JP6497106B2 - Multi-winding rotating machine control device - Google Patents

Description

  The present invention relates to a control device for a multiple winding rotating machine.

  Conventionally, in a control device for a multi-winding rotary machine having a plurality of winding groups, a device that performs non-interference control calculation so as to compensate for interference voltage due to magnetic coupling between the plurality of winding groups is known. . For example, the control device disclosed in Patent Document 1 performs a non-interference control calculation so as to output a command voltage that compensates for an interference voltage proportional to the differential value of the current and an interference voltage proportional to the angular velocity of the rotating machine. It has a non-interacting part.

JP 2014-138494 A

  The non-interacting unit of the control device of Patent Document 1 executes non-interference control calculation based on a detailed motor inverse model. Therefore, in the non-interference control calculation in the double winding rotating machine system having two winding groups of the A system and the B system, for example, in order to calculate the d axis command voltage of the A system, the d axis current of the A system It is necessary to perform calculation using all of the q-axis current, the B-axis d-axis current, and the q-axis current. Similar calculations are required for the q-axis command voltage of the A system and the d-axis and q-axis command voltages of the B system. As described above, the decoupling unit according to the related art has a complicated control configuration, so that the calculation load increases. In addition, there is a problem that the number of man-hours for adaptation increases due to an increase in control parameters.

By the way, assuming that the electrical specifications of a plurality of winding groups are equivalent to each other, the currents flowing through the winding groups can be regarded as substantially the same. Therefore, it can be considered that the control configuration of the non-interacting unit of Patent Document 1 has room for omitting substantially overlapping calculations.
The present invention was created in view of the above points, and an object of the present invention is to provide a control device for a multi-winding rotating machine that simplifies the control configuration of the non-interacting unit and reduces the calculation load. is there.

  The present invention provides a multi-winding rotating machine having a plurality of winding groups having electrical specifications equivalent to each other, and is provided for each of the plurality of winding groups, and converts the power of the power source to supply the plurality of winding groups. The present invention relates to a control device for a multi-winding rotating machine that is applied to a multi-winding rotating machine system that includes a plurality of power converters and a current detector that detects current flowing in a plurality of winding groups.

The control device for a multi-winding rotating machine includes a plurality of current controllers, a non-interacting unit, and a plurality of operation units. Here, “a set of corresponding winding group and power converter” is referred to as “system”.
The plurality of current controllers calculate a post-controller command current for each system based on the command current commanded for each system and the feedback current from the current detector.

The non-interacting unit uses the non-interference control term calculated to compensate for the motor inverse model term of its own system and the interference voltage due to magnetic coupling for the input post-controller command current. The calculation is performed, and the non-interfering command voltage is output for each system.
The plurality of operation units operate the plurality of power converters to apply a voltage to the plurality of winding groups based on the command voltage output from the non-interference unit.
The non-interference unit “integrates” at least a part of a plurality of non-interference control terms calculated for the controller post-command current, or “shared” at least a part of the result of the non-interference control calculation. To do .

Here, with respect to the d-axis and q-axis post-controller command currents in the vector-controlled rotating coordinate system, one axis of interest is set as the “target axis”, and the other axis is set as the “mating axis”.
In one aspect of the present invention, the non-interacting unit includes a mutual inductance and a current differential value related to the post-controller command current of the other axis of interest in the inverse model term relating to the post-controller command current of the current axis of interest. “Integrate” non-interfering control terms including.
In addition, the non-interference control term including the angular velocity and the self-inductance related to the post-controller command current of the counterpart shaft of the own system, and the non-interference control term including the angular velocity and the mutual inductance related to the post-controller command current of the counterpart shaft of the other system. Are "integrated".

  Further, in another aspect of the present invention, the non-interacting unit performs non-interference control calculation in a part of the system, and the calculation value of the non-interference control calculation in the part of the system is “shared” "

In the present invention, the post-controller command currents of both systems input to the non-interacting unit are regarded as substantially the same value, and the non-interacting unit determines at least some of the plurality of non-interfering control terms as `` “Integrate” or “share” at least some of the results of the non-interfering control operations.
Thus, by omitting substantially overlapping calculations, the control configuration of the non-interference control calculation is simplified and the calculation load is reduced as compared to the conventional technique that executes the non-interference control calculation based on the detailed motor inverse model. be able to. For example, the calculation time when using a microcomputer with the same performance can be shortened as compared with the prior art.

BRIEF DESCRIPTION OF THE DRAWINGS The whole block diagram of the multiple winding rotary machine system by each embodiment of this invention. (A) The schematic diagram of a double winding rotary machine (ISG). (B) The fragmentary sectional view of the stator of a double winding rotating machine (ISG). The block diagram of the control apparatus by each embodiment of this invention. The figure of the motor model based on a voltage equation. The block diagram of the voltage calculating part of a comparative example (no non-interference control). The block diagram of the non-interference part of a prior art. The block diagram of the non-interference part by 1st Embodiment of this invention. The block diagram of the non-interference part by 2nd Embodiment of this invention. (A) Closed loop characteristic diagram of comparative example (without non-interference control), (b) Open loop characteristic diagram. (A) Closed loop characteristic diagram of prior art, (b) Open loop characteristic diagram. The (a) closed loop characteristic figure of the 1st embodiment of the present invention, and (b) the open loop characteristic figure. The (a) closed-loop characteristic figure of the 2nd Embodiment of this invention, (b) The open-loop characteristic figure. The step response characteristic figure at the time of (a) low speed, (b) medium speed, (c) high speed of a comparative example (no non-interference control). The step response characteristic figure at the time of (a) low speed, (b) medium speed, and (c) high speed of a prior art. FIG. 4 is a step response characteristic diagram of (a) low speed, (b) medium speed, and (c) high speed in the first embodiment of the present invention. The step response characteristic figure at the time of (a) low speed, (b) medium speed, and (c) high speed of 2nd Embodiment of this invention. The block diagram of the non-interacting part by 3rd Embodiment of this invention. The block diagram of the non-interacting part by 4th Embodiment of this invention.

