JP6536473B2 - Control device of rotating electric machine - Google Patents

Description

  The present invention relates to a control device of a rotating electrical machine.

  BACKGROUND Conventionally, there has been known a control device that estimates a rotation angle of a rotating electrical machine by applying a high frequency voltage to a winding of the rotating electrical machine. For example, a control device described in Patent Document 1 below detects and detects an inductance in each direction by applying a high frequency voltage to each of the current vector direction of a rotating electrical machine having saliency and a direction orthogonal to the current vector. The rotation angle is estimated based on the inductance.

JP 2004-135425 A

  However, there is a concern that the noise of the rotating electrical machine may increase as a high frequency voltage for angle estimation is applied to the windings.

  The main object of the present invention is to provide a control device of a rotating electrical machine capable of reducing noise generated as a high frequency voltage for angle estimation is applied.

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

  In the present invention, a multi-winding rotary electric machine (10) having a plurality of winding groups (10A, 10B) wound around a stator (13), and a power conversion circuit (voltage applying circuit to the plurality of winding groups 20A, 20B), and operating the power conversion circuit to apply a high frequency voltage that fluctuates at an angular velocity higher than the electrical angular velocity of the rotating electrical machine to each of the plurality of winding groups An operation unit (40) and an angle estimation unit (50 for estimating the rotation angle of the rotating electrical machine based on the high frequency current flowing through the plurality of winding groups according to the high frequency voltage applied to the plurality of winding groups , And the high frequency operation unit includes a direction setting unit that variably sets the direction of the high frequency voltage vector applied to the plurality of winding groups based on the driving state of the rotating electrical machine, Direction of The condition of setting the direction set by the direction setting unit, and the condition of setting the size of the composite vector of the high frequency voltage vectors smaller than the size of each high frequency voltage vector applied to the plurality of winding groups are described. A high frequency voltage is applied to the plurality of winding groups so as to satisfy the condition.

  The system to which the invention is applied is provided with a multi-winding rotary electric machine having a plurality of winding groups. In the above invention, the rotation angle of the rotating electrical machine is estimated based on the high frequency current flowing through the plurality of winding groups according to the high frequency voltage applied to the plurality of winding groups. Here, in the above-described invention, the plurality of winding groups are set so as to satisfy the condition that the magnitude of the composite vector of each high frequency voltage vector is smaller than the magnitude of each high frequency voltage vector applied to the plurality of winding groups. A high frequency voltage is applied. For this reason, it is possible to reduce the noise of the rotating electrical machine generated with the application of the high frequency voltage for angle estimation.

  Further, in the above invention, the high frequency voltage is applied to the plurality of winding groups so as to satisfy the condition that the direction of the vector of each high frequency voltage is set by the direction setting unit. The influence of the applied high frequency voltage on the control of the rotating electrical machine varies depending on the driving state. Therefore, according to the above invention, it is possible to suppress the influence of the high frequency voltage for angle estimation on the control of the rotary electric machine.

BRIEF DESCRIPTION OF THE DRAWINGS The whole block diagram of the motor control system which concerns on 1st Embodiment. The block diagram which shows a motor drive control process. The figure which shows the relationship of alpha beta coordinate system, dq coordinate system, and gamma delta coordinate system. The block diagram which shows the process of a high frequency voltage setting part. The figure which shows the superimposition aspect of the high frequency voltage in a (gamma) delta coordinate system. The figure which shows a high frequency voltage waveform. The figure which shows the superimposition aspect of the high frequency voltage which concerns on the modification of 1st Embodiment. The block diagram which shows the processing of the angle estimating part concerning a 1st embodiment. The figure which shows the high frequency voltage and high frequency electric current in (alpha) (beta) coordinate system and XY coordinate system. The figure which shows the relationship between the assumed variation of high frequency current, and the magnitude | size of a current vector. FIG. 7 is a diagram showing the amount of change in the X-axis direction component of the high frequency current. The figure which shows the superimposition aspect of the high frequency voltage in the (gamma) delta coordinate system which concerns on 2nd Embodiment. The block diagram which shows the process of a high frequency voltage setting part. The figure which shows the relationship of the variation | change_quantity of the high frequency current which concerns on 3rd Embodiment, the presumed error of a rotation angle, and the direction of a high frequency voltage vector. The figure which shows the superimposition aspect of the high frequency voltage in a (gamma) delta coordinate system. The block diagram which shows the process of a high frequency voltage setting part. The flowchart which shows the process sequence of the high frequency voltage setting part which concerns on 4th Embodiment. The block diagram which shows the process of the high frequency voltage setting part which concerns on 5th Embodiment. The flowchart which shows the processing procedure of the selection part. The figure which shows the superimposition aspect of the high frequency voltage which concerns on other embodiment. The figure which shows the superimposition aspect of the high frequency voltage which concerns on other embodiment. The figure which shows the superimposition aspect of the high frequency voltage 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 vehicle equipped with an engine as a vehicle-mounted main device will be described with reference to the drawings.

  As shown in FIG. 1, the motor 10 is a rotating electrical machine having a multiphase multiple winding, and in the present embodiment is a synchronous machine having a three-phase double winding. In the present embodiment, in particular, a non-salient pole machine is used as the motor 10. Incidentally, as the motor 10, for example, a permanent magnet field type or a winding field type can be adopted.

  In the present embodiment, the motor 10 is an ISG (Integrated Starter Generator) in which functions of a starter and an alternator (generator) are integrated. The rotor 12 constituting the motor 10 is capable of transmitting power to the crankshaft 14 a of the engine 14. In the present embodiment, the rotor 12 is mechanically connected to the crankshaft 14 a via, for example, a belt.

  In this embodiment, in addition to the initial start of the engine 14, the engine 14 is automatically stopped when a predetermined automatic stop condition is satisfied, and then the engine 14 is automatically stopped when a predetermined restart condition is satisfied. The motor 10 also functions as a starter when performing the idling stop function to be restarted.

  A first winding group 10A and a second winding group 10B, which are two armature winding groups, are wound around the stator 13 constituting the motor 10. The rotor 12 is made common to the first and second winding groups 10A and 10B. Each of the first and second winding groups 10A and 10B comprises three-phase windings having different neutral points. The first winding group 10A has U, V, W phase windings UA, VA, WA shifted from each other by 120 ° in electrical angle, and the second winding groups 10B are shifted from each other by 120 ° in electrical angle It has U, V, W phase windings UB, VB, WB. In the present embodiment, the angle between the first winding group 10A and the second winding group 10B is set to 0 ° in electrical angle. That is, the angle between the U-phase winding UA of the first winding group 10A and the U-phase winding UB of the second winding group 10B is 0 ° in electrical angle. In the present embodiment, the first winding group 10A and the second winding group 10B have the same configuration. Specifically, the number of turns of each of U, V, W phase windings UA, VA, WA constituting first winding group 10A and U, V, W phase windings UB constituting second winding group 10B , VB, and WB are set equal to each other.

  Returning to FIG. 1, the motor 10 is electrically connected to first and second inverters 20A and 20B corresponding to the first and second winding groups 10A and 10B. The first and second inverters 20A and 20B correspond to a power conversion circuit that converts an input DC voltage into an AC voltage and outputs it. A battery 21 which is a common DC power supply is connected in parallel to each of the first inverter 20A and the second inverter 20B. The output voltage of the battery 21 is 12 V, for example. A capacitor 22 is connected in parallel to the battery 21.

  The first inverter 20A includes a series connected body of first U, V, W phase upper arm switches SUp1, SVp1, SWp1 and first U, V, W phase lower arm switches SUn1, SVn1, SWn1. U-, V- and W-phase windings UA, VA and WA constituting the first winding group 10A are connected to connection points of the series connection in the U-, V- and W-phases. In the present embodiment, IGBTs are used as the switches SUp1 to SWn1. The diodes DUp1, DUn1, DVp1, DVn1, DWp1, and DWn1 are connected in reverse parallel to the switches SUp1, SUn1, SVp1, SVn1, SWp1, and SWn1, respectively. The switches SUp1 to SWn1 are not limited to IGBTs, and may be, for example, N-channel MOSFETs.

