JP6659188B1 - AC rotating machine control device, vehicle AC rotating machine device, and electric power steering device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an AC rotating machine control device capable of reducing an output torque error caused by a current detection timing deviation when the number of phases which can be detected at the same timing is smaller than the number of phases of an AC rotating machine. To do. SOLUTION: One phase of a first winding selected one by one from an m-phase first winding and one phase of a second winding selected one by one from an m-phase second winding are set. Set m sets based on the phase difference between the first winding and the second winding, the currents of the windings for the two phases of each set are detected at substantially the same timing, and An AC rotating machine control device that differs from the current detection timing. [Selection diagram] Fig. 1

Description

  The present application relates to a control device for an AC rotating machine, an AC rotating machine device for a vehicle, and an electric power steering device.

  When the control device for the AC rotating machine is used in, for example, a generator motor for a vehicle, the output torque becomes the driving force of the vehicle. Is reduced. Since the detected current and the output torque have a proportional relationship, it is important to suppress a deviation between the detected current value and the true current value in order to obtain a desired torque.

  Further, when the control device for the AC rotating machine is used in an electric power steering device that assists the driver in steering, fluctuations in the output torque are transmitted to the driver through the steering wheel, and the vehicle is transmitted to the passenger compartment to make the vehicle interior uncomfortable. Transmit sound. In order to suppress the torque fluctuation, it is necessary to reduce the vibration component included in the error between the detected current value and the true current value.

  In the current detection device of Patent Document 1, the current value of the second phase is detected twice at a timing that is a predetermined time before or after the timing of detecting the current value of the first phase, and the current value of the second phase is detected at both timings. The average value of the detected current values is used to suppress errors in the detected current values. When the current value of the third phase is detected, the current value of the third phase is detected twice at the timing that is about twice the predetermined time from the timing of detecting the current value of the first phase, By using the current values of the three phases as the average value of the current values detected at both timings, errors in the detected current values are suppressed.

  In the motor control device of Patent Document 2, in order to suppress the deterioration of the current detection accuracy of the intermediate phase and the minimum phase due to the switching noise of the maximum phase, the switching element on the high potential side of the maximum phase is turned on, and the switching element on the low potential side is turned on. Is turned off.

  In the AC motor control device of Patent Document 3, non-interference is achieved by performing control using an average current and a difference current. In the rotating two-axis coordinate system, an average voltage command is obtained based on a difference between the average value of the output current of each inverter and the average current command, and a difference voltage command is obtained based on the difference between the output current of each inverter and the difference between the difference current commands. Ask. The unbalanced current is reduced by returning the average voltage command and the difference voltage command to the voltage commands of the respective winding sets and outputting the same.

JP 2006-6076 A JP 2010-220414 A JP-A-4-325893

  In the current detection device of Patent Literature 1, the second phase that cannot be detected at the timing of detecting the current value of the first phase as the reference is detected at a timing symmetrical with respect to the reference timing. In FIG. 2 of Patent Document 1, when Δt is sufficiently small, the V-phase current value from time tva to tvb can be regarded as changing substantially linearly in accordance with the rotation of the motor, and therefore, at time tva Iv0 is estimated from the average value of the current value Iva detected at time tvb and the current value Ivb detected at time tvb.

When the current detection device of Patent Document 1 is applied to an AC rotating machine having a three-phase first winding and a three-phase second winding, detection is performed three times to obtain a two-phase current. Five detections are required to obtain all the currents. When the angle in electrical angle at tu is θ and the angular velocity in electrical angle is ω, Iu0, Iv0, Iw0 are given by equation (1).

If ωΔt is sufficiently small in equation (1), equation (2) holds, and Iu0, Iv0, and Iw0 are given by equation (3). If the rotation speed increases and ωΔt or 2ωΔt increases, the error due to approximation of equation (2) increases, and the current detection error of Iw0 in which 2ωΔt appears in the equation is larger than Iv0 in which ωΔt appears in the equation. That is, as the number of detections increases, the elapsed time from the first detection timing to the last detection timing increases, and the accuracy of the detected current value deteriorates.

  In the motor control device of Patent Literature 2, the current detectable phase needs to be duty less than or equal to Dmax, and an error occurs in the phase current value of the current detectable phase due to the switching noise of the current undetectable phase that outputs a duty greater than Dmax. Is stated to occur. When the phase current value is obtained by detecting the current a plurality of times, Dmax becomes smaller as the number of times increases. In that case, it is difficult to obtain a phase current value with a small detection error with a voltage command as shown in FIG. That is, in order to increase Dmax, which is the upper limit of the duty of the current detectable phase, it is necessary to suppress the number of detections.