Hereinafter, control devices for a multi-winding rotating machine according to a plurality of embodiments of the present invention will be described with reference to the drawings.
Initially, the whole structure of the multiple winding rotary machine system common to each embodiment is demonstrated with reference to FIGS. This multi-winding rotating machine system is applied to a vehicle including an engine as a driving force source. As shown in FIG. 1, multiple winding rotary machine system 100 integrates the functions of the scan te motor and the alternator as a multiple winding rotating machine ISG (Integrated Starter Generator) 10,2 strains as a "power converter" Inverters 61 and 62, and the control device 30.

As shown in FIG. 2A, the stator 14 of the ISG 10 includes two three-phase winding groups 150 and 160 having the same electrical specifications. In the three-phase winding group 150, each phase winding 15 energized from the inverter 61 is Y-connected, and in the three-phase winding group 160, each phase winding 16 energized from the inverter 62 is Y-connected. Yes. That is, the ISG 10 of the present embodiment is a “double winding rotating machine”.
A set of a corresponding winding group and power converter is called a system. The system of the present embodiment includes two systems, that is, a system A configured by the winding group 150 and the inverter 61 and a system B configured by the winding group 160 and the inverter 62. As shown in FIG. 2B, the A system windings 15 and the B system windings 16 are alternately arranged in the circumferential direction of the stator 14.

The A-system inverter 61 and the B-system inverter 62 are respectively configured by three-phase upper and lower arm switching elements 611 to 616 and 621 to 626 that are bridge-connected. As the switching element, for example, an IGBT or the like is used.
The two inverters 61 and 62 are connected in parallel to the battery 18 as a “power source”. In other embodiments, a boost converter may be provided between the battery 18 and the inverters 61 and 62.

Hereinafter, suffixes “A” and “B” at the end of symbols such as current and voltage indicate values of the A system and the B system, respectively.
In the inverters 61 and 62, the switching elements 611 to 616 and 621 to 626 perform switching operations based on the operation signals PWM _A and PWM _B output from the control device 30. The A system inverter 61 converts the DC power of the battery 18 into AC power of the three-phase voltages Vu _A , Vv _A , and Vw _A , and the B system inverter 62 converts the DC power of the battery 18 to the three-phase voltage Vu _B , It is converted into AC power of Vv _B and Vw _B and supplied to the ISG 10.

The power line connected from the A-system inverter 61 to the ISG 10 is provided with current sensors 64 and 65 for detecting the V-phase current Iv _A and the W-phase current Iw _{A. The} power line connected from the B-system inverter 62 to the ISG 10 Are provided with current sensors 67 and 68 for detecting the V-phase current Iv _B and the W-phase current Iw _B. The current sensors 64, 65, 67, and 68 correspond to “current detectors”.
In this embodiment, the U-phase currents Iu _A and Iu _B of each system are estimated based on Kirchhoff's law. In other embodiments, any two-phase current may be detected, and a three-phase current may be detected. Or you may employ | adopt the technique which estimates the other two-phase electric current based on the electric current detection value of one phase.

The rotation angle of the ISG 10 is detected by the rotation angle sensor 22.
Electrical current having phase currents Iv _A , Iw _A , Iv _B , Iw _B detected by the current sensors 64, 65, 67, 68 and a predetermined phase difference (for example, 30 [deg]) detected by the rotation angle sensor 22. θ _A and θ _B are input to the control device 30. In addition, a command torque trq ^* for the ISG 10 is input to the control device 30 from a vehicle control circuit (not shown).
Further, in the vicinity of the stator 14 of the ISG 10, there is provided a field circuit 70 having a field winding 71 having an inductance Lf through which a field current If flows.

Next, the configuration of the control device 30 will be described with reference to FIG. For the “non-interacting unit”, the reference numerals are changed to 41 to 44 in accordance with first to fourth embodiments described later. In the description of this part, reference numeral 41 of the first embodiment is used as a representative.
The control device 30 includes three-phase / two-phase converters 31, 32, a command current calculator 33, current controllers 35-38, an angular velocity calculator 39, a non-interacting unit 41, a two-phase / three-phase converter 51, 52, and PWM signal generation units 53 and 54 are provided. Except for the non-interacting unit 41, the configuration basically conforms to the well-known current feedback control based on vector control. The PWM signal generation units 53 and 54 correspond to an “operation unit” described in the claims.

