse by synchronous modulation, when the rotational speed is less than “ω1” and the modulation rate is less than “M1”, first, the rotating electrical machine control device 2 transits to asynchronous modulation. (# 21). The rotating electrical machine control device 2 shifts to asynchronous modulation when the elapsed time after transition to high-frequency asynchronous modulation becomes equal to or longer than the predetermined execution time T1 (# 22).

  The rotating electrical machine control device 2 transitions from asynchronous modulation to high-frequency asynchronous modulation, and in a state where a modulation pulse is generated by high-frequency asynchronous modulation, the rotational speed is less than “ω1”, the modulation factor is less than “M1”, and When the elapsed time from the transition from the asynchronous modulation to the high frequency asynchronous modulation becomes equal to or longer than the execution time T1, the modulation method is again switched to the asynchronous modulation (# 19). In addition, the rotating electrical machine control device 2 transitions from synchronous modulation to high-frequency asynchronous modulation, and in a state where a modulation pulse is generated by high-frequency asynchronous modulation, the rotation speed exceeds “ω2” and the modulation rate is “M2”. If the elapsed time after the transition from the synchronous modulation to the high-frequency asynchronous modulation becomes equal to or longer than the execution time T1, the modulation method is changed to the synchronous modulation again (# 29).

  As shown in FIG. 16, also when the modulation scheme is switched by applying the form (B), the modulation scheme is changed based on the rotation speed and the modulation rate. However, in this embodiment, the rotating electrical machine control device 2 switches the modulation method within the range of the voltage phase within the transition period TP. When the rotating electrical machine control device 2 generates the modulation pulse by asynchronous modulation, the rotational speed exceeds “ω2”, the modulation rate exceeds “M2”, and the voltage phase at that time is in the transition period If it is included in the TP, it is shifted to synchronous modulation (# 13). On the other hand, when the rotating electrical machine control device 2 generates the modulation pulse by synchronous modulation, the rotation speed is less than “ω1”, the modulation rate is less than “M1”, and the voltage phase at that time is in the transition period. If it is included in TP, it is shifted to asynchronous modulation (# 23).

  As illustrated in FIG. 16 (and FIGS. 9 and 12), there are six transition periods TP in one electrical angle cycle. Accordingly, as shown in FIG. 16, a range exceeding θ2 and less than θ3, a range exceeding θ4 and less than θ5, a range exceeding θ6 and less than θ7, a range exceeding θ8 and less than θ9, a range exceeding θ10 and less than θ11, and a range θ12 Over the range of 360 degrees or less and 0 degrees or more and less than θ1, the modulation method is switched. Here, the transition period TP is defined as a range of “more than θn and less than θm”, where n is an even number and m is an odd number, but the boundary condition may naturally be “above and below”. That is, the transition period TP may be defined as a range of “θn or more and θm or less”, a range of “above θn or less than θm”, or a range of “θn or more and less than θm”. Further, θ1 to θ12 may be voltage phases that define TP1 to TP6 illustrated in FIGS. 9 and 12, or may be voltage phases that define TP11 to TP16. Of course, the voltage phase may define TP21 to TP26 illustrated in FIG.

  As shown in FIG. 17, by combining the conditions illustrated in FIGS. 15 and 16, the modulation schemes can be switched by applying the modes (A) and (B). When the rotating electrical machine control device 2 generates a modulation pulse by asynchronous modulation, when the rotational speed exceeds “ω2” and the modulation rate exceeds “M2”, first, the rotating electrical machine control device 2 makes a transition to high-frequency asynchronous modulation. (# 11). The rotating electrical machine control device 2 shifts to synchronous modulation when the elapsed time after transition to high-frequency asynchronous modulation is equal to or longer than the execution time T1 and the voltage phase at that time is included in the transition period TP ( # 15). On the other hand, when the rotating electrical machine control device 2 generates the modulation pulse by synchronous modulation, the rotation speed is less than “ω1”, the modulation rate is less than “M1”, and the voltage phase at that time is in the transition period. When included in the TP, first, the high-frequency asynchronous modulation is shifted (# 23). The rotating electrical machine control device 2 shifts to asynchronous modulation when the elapsed time after transition to high-frequency asynchronous modulation becomes equal to or longer than the predetermined execution time T1 (# 22).