  Similar to the first inverter 20A, the second inverter 20B is a series connection of second U, V, W upper arm switches SUp2, SVp2, SWp2 and second U, V, W lower arm switches SUn2, SVn2, SWn2 Have a body. U-, V- and W-phase windings UB, VB and WB constituting the second winding group 10B are connected to the connection point of the series connection in the U-, V- and W-phases. In the present embodiment, IGBTs are used as the switches SUp2 to SWn2. The diodes DUp2, DUn2, DVp2, DVn2, DWp2, and DWn2 are connected in anti-parallel to the switches SUp2, SUn2, SVp2, SVn2, SWp2, and SWn2, respectively. The switches SUp2 to SWn2 are not limited to IGBTs, and may be, for example, N-channel MOSFETs.

  The positive terminal of the battery 21 is connected to the collectors of the upper arm switches of the first and second inverters 20A and 20B. The negative terminal of the battery 21 is connected to the emitters of the lower arm switches of the first and second inverters 20A and 20B. That is, in the present embodiment, the battery 21 is shared by the inverters 20A and 20B.

  The control system according to the present embodiment includes a voltage detection unit 30, a first phase current detection unit 31A, and a second phase current detection unit 31B. The voltage detection unit 30 detects a voltage applied from the battery 21 to the first and second inverters 20A and 20B as a power supply voltage VDC. The first phase current detection unit 31A detects currents of at least two phases among the three phase currents flowing in the first winding group 10A. The second phase current detection unit 31B detects currents of at least two phases among the three phase currents flowing in the second winding group 10B. In the present embodiment, the first and second phase current detectors 31A and 31B detect the V-phase current and the W-phase current. As the first and second phase current detection units 31A and 31B, for example, one provided with a current transformer or a resistor can be used.

  The detection values of the various detection units are taken into a control device 40 mainly composed of a microcomputer. The control device 40 includes a CPU and a memory, and the CPU executes a program stored in the memory. The control device 40 generates an operation signal to turn on and off each switch of the first inverter 20A and the second inverter 20B based on detection values of these various sensors in order to control the control amount of the motor 10 to the command value. . In the present embodiment, the control amount is torque, and the command value of the control amount is command torque Trq *. In FIG. 1, signals for operating the switches SUp1, SUn1, SVp1, SVn1, SWp1, SWn1 of the first inverter 20A are shown as first operation signals gUp1, gUn1, gVp1, gVn1, gWp1, gWn1, and the second inverter 20B. Signals for operating the respective switches SUp2, SUn2, SVp2, SVn2, SWp2 and SWn2 are shown as second operation signals gUp2, gUn2, gVp2, gVn2, gWp2 and gWn2.

  Subsequently, torque control of the motor 10 will be described with reference to FIG. This control is position sensorless control that is control that does not use an angle detector such as a resolver that directly detects a rotation angle that is a magnetic pole position of the motor 10. The controller 40 performs torque control based on the estimated rotation angle.

  The control device 40 includes a first processing unit 41 corresponding to the first inverter 20A. In the first processing unit 41, the first current conversion unit 41a estimates the estimated angle θγ, which is the electrical angle of the motor 10 estimated by the angle estimation unit 50 described later, and the V phase detected by the first phase current detection unit 31A. Based on the current IV1 and the W phase current IW1, the U, V and W phase currents of the first winding group 10A in the UVW coordinate system are converted into the first γ axis current Iγ1r and the first δ axis current Iδ1r in the γδ coordinate system . Here, the UVW coordinate system is a three-phase fixed coordinate system of the motor 10, and the γδ coordinate system is an estimated coordinate system of a dq coordinate system which is a two-phase rotational coordinate system of the motor 10. FIG. 3 shows a γδ coordinate system, a dq axis coordinate system, and an αβ coordinate system which is a two-phase fixed coordinate system. In FIG. 3, the angle between the α axis of the αβ coordinate system and the γ axis of the γδ coordinate system is shown as the estimated angle θγ, and the angle between the α axis and the d axis of the dq coordinate system is shown as the actual electrical angle θe. The angle formed between the d axis and the γ axis is shown as an estimation error Δθ. The dq coordinate system is a coordinate system that rotates at the electrical angular velocity of the motor 10 with respect to the αβ coordinate system.

  Referring back to FIG. 2, the first command current setting unit 41b sets the first γ-axis command current Iγ1 * and the first δ-axis command current Iδ1 * based on the command torque Trq *. The first γ-axis deviation calculation unit 41c calculates a first γ-axis deviation ΔIγ1 as a value obtained by subtracting the first γ-axis current Iγ1r from the first γ-axis command current Iγ1 *. The first δ-axis deviation calculating unit 41d calculates a first δ-axis deviation ΔIδ1 as a value obtained by subtracting the first δ-axis current Iδ1r from the first δ-axis command current Iδ1 *.

  The first command voltage setting unit 41e calculates a first γ-axis voltage Vγ1r as an operation amount for performing feedback control of the first γ-axis current Iγ1r to the first γ-axis command current Iγ1 * based on the first γ-axis deviation ΔIγ1. Further, the first command voltage setting unit 41e calculates the first δ-axis voltage Vδ1r as an operation amount for feedback controlling the first δ-axis current Iδ1r to the first δ-axis command current Iδ1 * based on the first δ-axis deviation ΔIδ1. Do. For example, proportional integral control can be used as the feedback control.

  The first γ-axis superimposing unit 41f outputs an addition value of the first γ-axis voltage Vγ1r and a first γ-axis high-frequency voltage Vγ1h set by the high-frequency voltage setting unit 60 described later as a first γ-axis command voltage Vγ1 *. The first δ-axis superimposing unit 41g outputs the sum of the first δ-axis voltage Vδ1r and the first δ-axis high-frequency voltage Vδ1h set by the high-frequency voltage setting unit 60 as a first δ-axis command voltage Vδ1 *. The first γ-axis high frequency voltage Vγ1 h and the first δ-axis high frequency voltage Vδ1 h are signals that fluctuate at an angular velocity sufficiently higher than the electrical angular velocity of the fundamental wave component of the first γ-axis command voltage Vγ1 * and the first δ-axis command voltage Vδ1 *.

  The first voltage conversion unit 41h is configured to calculate a first γ in the γδ coordinate system based on the first γ axis command voltage Vγ1 *, the first δ axis command voltage Vδ1 *, the power supply voltage VDC detected by the voltage detection unit 30, and the estimated angle θγ. , Δ axis command voltages Vγ1 *, Vδ1 * are converted into first U, V, W phase command voltages VU1, VV1, VW1 in the UVW coordinate system. In the present embodiment, the first U, V, W-phase command voltages VU1, VV1, VW1 have waveforms whose phases are shifted by 120 ° in electrical angle.

  The first generation unit 41i generates first operation signals gUp1 to gWn1 based on the first U, V, W-phase command voltages VU1, VV1, VW1 output from the first voltage conversion unit 41h. The first generation unit 41i outputs the generated first operation signals gUp1 to gWn1 to the switches SUp1 to SWn1. Here, the first operation signal may be generated, for example, by PWM control based on a magnitude comparison between a carrier signal such as a triangular wave signal and each phase command voltage VU1, VV1, VW1. The first operation signal on the upper arm side and the corresponding first operation signal on the lower arm side are signals complementary to each other. For this reason, the upper arm switch and the corresponding lower arm switch are alternately turned on.

  The control device 40 includes a second processing unit 42 corresponding to the second inverter 20B. In addition, since the 2nd process part 42 is the structure similar to the 1st process part 41, the detailed description is abbreviate | omitted suitably.

  In the second processing unit 42, the second current conversion unit 42a generates a second winding group based on the estimated angle θγ and the V-phase current IV2 and the W-phase current IW2 detected by the second phase current detection unit 31B. The U, V, and W phase currents corresponding to 10B are converted into a second γ axis current Iγ2r and a second δ axis current Iδ2r in the γδ coordinate system.

  The second command current setting unit 42b sets a second γ-axis command current Iγ2 * and a second δ-axis command current Iδ2 * based on the command torque Trq *. Each command current Iγ2 *, Iδ2 *, Iγ1 *, Iδ1 * is set to a value necessary for setting the torque of the motor 10 to the command torque Trq *. The second γ-axis command current Iγ2 * may be set to the same value as the first γ-axis command current Iγ1 *, or may be set to a different value. Further, the second δ-axis command current Iδ2 * may be set to the same value as the first δ-axis command current Iδ1 *, or may be set to a different value.