  In the AC motor control device of Patent Literature 3, since the average current is fed back to generate the voltage command, the average current fluctuates due to the influence of a current detection error caused by different current detection timings.

  The present application has been made in order to solve the above-described problem, and in the case where the number of phases that can be detected at the same timing is smaller than the number of phases of an AC rotating machine, an output generated due to a difference in timing of current detection. The purpose is to reduce torque errors.

The control device for an AC rotary machine according to the present application is a control device for an AC rotary machine that controls an AC rotary machine (m is an integer of 3 or more) having an m-phase first winding and an m-phase second winding. hand,
A current detection unit that detects a current flowing in each phase of the first winding and the second winding;
A voltage command calculation unit that calculates a voltage command to be applied to each phase of the first winding and the second winding based on a current command and a current detection value of each phase;
A voltage applying unit that applies a voltage to each phase of the first winding and the second winding by comparing the voltage command and the carrier signal,
The current detection unit is configured to detect one phase of the first winding selected one by one from the m-phase first winding and one second phase selected from the m-phase second winding one by one. And m sets each including one phase are set based on the phase difference between the first winding and the second winding, and the currents of the windings for the two phases of each set are set at substantially the same timing. The current detection timing is different from the current detection timing of the other sets.

Further, the control device for an AC rotating machine according to the present application is a control device for an AC rotating machine that controls an AC rotating machine (m is an integer of 3 or more) having an m-phase first winding and an m-phase second winding. And
A current detection unit that detects a current flowing in each phase of the first winding and the second winding;
A voltage command calculation unit that calculates a voltage command to be applied to each phase of the first winding and the second winding based on a current command and a current detection value of each phase;
A voltage applying unit that applies a voltage to each phase of the first winding and the second winding by comparing the voltage command and the carrier signal,
The phase of the first winding and the phase of the second winding are the same or inverted in electrical angle between the first winding and the second winding,
The current detection unit sets m pairs of one phase of the first winding and one phase of the second winding having the same or inverted phase at an electrical angle, and sets two pairs of two phases of each pair. Are set symmetrically with respect to the reference timing with respect to the reference timing.

The control device for an AC rotating machine according to the present application is a control device for an AC rotating machine that controls an AC rotating machine having 2 m-phase windings (m is an integer of 3 or more),
A current detection unit that detects a current flowing through each phase of the winding;
A voltage command calculation unit that calculates a voltage command to be applied to each phase of the winding based on a current command and a current detection value of each phase;
By comparing the voltage command and the carrier signal, a voltage application unit that applies a voltage to each phase of the winding,
The current detection unit sets the k-th phase current detection timing of the winding based on a reference timing to T (k) (k is a natural number equal to or less than m), and detects the (m + k) -th phase current detection of the winding. The timing is T (m + k),
T (m + k) =-T (k)
Is set to

  An AC rotating machine device for a vehicle according to the present application includes the above-described AC rotating machine control device and an AC rotating machine serving as a driving force source for wheels.

  An electric power steering device according to the present application includes the above-described control device for an AC rotating machine, and an AC rotating machine serving as a driving force source for a wheel steering device.

  According to the control device for an AC rotating machine according to the present application, when the number of phases that can be detected at the same timing is smaller than the number of phases of the windings, the sum of the dq-axis currents caused by a shift in the current detection timing between the phases is generated. The error can be reduced, and the error in the output torque can be reduced.

