JP6520799B2 - Control device of rotating electric machine - Google Patents

Description

  The present invention relates to a control device for a rotating electrical machine that controls the rotational speed of the rotating electrical machine to a speed command value.

  As this type of control device, there is known one that performs V / f control in which the voltage amplitude that is the magnitude of the voltage vector applied to the rotating electrical machine is set to a magnitude proportional to the speed command value. According to this control, position sensorless control that does not use the detection value of the angle detector that directly detects the rotation angle of the rotary electric machine can be realized. However, in this control, when the rotational speed of the rotary electric machine is suddenly changed due to a sudden change of the speed command value, there may occur a problem that the control becomes unstable such as a step out.

  In order to solve this problem, the control device described in Patent Document 1 below detects the detected current flowing through the rotating electrical machine, an active current component that is a current component parallel to the voltage vector, and a current orthogonal to the voltage vector The speed command value is corrected on the basis of at least the amount of change of the active current component. The reason why these current components are used to correct the speed command value is that changes in these current components affect the rotational speed. The control device controls the rotational speed of the rotating electrical machine based on the integrated value of the corrected speed command value and the voltage amplitude. Thereby, stabilization of rotational speed control is achieved.

JP, 2000-236694, A

  Here, depending on the driving conditions of the rotating electrical machine, the change in the effective current component may be small even if the rotational speed changes suddenly. In this case, even if the speed command value is corrected based on the active current component, there is a possibility that the rotational speed control of the rotating electrical machine becomes unstable. In particular, under the low rotational speed condition of the rotating electrical machine, the change in the effective current component becomes significantly small, so there is a possibility that the rotational speed control becomes more unstable.

  The main object of the present invention is to provide a control device of a rotating electrical machine capable of stabilizing the control of the rotational speed of the rotating electrical machine regardless of the driving conditions of the rotating electrical machine.

  Hereinafter, a means for solving the above-mentioned subject, and its operation effect are indicated.

  The present invention relates to a control device for a rotating electrical machine that controls the rotational speed of a rotating electrical machine (10) to a speed command value, wherein a coordinate axis extending in the direction of a voltage vector applied to the rotating electrical machine is defined as a δ axis A coordinate axis extending in the orthogonal direction is defined as a γ axis, a coordinate axis deviated from the δ axis by a defined angle (λ) is defined as a t axis, and a voltage that is a magnitude of the voltage vector based on the speed command value. When the current flowing through the rotating electrical machine changes with the change of the speed command value, the absolute value of the t axis component of the current change amount is the δ axis and the t axis. An angle setting unit for setting the predetermined angle so as to be larger than the absolute value of the t-axis component of the current change amount when it is assumed that the two coincide with each other; the predetermined angle set by the angle setting unit; rotation A correction speed in which the speed command value is corrected based on a current change amount calculation unit that calculates a t-axis component of the current change amount based on a detected value of current flowing in the machine, and a t-axis component of the current change amount. A speed correction unit that calculates a value, and a control unit that controls the rotation speed of the rotating electrical machine to the speed command value based on the integral value of the correction speed value and the voltage amplitude. .

  In the above invention, a coordinate axis deviated from the δ axis by a defined angle is defined as the t axis. Then, when the current flowing through the rotary electric machine changes with the change of the speed command value, the above current change when assuming that the absolute value of the t axis component of the current change amount matches the δ axis and the t axis The defined angle is set to be greater than the absolute value of the t-axis component of the quantity. According to this setting, the t-axis component of the amount of change in current accompanying the change in the speed command value can be increased regardless of the drive condition of the rotary electric machine. According to the t-axis component of the current change amount, it is possible to properly grasp the current change that affects the rotational speed. Therefore, by controlling the rotational speed to the speed command value based on the integral value of the corrected speed value calculated based on the t-axis component of the current change amount and the voltage amplitude, the rotational speed control of the rotating electrical machine is stabilized. Can be implemented.