The three-phase / two-phase converter 31 converts the phase currents Iv _A and Iw _A of the A system detected by the current sensors 64 and 65 into the dq-axis currents Id _A and Iq _A based on the electrical angle θ _A detected by the rotation angle sensor 22. To dq. Similarly, the three-phase / two-phase conversion unit 32 performs dq conversion on the B-system phase currents Iv _B and Iw _B detected by the current sensors 67 and 68 into dq-axis currents Id _B and Iq _B based on the electrical angle θ _B. .
The command current calculation unit 33 calculates the dq axis command currents Id _A ^* , Iq _A ^* , Id _B ^* , and Iq _B ^* of each system using a map, a mathematical formula, and the like based on the command torque trq ^* .

The current controllers 35, 36, 37, and 38 are provided with command currents Id _A ^* , Iq _A ^* , Id _B ^* , Iq _B ^* and feedback currents Id _A output from the command current calculation unit 33 for each system dq axis. Based on the deviations ΔId _A , ΔIq _A , ΔId _B , ΔIq _{B from} Iq _A , Id _B , Iq _B , post-controller command currents Id _A ^** , Iq _A ^** , Id _B ^** , Iq _B ^** is calculated.
The transfer function of the current controllers 35 to 38 is expressed as “ω _cc / s” where the target frequency of the frequency characteristic is ω _cc .
The angular velocity calculator 39 calculates the electrical angular velocity ω by differentiating the electrical angle θ _A or θ _B with respect to time, and outputs the electrical angular velocity ω to the non-interacting unit 41. Hereinafter, “electrical angular velocity ω” is appropriately abbreviated as “angular velocity ω”.

The non-interacting unit 41 is connected to each system based on the post-controller command currents Id _A ^** , Iq _A ^** , Id _B ^** , Iq _B ^** input from the current controllers 35, 36, 37, 38. Dq-axis command voltages Vd _A ^* , Vq _A ^* , Vd _B ^* , and Vq _B ^* are calculated. A detailed configuration of the non-interacting unit 41 will be described later.
The two-phase three-phase conversion unit 51 converts the A system dq axis command voltages Vd _A ^* and Vq _A ^* into three-phase command voltages Vu _A ^* , Vv _A ^* , and Vw _A ^* based on the electrical angle θ _A. Similarly, the two-phase / three-phase converter 52 converts the B system dq-axis command voltages Vd _B ^* and Vq _B ^* into three-phase command voltages Vu _B ^* , Vv _B ^* , and Vw _B ^* based on the electrical angle θ _B. To do.

The PWM signal generation units 53 and 54 of each system generate operation signals PWM _A and PWM _B for operating the inverters 61 and 62 based on the comparison between the duty signal calculated from the three-phase command voltage and the carrier wave. Here, the operation signals PWM _A and PWM _B include switching signals UU, VU, WU, UL, VL, and WL for the switching elements 611 to 616 and 621 to 626 of the three-phase upper and lower arms.
The inverters 61 and 62 operate based on the operation signals PWM _A and PWM _B , and desired AC voltages Vu _A , Vv _A , Vw _A , Vu _B , Vv _B , and Vw _B are applied to the two winding groups 150 and 160. When applied, the drive of the ISG 10 is controlled so as to output a torque corresponding to the command torque trq ^* .

  Next, mutual interference due to magnetic coupling between dq axes and between systems in the ISG 10 that is a double winding rotating machine will be described. The voltage equation of the double-winding rotating machine including the A-system winding group 150 and the B-system winding group 160 having the same electrical performance is expressed by Equation 1 in consideration of the magnetic coupling between the two winding groups. expressed.

The symbols that have not yet appeared are as follows, and the subscripts “A” and “B” indicate values of the A system and the B system, respectively.
R: Armature resistance (armature resistance R _A of the A system winding group R _A = armature resistance R _B of the B system winding group)
s: differential operator Ld, Lq: d-axis self-inductance, q-axis self-inductance Md, Mq: d-axis mutual inductance, q-axis mutual inductance

When formula 1 is rearranged, formula 2 is obtained.

When Expression 2 is expanded for dq-axis currents Id and Iq of each system, Expression 3 is obtained.

The motor model in FIG. 4 is a diagram in which the input / output in the double winding rotating machine is represented by using dq axis voltages Vd and Vq as dq axis command voltages Vd ^* and Vq ^* in Equation 3.
Here, the terms “own system” and “other system”, and “target axis” and “partner axis” are defined. For example, when referring to the A system, the A system itself is referred to as “own system” and the B system is referred to as “other system”. For example, when referring to the d-axis current or voltage, the d-axis is referred to as the “target axis” and the q-axis is referred to as the “mating axis”.

As shown in FIG. 4, for example, the A-system d-axis current Id _A is basically an impedance term based on the self-inductance Ld _A , the differential value s, and the resistance R with respect to the command voltage Vd _A ^* of the own system attention axis. Divide by “Ld _A s + R”. In addition to this, in consideration of interference, on the input side, a value obtained by multiplying the B system d-axis current Id _B , which is the other system attention axis, by “Mds”, and the A system q-axis current Iq _A , which is the own system counterpart axis, is set to “ωLq. _A value multiplied by “ _A ” and a value obtained by multiplying the B system q-axis current Iq _B which is the other system counterpart axis by “ωMq” are added and subtracted. For the q-axis currents Iq _A and Iq _B , the counter electromotive voltage term “ωLfIf” due to the field current If is further subtracted.