1 is a schematic configuration diagram of an AC rotating machine and a control device of the AC rotating machine according to Embodiment 1. FIG. 2 is a schematic block diagram of a control device for the AC rotating machine according to the first embodiment. FIG. 3 is a hardware configuration diagram of a control device for the AC rotating machine according to the first embodiment. FIG. 3 is a schematic diagram illustrating phases of respective phases of a first winding and a second winding according to the first embodiment. 5 is a time chart illustrating generation of a drive signal according to the first embodiment. FIG. 3 is a diagram illustrating the phase of a current vector according to the first embodiment. 5 is a time chart for describing the definition of the current detection timing of each phase based on the reference timing according to the first embodiment. FIG. 3 is a diagram illustrating a setting pattern of a current detection timing according to the first embodiment. FIG. 4 is a schematic diagram illustrating another example of the phases of the first winding and the second winding according to the first embodiment. FIG. 5 is a diagram for explaining another example of a current detection timing setting pattern according to the first embodiment. FIG. 9 is a schematic diagram illustrating phases of respective phases of a first winding and a second winding according to the second embodiment. FIG. 11 is a diagram for explaining a setting pattern of a current detection timing according to the second embodiment. FIG. 13 is a schematic diagram illustrating another example of the phases of the first winding and the second winding according to the second embodiment. FIG. 14 is a diagram for explaining another example of the setting pattern of the current detection timing according to the second embodiment. FIG. 9 is a schematic configuration diagram of an AC rotating machine and a control device for the AC rotating machine according to Embodiment 3. FIG. 10 is a schematic block diagram of a control device for an AC rotating machine according to a third embodiment. FIG. 13 is a schematic diagram illustrating phases of respective phases of a six-phase winding according to the third embodiment. FIG. 14 is a diagram illustrating a setting pattern of a current detection timing according to the third embodiment. FIG. 14 is a schematic diagram of an angle sensor according to Embodiment 4. 15 is a time chart for explaining the definition of the detection timing of each angle signal based on the reference timing according to the fourth embodiment. FIG. 14 is a diagram illustrating a setting pattern of detection timing of an angle signal according to Embodiment 4. 13 is a time chart showing a setting example of current detection timing and angle signal detection timing according to Embodiment 4. 13 is a time chart showing a setting example of current detection timing and angle signal detection timing according to Embodiment 4. FIG. 1 is a schematic configuration diagram of an AC rotating machine device for a vehicle according to a first embodiment. 1 is a schematic configuration diagram of an electric power steering device according to a first embodiment.

1. Embodiment 1
A control device 1 (hereinafter, simply referred to as a control device 1) for an AC rotating machine according to a first embodiment will be described with reference to the drawings. FIG. 1 is a schematic configuration diagram of an AC rotating machine 10 and a control device 1 according to the present embodiment.

1-1. AC Rotating Machine The AC rotating machine 10 includes a stator 18 and a rotor 14 arranged radially inside the stator 18. The AC rotating machine 10 is a permanent magnet type synchronous rotating machine, in which a winding is wound around a stator 18, and a rotor 14 is provided with permanent magnets having the number of pole pairs Pr. The AC rotating machine 10 may be a field winding type synchronous rotating machine in which an electromagnet is provided on the rotor 14.

  The AC rotating machine 10 has an m-phase first winding 11 and an m-phase second winding 12 (m is an integer of 3 or more). In the present embodiment, m is 3, and the AC rotating machine 10 includes the first winding 11 of three phases U1, V1, and W1 and the three phases U2, V2, and W2. Of the second winding 12. As shown in the schematic diagram of FIG. 4, the three-phase first windings U1, V1, W2 are advanced by 30 electrical degrees in electrical angle with respect to the three-phase second windings U2, V2, W2. The electrical angle is an angle obtained by multiplying the mechanical angle of the rotor 14 by the number of pole pairs Pr. The first winding 11 and the second winding 12 are wound around one stator 18.

  The rotor 14 is provided with an angle sensor 15 for detecting a rotation angle (magnetic pole position) of the rotor 14. The output signal of the angle sensor 15 is input to the control device 1. Various sensors are used for the angle sensor 15. For example, as the angle sensor 15, a position detector such as a resolver, a Hall element, a TMR element, or a GMR element, or a rotation detector such as an electromagnetic type, a magnetoelectric type, or a photoelectric type is used.

1-2. Inverter A first inverter 21 for converting the DC power of the DC power supply 16 and the AC power supplied to the three-phase first windings U1, V1, W1, a DC inverter of the DC power supply 16 and the second windings U2, V2, A second inverter 22 for converting AC power supplied to W2.

  The first inverter 21 and the second inverter 22 each include a positive-side switching element 23 connected to the positive side of the DC power supply 16 and a negative-side switching element 24 connected to the negative side of the DC power supply 16. Three sets of series circuits connected in series are provided corresponding to the windings of each of the three phases. The connection point of the two switching elements in each series circuit is connected to the winding of the corresponding phase.

  As the switching element, a MOSFET (Metal Oxide Semiconductor Field Effect Transistor), an IGBT (Insulated Gate Bipolar Transistor) in which a diode is connected in anti-parallel, or the like is used. The gate terminal of each switching element is connected to the control device 1 via a gate drive circuit or the like. Therefore, each switching element is turned on or off by the drive signal output from the control device 1.