BRIEF DESCRIPTION OF THE DRAWINGS The whole block diagram of the motor control system which concerns on 1st Embodiment. The block diagram which shows the speed control processing of a motor. The figure which shows an alpha beta coordinate system, a gamma delta coordinate system, and a nt coordinate system. The figure which shows the prescription | regulation angle (lambda) in high rotation speed conditions and low rotation speed conditions. The figure which shows the relationship between prescription angle (lambda), speed command value, and motor torque. The figure which shows the relationship between a motor torque and an electric current amplitude. The figure which shows the relationship between a motor torque, motor rotational speed, and t-axis current. The figure which shows the relationship between prescription | regulation angle (lambda), speed command value, and each motor parameter. The figure which shows the relationship between t-axis current change amount, motor rotational speed, and motor torque. The figure which shows the relationship between a motor torque, a motor rotational speed, and n axis target current. The time chart which shows the effect of 1st Embodiment. FIG. 8 is a block diagram showing speed control processing of a motor according to a second embodiment. The time chart which shows the effect of 2nd Embodiment. The figure which shows the setting method of prescription | regulation angle (lambda) which concerns on other embodiment. The figure which shows the setting method of prescription | regulation angle (lambda) which concerns on other embodiment. The figure which shows the setting method of prescription | regulation angle (lambda) which concerns on other embodiment. The figure which shows the setting method of prescription | regulation angle (lambda) which concerns on other embodiment.

First Embodiment
Hereinafter, a first embodiment in which a control device according to the present invention is applied to a three-phase electric rotating machine will be described with reference to the drawings. The rotary electric machine according to the present embodiment is used, for example, as a motor for an on-vehicle electric fan.

  As shown in FIG. 1, the motor control system includes a motor generator 10, a three-phase inverter 20 as a power conversion circuit, and a control device 30 that controls the motor generator 10. In the present embodiment, a synchronous machine is used as the motor generator 10, and more specifically, SPMSM, which is a non-salient pole machine, is used.

  Motor generator 10 is connected to battery 21 as a DC power supply via inverter 20. The output voltage of the battery 21 is, for example, 100 V or more. A smoothing capacitor 22 is provided between the battery 21 and the inverter 20.

  The inverter 20 includes three sets of series-connected bodies of upper arm switches Sup, Svp, Swp and lower arm switches Sun, Svn, Swn. The U-phase of the motor generator 10 is connected to the connection point of the U-phase upper and lower arm switches Sup and Sun. The V phase of the motor generator 10 is connected to the connection point of the V phase upper and lower arm switches Svp and Svn. The W phase of the motor generator 10 is connected to the connection point of the W phase upper and lower arm switches Swp and Swn. Incidentally, in the present embodiment, voltage-controlled semiconductor switching elements are used as the switches Sup, Sun, Svp, Svn, Swp, and Swn, and more specifically, IGBTs are used. And each free wheel diode Dup, Dun, Dvp, Dvn, Dwp, Dwn is reversely parallel connected to each switch Sup, Sun, Svp, Svn, Swp, Swn.

  The motor control system further includes a phase current detection unit that detects currents of at least two phases among the phase currents flowing to the motor generator 10. In the present embodiment, the phase current detection unit includes a V-phase current sensor 23V that detects the current flowing in the V-phase of the motor generator 10, and a W-phase current sensor 23W that detects the current flowing in the W-phase. The motor control system also includes a voltage sensor 24. The voltage sensor 24 is a voltage detection unit that detects a power supply voltage of the inverter 20, that is, a DC voltage output from the battery 21.

  Control device 30 is mainly configured of a microcomputer, and operates inverter 20 to control the electric angular velocity of motor generator 10 to the speed command value ω *. Specifically, the control device 30 operates the operation signals gup, gun, gvp based on the detection values of the various sensors to turn on / off the switches Sup, Sun, Svp, Svn, Swp, Swn constituting the inverter 20. , Gvn, gwp, gwn are generated, and the generated operation signals gup, gun, gvp, gvn, gwp, gwn are output to the drive circuits Dr (gate drive circuits) corresponding to the switches. Here, the operation signals gup, gvp, gwp on the upper arm side and the corresponding operation signals gun, gvn, gwn on the lower arm side are mutually complementary signals. That is, the upper arm switch and the corresponding lower arm switch are alternately turned on.

  Subsequently, speed control of motor generator 10 executed by control device 30 will be described using FIG. 2. The speed control according to the present embodiment is position sensorless control that does not use the detection value of an angle detector such as a resolver that directly detects an electrical angle.