  The rotating electrical machine control device 2 transitions from asynchronous modulation to high-frequency asynchronous modulation, and in a state where a modulation pulse is generated by high-frequency asynchronous modulation, the rotational speed is less than “ω1”, the modulation factor is less than “M1”, and When the elapsed time from the transition from the asynchronous modulation to the high frequency asynchronous modulation becomes equal to or longer than the execution time T1, the modulation method is again switched to the asynchronous modulation (# 19). In addition, the rotating electrical machine control device 2 transitions from synchronous modulation to high-frequency asynchronous modulation, and in a state where a modulation pulse is generated by high-frequency asynchronous modulation, the rotation speed exceeds “ω2” and the modulation rate is “M2”. If the elapsed time after the transition from synchronous modulation to high-frequency asynchronous modulation is equal to or longer than the execution time T1 and the voltage phase at that time is included in the transition period TP, the modulation method is synchronously modulated again. (# 28).

  Hereinafter, a setting condition of a predetermined execution time T1 (high frequency asynchronous modulation execution time) in which high frequency asynchronous modulation is executed will be described. As described above, it is preferable that the execution time T1 is set to a length equal to or more than the stabilization time (alternating current stabilization time) and less than the allowable time (temperature rise allowable time). These stabilization time and allowable time may be set as fixed values based on the specifications and operating conditions (environmental conditions) of the rotating electrical machine driving device 1, the rotating electrical machine control device 2, the rotating electrical machine 80, Each time high-frequency asynchronous modulation is executed, it may be set as a floating value based on the conditions (specifications and operating conditions) at that time.

  As described above, when the modulation frequency (carrier frequency) is increased, the switching element 3 is switched by a modulation pulse having a higher frequency, so that power consumption of the inverter 10 is increased and heat generation is also increased. Therefore, it is preferable that the execution time of the high-frequency asynchronous modulation is limited to an allowable time (temperature increase allowable time) in which heat generation accompanying an increase in power consumption is allowable. This allowable time is the maximum value of the execution time T1 (high frequency asynchronous modulation execution time). For example, as illustrated in FIG. 18, the allowable time is shorter as the modulation frequency (SW frequency) is higher. However, the allowable rise temperature varies depending on the temperature (initial temperature) of the switching element 3 (inverter 10) at the start of the high-frequency asynchronous modulation. That is, when the initial temperature is low, the allowable rise temperature is higher than when the initial temperature is high. Therefore, as shown in FIG. 18, it is preferable that the allowable time is defined based on a plurality of frequency characteristics that differ depending on the initial temperature. FIG. 18 illustrates frequency characteristics when the initial temperatures are Temp1, Temp2, and Temp3, respectively. Here, the initial temperature is the lowest in Temp1 and the highest in Temp3. That is, the allowable time is shorter as the initial temperature of the switching element 3 (inverter 10) at the start of high-frequency asynchronous modulation is higher, and is shorter as the modulation frequency (second carrier frequency) at the time of execution of high-frequency asynchronous modulation is higher. .

  Further, as described above, the high-frequency asynchronous modulation is preferably continued for a time during which the current waveform is stabilized (stable time (alternating current for AC current)). This stabilization time is the minimum value of the execution time T1 (high frequency asynchronous modulation execution time). The stabilization time is a time mainly defined according to the specifications of the rotating electrical machine 80, and is the minimum time that can ensure the stability of the rotating electrical machine 80. This time is determined by the specifications (electromagnetic parameters) of the rotating electrical machine 80. In relation to the control cycle (CP), when the time corresponding to the number of control cycles (at least 1 to 2 cycles) in which the current imbalance due to the voltage imbalance of the three-phase alternating current is eliminated is defined as the stabilization time Is preferred.