  As the DC power supply 16, a power storage device such as a lead storage battery or a lithium ion battery is used. Note that the DC power supply 16 may be provided with a DC-DC converter that is a DC power converter that increases or decreases the DC voltage. A voltage sensor 17 for detecting a power supply voltage of the DC power supply 16 is provided. The output signal of the voltage sensor 17 is input to the control device 1.

  Each of the first and second inverters 21 and 22 includes a current sensor 13 for detecting a current flowing through each phase winding. The current sensor 13 is a Hall element or the like provided on an electric wire of each phase that connects a series circuit of the switching elements of each phase and a winding. Alternatively, the current sensor 13 may be a shunt resistor connected in series to the series circuit of each phase. The potential difference between both ends of the shunt resistor of each phase is input to the control device 1. For example, the shunt resistor of each phase is connected in series to the negative electrode side of the switching element on the negative electrode side of each phase.

1-3. Control device 1
Control device 1 controls AC rotating machine 10 via the switching elements of first inverter 21 and second inverter 22. As shown in FIG. 2, the control device 1 includes control units such as a rotation detection unit 31, a power supply voltage detection unit 32, a current detection unit 33, a voltage command calculation unit 34, and a voltage application unit 35. Each function of the control device 1 is realized by a processing circuit provided in the control device 1. Specifically, as shown in FIG. 3, the control device 1 includes, as processing circuits, an arithmetic processing device 90 (computer) such as a CPU (Central Processing Unit), a storage device 91 that exchanges data with the arithmetic processing device 90, An input circuit 92 for inputting an external signal to the arithmetic processing device 90 and an output circuit 93 for outputting a signal from the arithmetic processing device 90 to the outside are provided.

  The arithmetic processing device 90 includes an ASIC (Application Specific Integrated Circuit), an IC (Integrated Circuit), a DSP (Digital Signal Processor), an FPGA (Field Programmable Gate Array), various logic circuits, various signal processing circuits, and the like. You may. Further, a plurality of arithmetic processing units 90 of the same type or different types may be provided, and each processing may be shared and executed. As the storage device 91, a RAM (Random Access Memory) configured to be able to read and write data from the arithmetic processing device 90, a ROM (Read Only Memory) configured to be able to read data from the arithmetic processing device 90, and the like. Provided. The input circuit 92 is connected to various sensors and switches such as the angle sensor 15, the voltage sensor 17, and the current sensor 13, and includes an A / D converter that inputs output signals of these sensors and switches to the arithmetic processing unit 90. ing. The output circuit 93 is connected to an electric load such as a gate drive circuit that turns on and off the switching elements of the first inverter 21 and the second inverter 22, and includes a drive circuit that outputs a control signal from the arithmetic processing unit 90 to these electric loads. Have.

  The arithmetic processing unit 90 executes software (program) stored in a storage device 91 such as a ROM, and executes various functions of the control units 31 to 35 provided in the control device 1. , And the output circuit 93 in cooperation with other hardware of the control device 1. The setting data used by each of the control units 31 to 35 and the like is stored in a storage device 91 such as a ROM as a part of software (program). Hereinafter, each function of the control device 1 will be described in detail.

1-3-1. Rotation detector 31
The rotation detector 31 detects a rotation angle (magnetic pole position) of the rotor 14 in electrical angle and a rotation speed. In the present embodiment, the rotation detector 31 detects a rotation angle (magnetic pole position) in electrical angle and a rotation speed based on the output signal of the angle sensor 15. The rotation detection unit 31 may be configured to estimate a rotation angle (magnetic pole position) without using an angle sensor, based on current information or the like obtained by superimposing a harmonic component on a current command. Good (so-called sensorless method).

1-3-2. Power supply voltage detector 32
The power supply voltage detector 32 detects a power supply voltage of the DC power supply 16. In the present embodiment, the power supply voltage detector 32 detects the power supply voltage based on the output signal of the voltage sensor 17.

1-3-3. Current detector 33
The current detection unit 33 detects a current flowing through each phase of the first winding and the second winding. In the present embodiment, the current detection unit 33 detects the currents iu1_det, iv1_det, iw1_det flowing from the first inverter 21 to the respective phases U1, V1, W1 of the first winding based on the output signal of the current sensor 13. At the same time, the currents iu2_det, iv2_det, iw2_det flowing from the second inverter 22 to the respective phases U2, V2, W2 of the second winding are detected. In the present embodiment, the current detector 33 detects the current of each phase at the timing described later.