  The command value setting unit 30a sets the speed command value ω *. The f / V conversion unit 30 b sets an amplitude command value V * of the voltage vector Vr of the inverter 20 having a size proportional to the speed command value ω *. The amplitude correction unit 30c calculates a corrected amplitude command value Vc by adding the amplitude correction value ΔV to the amplitude command value V * set by the f / V conversion unit 30b. The method of calculating the amplitude correction value ΔV will be described in detail later.

  The speed correction unit 30d calculates the corrected speed value ωc by subtracting the speed correction value Δω from the speed command value ω *. The method of calculating the speed correction value Δω will be described in detail later.

  The integrator 30e calculates the electrical angle θv of the motor generator 10 as a time integral value of the corrected speed value ωc calculated by the speed correction unit 30d. The electrical angle θv is an angle formed by the α axis and the γ axis of the two-phase fixed coordinate system (αβ coordinate system) of the motor generator 10, as shown in FIG. The γ axis is a coordinate axis extending from the origin O in a direction orthogonal to the δ axis, and the δ axis is a coordinate axis extending in the direction of the voltage vector Vr from the origin O.

  The operation signal generation unit 30f operates each operation signal based on the corrected amplitude command value Vc calculated by the amplitude correction unit 30c, the electrical angle θv calculated by the integrator 30e, and the power supply voltage VINV detected by the voltage sensor 24. gup, gun, gvp, gvn, gwp, gwn are generated and output to each drive circuit Dr. In the present embodiment, the operation signal generation unit 30 f corresponds to a control unit. In the present embodiment, each operation signal is generated as follows.

  Operation signal generation unit 30 f first calculates U, V, W phase command voltages VU, VV, VW in the three-phase fixed coordinate system of motor generator 10 based on corrected amplitude command value Vc and electrical angle θv. These command voltages VU, VV and Vw are sine wave signals whose phases are shifted by 120 degrees in electrical angle. Then, the operation signal generation unit 30 f controls each operation signal gup by PWM control based on a comparison between a signal obtained by standardizing the three-phase command voltages VU, VV, VW with the power supply voltage VINV and a carrier signal (for example, triangular wave signal). Generate gun, gvp, gvn, gwp, gwn.

  Current amplitude calculation unit 30g generates a current flowing through motor generator 10 in the αβ coordinate system based on V phase current IV detected by V phase current sensor 23V and W phase current IW detected by W phase current sensor 23W. The current amplitude Iamp which is the amplitude of the vector is calculated.

  The coordinate conversion unit 30 h is based on the V-phase current IV, the W-phase current IW, and the angle “λ + θv” between the α axis calculated by the addition unit 30 j and the n axis of the nt coordinate system. U-phase current IU, V-phase current IV, and W-phase current IW are converted into n-axis current Inr and t-axis current Itr in the nt coordinate system. Here, the t axis of the nt coordinate system is a coordinate axis deviated from the δ axis extending from the origin O by a prescribed angle λ, as shown in FIG. 3, and the n axis is a coordinate axis orthogonal to the t axis extending from the origin O. In FIG. 3, a dq coordinate system consisting of d and q axes extending in the magnetic pole direction of the motor generator 10 and an electrical angle θe formed by the d and α axes are shown.

  The λ setting unit 30i sets a defined angle λ. The prescribed angle λ is drawn as a locus of γ, δ axis current in the γδ coordinate system and extends from the origin O, when the current flowing through the motor generator 10 undergoes a slight change with a minute change of the speed command value ω It is defined as the angle between the vector ΔIr and the δ axis. In particular, in the present embodiment, an angle formed by an axis passing through the origin O and a point at which the magnitude of the current change vector ΔIr is maximum among the loci of the γ and δ axes, and the δ axis is defined as the defined angle λ. FIG. 4 shows a setting mode of the prescribed angle λ under the high rotation speed condition and the low rotation speed condition. In the high rotational speed condition shown in FIG. 4, the point at which the magnitude of the current change vector ΔIr is maximum in the γδ coordinate system is shown as P1. Under the low rotational speed condition, the magnitude of the current change vector ΔIr is maximum Is shown as P2.