  The second γ-axis deviation calculating unit 42c calculates a second γ-axis deviation ΔIγ2 as a value obtained by subtracting the second γ-axis current Iγ2r from the second γ-axis command current Iγ2 *. The second δ-axis deviation calculating unit 42d calculates a second δ-axis deviation ΔIδ2 as a value obtained by subtracting the second δ-axis current Iδ2r from the second δ-axis command current Iδ2 *.

  The second command voltage setting unit 42e calculates a second γ-axis voltage Vγ2r based on the second γ-axis deviation ΔIγ2. Further, the second command voltage setting unit 42e calculates a second δ-axis voltage Vδ2r based on the second δ-axis deviation ΔIδ2. Note that, for example, proportional integral control can be used as feedback control used in the second command voltage setting unit 42e.

  The second γ-axis superimposing unit 42 f outputs the sum of the second γ-axis voltage Vγ2 r and the second γ-axis high-frequency voltage Vγ2 h set by the high-frequency voltage setting unit 60 as a second γ-axis command voltage Vγ2 *. The second δ-axis superimposing unit 42g outputs the sum of the second δ-axis voltage Vδ2r and the second δ-axis high-frequency voltage Vδ2h set by the high-frequency voltage setting unit 60 as a second δ-axis command voltage Vδ2 *. The second γ-axis high-frequency voltage Vγ2h and the second δ-axis high-frequency voltage Vδ2h are signals that fluctuate at an angular velocity sufficiently higher than the electrical angular velocity of the fundamental wave component of the second γ-axis command voltage Vγ2 * and the second δ-axis command voltage Vδ2 *.

  The second voltage conversion unit 42h generates a second γ, δ axis command voltage Vγ2 *, in the γδ coordinate system based on the second γ axis command voltage Vγ2 *, the second δ axis command voltage Vδ2 *, the power supply voltage VDC, and the estimated angle θγ. Vδ2 * is converted into second U, V, W-phase command voltages VU2, VV2, VW2 in the UVW coordinate system.

  The second generation unit 42i generates second operation signals gUp2 to gWn2 based on the second U, V, W-phase command voltages VU2, VV2, VW2 output from the second voltage conversion unit 42h. The second generation unit 42i outputs the generated second operation signals gUp2 to gWn2 to the switches SUp2 to SWn2.

  Subsequently, the high frequency voltage setting unit 60 will be described.

  The high frequency voltage setting unit 60 is provided to generate the high frequency voltages Vγ1 h, Vδ1 h, Vγ2 h, and Vδ2 h necessary to calculate the estimated angle θγ during torque control of the motor 10. The motor to which angle estimation using high frequency voltage superposition is applied is usually a salient pole machine. However, the motor 10 of the present embodiment is a non salient pole machine. Even in this case, for example, a large current flows through the motor 10 to start the engine 14, and magnetic saturation occurs in the motor 10. When magnetic saturation occurs, the d-axis inductance and the q-axis inductance of the motor 10 are different. For this reason, even when the motor 10 is a non-salient pole machine, in the control device 40 including the high frequency operation unit and the direction setting unit, it is possible to estimate the angle using superposition of the high frequency voltage.

  In the high-frequency voltage setting unit 60, the signal generation unit 60a generates the estimated angle θγ, the first γ-axis command current Iγ1 *, the first δ-axis command current Iδ1 *, the second γ-axis command current Iγ2 *, and the second δ-axis command current Iδ2 *. Based on this, the first γ-axis high frequency voltage Vγ1h and the first δ-axis high frequency voltage Vδ1h are generated. Hereinafter, a method of generating the first γ-axis high frequency voltage Vγ1h and the first δ-axis high frequency voltage Vδ1h according to the present embodiment will be described with reference to FIG.

  FIG. 5 shows an equal torque curve Lc in the γδ coordinate system. The equal torque curve Lc is a curve defined by γ and δ axis currents for realizing the command torque Trq *. Further, FIG. 5 shows a tangent Lta of the equal torque curve Lc passing through the intersection point P1 of the equal torque curve Lc and the drive current vector VIr flowing to the motor 10. Drive current vector VIr is a drive current vector defined by first γ axis command current Iγ1 * and first δ axis command current Iδ1 *, and a drive specified by second γ axis command current Iγ2 * and second δ axis command current Iδ2 * It is a composite vector with the current vector. In the present embodiment, the direction parallel to the tangent Lta is defined as the torque ripple reduction direction. Then, the first high-frequency voltage vector VVh1 applied to the first winding group 10A is set as a voltage vector extending from the origin O in the torque ripple reduction direction. The first γ-axis high-frequency voltage Vγ1h is generated based on the γ-axis direction component of the first high-frequency voltage vector VVh1, and the first δ-axis high-frequency voltage Vδ1h is generated based on the δ-axis direction component of the first high-frequency voltage vector VVh1. . In the present embodiment, the high frequency voltages Vγ1 h and Vδ1 h are pulse signals of rectangular waves having the same period. As the magnitude of the first high frequency voltage vector VVh1 is larger, the amplitudes of the high frequency voltages Vγ1 h and Vδ1 h are set larger. In FIG. 6A, the amplitude of the first γ-axis high frequency voltage Vγ1h is indicated by Va.

  Returning to the description of FIG. 4 above, the high frequency voltage setting unit 60 includes a ripple reduction storage unit 60 b. The ripple reduction storage unit 60b stores, as map information, the torque ripple reduction direction related to the magnitude Iamp of the drive current vector VIr and the phase θI. The ripple reduction storage unit 60b is configured of a memory. In the present embodiment, as shown in FIG. 5, the phase θI of the drive current vector VIr is defined in the counterclockwise direction with reference to the γ axis. In addition, the said map information is adapted beforehand by experiment, calculation, etc., and is created.

  The signal generation unit 60a generates the magnitude Iamp of the drive current vector VIr based on the first γ axis command current Iγ1 *, the first δ axis command current Iδ1 *, the second γ axis command current Iγ2 *, and the second δ axis command current Iδ2 *. And calculate the phase θI. The signal generation unit 60a selects a direction corresponding to the magnitude Iamp and the phase θI of the calculated drive current vector VIr from among the plurality of torque ripple reduction directions stored in the ripple reduction storage unit 60b as the command direction θX. As shown in FIG. 5, the signal generation unit 60a is required to set the direction of the first high frequency voltage vector VVh1 to the command direction θX, and the amplitude of the first γ axis high frequency voltage Vγ1h and the amplitude of the first δ axis high frequency voltage Vδ1h. Set the ratio of The signal generation unit 60a outputs the high frequency voltages Vγ1 h and Vδ1 h according to the input estimated angle θγ. The rising timings of the high frequency voltages Vγ1 h and Vδ1 h may or may not be synchronized.

  The first γ-axis high frequency voltage Vγ1 h output from the signal generation unit 60 a is input to the first code inverting unit 60 c. As shown in FIG. 6, the first code inverting unit 60c generates the second γ-axis high frequency voltage Vγ2h by inverting the sign of the input first γ-axis high frequency voltage Vγ1h. The first δ-axis high frequency voltage Vδ1h output from the signal generation unit 60a is input to the second code inversion unit 60d. The second code inverting unit 60d generates a second δ-axis high frequency voltage Vδ2h by reversing the sign of the input first δ-axis high frequency voltage Vδ1h. As shown in FIG. 5, the second winding is a voltage vector extending from the origin O at which the angle formed with the first high frequency voltage vector VVh1 is 180 ° by the second γ axis high frequency voltage Vγ2h and the second δ axis high frequency voltage Vδ2h. The second high frequency voltage vector VVh2 applied to the group 10B is realized. In the present embodiment, the magnitude of the second high frequency voltage vector VVh2 is equal to the magnitude of the first high frequency voltage vector VVh1. The first and second high frequency voltage vectors VVh1 and VVh2 are superimposed on the drive voltage vector VVr. The drive voltage vector VVr is a composite vector of a drive voltage vector defined by the first γ axis voltage Vγ1r and the first δ axis voltage Vδ1r, and a drive voltage vector defined by the second γ axis voltage Vγ2r and the second δ axis voltage Vδ2r. It is.