1-3-4. Voltage command calculator 34
The voltage command calculator 34 calculates a voltage command to be applied to each phase of the first winding and the second winding based on the current command, the detected current value of each phase, and the rotation angle. In the present embodiment, the voltage command calculator 34 includes a current command calculator 341, a current converter 342, a current feedback controller 343, and a voltage command converter 344.

  In the present embodiment, the voltage command calculator 34 is configured to perform current feedback control in a dq-axis rotation coordinate system. The dq axis rotation coordinates are rotation coordinates including a d axis defined in the magnetic flux direction of the rotor 14 of the AC rotating machine 10 and a q axis defined in a direction advanced by π / 2 in electrical angle from the d axis. In the present embodiment, the direction of the magnetic flux of the rotor 14 is set to the direction of the N pole of the permanent magnet provided on the rotor 14. The magnetic pole position θ1 based on the first winding is the advance angle of the d-axis based on the U1-phase winding of the first winding, and the magnetic pole position θ2 based on the second winding is the second magnetic pole position θ2. The lead angle of the d-axis is based on the U2-phase winding of the winding.

<Current command calculator 341>
The current command calculator 341 calculates a current command to flow through the first winding and a current command to flow through the second winding. The current command calculator 341 calculates the d-axis current command Id1 * and the q-axis current command Iq1 * for the first winding, and calculates the d-axis current command Id2 * and the q-axis current command Iq2 * for the second winding. I do.

  The current command calculation unit 341 calculates the total d-axis current command Id * and the q-axis current command Iq *, and converts the total dq-axis current commands Id * and Iq * into the dq-axis current command Id1 * of the first winding. , Iq1 * and dq-axis current commands Id2 *, Iq2 * of the second winding. In the present embodiment, the current command calculation unit 341 calculates 0.5 times the total dq-axis current commands Id * and Iq * as dq-axis current commands Id1 *, Iq1 *, and Iq1 * of the first winding, respectively. The dq-axis current commands Id2 * and Iq2 * for the second winding are set.

  The current command calculation unit 341 calculates the total dq-axis current command Id based on the target torque, the power supply voltage, the rotation speed, and the like, according to a current vector control method such as maximum torque current control, magnetic flux weakening control, and Id = 0 control. *, Iq * are calculated. The target torque may be transmitted from an external device, or may be calculated in the current command calculator 341.

<Current converter 342>
The current conversion unit 342 performs three-phase two-phase conversion and rotational coordinate conversion of the current detection values iu1_det, iv1_det, iw1_det of each phase of the first winding based on the magnetic pole position θ1 based on the first winding, and dq It is converted into a d-axis current detection value Id1 and a q-axis current detection value Iq1 of the first winding expressed in the axis rotation coordinate system. Similarly, the current conversion unit 342 performs three-phase two-phase conversion and rotational coordinate conversion of the current detection values iu2_det, iv2_det, and iw2_det of each phase of the second winding based on the magnetic pole position θ2 based on the second winding. Then, it is converted into the d-axis current detection value Id2 and the q-axis current detection value Iq2 of the second winding expressed in the dq axis rotation coordinate system.

<Current feedback control unit 343>
The current feedback control unit 343 performs the first winding by PI control or the like such that the dq-axis current detection values Id1 and Iq1 of the first winding approach the dq-axis current commands Id1 * and Iq1 * of the first winding. Is performed to change the d-axis voltage command Vd1 and the q-axis voltage command Vq1. Similarly, the current feedback control unit 343 performs PI control or the like so that the dq-axis currents Id2 and Iq2 of the second winding approach the dq-axis current commands Id2 * and Iq2 * of the second winding. Feedback control for changing the d-axis voltage command Vd2 and the q-axis voltage command Vq2 of the line is performed.

<Voltage command converter 344>
The voltage command conversion unit 344 performs fixed coordinate conversion and two-phase / three-phase conversion of the dq-axis voltage commands Vd1 and Vq1 of the first winding based on the magnetic pole position θ1 with respect to the first winding, and performs the first winding. It is converted into voltage commands vu1, vv1, vw1 for each phase of the line. Similarly, the voltage command conversion unit 344 performs fixed coordinate conversion and two-phase three-phase conversion of the dq-axis voltage commands Vd2 and Vq2 of the second winding based on the magnetic pole position θ2 based on the second winding. The signals are converted into voltage commands vu2, vv2, vw2 of each phase of the second winding.