  Thus, the defined angle λ depends on the rotational speed. Therefore, the λ setting unit 30i sets the defined angle λ based on the speed command value ω *. Specifically, as shown in FIG. 5, the prescribed angle λ is set larger as the speed command value ω * is lower. In the present embodiment, the prescribed angle λ is set within the electrical angle range of 0 to 90 degrees.

  In the present embodiment, the λ setting unit 30i sets the defined angle λ based on the current amplitude I amp and the t-axis current Itr. Here, the current amplitude I amp is used because the prescribed angle λ depends on the torque Tr of the motor generator 10, and there is a positive correlation between the magnitude of the torque Tr and the current amplitude I amp. The t-axis current Itr is used because, as shown in FIG. 5, the prescribed angle λ increases as the torque Tr of the motor generator 10 decreases, but as shown in FIG. 6, the torque Tr and the current amplitude Iamp It is because that does not correspond uniquely. However, as shown in FIG. 7, regardless of the magnitude of the electrical angular velocity ω, the torque Tr is positive when the t-axis current Itr is positive, and the torque Tr is negative when the t-axis current Itr is negative. From this relationship, the value of the torque Tr can be grasped based on the current amplitude I amp and the t-axis current Itr, so the current amplitude I amp and the t-axis current Itr are used for setting the prescribed angle λ.

  Incidentally, in the present embodiment, the defined angle λ is set using a map in which the defined angle λ is defined in association with the current amplitude I amp and the t-axis current Itr. However, the invention is not limited to this configuration. For example, the defining angle λ may be set using an equation that defines the defining angle λ in association with the current amplitude I amp and the t-axis current Itr.

  The prescribed angle λ depends on the resistance R of the motor generator 10, the back electromotive force coefficient Ke of the motor generator 10, and the inductance La of the motor generator 10, as shown in FIG. Therefore, in the adaptation of the above map or equation, the prescribed angle λ may be set larger as the resistance R is larger or the back electromotive force coefficient Ke and the inductance La are smaller.

  Returning to the description of FIG. 2 above, the adding unit 30 j calculates an addition value of the defined angle λ set by the λ setting unit 30 i and the electrical angle θv, and outputs the calculated value to the coordinate conversion unit 30 h.

  The high frequency extraction unit 30 k extracts a high frequency component of the t-axis current Itr as a t-axis current change amount ΔIt. In the present embodiment, the high frequency extraction unit 30k is configured by a high pass filter.

  The velocity gain multiplication unit 30m calculates a velocity correction value Δω by multiplying the t-axis current change amount ΔIt by the velocity gain Kr (> 0). Here, the velocity gain Kr is set larger as the velocity command value ω * is lower. This is because, as shown in FIG. 9, the t-axis current change amount ΔIt becomes smaller as the electrical angular velocity ω becomes lower. By setting the speed gain Kr to be larger as the speed command value ω * is lower, the correction strength of the speed command value ω * in the speed correction unit 30 d can be fixed regardless of the magnitude of the electrical angular velocity ω.

  Incidentally, in the present embodiment, the speed gain Kr is further set using the current amplitude I amp and the t-axis current Itr. This is because, as shown in FIG. 9, the t-axis current change amount ΔIt depends on the torque Tr, and this torque Tr can be grasped based on the current amplitude I amp and the t-axis current Itr. In this case, the velocity gain Kr may be set using a map or equation in which the velocity gain Kr is defined in association with the velocity command value ω *, the current amplitude I amp and the t axis current Itr.

  The degree of dependence of the t-axis current change amount ΔIt on the torque Tr is small. Therefore, it is also possible to adopt a configuration in which the speed gain Kr is set based only on the speed command value ω *.