  Even in the case where the first and second high frequency voltage vectors VVh1 and VVh2 described above for angle estimation are applied to the first and second winding groups 10A and 10B, noise generated with the application of the high frequency voltage can be reduced. . That is, as the high frequency voltage is applied, the drive current vector VIr in the γδ coordinate system shown in FIG. 5 temporarily changes. In this case, if the difference between the tip of the drive current vector VIr and the equal torque curve Lc is large, the torque fluctuation of the motor 10 becomes large, and consequently the noise of the motor 10 increases. Here, if the torque ripple reduction direction which is a direction parallel to the direction of the tangent Lta of the equal torque curve Lc is set to the command direction θX, the tip of the drive current vector VIr is equal torque curve Lc even if a high frequency voltage is applied. Move along the tangent Lta of. Therefore, it is possible to suppress the deviation between the tip of the drive current vector VIr and the equal torque curve Lc. As a result, it is possible to reduce the torque fluctuation of the motor 10 generated as a result of the application of the high frequency voltage, and hence to reduce the noise of the motor 10 caused by the torque fluctuation.

  In FIG. 5, the first high frequency current vector VIh1 flowing in the first winding group 10A with the application of the first high frequency voltage vector VVh1 and the second winding group 10B with the application of the second high frequency voltage vector VVh2 The second high frequency current vector VIh2 is shown. FIG. 5 shows an example in which the phase shift between the high frequency voltage vectors VVh1 and VVh2 and the high frequency current vectors VIh1 and VIh2 is substantially zero.

  Incidentally, the control device 40 may be provided with a basic operation unit for operating each of the inverters 20A, 20B in order to control the torque of the motor 10 to the command torque Trq * by the maximum current / maximum torque control. . In this case, each of the command currents Iγ1 *, Iδ1 *, Iγ2 *, Iδ2 * is set by the minimum current maximum torque control in the first command current setting unit 41b and the second command current setting unit 42b shown in FIG. Ru. In this configuration, as shown in FIG. 7, the torque ripple reduction direction can be set in the direction orthogonal to the current drive current vector VIr. In this case, the torque ripple reduction direction can be easily determined.

  Subsequently, the angle estimation unit 50 will be described with reference to FIG.

  In the angle estimation unit 50, the high frequency extraction unit 50a corresponds to the first γ-axis high frequency voltage Vγ1h and the first δ-axis high frequency voltage Vδ1h from the V phase current IV1 and the W phase current IW1 detected by the first phase current detection unit 31A. The first V-phase high-frequency current IVh1 and the first W-phase high-frequency current IWh1, which are high-frequency current components, are extracted. The high-frequency extraction unit 50a is also a high-frequency current component corresponding to the second γ-axis high-frequency voltage Vγ2h and the second δ-axis high-frequency voltage Vδ2h from the V-phase current IV2 and the W-phase current IW2 detected by the second phase current detection unit 31B. The second V-phase high frequency current IVh2 and the second W-phase high frequency current IWh2 are extracted. The high frequency extraction unit 50a may be configured by, for example, a band pass filter or a high pass filter.

  The two-phase conversion unit 50b converts the first V-phase high-frequency current IVh1 and the first W-phase high-frequency current IWh1 extracted by the high-frequency extraction unit 50a into a first α-axis high-frequency current Ihα1 and a first β-axis high-frequency current Ihβ1 in the αβ coordinate system. . The two-phase conversion unit 50b converts the second V-phase high-frequency current IVh2 and the second W-phase high-frequency current IWh2 extracted by the high-frequency extraction unit 50a into a second α-axis high-frequency current Ihα2 and a second β-axis high-frequency current Ihβ2 in the αβ coordinate system. Convert.

  The inner product calculation unit 50c receives the first α-axis high frequency current Ihα1 and the first β-axis high frequency current Ihβ1 as input, and calculates a first inner product value K1 based on the following equation (eq1).

上式（ｅｑ１）において、Ｖｈα１は、図９に示すように、第１高周波電圧ベクトルＶＶｈ１のα軸方向成分である第１α軸高周波電圧を示し、Ｖｈβ１は、第１高周波電圧ベクトルＶＶｈ１のβ軸方向成分である第１β軸高周波電圧を示す。第１α軸高周波電圧Ｖｈα１及び第１β軸高周波電圧Ｖｈβ１は、第１γ軸高周波電圧Ｖγ１ｈ及び第１δ軸高周波電圧Ｖδ１ｈに基づいて設定される。

In the above equation (eq1), as shown in FIG. 9, Vhα1 represents a first α-axis high frequency voltage which is an α-axis direction component of the first high frequency voltage vector VVh1, and Vhβ1 is a β axis of the first high frequency voltage vector VVh1. The 1st (beta) axis | shaft high frequency voltage which is a direction component is shown. The first α-axis high frequency voltage Vhα1 and the first β-axis high frequency voltage Vhβ1 are set based on the first γ-axis high frequency voltage Vγ1h and the first δ-axis high frequency voltage Vδ1h.

  The first inner product value K1 represented by the above equation (eq1) represents the inner product value of the first high frequency voltage vector VVh1 and the first high frequency current vector VIh1. That is, the inner product value of the first high frequency voltage vector VVh1 and the first high frequency current vector VIh1 is expressed as the following equation (eq2), and the right side of the following equation (eq2) matches the right side of the above equation (eq1) .

内積算出部５０ｃは、第２α軸高周波電流Ｉｈα２，第２β軸高周波電流Ｉｈβ２を入力として、下式（ｅｑ３）に基づいて第２内積値Ｋ２を算出する。

The inner product calculating unit 50c receives the second α-axis high frequency current Ihα2 and the second β-axis high frequency current Ihβ2 as input, and calculates a second inner product value K2 based on the following equation (eq3).

上式（ｅｑ２）において、Ｖｈα２は、第２高周波電圧ベクトルＶＶｈ２のα軸方向成分である第２α軸高周波電圧を示し、Ｖｈβ２は、第２高周波電圧ベクトルＶＶｈ２のβ軸方向成分である第２β軸高周波電圧を示す。第２α軸高周波電圧Ｖｈα２及び第２β軸高周波電圧Ｖｈβ２は、第２γ軸高周波電圧Ｖγ２ｈ及び第２δ軸高周波電圧Ｖδ２ｈに基づいて設定される。

In the above equation (eq2), Vhα2 represents a second α-axis high frequency voltage which is an α-axis direction component of the second high frequency voltage vector VVh2, and Vhβ2 is a second β axis which is a β-axis direction component of the second high frequency voltage vector VVh2. Indicates high frequency voltage. The second α-axis high frequency voltage Vhα2 and the second β-axis high frequency voltage Vhβ2 are set based on the second γ-axis high frequency voltage Vγ2 h and the second δ-axis high frequency voltage Vδ2 h.

  The current in the α and β axis directions is used to calculate the inner product value in order to reduce the calculation load of the control device 40 and to improve the calculation accuracy of the estimated angle θγ. That is, since the electrical angle information is not necessary for conversion from the UVW coordinate system to the αβ coordinate system, the calculation load of the control device 40 can be reduced. Further, since the estimated angle θγ as the electrical angle information is not used for coordinate conversion, the influence of the estimation error Δθ included in the estimated angle θγ on the calculation accuracy of the estimated angle θγ can be removed.

  The inner product calculation unit 50c calculates a total inner product value Kr by adding the first inner product value K1 and the second inner product value K2. The inner product deviation calculating unit 50d calculates an inner product deviation ΔK by subtracting the total inner product value Kr calculated by the inner product calculating unit 50c from the target inner product value Ktgt. In the present embodiment, the inner product deviation ΔK corresponds to an actual deviation.