Thus, in the double winding rotating machine, inter-axis interference and inter-system interference occur. Hereinafter, each transfer function of an impedance dimension corresponding to the above “Mds”, “ωLq _A ”, and “ωMq” in the motor model is referred to as an interference term.
Conventionally, techniques for decoupling the voltage input to the motor to compensate for inter-axis interference and inter-system interference are disclosed in Japanese Patent Laid-Open Nos. 2003-153585 and 2014-138494 (Patent Document 1). It is disclosed. For example, in the technique of Patent Document 1, the post-controller command current output from the current controller is input to the “non-interference unit”, and non-interference control calculation is executed.
Note that “k × Ld” and “k × Lq” described in Patent Document 1 correspond to mutual inductances “Md” and “Mq” in this specification.

The control device 30 according to the present embodiment includes a non-interacting unit 41 according to the technique of Patent Document 1.
By the way, in the non-interacting unit 41, in order to compensate for the interference voltage, the controller for the own system attention axis is calculated together with the operation of multiplying the “non-interference control term” corresponding to the interference term by the post-controller command current other than the own system attention axis. The post-command current is also multiplied by an impedance term “Lds + R” or “Lqs + R” which is a motor inverse model term. The calculation of the inverse model term is a conversion calculation from current to voltage in the own system attention axis itself, and is not a calculation for decoupling.
However, since the processing is performed in the same processing unit, in this specification, for convenience of explanation, the “non-interference control calculation” including the calculation of the inverse model term and the calculation of adding the counter electromotive voltage term in the q-axis voltage is included. The processing unit that executes the non-interference control calculation is referred to as a “non-interference unit”.

  Next, before moving on to the description of the non-interacting unit 41 of the present embodiment, the configuration of corresponding parts in the “comparative example without non-interference control” and the “prior art based on Patent Document 1” will be described with reference to FIGS. Will be described with reference to FIG. This comparative example and the prior art are to be compared when the characteristic evaluation of this embodiment is described later.

(Comparative example)
FIG. 5 shows a motor inverse model of a comparative example that does not perform non-interference control. In the comparative example, the processing unit corresponding to the non-interacting unit 41 of the present embodiment is simply referred to as “voltage calculation unit 40”. This voltage calculation unit 40 calculates the dq-axis command voltage on the assumption that there is no inter-axis interference or inter-system interference. Specifically, the input post-controller command current is only multiplied by inverse model terms “Lds + R” and “Lqs + R”, and dq axis command voltages Vd _A ^* , Vq _A ^* , Vd _B ^* , Vq _B ^{* Is} output.
The command voltages Vd _A ^* , Vq _A ^* , Vd _B ^* , and Vq _B ^* output from the voltage calculation unit 40 are input to the motor model in FIG. This also applies to the following non-interacting parts.

(Conventional technology)
A configuration of a conventional non-interacting unit based on Patent Literature 1 will be described with reference to FIG. Here, strictly speaking, the configuration shown in FIG. 6 is not the configuration itself described in Patent Document 1, but in the configuration of FIG. 12 of Patent Document 1, the term “ωLd, ωLq” (“third block” described later) , And “ωLfIf” item (“fifth block” described later) for the q-axis voltage is added. Therefore, it is referred to as “prior art based on Patent Document 1” instead of “prior art of Patent Document 1”.
6 represents a detailed motor inverse model obtained by inversely calculating the motor model shown in FIG. Or it can be said that it is the model which expressed numerical formula 2 as it was.

In the present embodiment of two systems, in the non-interference unit 48, the d-axis command voltage Vd _A ^{* of} the A system, the q-axis command voltage Vq _A ^{* of} the _A system, the d-axis command voltage Vd _B ^{* of} the B system, Non-interference control calculation is performed for four types of command voltages of the B system q-axis command voltage Vq _B ^* .
Specifically, the inverse model term and the non-interference control term used in the non-interference control calculation of the d-axis command voltage Vd _A ^* of the A system will be described. Here, the four-stage blocks shown for each command voltage are referred to as “first block”, “second block”, “third block”, and “fourth block” in order from the top.

The first block shows an “Ld _A s + R” term that is an inverse model term related to the post-controller d-axis command current Id _A ^** of the A system. The second block shows an “Mds” term that is a non-interference control term related to the post-controller d-axis command current Id _B ^** of the B system. The third block shows a “ωLq _A ” term that is a non-interference control term related to the post-controller q-axis command current Iq _A ^** of the A system. The fourth block shows a “ωMq” term that is a non-interference control term related to the post-controller q-axis command current Iq _B ^** of the B system.
For the calculated value obtained by multiplying the inverse model term of the first block by the d-axis command current Id _A ^** after the A system controller, the non-interference control terms of the second, third, and fourth blocks are The multiplied values are added and subtracted to output the d-axis command voltage Vd _A ^{* of} the A system.

Similarly, in the non-interference control calculation of the q-axis command voltage Vq _A ^* of the A system, the first block is “Lq _A s + R” which is an inverse model term related to the post-controller q-axis command current Iq _A ^** of the A system. Section. The second block shows an “Mqs” term that is a non-interference control term related to the post-controller q-axis command current Iq _B ^** of the B system. The third block shows a “ωLd _A ” term that is a non-interference control term related to the post-controller d-axis command current Id _A ^** of the A system. The fourth block shows a “ωMd” term that is a non-interference control term related to the post-controller d-axis command current Id _B ^** of the B system.