  Referring back to FIG. 2, the n-axis target current setting unit 30n sets an n-axis target current In * that is a target value of the n-axis current Inr. In the present embodiment, the n-axis target current In * is set based on the speed command value ω *, the current amplitude I amp and the t-axis current Itr. The reason why the current amplitude I amp and the t axis current Itr are used to set the n axis target current In * depends on the torque Tr as shown in FIG. This is because it can be grasped based on the t-axis current Itr. The n-axis target current In * may be set, for example, on the condition that the d-axis current is zero. In the present embodiment, the n-axis target current In * is set using a map in which the n-axis target current In * is defined in association with the speed command value ω *, the current amplitude Iamp and the t-axis current Itr. . However, the present invention is not limited to this configuration. For example, the n-axis target current In * is determined using a formula that defines the n-axis target current In * in association with the speed command value ω *, the current amplitude Iamp and the t-axis current Itr. It may be set.

  Returning to the description of FIG. 2 above, the deviation calculation unit 30p calculates the n-axis current deviation ΔIn by subtracting the n-axis current Inr from the n-axis target current In *.

  The controller 30 q calculates an amplitude correction value ΔV as an operation amount for feedback control of the n-axis current deviation ΔIn to zero. In this embodiment, proportional integral control is used as feedback control. The amplitude correction value ΔV calculated by the controller 30 q is input to the amplitude correction unit 30 c.

  Subsequently, the effect of the present embodiment will be described using FIG. FIG. 11 also shows the effect of the prior art in order to compare with the effect of the present embodiment. In the prior art, the amount of change in the δ-axis current, which is an effective current component, is used to correct the speed command value ω *.

  FIG. 11 shows an example in which the speed command value ω * is changed by a predetermined rotation speed Δω * (for example, 10 rad / sec) under high and low rotation speed conditions. As shown in FIG. 11, according to the present embodiment, even if the speed command value ω * changes by the predetermined rotation speed Δω * under the low rotation speed condition, the electric angular velocity of the motor generator 10 is the speed command value “ω * + Δω By following “*”, position sensorless control can be stabilized. On the other hand, in the prior art, when the speed command value ω * changes by the predetermined rotation speed Δω * under low rotation speed conditions, the electrical angular velocity largely deviates from the speed command value “ω * + Δω *” and position sensorless control becomes unstable. It becomes. As a result, a step out occurs.

  The position sensorless control of the prior art becomes unstable under the low rotation speed condition because the amount of change in the δ-axis current is small even if the speed command value ω * changes under the low rotation speed condition. On the other hand, the position sensorless control of this embodiment can be stabilized because the t-axis current change amount ΔIt accompanying the change of the speed command value ω * is large even under the low rotation speed condition. That is, according to the present embodiment, by using the t-axis current change amount ΔIt, the sensitivity for capturing the current change accompanying the change of the speed command value ω * can be increased, and accordingly the correction amount of the speed command value ω * is properly determined. be able to.

  As shown in FIG. 11, under the high rotation speed condition, the difference between the effects of the present embodiment and the prior art is small. This is because, under high rotational speed conditions, the prescribed angle λ according to the present embodiment is set small, and the sensitivity for capturing the current change associated with the change in the speed command value ω * is substantially equal between the present embodiment and the prior art. It is.

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

  In the case where the current flowing through motor generator 10 undergoes a slight change with a slight change in speed command value ω *, the current change vector ΔIr drawn as a locus of the γ, δ axis current of the γδ coordinate system forms the δ axis. The specified angle λ, which is an angle, was set based on the speed command value ω *, the current amplitude I amp and the t-axis current Itr. According to this setting, it is possible to increase the t-axis current change amount ΔIt when the speed command value ω * changes. Therefore, the speed command value ω * can be properly corrected based on the t-axis current change amount ΔIt, and the rotational speed control of the motor generator 10 can be stabilized. In this embodiment, in particular, the rotational speed control can be further stabilized by setting the angle between the axis passing through the origin O and the point at which the magnitude of the current change vector ΔIr is maximum and the δ axis to the prescribed angle λ. .

  As an operation amount for feedback control of the n-axis current deviation ΔIn to 0, an amplitude correction value ΔV is calculated, and the amplitude command value V * is corrected using the amplitude correction value ΔV. Since the n-axis is a coordinate axis orthogonal to the t-axis, the n-axis current Inr is not susceptible to interference of the rotational speed control. Therefore, by using the n-axis current Inr for correcting the amplitude command value V *, the deviation between the actual voltage amplitude and the amplitude command value V * can be obtained even when the speed command value ω * changes at high speed. You can compensate quickly.