  The target inner product value Ktgt is a target based on an estimated angular velocity ωγ which is an electric angular velocity estimated by a velocity estimation unit 50f described later, each high frequency voltage Vγ1h, Vδ1h, Vγ2h, Vδ2h, and each current Iγ1r, Iδ1r, Iγ2r, Iδ2r. The value is set by the value setting unit 50e. The target inner product value Ktgt is determined as the sum of a first reference value K1tgt, which is an assumed value that the first inner product value K1 can take, and a second reference value K2tgt, which is an expected value that the second inner product value K2 can take. It is stored in the control device 40 as map information adapted beforehand by experiment, calculation or the like. Since the reference values K1tgt and K2tgt depend on the electric angular velocity, the torque ripple reduction direction, and the magnitude Iamp of the drive current vector VIr, the target inner product value Ktgt also depends on these parameters. Therefore, the input parameters used to set the target inner product value Ktgt include the high frequency voltages Vγ1 h, Vδ1 h, Vγ2 h, Vδ2 h for grasping the torque ripple reduction direction, and the amplitude Iamp of the drive current vector VIr. The currents Iγ1r, Iδ1r, Iγ2r, Iδ2r are included. FIG. 10 shows that the first reference value K1tgt depends on the magnitude Iamp of the drive current vector VIr.

  The speed estimation unit 50f calculates an estimated angular velocity ωγ as an operation amount for feedback control of the inner product deviation ΔK to zero. Here, as the feedback control in the speed estimation unit 50f, proportional integral control is used in the present embodiment.

  The integrator 50g calculates an estimated angle θγ as a time integral value of the estimated angular velocity ωγ calculated by the speed estimation unit 50f.

  In the present embodiment, the inner product values shown in the above equations (eq1) and (eq3) are calculated, but instead of this, it is also possible to calculate the X-axis direction component of each high frequency current vector VIh1, VIh2. Here, the X-axis direction is a direction in which the high frequency current vectors VIh1 and VIh2 extend from the origin O as shown in FIG. FIG. 9 also shows the Y axis orthogonal to the X axis. In FIG. 9, Ihx and Ihy indicate a first X-axis high frequency current and a first Y-axis high frequency current which are components in the X and Y axes of the first high frequency current vector VIh1.

  A current calculation unit replacing the inner product calculation unit 50c calculates a first X-axis high frequency current Ihx1 based on the first α-axis high frequency current Ihα1, the first β-axis high frequency current Ihβ1 and the command direction θX. Further, based on the second α-axis high frequency current Ihα2, the second β-axis high frequency current Ihβ2 and the command direction θX, a second X-axis high frequency current Ihx2 which is an X-axis direction component of the second high frequency current vector VIh2 is calculated. The current calculating unit calculates the total current value by adding the first X-axis high frequency current Ihx1 and the second X-axis high frequency current Ihx2.

  The current deviation calculation unit replacing the inner product deviation calculation unit 50d calculates the current deviation by subtracting the total current value from the target current value. The target current value is determined as the sum of the first current reference value, which is an assumed value that the first X-axis high frequency current Ihx1 can take, and the second current reference value, which is an assumed value that the second X-axis high frequency current Ihx2 can take. ing. FIG. 11 shows the transition of the first X-axis high frequency current Ihx1 that flows when the first X-axis high frequency voltage Vhx1, which is the component in the X-axis direction of the first high frequency voltage vector VVh1, is applied. The first current reference value corresponds to the amplitude of the waveform shown by the broken line in FIG. The speed estimation unit 50 f calculates an estimated angular velocity ωγ as an operation amount for feedback control of the current deviation to zero.

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

  The high frequency voltages Vγ1 h, Vδ1 h, Vγ2 h, and Vδ2 h are applied to the winding groups 10A and 10B so that the first high frequency voltage vector VVh1 and the second high frequency voltage vector VVh2 cancel each other. For this reason, the noise which generate | occur | produces with superimposing a high frequency voltage for angle estimation of the motor 10 can be reduced.

  The directions of the first high frequency voltage vector VVh1 and the second high frequency voltage vector VVh2 are set parallel to the tangent direction of the equal torque curve Lc passing through the intersection point P1 of the equal torque curve Lc and the drive current vector VIr. For this reason, the torque fluctuation of the motor 10 accompanying the application of the high frequency voltage can be reduced, and the noise of the motor 10 can be further reduced.

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 setting method of the directions of the first and second high frequency voltage vectors VVh1 and VVh2 superimposed on the first and second winding groups 10A and 10B is changed.

  FIG. 12 shows a constant voltage circle Ca in the γδ coordinate system. The constant voltage circle Ca is a circle defined by γ and δ axis currents for achieving a predetermined voltage value. The predetermined voltage value is the magnitude of the current drive voltage vector VVr. Further, FIG. 12 shows a tangent Ltb of the constant voltage circle Ca passing through the intersection point P2 of the constant voltage circle Ca and the drive voltage vector VVr.

  In the present embodiment, the direction parallel to the tangent Ltb is defined as the voltage reduction direction. Then, a first high frequency voltage vector VVh1 is set as a voltage vector extending from the origin O in the voltage reduction direction. According to this setting method, it is possible to reduce the fluctuation of the output voltage of the inverters 20A and 20B due to the application of the high frequency voltage. That is, if the tip of the voltage vector extending from the origin O of the γδ coordinate system is largely deviated from the constant voltage circle Ca with the application of the high frequency voltage, the fluctuation of the output voltage of each inverter 20A, 20B becomes large, and the output voltage May exceed its allowable upper limit. Here, by setting the directions of the high frequency voltage vectors VVh1 and VVh2 in the voltage fluctuation reduction direction, the tip of the voltage vector moves along the tangent Ltb of the constant voltage circle Ca even if the high frequency voltage is applied. For this reason, it is possible to suppress the deviation between the tip of the drive voltage vector VVr and the constant voltage circle Ca. As a result, the fluctuation of the output voltage of the inverters 20A and 20B due to the application of the high frequency voltage can be reduced, and the decrease in reliability of the motor control system can be avoided. The setting method described above is an effective method, for example, when the motor 10 generates the maximum torque and the output voltages of the inverters 20A and 20B do not have much margin with respect to the allowable upper limit value.

  FIG. 13 shows a block diagram of processing of the high frequency voltage setting unit 60 according to the present embodiment. In FIG. 13, the same processes as the processes shown in FIG. 4 are given the same reference numerals for convenience.

  In the high frequency voltage setting unit 60, the voltage reduction storage unit 60f stores, as map information, the voltage fluctuation reduction direction associated with the magnitude Iamp, the phase θI, and the estimated angular velocity ωγ of the drive current vector VIr. The signal generation unit 60e instructs a direction corresponding to the magnitude Iamp and the phase θI of the calculated drive current vector VIr and the estimated angular velocity ωγ among the plurality of voltage reduction directions stored in the voltage reduction storage unit 60f. Choose as θX. The magnitude Iamp and the phase θI of the drive current vector VIr are used because the information of the drive voltage vector VVr can be grasped from these pieces of information. However, in order to grasp information of the drive voltage vector VVr, the first γ-axis voltage Vγ1r, the first δ-axis voltage Vδ1r, the second γ-axis voltage Vγ2r, and the second δ-axis voltage Vδ2r may be used.

  The signal generation unit 60e sets the amplitudes of the respective high frequency voltages Vγ1h and Vδ1h required to set the direction of the first high frequency voltage vector VVh1 to the command direction θX, and the high frequency voltages Vγ1h and Vγ1h according to the estimated angle θγ input. Output Vδ1h.

  In the present embodiment, when it is determined that the estimated angular velocity ωγ is equal to or less than the low speed determination value ωthL, the signal generation unit 60e sets the command direction θX in a direction orthogonal to the drive voltage vector VVr. This is because when the electrical angular velocity is 0 or the electrical angular velocity is low, the voltage drop due to the resistance component is dominant, and the constant voltage circle Ca is close to a perfect circle centered on the origin O. On the other hand, when the electrical angular velocity becomes high, the constant voltage circle Ca becomes an ellipse.

  Incidentally, when it is determined that the estimated angular velocity ωγ is equal to or lower than the low speed determination value ωthL, the signal generation unit 60e may set the direction orthogonal to the drive current vector VIr as the voltage fluctuation reduction direction. This setting is based on the fact that the phase difference between the drive voltage vector VVr and the drive current vector VIr is reduced.

  As described above, in the present embodiment, the command direction θX is set to the voltage fluctuation reduction direction. Therefore, even when the output voltages of the inverters 20A and 20B have no margin with respect to the allowable upper limit value, the high frequency voltage for angle estimation can be applied. Therefore, it is possible to suppress that the opportunity for calculation of the estimated angle θγ is restricted, and the drivable rotational speed range of the motor 10 can be expanded.