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

(1) In the above description, the mode of switching the modulation method between the space vector pulse width modulation and the 9 pulse modulation has been described as an example of switching the modulation method between the asynchronous modulation and the synchronous modulation. However, the above also illustrates that there are forms other than space vector pulse width modulation in asynchronous modulation and forms other than 9 pulse modulation in synchronous modulation. Therefore, the mode of switching the modulation method between asynchronous modulation and synchronous modulation is not limited to the above-described mode.

(2) In the above, the case where the first carrier frequency cf1 is about ½ of the modulation frequency of the synchronous modulation when the modulation method is switched is illustrated (see FIGS. 10 and 13 with respect to FIG. 6). Further, the case where the second carrier frequency cf2 is twice the frequency of the first carrier frequency cf1 is exemplified. The second carrier frequency cf2 may be higher or lower than the modulation frequency of synchronous modulation when switching the modulation method. When the second carrier frequency cf2 is higher than the modulation frequency of the synchronous modulation when switching the modulation method, the heat generation may increase due to the increase in power consumption of the inverter 10. Therefore, the allowable time mentioned above becomes short, and the maximum value of the set execution time T1 becomes small. The second carrier frequency cf2 can be set to a frequency higher than the modulation frequency of the synchronous modulation when switching the modulation method, as long as a sufficient time can be secured for stabilizing the waveform of the alternating current.

  On the other hand, since the modulation frequency of the synchronous modulation is set in consideration of the temperature increase of the inverter 10, if the second carrier frequency cf2 is lower than the modulation frequency of the synchronous modulation when switching the modulation method, it is acceptable. You don't have to worry about time. However, when the modulation frequency is low, the time until the AC current waveform stabilizes tends to be long. Therefore, when the second carrier frequency cf2 is set to a frequency lower than the modulation frequency of the synchronous modulation at the time of switching the modulation method, it is preferable to set a value in a range that does not impair the control response of the rotating electrical machine 80. .

(3) In the above, when the modulation method is switched from asynchronous modulation to synchronous modulation, the transition phase TP is the voltage phase in synchronous modulation immediately after the modulation method is switched (when the modulation method is assumed to be synchronous modulation). It has been described that setting based on (voltage phase) is preferable. Although this form is preferred, when the modulation method is switched from asynchronous modulation to synchronous modulation, it does not prevent the transition period TP from being set based on the voltage phase of the pulse by asynchronous modulation.

[Outline of Embodiment]
Hereinafter, the outline | summary of the rotary electric machine control apparatus (2) demonstrated above is demonstrated easily.

A rotating electrical machine control device (2) that controls an AC rotating electrical machine (80) via an inverter (10) that converts power between DC power and 3-phase AC power includes:
Asynchronous modulation for switching control of the inverter (10) by a modulation pulse generated based on a carrier having a carrier frequency (cf1) that is not synchronized with the rotation of the rotating electrical machine (80), and rotation of the rotating electrical machine (80) The synchronous modulation for controlling the switching of the inverter (10) with the modulation pulse generated in synchronization is switched according to the operating conditions of the rotating electrical machine (80) including at least the rotational speed of the rotating electrical machine (80).
Switching of the modulation method between the asynchronous modulation and the synchronous modulation is performed in a transition period (TP) defined based on a voltage phase representing a relationship between three-phase AC voltages, and the transition period (TP) The one-phase signal level of the three-phase AC voltage is fixed to the high level or the low level, and the signal level of the other two phases changes during the period in which the one-phase signal level is fixed 2. The voltage phase is set during the phase modulation state.