Second Embodiment
Hereinafter, the second embodiment will be described with reference to the drawings, focusing on the differences from the first embodiment. In the present embodiment, the amplitude command value V * is corrected using the t-axis current change amount ΔIt.

  FIG. 12 shows a block diagram of a rotational speed control process according to the present embodiment. In FIG. 12, the same processes as the processes shown in FIG. 2 are given the same reference numerals for the sake of convenience. Further, in the present embodiment, the amplitude correction value calculated by the controller 30 q is referred to as a first amplitude correction value ΔV1, and the amplitude correction unit 30 c is referred to as a first amplitude correction unit 30 c.

  As shown in FIG. 12, the voltage gain multiplication unit 30r calculates the second amplitude correction value ΔV2 by multiplying the t-axis current change amount ΔIt by the voltage gain Kv (> 0). Here, the voltage gain Kv is set larger as the speed command value ω * is lower, as in the case of the speed gain Kr described above. This is because the t-axis current change amount ΔIt decreases as the electrical angular velocity ω decreases, as in FIG. 9 described above.

  Incidentally, in the present embodiment, the voltage gain Kv is further set using the current amplitude I amp and the t-axis current Itr. The reason is the same as the velocity gain Kr. In this case, the voltage gain Kv may be set using a map or equation in which the voltage gain Kv is defined in association with the speed command value ω *, the current amplitude I amp and the t-axis current Itr.

  The degree of dependence of the t-axis current change amount ΔIt on the torque Tr is small. Therefore, it is also possible to adopt a configuration in which the voltage gain Kv is set based only on the speed command value ω *.

  The second amplitude correction unit 30s adds the second amplitude correction value ΔV2 to the correction amplitude command value Vc output from the first amplitude correction unit 30c and outputs the result. The output value is used in the operation signal generation unit 30f instead of the corrected amplitude command value Vc described in the first embodiment.

  The configuration for correcting the amplitude command value V * using the t-axis current change amount ΔIt is employed to improve the stability of the rotational speed control with respect to the load fluctuation of the motor generator 10. That is, as shown in FIG. 13, when load fluctuation occurs, even if only speed command value ω * is corrected, the error between speed command value ω * and the actual electrical angular velocity becomes large, and as a result There is a concern that a problem may occur. Therefore, by correcting the amplitude command value V * together with the speed command value ω * using the t-axis current change amount ΔIt, the error between the speed command value ω * and the actual electrical angular velocity is suppressed, and the rotational speed control Can be stabilized.

  Furthermore, by using the t-axis current change amount ΔIt, the sensitivity to the speed change can be increased regardless of the drive condition of the motor generator 10, so that the rotational speed control can be further stabilized.

(Other embodiments)
The above embodiments may be modified as follows.

  In the above embodiments, the angle between the axis passing through the origin O and the point at which the magnitude of the current change vector ΔIr is maximum in the γδ coordinate system and the δ axis is set as the defined angle λ (not limited to this) 14 (a)). It was assumed that the absolute value of the t-axis current change amount ΔIt at the time of change of the speed command value ω * matches the δ-axis and the t-axis even without selecting the point where the magnitude of the current change vector ΔIr becomes maximum. The prescribed angle λ may be set to be larger than a threshold value Ith (see FIG. 14B) which is an absolute value of the t-axis current change amount ΔIt at that time. However, as the absolute value of the t-axis current change amount ΔIt is larger, the rotational speed control is stabilized. Here, a range of the prescribed angle λ in which the absolute value of the t-axis current change amount ΔIt is larger than the threshold Ith is shown in FIG. 14D, and an example of a method of setting the prescribed angle λ in this range is shown in FIG. Shown in. In FIG. 14 (d), when the prescribed angle λ is set in the range of ΔIt <0, the positive and negative of the speed gain Kr is reversed as compared with the case of setting the prescribed angle λ in the range of ΔIt> 0. There is a need.

  In each of the above-described embodiments, the torque acquiring unit is provided to acquire the torque estimated value or the torque detected value as the load of the motor generator 10, and based on the torque acquired by the torque acquiring unit and the speed command value ω * The prescribed angle λ, the velocity gain Kr, the n-axis target current In *, and the voltage gain Kv may be set. In the above embodiments, when it is premised that the motor generator 10 is used with either positive torque or negative torque, the t-axis current Itr may be excluded from the parameters used for setting the prescribed angle λ or the like. .