Third Embodiment
Hereinafter, the third embodiment will be described with reference to the drawings, focusing on the differences from the first embodiment. In the present embodiment, the setting method of the directions of the first and second high frequency voltage vectors VVh1 and VVh2 is changed. Hereinafter, this setting method will be described.

  In the present embodiment, as shown in FIG. 11B, the first X-axis high frequency current Ihx1 flowing through the first winding group 10A according to the first high frequency voltage vector VVh1 applied to the first winding group 10A. The amount of deviation between the first current reference value and the first current reference value is defined as a first current change amount Δamp1.

  FIG. 14 shows the relationship between the estimation error Δθ and the first current change amount Δamp1 when the direction of the first high frequency voltage vector VVh1 is 0, 30, 60, 90, 120, 150 °. As shown in FIG. 14, when the estimation error Δθ is zero, the first X-axis high frequency current Ihx1 matches the first current reference value, so the first current change amount Δamp1 becomes zero. In the present embodiment, when the direction of the first high-frequency voltage vector VVh1 is a plurality of directions different from each other in a state where the estimation error Δθ is a value other than 0, the first corresponding to each of the plurality of directions. Of the current change amount Δamp1, a direction corresponding to the first current change amount other than the first current change amount having the minimum value is defined as the sensitivity increase direction. Then, the sensitivity increase direction is set to the command direction θX. The sensitivity increasing direction changes in accordance with the driving state of the motor 10.

  In particular, in the present embodiment, the direction in which the slope of the first current change amount Δamp1 is the largest when the estimation error Δθ is 0 when the estimation error Δθ is 0 ° is set as the sensitivity increase direction. In the example shown in FIG. 14, 150 ° is set as the sensitivity increase direction.

  According to the setting method described above, the difference between the total inner product value Kr and the target value Ktgt is obtained when the first current change amount Δamp1 with respect to the high frequency voltage acting as a disturbance is large and the estimation error Δθ is a value other than zero. It becomes easy to grasp. As a result, the responsiveness in the case of feedback control of the total inner product value Kr to the target value Ktgt can be enhanced, and in turn, the calculation accuracy of the estimated angle θγ can be enhanced. FIG. 15 shows the first high frequency voltage vector VVh1 when the command direction θX is set to 150 ° and the second high frequency voltage vector VVh2 formed by the first high frequency voltage vector VVh1 at an angle of 180 °. . Further, CI shown in FIG. 15 is an ellipse showing the locus of each high frequency current vector VIh1, VIh2 when the direction of each high frequency voltage vector VVh1, VVh2 is set in various directions.

  Incidentally, as the setting method of the sensitivity increasing direction, for example, the method described below can be adopted. Specifically, a specific error is defined as a first error within the range of the estimation error Δθ of, for example, 0 to + 90 °. Further, for example, in the range of the estimation error Δθ of 0 to −90 °, the estimation error having the same absolute value as the first error is defined as the second error.

  Among the characteristic curves showing the relationship between the estimation error Δθ and the first current change amount Δamp1 corresponding to each of the plurality of directions shown in FIG. 14, the curve with the largest absolute value of the first current change amount Δamp1 in the first error is It is selected as the first characteristic curve. If the first error is set, for example, to + 60 °, a 150 ° characteristic curve is selected as the first characteristic curve. Further, among the characteristic curves, a curve having the largest absolute value of the first current change amount Δamp1 in the second error is selected as the second characteristic curve. If the second error is set to, for example, -60 °, a 0 ° characteristic curve is selected as the second characteristic curve.

  Then, the smaller one of the absolute values of the first current change amount Δamp1 in each of the first error and the second error in the first characteristic curve is taken as a first determination value, and in the second characteristic curve, the first error and the second error are The smaller one of the absolute values of the first current change amount Δamp1 in each of them is taken as a second determination value. Then, the direction of the characteristic curve corresponding to the larger one of the first determination value and the second determination value is set as the sensitivity increase direction. In FIG. 14, when the first and second errors are set to, for example, + 60 ° and −60 °, 150 ° is set as the sensitivity increase direction.

  FIG. 16 is a block diagram of processing of the high frequency voltage setting unit 60 according to the present embodiment. In FIG. 16, the same processes as the processes shown in FIG. 4 are given the same reference numerals for the sake of convenience.

  In the high frequency voltage setting unit 60, the sensitivity storage unit 60h stores, as map information, the sensitivity increase direction associated with the magnitude Iamp, the phase θI, and the estimated angular velocity ωγ of the drive current vector VIr. The signal generation unit 60g instructs the direction corresponding to the magnitude Iamp and the phase θI of the calculated drive current vector VIr and the estimated angular velocity ωγ among the plurality of sensitivity increase directions stored in the sensitivity storage unit 60h as the command direction θX. Choose as. The signal generation unit 60g sets the amplitudes of the respective high frequency voltages Vγ1h and Vδ1h required to set the direction of the first high frequency voltage vector VVh1 to the command direction θX, and the high frequency voltages Vγ1h and Vγ1h according to the estimated angle θγ input. Output Vδ1h.

  According to the present embodiment described above, the calculation accuracy of the estimated angle θγ can be enhanced.

Fourth Embodiment
The fourth embodiment will be described below with reference to the drawings, focusing on the differences from the third embodiment. In the present embodiment, the sensitivity increasing direction, which changes in accordance with the driving state of the motor 10, is calculated without using map information that is adapted in advance.

  FIG. 17 shows the procedure of the high frequency voltage setting process according to the present embodiment. This process is repeatedly performed by the high frequency voltage setting unit 60, for example, in a predetermined cycle. In the present embodiment, this process includes a direction operation unit and an actual deviation calculation unit.

  In this series of processes, first, in step S10, it is determined whether the drive state of the motor 10 has changed from the previous steady state to a new steady state.

  When an affirmative determination is made in step S10, in steps S12 to S16, the directions θc of the first high frequency voltage vector VVh1 are set to different directions from one another, and the high frequency voltages Vγ1h and Vδ1h are applied to the first winding group 10A. Is applied, and the first current change amount .DELTA.amp1 is calculated for each of a plurality of directions.

  If the calculation of the first current change amount Δamp1 is completed for all of the plurality of directions, the process proceeds to step S18. In step S18, the command direction θX as the sensitivity increase direction is set based on the first current change amount Δamp1. Here, as the setting method of the sensitivity increasing direction, the method described in the third embodiment can be used. For example, among the first current change amounts Δamp1 corresponding to the plurality of directions, the direction corresponding to the first current change amount having the largest absolute value can be selected as the sensitivity increase direction. The sensitivity increasing direction may be learned in association with the driving state of the motor 10.

  In the subsequent step S20, the high frequency voltages Vγ1 h, Vδ1 h, Vγ2 h, Vδ2 h are generated and output based on the command direction θX.

  According to the present embodiment described above, the sensitivity increasing direction can be set without creating map information. For this reason, the man-hour at the time of design of the control apparatus 40 can be reduced. Moreover, according to the present embodiment, even when the magnetic saturation state changes each time, an appropriate high frequency voltage vector can be set according to the state.

Fifth Embodiment
The fifth embodiment will be described below with reference to the drawings, focusing on the differences from the first to third embodiments. In the present embodiment, a direction selected from the torque ripple reduction direction, the voltage fluctuation reduction direction, and the sensitivity increase direction is set as the command direction θX according to the driving state of the motor 10.

  FIG. 18 shows a block diagram of processing of the high frequency voltage setting unit 60 according to the present embodiment. In FIG. 18, the same processes as the processes shown in FIG. 4, FIG. 13, and FIG. 16 are given the same reference numerals for convenience.

  As illustrated, in the present embodiment, the signal generation unit of the first embodiment is the first signal generation unit 60a, and the signal generation unit of the second embodiment is the second signal generation unit 60e. The signal generation unit of the third embodiment is a third signal generation unit 60g. The selection unit 60i selects one of the first signal generation unit 60a, the second signal generation unit 60e, and the third signal generation unit 60g based on the estimated angular velocity ωγ and the command voltages Vγ1 *, Vδ1 *, Vγ2 *, and Vδ2 *. Among them, it is selected which signal generation unit generates the first γ-axis high frequency voltage Vγ1 h and the first δ-axis high frequency voltage Vδ1 h.