In addition, as the fifth block, the term “ωLfIf” representing the counter electromotive voltage is added. For the value obtained by multiplying the inverse model term of the first block by the post-controller q-axis command current Iq _A ^** of the A system and the back electromotive voltage term, the second, third and fourth A value obtained by multiplying the non-interference control term of the block by the command current after each controller is added and subtracted, and the q-axis command voltage Vq _A ^{* of} the A system is output.

In the conventional non-interacting unit 48, the total number of first to fifth blocks for the four types of command voltages is 18.
Here, the terms “differential value term” and “angular velocity term” are further defined. The “Lds, Lqs” term of the first block (inverse model term) including the differential operator s and the “Mds, Mqs” term of the second block are collectively referred to as “differential value term”. Further, the term “ωLq, ωLd” of the third block including the angular velocity ω and the term “ωMq, ωMd” of the fourth block are collectively referred to as “angular velocity term”.

The above-described configuration of the prior art performs non-interference control calculation based on a detailed motor inverse model. However, if the non-interacting unit 48 actually tries to execute this processing, the control configuration is complicated, and the calculation load increases. In addition, there is a problem that the number of man-hours for adaptation increases due to an increase in control parameters.
By the way, in this embodiment, since the electrical specifications of the two winding groups 150 and 160 are equal to each other, the current flowing through each winding group can be regarded as substantially the same. Therefore, it is considered that there is room for omitting the substantially redundant calculation in the control configuration of the non-interacting unit 48 of the prior art.

  Therefore, the present invention considers that the currents flowing through the two winding groups 150 and 160 are substantially the same, and on the premise thereof, the object is to simplify the control configuration of the non-interacting unit and reduce the calculation load. And A specific configuration of the non-interacting unit for realizing this object will be described below for each embodiment.

(First embodiment)
The configuration of the non-interacting unit of the first embodiment will be described with reference to FIG.
The non-interference unit 41 of the first embodiment performs non-interference control in one system on the premise that the post-controller command currents of both systems have substantially the same value for each of the target axis and the counterpart axis. The calculated value of the calculation is “shared” for the calculation of the other system.

  As shown in FIG. 7, in the non-interference unit 41, among the non-interference control calculations, the calculation for the inverse model term and the back electromotive voltage term is performed for each dq axis of each system, For example, multiplication is performed only in the A system, and the calculated value is also output to the B system. In the B system, the calculated value output from the A system is shared, and only the addition / subtraction after the inverse model term calculation is performed. Of course, the calculated value calculated in the B system may be shared by the A system.

  As described above, in the first embodiment, by sharing the result of the non-interference control calculation between the systems, the total number of blocks of the inverse model term, the counter electromotive voltage term, and the non-interference control term can be reduced from 18 compared with the conventional technology. Decrease to 12. That is, by omitting the substantially overlapping calculation in the prior art, the control configuration of the non-interacting unit can be simplified and the calculation load can be reduced. For example, the calculation time when using a microcomputer with the same performance can be shortened as compared with the prior art.

(Second Embodiment)
The configuration of the non-interacting unit of the second embodiment will be described with reference to FIG. The keyword of the first embodiment is “shared” of the calculation result, whereas the keyword of the second embodiment is “integration” of the non-interference control term.
As in the first embodiment, the non-interference unit 42 of the second embodiment sets the non-interference control term as follows on the assumption that the post-controller command currents of both systems are substantially the same value. It is characterized by “integration”.

First, as the differential value term, the inverse model term related to the post-controller command current of the attention axis of the own system includes the mutual inductance M and the current differential value s related to the post-controller command current of the attention axis of the other system. “Integrate” the interference control terms.
Secondly, as the angular velocity term, the non-interference control term including the angular velocity ω and the self-inductance L related to the post-controller command current of the partner axis of the own system, the angular velocity ω related to the post-controller command current of the counter shaft of the other system, and “Integrate” with the non-interference control term including the mutual inductance M. In particular, in the second embodiment, the non-interference control term including the angular velocity ω and the self-inductance L related to the post-controller command current of the counter-axis of the [own system] is set to the post-controller command current of the counter-axis of the [other system]. The non-interference control term including the angular velocity ω and the mutual inductance M is integrated.

Specifically, the non-interference control calculation of the d-axis command voltage Vd _A ^* of the A system will be described. For each command voltage, the upper block is referred to as “integrated first block”, and the lower block is referred to as “integrated second block”.
In the integrated first block, the term “Ld _A s + R” related to the post-controller d-axis command current Id _A ^** of the _A system and the term “Mds” related to the post-controller d-axis command current Id _B ^** of the B system To integrate. As a result, the post-controller d-axis command current Id _A ^{** of} system _A is multiplied by the integrated “(Ld _A + Md) s + R” term.
In the integrated second block, the “ωLq _A ” term related to the post-controller q-axis command current Iq _A ^** of the _A system is added to the “ωMq” term related to the post-controller q-axis command current Iq _B ^** of the B system. Integrate. As a result, the post-controller q-axis command current Iq _A ^{** of} the A system is multiplied by the integrated “ω (Lq _A + Mq)” term.