  When the modulation method is switched in a phase where the current of any one of the multiple-phase alternating currents has the maximum amplitude, the transient current is superimposed on the maximum current, so the maximum absolute value of the alternating current is maximum. The value gets bigger. Therefore, it is preferable to avoid switching the modulation system at such a phase and switch the modulation system at a more preferable phase. In many cases, the inverter (10) is of the voltage control type, and it is preferable that the timing for switching the modulation method is defined by the voltage phase of the AC voltage (substantially equivalent to the voltage phase of the modulation pulse). When the number of phases on the AC side of the inverter (10) is three, the voltage level of one phase is fixed, the phase of two-phase modulation in which the voltage level of the other two phases changes, and the voltage level of the two phases is fixed And the phase of the one-phase modulation in which the voltage level of the remaining one phase changes may occur. In the phase of one-phase modulation, the amplitude of the current of any one of the three phases increases, and the absolute value of the basic current on which the transient current is superimposed increases. According to experiments and simulations by the inventors, when the modulation method is switched in the phase of one-phase modulation, the absolute value of the alternating current is larger due to the influence of the transient current than in the case of switching the modulation method in the phase of two-phase modulation. It has been confirmed that there is a tendency to become. Therefore, it is preferable that the switching of the modulation system is performed during the voltage phase period in which the two-phase modulation is performed.

  Further, a state where all the signal levels of the three-phase AC voltage are high level or all the signal levels of the three-phase AC voltage are low level is defined as a zero vector state, and the three-phase AC voltage is the zero vector state. It is preferable that the transition period (TP) is set in the period of the voltage phase in which the period becomes at least one immediately before and immediately after. When the number of phases on the AC side of the inverter (10) is three, eight space vectors are realized by the three-phase voltage phase (substantially equivalent to the voltage phase of the modulation pulse). Specifically, eight space vectors of 100, 010, 001, 110, 101, 011, 111,000 can be realized. Of these, 111 and 000 are called zero vectors, and the other six are called active vectors. According to the simulations by the inventors, it has been confirmed that the absolute value of the alternating current tends to increase when the modulation method is switched before and after the active vector period. On the contrary, when the modulation method is switched before and after the zero vector period, the absolute value of the alternating current due to the influence of the transient current tends to be small. Accordingly, it is preferable that the transition period (TP) is set as described above.

  The rotating electrical machine control device (2) includes the voltage phase during the transition period (TP) and including the voltage phase in which any one of the three-phase alternating currents is zero. It is preferable to switch the modulation method. The three-phase alternating current is balanced, and the instantaneous value of the three-phase current is theoretically zero. Therefore, when the current of one of the three phases is zero, the other two phases have the same value for both positive and negative. In addition, since the phases of the three-phase currents are shifted by 120 degrees, in the phase where the current of one of the three phases is zero, the currents of the other two phases are not the phase where the amplitude is maximum. Therefore, even if the transient current is superimposed, the absolute value of the base current is not the maximum amplitude. Therefore, it is preferable to switch the modulation method during a period including a voltage phase in which any one of the three-phase alternating currents is zero.

  Also, as one aspect, the rotating electrical machine control device (2) sets the carrier frequency (cf1) in the asynchronous modulation as a first carrier frequency (cf1), and sets a modulation method between the asynchronous modulation and the synchronous modulation. When switching, the modulation scheme is switched through high-frequency asynchronous modulation that generates a modulation pulse based on the second carrier frequency (cf2) that is higher than the first carrier frequency (cf1), and the high-frequency asynchronous modulation and the synchronization It is preferable that switching of the modulation system between the modulation is performed during the transition period (TP).