  In each of the above embodiments, the prescribed angle λ may be set based on at least one of the resistance R, the inductance La, and the back electromotive force coefficient Ke of the motor generator 10.

  In each of the above embodiments, at least one of the γ-axis current and the δ-axis current in the γδ coordinate system may be used to set the defined angle λ. In this case, the γ and δ axis currents in the γδ coordinate system are calculated based on the detection values of the V phase current sensor 23V and the W phase current sensor 23W and the electrical angle θv, and the calculated γ and δ axis currents are low pass filters. What has been processed may be used for setting the prescribed angle λ.

  In each of the above embodiments, the torque Tr of the motor generator 10 may be excluded from the parameters used to set the prescribed angle λ, and the process of setting the prescribed angle λ may be simplified. Specifically, for example, as indicated by a solid line in FIG. 15A, the prescribed angle λ corresponding to one representative torque condition may be set based on the speed command value ω *. Even in this case, as shown in FIG. 15B, for example, under predetermined driving conditions of the motor generator 10, stability of rotational speed control can be maintained even after simplification.

  Further, as a simplification method, for example, as indicated by a solid line in FIG. 16A, a prescribed angle λ corresponding to a representative torque condition may be selected for each speed command value ω *. . Even in this case, as shown in FIG. 16 (b), the stability of the rotational speed control can be maintained even after the simplification.

  Furthermore, as a simplification method, for example, as shown in FIG. 17A, the prescribed angle λ may be set to a fixed value. Even in this case, as shown by the solid line in FIG. 17 (b), even after the simplification, the stability of the rotational speed control is improved more than that of the prior art under the drive condition where the step out occurs in the prior art. I can do it.

  In the first embodiment, as the speed command value ω * is higher, the defined angle λ is continuously set lower, but the invention is not limited thereto. For example, the prescribed angle λ may be set stepwise lower as the speed command value ω * is higher. In this case, for example, in order to simplify the control, the prescribed angle λ may be set in two stages depending on whether the speed command value ω * exceeds a threshold. The same applies to the velocity gain Kr and the voltage gain Kv.

  In the above embodiments, the speed correction value Δω is calculated by multiplying the t-axis current change amount ΔIt by the speed gain Kr, but the present invention is not limited to this. For example, the speed correction value Δω may be calculated by adding the correction amount Qr to the t-axis current change amount ΔIt. Here, the correction amount Qr may be set larger as the speed command value ω * is lower.

  In the second embodiment, the second amplitude correction value ΔV2 is calculated by multiplying the t-axis current change amount ΔIt by the voltage gain Kv, but the present invention is not limited to this. For example, the second amplitude correction value ΔV2 may be calculated by adding the correction amount Qv to the t-axis current change amount ΔIt. Here, the correction amount Qv may be set larger as the speed command value ω * is lower.

  The motor generator is not limited to the non salient pole machine, and may be a salient pole machine. Although the prescribed angle λ in the non-salicy pole machine is shown in FIG. 5, the prescribed angle λ depends on the load and the rotation angle as in the non-salient pole machine, and the lower the speed command value ω * is, , Set the prescribed angle λ large. Further, the motor generator is not limited to the motor for the motor-driven fan, and may be, for example, a motor generator as a vehicle-mounted main unit mounted on an electric vehicle or a hybrid vehicle.

  In the first and second embodiments, each phase current flowing to the motor generator is detected by a plurality of current sensors, but the present invention is not limited to this. For example, the current flowing through the inverter bus may be detected using a single current sensor or a shunt resistor, and each phase current may be estimated based on the bus current.

  Although the inverter DC voltage is detected by the voltage sensor in the first and second embodiments, the invention is not limited to this. For example, the DC voltage detection value may be set to a fixed value with the amount of change of the DC voltage being small, and the voltage sensor may be omitted.