  FIG. 19 shows the procedure of processing performed by the selection unit 60i. This process is repeatedly performed, for example, in a predetermined cycle.

  In this series of processing, first, at step S30, a composite vector of drive voltage vector VVr, first high frequency voltage vector VVh1 and second high frequency voltage vector VVh2 based on command voltages Vγ1 *, Vδ1 *, Vγ2 *, Vδ2 *. Calculate the size Vamp of. In this embodiment, the size of the combined vector is obtained by adding a specified value (> 0) to the size of the drive voltage vector VVr calculated based on each of the command voltages Vγ1 *, Vδ1 *, Vγ2 *, Vδ2 *. Calculate Vamp. Here, the specified value is, for example, the maximum increase in the magnitude of the drive voltage vector VVr assumed when the directions of the high frequency voltage vectors VVh1 and VVh2 are any of the torque ripple reduction direction, the voltage fluctuation reduction direction and the sensitivity increase direction. It is set to. The prescribed value is a value previously determined by experiment, calculation or the like.

  In the subsequent step S32, it is determined whether the calculated magnitude Vamp of the combined vector is larger than the limit voltage Vmax. When an affirmative determination is made in step S32, the process proceeds to step S34, and the second signal generation unit 60e is selected as a signal generation unit that generates the first γ-axis high frequency voltage Vγ1h and the first δ-axis high frequency voltage Vδ1h.

  On the other hand, if a negative determination is made in step S32, the process proceeds to step S36, and the condition that the actual torque Trq or command torque Trq * of the motor 10 is higher than the high torque determination value TrqthH, and the drive current vector VIr flowing through the motor It is determined whether or not the logical sum of the conditions that the magnitude I amp of the current or the magnitude I amp * of the command current vector which is the command value of the drive current vector VIr is larger than the large current determination value I ampth H is true. Here, the actual torque may be calculated, for example, based on the detection values of the phase current detection units 31A and 31B. When an affirmative determination is made in step S36, the process proceeds to step S38, and the first signal generation unit 60a is selected as a signal generation unit that generates the first γ-axis high frequency voltage Vγ1h and the first δ-axis high frequency voltage Vδ1h.

  On the other hand, if the determination in step S36 is negative, the process proceeds to step S40, and the third signal generation unit 60g is selected as a signal generation unit for generating the first γ-axis high frequency voltage Vγ1h and the first δ-axis high frequency voltage Vδ1h.

  According to the present embodiment described above, the direction of the high frequency voltage vector for angle estimation can be appropriately set in accordance with the driving state of the motor 10.

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

  In the signal generation unit 60a of FIG. 4 of the first embodiment, the magnitude of the drive current vector VIr is based on the first γ axis current Iγ1r, the first δ axis current Iδ1r, the second γ axis current Iγ2r, and the second δ axis current Iδ2r. The magnitude Iamp and the phase θI may be calculated.

  The motor is not limited to one having two winding groups, and may have three or more winding groups. In this case, inverters may be individually provided corresponding to the respective winding groups. FIG. 20 shows a setting method of three high frequency voltage vectors VVh1, VVh2 and VVh3 corresponding to three inverters. In FIG. 20, the second high frequency voltage vector VVh2 is canceled by the first high frequency voltage vector VVh1 and the third high frequency voltage vector VVh3.

  Further, FIG. 21 shows a setting method of four high frequency voltage vectors VVh1, VVh2, VVh3 and VVh4 corresponding to four inverters. In FIG. 21, the second and fourth high-frequency voltage vectors VVh2 and VVh4 are canceled by the combined vector of the first and third high-frequency voltage vectors VVh1 and VVh3. In FIG. 21, the magnitude of the first high frequency voltage vector VVh1 is equal to the magnitude of the second high frequency voltage vector VVh2, and the magnitude of the third high frequency voltage vector VVh3 is equal to the magnitude of the fourth high frequency voltage vector VVh4. .

  In each of the above embodiments, the high frequency voltage is applied so as to set the size of the combined vector of the first and second high frequency voltage vectors VVh1 and VVh2 to 0. However, the present invention is not limited to this. For example, as shown in FIG. 22, a high frequency voltage is applied such that the magnitude of the composite vector Vt of each high frequency voltage vector VVh1, VVh2 is smaller than the magnitude of each of the first and second high frequency voltage vectors VVh1, VVh2. You may Even in this case, the noise reduction effect can be obtained.

  In the above embodiments, the angle formed by the first high frequency voltage vector VVh1 and the second high frequency voltage vector VVh2 is 180 °, but the present invention is not limited to this. The first high-frequency voltage vector VVh1 and the second high-frequency voltage are satisfied if the condition that the magnitude of the combined vector of the high-frequency voltage vectors VVh1 and VVh2 is smaller than the respective magnitudes of the first and second high-frequency voltage vectors VVh1 and VVh2 is satisfied. The angle made with the vector VVh2 may be an angle other than 180 °.

  In the above embodiments, the angle between the first winding group 10A and the second winding group 10B is set to 0. However, the present invention is not limited to this, and may be set to a predetermined angle other than 0. In this case, an angle between the γ axis of the γδ coordinate system corresponding to the first winding group 10A and the γ axis of the γδ coordinate system corresponding to the second winding group 10B is the above-mentioned predetermined angle. Therefore, for example, in the first embodiment, in one of the coordinate systems selected from the γδ coordinate system corresponding to the first winding group 10A and the γδ coordinate system corresponding to the second winding group 10B. The high frequency voltage vectors VVh1 and VVh2 may be set such that the direction of the first high frequency voltage vector VVh1 and the direction of the second high frequency voltage vector VVh2 coincide with the direction in which the tangent Lta extends.

  In the inner product calculation unit 50c of FIG. 8 of the first embodiment, the inner product value of the first high frequency voltage vector VVh1 and the first high frequency current vector VIh1 may be calculated based on the following equation (eq4).

上式（ｅｑ４）において、Ｉｈｘ，Ｉｈｙは第１高周波電流ベクトルＶＩｈ１のＸ，Ｙ軸方向成分である第１Ｘ軸高周波電流，第１Ｙ軸高周波電流を示し、Ｖｈｘ，Ｖｈｙは第１高周波電圧ベクトルＶＶｈ１のＸ，Ｙ軸方向成分である第１Ｘ軸高周波電圧，第１Ｙ軸高周波電圧を示す。なお、第２高周波電圧ベクトルＶＶｈ２についても同様である。

In the above equation (eq4), Ihx and Ihy indicate the first X-axis high frequency current and the first Y-axis high frequency current which are components in the X and Y axes of the first high frequency current vector VIh1, and Vhx and Vhy indicate the first high frequency voltage vector VVh1 The first X-axis high frequency voltage and the first Y-axis high frequency voltage which are components in the X and Y axis directions of The same applies to the second high frequency voltage vector VVh2.

  The high frequency voltage is not limited to the rectangular wave pulse signal, and may be, for example, a sine wave high frequency signal.

  The motor is not limited to a non-salicy pole machine, but may be a salient pole machine.

  DESCRIPTION OF SYMBOLS 10 ... Motor, 10A, 10B ... 1st, 2nd winding group, 20A, 20B ... 1st, 2nd inverter, 40 ... Control apparatus.