  Compared to the case where the carrier frequency is relatively high when the carrier frequency, which is the reference for generating the modulation pulse in asynchronous modulation, is relatively low when converting from DC to AC. Thus, the pulsation (ripple) in the alternating current increases. In the phase where the absolute value of the alternating current is large due to such a pulsating component, if the transient current resulting from the switching of the modulation method is superimposed, the absolute value of the alternating current may be further increased. In asynchronous modulation, the AC voltage or AC current phase and the modulation pulse phase differ depending on the AC cycle, and the AC voltage and AC current waveforms are not stable. In other words, the maximum amplitude of the alternating current may be different for each period even if each phase is a plurality of phases or even the same phase. In the period in which the maximum amplitude of the alternating current is large, if a transient current is superimposed near the peak of the waveform, the absolute value of the alternating current increases. However, when high-frequency asynchronous modulation with a high carrier frequency is performed when switching the modulation method as in this configuration, the resolution in conversion from direct current to alternating current increases, so the pulsation as described above is also caused. The AC current waveform is more stable. As a result, the maximum value of the absolute value of the alternating current due to the influence of the transient current that occurs when switching between asynchronous modulation and synchronous modulation can be reduced.

  Here, the modulation pulse of the synchronous modulation has a frequency corresponding to the rotation speed of the rotating electrical machine (80), and the second carrier frequency (cf2) is the modulation pulse of the synchronous modulation when the modulation method is switched. It is preferable that the frequency is set based on the frequency. In general, asynchronous modulation is used when the rotational speed of the rotating electrical machine (80) is relatively low, and synchronous modulation is used when the rotational speed is high. Therefore, the rotational speed of the rotating electrical machine (80) when switching the modulation method is often on the relatively high rotational speed side. In the asynchronous modulation using the first carrier frequency (cf1), the average frequency (modulation frequency) of the modulation pulse is the same regardless of the rotation speed of the rotating electrical machine (80), so that the rotating speed of the rotating electrical machine (80) increases. The number of modulation pulses per electrical angle cycle is reduced. On the other hand, in synchronous modulation (single pulse as well as multi-pulse modulation), the number of modulation pulses per electrical angle period is constant regardless of the rotation speed of the rotating electrical machine (80), and modulation is performed according to the rotation speed. The average frequency of the pulse varies. For this reason, when the modulation method is switched on the relatively high rotational speed side, the modulation frequency is often higher in the synchronous modulation than in the asynchronous modulation. In particular, when multiple pulse modulation is performed, the number of pulses (modulation frequency) is often set in consideration of reduction of pulsation of alternating current and stabilization of amplitude in each phase. Therefore, when the modulation frequency of high-frequency asynchronous modulation is set based on the modulation frequency of synchronous modulation when the modulation method is switched, the pulsation of alternating current is reduced and the amplitude in each phase can be stabilized.

  Here, in the case where the second carrier frequency (cf2) is set based on the frequency of the modulation pulse of the synchronous modulation when switching the modulation method, the second carrier frequency (cf2) is further A maximum rated voltage is applied to the DC side terminal of the inverter (10), the rotating electrical machine (80) outputs a maximum rated torque, and the rotational speed of the rotating electrical machine (80) is within a range in which the maximum rated torque can be output. It is preferable that the speed is set in accordance with the frequency of the modulation pulse of the synchronous modulation under the condition of the maximum rotation speed. This condition can be said to be the worst condition in which the heat generation of the inverter (10) is maximized. By defining the second carrier frequency (cf2) according to the modulation frequency of the synchronous modulation under these conditions, the high-frequency asynchronous modulation can be performed in a state where the conditions such as heat resistance are satisfied.

  Further, when the second carrier frequency (cf2) is set based on the frequency of the modulation pulse of the synchronous modulation when switching the modulation method, the second carrier frequency (cf2) is a variable frequency. Whenever the modulation system is switched, it is preferable that the modulation system is set so as to match the frequency of the modulation pulse of the synchronous modulation at the time of the switching. The modulation method is switched based on at least the rotational speed, but in order to prevent frequent switching of the modulation method due to fluctuations in the rotational speed (hunting), the rotational speed of switching from asynchronous modulation to synchronous modulation is synchronized with The rotational speed of switching from modulation to asynchronous modulation may be different. Further, the switching of the modulation method is performed not only by the rotation speed but also by conditions including the output torque of the rotating electrical machine (80) and the voltage at the DC side terminal of the inverter (10) (DC link voltage (Vdc)). There is also. For this reason, the modulation frequency by the synchronous modulation when the modulation method is switched is not always constant. Therefore, the modulation frequency (second carrier frequency (cf2)) at the time of high-frequency asynchronous modulation need not be constant. It is also a preferable form to set the second carrier frequency (cf2) each time according to the modulation frequency by the synchronous modulation when the modulation method is switched.