Further, the non-interference control calculation of the q-axis command voltage Vq _A ^* of the A system will be described.
In the integrated first block, the term “Lq _A s + R” related to the post-controller q-axis command current Iq _A ^** of the _A system and the term “Mqs” related to the post-controller q-axis command current Iq _B ^** of the B system To integrate. As a result, the post-controller q-axis command current Iq _A ^{** of} the A system is multiplied by the integrated “(Lq _A + Mq) s + R” term.
In the integrated second block, the “ωLd _A ” term related to the post-controller d-axis command current Id _A ^** of the _A system is added to the “ωMd” term related to the post-controller d-axis command current Id _B ^** of the B system. Integrate. As a result, the post-controller d-axis command current Id _A ^{** of} system _A is multiplied by the integrated “ω (Ld _A + Md)” term.

The non-interference control calculation of the d-axis and q-axis command voltages Vd _B ^* and Vq _B ^* of the B system is similarly performed.
As described above, in the second embodiment, by integrating the non-interference control terms of both systems for each of the differential value term and the angular velocity term, the inverse model term, the back electromotive voltage term, and the non-interference control term are compared with the prior art. The total number of blocks is reduced from 18 to 10. That is, by omitting the substantially overlapping calculation in the prior art, the control configuration of the non-interacting unit can be simplified and the calculation load can be reduced. For example, the calculation time when using a microcomputer with the same performance can be shortened as compared with the prior art.
In addition, since only the post-controller command current of the own system is used as an input for the non-interference control calculation, the control configuration is further simplified.

Next, characteristics evaluation between the comparative example (FIG. 5) and the prior art (FIG. 6) and the first embodiment (FIG. 7) and the second embodiment (FIG. 8) of the present invention will be described with reference to FIGS. Will be described with reference to FIG.
First, the closed-loop characteristic and the open-loop characteristic of feedback control will be described with reference to FIGS. 9 shows the comparative example, FIG. 10 shows the prior art, FIG. 11 shows the characteristics of the first embodiment of the present invention, and FIG. 12 shows the characteristics of the second embodiment of the present invention. Each figure (a) shows the frequency response characteristics of the closed loop when the rotation speed of the rotating machine is low, medium, and high. Similarly, each figure (b) shows that the rotation speed of the rotating machine is low, medium, The frequency response characteristics of the open loop at high speed are shown. In addition, although the figure has shown the characteristic about the q-axis current Iq, the characteristic of the same tendency is acquired also about the d-axis current Id.

  In the evaluation of the closed loop characteristics, attention is paid to responsiveness, speed dependence, and peaking. Regarding responsiveness, a deviation from a target frequency of 100 Hz is evaluated for a frequency at which the gain is −3 [dB]. For speed dependence, the variation in response characteristics at low speed, medium speed, and high speed is evaluated. For peaking, the presence or absence of a frequency region in which the gain exceeds 0 [dB] is evaluated.

  In the comparative example without non-interference control, the frequency at which the gain becomes −3 [dB] is 35 Hz at high speed, and is greatly deviated from the target frequency of 100 Hz. As for the speed dependence, the response characteristics vary greatly depending on the speed. Regarding peaking, the gain exceeds 0 [dB] in the frequency region indicated by the broken line Pk in the figure.

  In contrast to the comparative example, in the first embodiment of the present invention, the frequency at which the gain is -3 [dB] is 150 Hz at high speed, and is approaching the target frequency of 100 Hz. The variation in response characteristics due to speed is relatively small. There is no frequency region in which the gain exceeds 0 [dB]. Therefore, it can be seen that the non-interference control improves the performance.

In the related art and the second embodiment of the present invention, the frequency at which the gain is −3 [dB] matches the target frequency of 100 Hz. Moreover, there is almost no variation in response characteristics due to speed, and the gain does not exceed 0 [dB].
Therefore, the second embodiment of the present invention is superior in performance to the first embodiment. It can also be seen that the same performance is maintained while simplifying the control configuration compared to the prior art.

  In the evaluation of the open loop characteristics, attention is paid to the phase margin at the frequency at which the gain is 0 [dB]. The phase margin means a phase difference from −180 [deg]. For example, when the phase is −90 [deg] in the first-order lag response, the phase margin is 90 [deg]. In order for the control of the rotating machine to be established, a phase margin of 45 [deg] or more is required, and a larger phase is preferable.

In the comparative example without non-interference control, the phase margin at about 23 Hz where the gain is 0 [dB] at high speed is about 50 [deg].
In the first embodiment of the present invention, the phase margin at about 150 Hz where the gain is 0 [dB] at high speed is about 60 [deg], and the phase margin is increased as compared with the comparative example.

In the related art and the second embodiment of the present invention, the gain is 0 [dB] at the target frequency of 100 Hz, and the phase margin at 100 Hz is about 90 [deg].
Therefore, the second embodiment of the present invention is superior in performance to the first embodiment. It can also be seen that the same performance is maintained while simplifying the control configuration compared to the prior art.

  Next, FIG. 13 to FIG. 16 will be referred to for step response characteristics when the rotational speed of the rotating machine is low, medium, and high. FIG. 13 shows the comparative example, FIG. 14 shows the prior art, FIG. 15 shows the characteristics of the first embodiment of the present invention, and FIG. 16 shows the characteristics of the second embodiment of the present invention. Each figure (a) shows a step response characteristic at a low speed, each figure (b) shows a medium speed, and each figure (c) shows a step response characteristic at a high speed.