  In the second embodiment, the amplitude command value V * is corrected using the t-axis current change amount ΔIt, but the present invention is not limited to this. For example, the amplitude command value V * may be corrected using the t-axis current Itr. When t-axis current Itr is used instead of t-axis current change amount ΔIt, the second amplitude correction value ΔV2 generated in the transient state remains in the steady state, but the remaining second amplitude correction value ΔV2 and the n-axis current Inr And the first amplitude correction value ΔV1 for performing feedback control. Therefore, even if the t-axis current Itr is used instead of the t-axis current change amount ΔIt, an equivalent control result can be obtained.

  In the second embodiment, the f / V converter 30b may be omitted. Since rotational speed control is further stabilized by correcting amplitude command value V * using t-axis current change amount ΔIt, stable rotational speed control is possible even if f / V conversion unit 30b is omitted. is there.

  10: Motor generator, 20: Inverter, 30: Control device.

Claims (10)

In a control device for a rotating electrical machine that controls the rotational speed of the rotating electrical machine (10) to a speed command value,
A coordinate axis extending in the direction of a voltage vector applied to the rotating electrical machine is defined as a δ axis, a coordinate axis extending in a direction orthogonal to the δ axis is defined as a γ axis, and a coordinate axis displaced from the δ axis by a prescribed angle (λ) is t Defined as an axis,
A voltage amplitude setting unit configured to set a voltage amplitude that is a magnitude of the voltage vector based on the speed command value;
When the current flowing through the rotating electrical machine changes with the change of the speed command value, the current change under the assumption that the absolute value of the t-axis component of the current change amount matches the δ axis and the t axis An angle setting unit configured to set the specified angle so as to be larger than an absolute value of a t-axis component of the amount;
A current change amount calculation unit that calculates a t-axis component of the current change amount based on the defined angle set by the angle setting unit and the detected value of the current flowing through the rotating electrical machine;
A speed correction unit that calculates a corrected speed value obtained by correcting the speed command value based on the t-axis component of the current change amount;
And a controller configured to control the rotational speed of the rotating electric machine to the speed command value based on the integral value of the correction speed value and the voltage amplitude.   The angle setting unit sets the defined angle to an angle formed by a current change vector representing a change in current when the current flowing through the rotating electrical machine changes in accordance with a change in the speed command value. The control apparatus of the rotary electric machine of Claim 1.   The control device for a rotating electrical machine according to claim 1, wherein the angle setting unit sets the prescribed angle larger when the rotational speed of the rotating electrical machine is low than when the rotational speed is high.   The control device for a rotating electrical machine according to any one of claims 1 to 3, wherein the angle setting unit sets the prescribed angle based on a load of the rotating electrical machine.   The said angle setting part sets the said prescription | regulation angle based on at least one among the resistance of the said rotary electric machine, the inductance of the said rotary electric machine, and the counter electromotive force coefficient of the said rotary electric machine. The control apparatus of the rotary electric machine as described in.   The control device for a rotating electrical machine according to any one of claims 1 to 5, wherein the prescribed angle is set within an electrical angle range of 0 degrees to 90 degrees. The speed correction unit calculates the corrected speed value based on a product of a t-axis component of the current change amount and a speed gain, and the speed command value.
The control device for a rotating electrical machine according to any one of claims 1 to 6, further comprising a speed gain setting unit configured to set the speed gain larger when the rotational speed of the rotating electrical machine is low than when the rotational speed is high. A coordinate axis extending in a direction orthogonal to the t axis is defined as an n axis,
An n-axis current calculation unit that calculates an n-axis component of the current flowing through the rotating electrical machine based on the detected value of the current flowing through the rotating electrical machine;
The amplitude correction part which corrects the said voltage amplitude used in the said control part so that the n-axis component calculated by the said n-axis current calculation part becomes the target value. The control apparatus of the rotary electric machine as described in a term.   The control device according to claim 8, wherein the amplitude correction unit further corrects the voltage amplitude used in the control unit based on a t-axis component of the current change amount. The amplitude correction unit corrects the voltage amplitude used in the control unit based on a product of a t-axis component of the current change amount and a voltage gain.
The control device for a rotating electrical machine according to claim 9, further comprising: a voltage gain setting unit that sets the voltage gain larger when the rotational speed of the rotating electrical machine is low than when the rotational speed is high.