  By the way, the high-frequency asynchronous modulation is preferably continued for a time during which the current waveform is stabilized. However, when the switching element (3) of the inverter (10) is switched by a modulation pulse having a higher frequency, the power consumption of the inverter (10) increases and the heat generation increases. Therefore, it is preferable that the execution time (T1) of the high-frequency asynchronous modulation is within an allowable time in which heat generation accompanying an increase in power consumption is allowable. This allowable time becomes shorter as the modulation frequency (carrier frequency) is higher. Further, the allowable rise temperature varies depending on the temperature (initial temperature) of the inverter (10) at the start of the high-frequency asynchronous modulation. That is, when the initial temperature is low, the allowable rise temperature is higher than when the initial temperature is high. Accordingly, the execution time (T1) of the high-frequency asynchronous modulation is shortened as the temperature of the inverter (10) at the start of the high-frequency asynchronous modulation is increased, and the second carrier frequency (cf2) is increased. And a short time is preferred.

2: rotating electrical machine control device 3: switching element 10: inverter 11: high voltage battery 80: rotating electrical machine T1: execution time TP: transition period cf1: first carrier frequency cf2: second carrier frequency

Claims (9)

A rotating electrical machine control device that controls an AC rotating electrical machine via an inverter that converts power between DC power and 3-phase AC power,
Asynchronous modulation for switching control of the inverter by a modulation pulse generated based on a carrier having a carrier frequency not synchronized with the rotation of the rotating electrical machine;
Switching synchronous modulation for switching control of the inverter by a modulation pulse generated in synchronization with rotation of the rotating electrical machine according to an operating condition of the rotating electrical machine including at least the rotational speed of the rotating electrical machine,
Switching of the modulation scheme between said synchronous modulation and said asynchronous modulation, timing of the switching is controlled such that the transition period is defined based on the voltage phase representing the relationship between the AC voltage 3-phase,
In the transition period, the signal level of one phase of the three-phase AC voltage is fixed to a high level or a low level, and the signal level of the other two phases is changed during the period in which the signal level of the one phase is fixed. The rotating electrical machine control apparatus set in the period of the voltage phase in which the two-phase modulation state is changed. A rotating electrical machine control device that controls an AC rotating electrical machine via an inverter that converts power between DC power and 3-phase AC power,
Asynchronous modulation for switching control of the inverter by a modulation pulse generated based on a carrier having a carrier frequency not synchronized with the rotation of the rotating electrical machine;
Switching synchronous modulation for switching control of the inverter by a modulation pulse generated in synchronization with rotation of the rotating electrical machine according to an operating condition of the rotating electrical machine including at least the rotational speed of the rotating electrical machine,
In the asynchronous modulation and the synchronous modulation, the three phases are switched without stopping the switching of any one of the three phases,
A state in which the signal level of one phase of the three-phase AC voltage is fixed to the high level or the low level, and the signal level of the other two phases changes during the period in which the signal level of the one phase is fixed. The two-phase signal level of the AC voltage of the phase is fixed to the high level or the low level, and the signal level of the other two phases changes during the period in which the two-phase signal level is fixed. Generates a state where the signal level of all AC voltages is fixed at high level or low level,
The switching of the modulation method between the asynchronous modulation and the synchronous modulation is performed in a transition period defined based on a voltage phase representing a relationship between three-phase AC voltages,
In the transition period, the signal level of one phase of the three-phase AC voltage is fixed to a high level or a low level, and the signal level of the other two phases is changed during the period in which the signal level of the one phase is fixed. The rotating electrical machine control apparatus set in the period of the voltage phase in which the two-phase modulation state is changed. A rotating electrical machine control device that controls an AC rotating electrical machine via an inverter that converts power between DC power and 3-phase AC power,