  The upper part of each characteristic diagram shows the q-axis current, and the lower part shows the d-axis current. Broken lines indicate command currents Iq_ref and Id_ref, and solid lines indicate actual currents Iq and Id. Response of the q-axis actual current Iq when the q-axis command current Iq_ref is changed stepwise at “0.01 s” on the time axis, and the d-axis actual current Id without changing the command current Id_ref Evaluate the degree of interaxial interference.

  In the comparative example without non-interference control, the step response of the q-axis actual current Iq takes a relatively long time, and overshoot occurs. Further, as seen in the closed loop characteristics, the response varies depending on the speed. It can also be seen that the d-axis actual current Id changes with the sudden change in the q-axis actual current Iq, and interference occurs.

  In the first embodiment of the present invention, the responsiveness of the q-axis actual current Iq is improved at each speed as compared with the comparative example, and the overshoot is remarkably improved particularly at the medium speed and the high speed. In addition, the responsiveness variation due to speed is small. Further, the degree of interference with the d-axis actual current Id due to the change in the q-axis actual current Iq is relatively small. Therefore, it can be seen that the step response performance is improved by the non-interference control.

In the prior art and the second embodiment of the present invention, the responsiveness of the q-axis actual current Iq is improved at each speed as compared with the comparative example. In the first embodiment, no overshoot can be seen even at a low speed where some overshoot is seen. Furthermore, interference with the d-axis actual current Id due to the change in the q-axis actual current Iq is almost eliminated.
Therefore, the second embodiment of the present invention is superior in performance to the first embodiment. It can also be seen that the same performance is maintained while simplifying the control configuration compared to the prior art.

Through the above characteristic evaluation, it was found that the performance of the first embodiment of the present invention, in which the non-interference control calculation result is shared and the calculation is simplified, is improved as compared with the comparative example in which non-interference control is not performed. In addition, the second embodiment of the present invention, which integrates the non-interference control terms and simplifies the calculation, is verified to have equivalent performance to the conventional technology that executes all non-interference control terms according to the motor inverse model. did it.
In addition, the same tendency as described above was obtained in the evaluation of the applied voltage disturbance suppression at the input end and the current detection disturbance suppression at the output end.

Next, another embodiment of the present invention will be described.
(Third embodiment)
The configuration of the non-interacting unit according to the third embodiment will be described with reference to FIG.
As in the second embodiment, the non-interacting unit 43 of the third embodiment integrates the differential value term and the angular velocity term in the non-interference control calculation. However, regarding the integration of the angular velocity terms, the non-interference control term including the angular velocity ω and the mutual inductance M related to the controller post-controller command current of the [other system] is included in the non-interference control current of the counter axis of the [other system]. This is the opposite of the second embodiment in that the non-interference control term including the angular velocity ω and the self-inductance L according to is integrated.

Specifically, the non-interference control calculation of the d-axis command voltage Vd _A ^* of the A system will be described according to the second embodiment. The integrated first block is the same as in the second embodiment.
In the integrated second block, the “ωMq” term related to the post-controller q-axis command current Iq _B ^** in the _B system is added to the “ωLq _A ” term related to the post-controller q-axis command current Iq _A ^** in the A system. Integrate. As a result, the post-controller q-axis command current Iq _B ^{** of} the B system is multiplied by the integrated “ω (Lq _A + Mq)” term.

Further, the non-interference control calculation of the q-axis command voltage Vq _A ^* of the A system will be described.
In the integrated second block, the “ωMd” term related to the post-controller d-axis command current Id _B ^** of the _B system is added to the “ωLd _A ” term related to the post-controller d-axis command current Id _A ^** of the A system. Integrate. As a result, the post-controller d-axis command current Id _B ^{** of} the B system is multiplied by the integrated “ω (Ld _A + Md)” term.

The non-interference control calculation of the d-axis and q-axis command voltages VdB ^* and VqB ^* of the B system is similarly performed.
Thus, in the third embodiment, calculation is performed using the post-controller command current of another system in multiplication of the angular velocity terms after integration. Even in this control configuration, the same effect as in the second embodiment can be obtained.
A control configuration in which the second embodiment and the third embodiment are mixed may be used.

(Fourth embodiment)
The configuration of the non-interacting unit according to the fourth embodiment will be described with reference to FIG.
The non-interacting unit 44 of the fourth embodiment further shares the calculated value of the non-interference control computation in the A system with the computation of the B system in the non-interacting unit 42 of the second embodiment. Of course, the calculated value calculated in the B system may be shared by the A system. Further, instead of the second embodiment, a “shared” configuration may be similarly adopted in the non-interacting unit 43 of the third embodiment.

  As described above, in the fourth embodiment, by combining “integration” and “shared”, the total number of blocks of the inverse model term, the counter electromotive voltage term, and the non-interference control term is 18 to 8 compared to the conventional technology. To decrease. Therefore, the calculation load can be further reduced.

(Other embodiments)
(A) The winding field type synchronous motor is not limited to the one illustrated in FIG. 1 of the above embodiment, and the field winding may be excited by a current flowing through the stator winding, for example. Further, the synchronous motor may be a synchronous motor such as a permanent magnet field synchronous motor or a synchronous reluctance motor in addition to the winding field synchronous motor. Furthermore, the application of the motor is not limited to the ISG of the above embodiment, and may be used for any application.