Claims (15)

Multi-winding rotary electric machine (10) having a plurality of winding groups (10A, 10B) wound around a stator (13), and a power conversion circuit (20A, 20B) for applying a voltage to the plurality of winding groups And a system comprising
A high frequency operation unit (40) for operating the power conversion circuit to apply a high frequency voltage that fluctuates at an angular velocity higher than the electrical angular velocity of the rotating electrical machine to each of the plurality of winding groups;
And an angle estimation unit (50) for estimating the rotation angle of the rotating electrical machine based on the high frequency current flowing through the plurality of winding groups according to the high frequency voltage applied to the plurality of winding groups.
The high frequency operation unit includes a direction setting unit that variably sets the direction of the high frequency voltage vector applied to the plurality of winding groups based on the driving state of the rotating electrical machine, and sets the direction of each high frequency voltage vector to the direction To satisfy the condition that the magnitude of the composite vector of each high-frequency voltage vector is made smaller than the condition of setting the direction by the part and the magnitude of each of the high-frequency voltage vectors applied to the plurality of winding groups And a control device for a rotating electrical machine that applies a high frequency voltage to the plurality of winding groups. In the γδ coordinate system, which is an estimated two-phase rotational coordinate system of the rotating electrical machine, a curve defined by a current for realizing the command torque of the rotating electrical machine is defined as an equal torque curve,
In the γδ coordinate system, a direction parallel to the tangent direction of the equal torque curve passing through the intersection of the equal torque curve and the current vector flowing through the rotating electrical machine is defined as a torque ripple reduction direction.
The control device for a rotating electrical machine according to claim 1, wherein the direction setting unit sets the direction of each high frequency voltage vector in the torque ripple reduction direction. A ripple reduction storage unit (60b) storing a plurality of torque ripple reduction directions associated with information related to the current vector;
The direction setting unit selects a direction corresponding to the current vector from among the plurality of torque ripple reduction directions stored in the ripple reduction storage unit, and selects the direction of each high-frequency voltage vector The control apparatus of the rotary electric machine of Claim 2 set to. The basic operation unit (40) operates the power conversion circuit to control the torque of the rotating electrical machine to the command torque by the minimum current maximum torque control.
The control device for a rotating electrical machine according to claim 2, wherein the direction setting unit sets the torque ripple reduction direction to a direction orthogonal to a current current vector. In the γδ coordinate system, which is an estimated two-phase rotational coordinate system of the rotary electric machine, a circle defined by a current for realizing a predetermined voltage value is defined as a constant voltage circle,
In the γδ coordinate system, a direction parallel to the tangent direction of the constant voltage circle passing through the intersection of the drive voltage vector of the rotating electric machine required to control the torque of the rotating electric machine to a command torque and the constant voltage circle Is defined as the voltage fluctuation reduction direction,
The control device for a rotating electrical machine according to any one of claims 1 to 4, wherein the direction setting unit sets the direction of each of the high frequency voltage vectors in the voltage fluctuation reducing direction. The voltage reduction storage unit (60f) stores a plurality of voltage fluctuation reduction directions in association with information related to the drive voltage vector.
The direction setting unit selects a direction corresponding to the current drive voltage vector from among the plurality of voltage fluctuation reduction directions stored in the voltage reduction storage unit, and selects the direction of each high-frequency voltage vector The control device for a rotating electrical machine according to claim 5, wherein the control direction is set in the direction.   The direction setting unit sets the voltage fluctuation reduction direction to a direction orthogonal to the current drive voltage vector when it is determined that the electric angular velocity of the rotating electrical machine is equal to or less than the low speed determination value. Control device of rotating electric machine. The angle between the d axis of the dq coordinate system, which is a two-phase rotational coordinate system of the rotating electrical machine, and the γ axis of the γδ coordinate system, which is the dq coordinate system estimated, is defined as an estimation error.
The amount of deviation between the high frequency current flowing through the winding group and its reference value according to the high frequency voltage applied to the winding group is defined as an actual deviation.
In the state where the estimation error is a value other than 0, when the directions of the high-frequency voltage vector applied to the winding group are respectively different directions, the actual values respectively corresponding to the plural directions Of the deviations, the direction corresponding to an actual deviation other than the actual deviation for which the value is minimum is defined as the sensitivity increase direction,
The control device for a rotating electrical machine according to any one of claims 1 to 7, wherein the direction setting unit sets the direction of each of the high frequency voltage vectors in the sensitivity increasing direction. A sensitivity storage unit (60h) storing a plurality of the sensitivity increasing directions associated with information related to the current vector flowing through the rotating electrical machine;
The direction setting unit selects a direction corresponding to the current vector from the plurality of sensitivity increase directions stored in the sensitivity storage unit, and sets the direction of each high frequency voltage vector to the selected direction. The control device of a rotary electric machine according to claim 8, which is set. A direction operation unit (40) for operating the power conversion circuit to apply the high frequency voltage by setting the direction of the high frequency voltage vector applied to the winding group to each of a plurality of different directions;
An actual deviation calculation unit (40) for calculating the actual deviation when the high frequency voltage is applied to the winding group by the direction operation unit for each of the plurality of directions;
Among the actual deviations corresponding to the plurality of directions calculated by the actual deviation calculation unit, the direction setting unit is a direction corresponding to the actual deviation other than the actual deviation at which the value becomes the smallest. The control apparatus of the rotary electric machine of Claim 8 set to. The two-phase rotational coordinate system of the rotating electrical machine is defined as a dq coordinate system, and the estimated dq coordinate system is defined as a γδ coordinate system,
In the γδ coordinate system, a curve defined by a current for realizing the command torque of the rotating electrical machine is defined as an equal torque curve,
In the γδ coordinate system, a direction parallel to the tangent direction of the equal torque curve passing through the intersection of the equal torque curve and the current vector flowing through the rotating electrical machine is defined as a torque ripple reduction direction.
In the γδ coordinate system, a circle defined by a current for realizing a predetermined voltage value is defined as a constant voltage circle,
In the γδ coordinate system, parallel to the tangential direction of the constant voltage circle passing through the point of intersection of the constant voltage circle and the driving voltage vector of the rotating electric machine required to control the torque of the rotating electric machine to the command torque Direction is defined as the voltage fluctuation reduction direction,
The angle between the d axis of the dq coordinate system and the γ axis of the γδ coordinate system is defined as an estimation error,
The amount of deviation between the high frequency current flowing through the winding group and its reference value according to the high frequency voltage applied to the winding group is defined as an actual deviation.
In the state where the estimation error is a value other than 0, when the directions of the high-frequency voltage vector applied to the winding group are respectively different directions, the actual values respectively corresponding to the plural directions Of the deviations, the direction corresponding to an actual deviation other than the actual deviation for which the value is minimum is defined as the sensitivity increase direction,
And a composite value calculation unit (40) for calculating the magnitude of a composite vector of the drive voltage vector and each high frequency voltage vector.
The direction setting unit is
When it is determined that the magnitude calculated by the combined value calculator is larger than the limit voltage, the direction of each high frequency voltage vector is set to the voltage fluctuation reducing direction,
It is determined that the magnitude calculated by the combined value calculator is equal to or less than the limit voltage, and the actual torque or command torque of the rotating electrical machine is equal to or greater than a high torque determination value, or the current flowing to the rotating electrical machine If it is determined that the magnitude of the vector or the magnitude of the command current vector is equal to or greater than the large current determination value, the direction of each high frequency voltage vector is set in the torque ripple reduction direction,
It is determined that the magnitude calculated by the combined value calculation unit is equal to or less than the limit voltage, and the actual torque or command torque of the rotating electrical machine is smaller than the high torque determination value, or a current vector flowing to the rotating electrical machine The direction of each said high frequency voltage vector is set to the said sensitivity increase direction when it determines with the magnitude | size of or the magnitude | size of command electric current vector being smaller than the said large electric current judgment value. Control device of the rotating electrical machine. The amount of deviation between the high frequency current flowing through the winding group and its reference value according to the high frequency voltage applied to the winding group is defined as an actual deviation.
The angle estimation unit calculates the actual deviation, calculates the electrical angular velocity of the rotating electrical machine as an operation amount for feedback controlling the calculated actual deviation to the reference value, and integrates the calculated electrical angular velocity. The control device of the rotating electrical machine according to any one of claims 1 to 11, wherein the rotation angle is estimated.   The angle estimation unit is a shift amount between an inner product value of the high frequency voltage vector in the αβ coordinate system which is a two-phase fixed coordinate system of the rotary electric machine and a current vector flowing through the rotary electric machine and the reference value The control device for a rotating electrical machine according to claim 12, wherein a deviation amount between the change amount of the high frequency current and the reference value in the direction is calculated as the actual deviation.   The condition that the magnitude of the combined vector of each high frequency voltage vector is smaller than the magnitude of each high frequency voltage vector applied to the plurality of winding groups is that the magnitude of the combined vector of each high frequency voltage vector is 0 The control device for a rotating electrical machine according to any one of claims 1 to 13, which is a condition to be satisfied. The plurality of winding groups are two winding groups,
The control device for a rotating electrical machine according to any one of claims 1 to 14, wherein the power conversion circuit is individually provided corresponding to each of the two winding groups.

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