Asynchronous modulation for switching control of the inverter by a modulation pulse generated based on a carrier having a carrier frequency not synchronized with the rotation of the rotating electrical machine;
Switching synchronous modulation for switching control of the inverter by a modulation pulse generated in synchronization with rotation of the rotating electrical machine according to an operating condition of the rotating electrical machine including at least the rotational speed of the rotating electrical machine,
The switching of the modulation method between the asynchronous modulation and the synchronous modulation is performed in a transition period defined based on a voltage phase representing a relationship between three-phase AC voltages,
In the transition period, the signal level of one phase of the three-phase AC voltage is fixed to a high level or a low level, and the signal level of the other two phases is changed during the period in which the signal level of the one phase is fixed. Set to the period of the voltage phase to be in a changing two-phase modulation state,
A state in which all the signal levels of the three-phase AC voltage are high level or all the signal levels of the three-phase AC voltage are low level is defined as a zero vector state.
The AC voltage 3-phase period of the voltage phase period to be the zero vector state is present in at least one of immediately before and after the transition period that is set rotating electric machine control device. A rotating electrical machine control device that controls an AC rotating electrical machine via an inverter that converts power between DC power and 3-phase AC power,
Asynchronous modulation for switching control of the inverter by a modulation pulse generated based on a carrier having a carrier frequency not synchronized with the rotation of the rotating electrical machine;
Switching synchronous modulation for switching control of the inverter by a modulation pulse generated in synchronization with rotation of the rotating electrical machine according to an operating condition of the rotating electrical machine including at least the rotational speed of the rotating electrical machine,
The switching of the modulation method between the asynchronous modulation and the synchronous modulation is performed in a transition period defined based on a voltage phase representing a relationship between three-phase AC voltages,
In the transition period, the signal level of one phase of the three-phase AC voltage is fixed to a high level or a low level, and the signal level of the other two phases is changed during the period in which the signal level of the one phase is fixed. Set to the period of the voltage phase to be in a changing two-phase modulation state,
A duration of the transition period, switching Ru rotary electric machine control apparatus the modulation scheme in a period including the voltage phase of any one phase of the current of the alternating current of three phases becomes zero. The carrier frequency in the asynchronous modulation is a first carrier frequency,
When switching the modulation method between the asynchronous modulation and the synchronous modulation, the modulation method is switched through high-frequency asynchronous modulation that generates a modulation pulse based on a second carrier frequency that is higher than the first carrier frequency. ,
The rotating electrical machine control device according to any one of claims 1 to 4 , wherein switching of a modulation method between the high-frequency asynchronous modulation and the synchronous modulation is performed in the transition period. The modulation pulse of the synchronous modulation has a frequency according to the rotation speed of the rotating electrical machine,
The rotating electrical machine control device according to claim 5 , wherein the second carrier frequency is set based on a frequency of a modulation pulse of the synchronous modulation when the modulation method is switched. The second carrier frequency has a maximum rated voltage applied to the DC side terminal of the inverter, the rotating electrical machine outputs a maximum rated torque, and the rotational speed of the rotating electrical machine is the highest in a range where the maximum rated torque can be output. The rotating electrical machine control device according to claim 6 , wherein the rotating electrical machine control device is set according to a frequency of a modulation pulse of the synchronous modulation under a condition that the rotation speed is set. The rotating electrical machine control device according to claim 6 , wherein the second carrier frequency is a variable frequency, and is set to match the frequency of the modulation pulse of the synchronous modulation at the time of switching each time the modulation method is switched. The high frequency asynchronous modulation execution time is shorter in response to the temperature of the inverter at the high frequency asynchronous modulation start is high, claim 5 is shorter in response to the higher is the second carrier frequency rotary electric machine control device according to any one of 8.

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