(A) The “multi-winding rotating machine” is not limited to the double-winding rotating machine exemplified in the above embodiment, but may be a triple-winding rotating machine having three or more winding groups. Good. For example, in a triple-winding rotating machine, the three winding groups are arranged rotationally symmetrically at equal intervals of 120 °, and it is assumed that the magnetic coupling between any two windings is equivalent. Is effectively applied.
When adopting the “shared” configuration for multiple systems of 3 or more systems, non-interference control computation is performed in some systems, and the calculated value of non-interference control computation in some of the systems is shared with computation of the remaining systems do it. Further, when the “integrated” configuration is adopted, the non-interference control term may be integrated in at least some of the systems. Furthermore, “integration” and “shared” may be combined in any way as in the fourth embodiment.

(C) Based on the assumption that the currents flowing through the winding groups of each system are substantially the same, the “current controller” may be provided in only one system. Further, when a technique for estimating the current of the other two phases based on the current value of one phase is employed, a configuration in which only one current controller is provided in the multi-winding rotating machine system can be assumed.
As mentioned above, this invention is not limited to such embodiment, In the range which does not deviate from the meaning of invention, it can implement with a various form.

10 ... ISG (multi-winding rotating machine),
150, 160 ... winding group,
18 ... Battery (power supply),
35, 36, 37, 38 ... current controller,
41, 42, 43, 44 ... non-interacting part,
53, 54 ... PWM signal generation unit (operation unit),
61, 62 ... inverter (power converter),
64, 65, 67, 68 ... current sensors (current detectors).

Claims (4)

A multi-winding rotating machine (10) having a plurality of winding groups (150, 160) having electrical specifications equivalent to each other;
A plurality of power converters (61, 62) provided for each of the plurality of winding groups, for converting the power of the power source (18) and supplying the converted power to the plurality of winding groups;
A current detector (64, 65, 67, 68) for detecting a current flowing through the plurality of winding groups;
A multi-winding rotating machine control device applied to a multi-winding rotating machine system comprising:
A plurality of controllers for calculating a command current after the controller for each system based on a command current commanded for each system that is a set of the corresponding winding group and the power converter, and a feedback current from the current detector Current controllers (35, 36, 37, 38),
Non-interference control calculation is performed on the input post-controller command current using a motor inverse model term of the own system and a non-interference control term calculated to compensate for interference voltage due to magnetic coupling, A non-interacting unit (42, 43, 44) for outputting the interfered command voltage for each system;
A plurality of operation units (53, 54) for operating the plurality of power converters to apply a voltage to the plurality of winding groups based on the command voltage output by the non-interference unit;
Have
The non-interference unit is for integration at least some of the plurality of decoupling control term which is calculated with respect to the controller after the command current,
In at least some systems,
Regarding the post-controller command currents for the d-axis and q-axis in the vector control rotary coordinate system, if one of the axes of interest is the axis of interest and the other axis is the counterpart axis,
The inverse model term relating to the post-controller command current of the attention axis of the own system is integrated with the non-interference control term including the mutual inductance and the current differential value related to the post-controller command current of the attention axis of the other system,
Non-interference control term including the angular velocity and self-inductance related to the post-controller command current of the counterpart shaft of the own system, and non-interference control term including the angular velocity and mutual inductance related to the post-controller command current of the counterpart shaft of the other system And a control device for a multi-winding rotating machine. The non-interacting part (42, 44) is at least in some systems,
A non-interference control term including an angular velocity and a mutual inductance related to the post-controller command current of the counterpart shaft of the other system in a non-interference control term including an angular velocity and a self-inductance related to the post-controller command current of the counterpart shaft of the own system. The control apparatus for a multi-winding rotating machine according to claim 1 , wherein: The non-interference unit (44) further shares at least a part of the result of the non-interference control calculation,
3. The multiple winding according to claim 1, wherein the non-interference control calculation is performed in a part of the system, and the calculated value of the non-interference control calculation in the part of the system is shared with the calculation of the remaining system. Control device for rotating machine. A multi-winding rotating machine (10) having a plurality of winding groups (150, 160) having electrical specifications equivalent to each other;
A plurality of power converters (61, 62) provided for each of the plurality of winding groups, for converting the power of the power source (18) and supplying the converted power to the plurality of winding groups;
A current detector (64, 65, 67, 68) for detecting a current flowing through the plurality of winding groups;
A multi-winding rotating machine control device applied to a multi-winding rotating machine system comprising:
A plurality of controllers for calculating a command current after the controller for each system based on a command current commanded for each system that is a set of the corresponding winding group and the power converter, and a feedback current from the current detector Current controllers (35, 36, 37, 38),
Non-interference control calculation is performed on the input post-controller command current using a motor inverse model term of the own system and a non-interference control term calculated to compensate for interference voltage due to magnetic coupling, A non-interacting unit (41, 44) for outputting the interfering command voltage for each system;
A plurality of operation units (53, 54) for operating the plurality of power converters to apply a voltage to the plurality of winding groups based on the command voltage output by the non-interference unit;
Have
The non-interacting unit shares at least a part of the result of non- interference control calculation ,
A control apparatus for a multi-winding rotating machine , wherein non-interference control computation is performed in a part of the system, and a calculated value of the non-interference control computation in the part of the system is shared with computations of the remaining system.

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