1-3-5. Voltage applying unit 35
The voltage application unit 35 compares the voltage command vu1, vv1, vw1 of each phase of the first winding and the voltage command vu2, vv2, vw2 of each phase of the second winding with the carrier signal, thereby obtaining the first winding. A voltage is applied to each phase of the wire and the second winding.

  As shown in FIG. 5, in the present embodiment, the carrier signal is a triangular wave having the amplitude of the power supply voltage. When the voltage command exceeds the triangular wave, the drive signal is turned on, and the voltage command changes to the triangular wave. If it falls below, the drive signal is turned off. The driving signal is transmitted as it is to the switching element 23 on the positive electrode side, and a driving signal obtained by inverting the driving signal is transmitted to the switching element 24 on the negative electrode side. Each drive signal is input to the gate terminal of each switching element of the first and second inverters 21 and 22 via a gate drive circuit, and turns each switching element on or off.

1-3-6. Current detection timing In the present embodiment, the current detection unit 33 selects one phase of the first winding selected one by one from the three-phase first winding and one phase selected from the three-phase second winding. Three sets of one phase of the second winding are set based on the phase difference between the first winding and the second winding, and the current of the winding for two phases of each set is substantially set. The current is detected at the same timing, and is different from the current detection timing of the other sets.

  The principle of the combination of phases detected at the same timing in the current detection unit 33 will be described below.

<Ideal case of detecting six-phase currents at the same timing>
First, an ideal case in which all six-phase currents are detected at the same timing will be described. The currents iu1, iv1, iw1 flowing through the respective phases of the first winding and the currents iu2, iv2, iw2 flowing through the respective phases of the second winding are given by equation (4). Here, as shown in FIG. 6, β represents the phase of the current vector I on the dq axes from the q axis, and Irms represents the effective current value. Further, the currents iu2, iv2, iw2 of each phase of the second winding are represented by using the magnetic pole position θ1 based on the first winding instead of the magnetic pole position θ2 based on the second winding. The magnetic pole position θ2 based on the second winding has a phase delayed by 30 deg (π / 6) in electrical angle with respect to the magnetic pole position θ1 based on the first winding (θ2 = θ1−π / 6).

The current of each phase of the first winding and the current of each phase of the second winding of the equation (4) are respectively converted into a three-phase two-phase transform and a rotational coordinate transform, thereby expressing the current in the dq axis rotational coordinate system. The d-axis current Id1 and the q-axis current Iq1 of one winding, and the d-axis current Id2 and the q-axis current Iq2 of the second winding are given by Expression (5).

At this time, the output torque T of the AC rotating machine 10 is given by the following equation (6). Here, Ld represents d-axis self-inductance, Lq represents q-axis self-inductance, and φ represents magnetic flux. Here, although the equation has no mutual inductance, the same effect can be obtained when there is mutual inductance.

The dq-axis currents of the first winding and the second winding are controlled in a state where the difference is smaller than the sum, and satisfy Expression (7). At this time, the output torque T of the AC rotating machine 10 can be approximated as in Expression (8), and is proportional to the sum of the dq-axis currents of the first winding and the second winding.

<When the current detection timing of each phase cannot be the same>
In order for equation (8) to hold from equation (4), it is necessary to detect six-phase currents at the same timing. However, inexpensive microcomputers have a small number of channels that can be A / D converted at the same time, and cannot detect all of them at the same timing.

  If the six-phase currents cannot be detected at the same timing, there is an error in equation (8) in the sum of the q-axis currents (Iq1 + Iq2) and the sum of the d-axis currents (Id1 + Id2) of the first and second windings. This may cause an error in the output torque. Therefore, even when the current of each phase cannot be detected at the same timing, the error of the sum of the q-axis currents (Iq1 + Iq2) and the sum of the d-axis currents (Id1 + Id2) can be reduced by adjusting the current detection timing of each phase. Can be considered.

<Derivation of conditions for error reduction of sum of dq-axis currents>
Hereinafter, conditions for reducing the error of the sum of the dq-axis currents will be derived. FIG. 7 shows the definitions of the detection timings tu1 to tw2 of the currents iu1 to iw2 of each phase with reference to the reference timing of the carrier signal (in this example, the peak of the mountain). The detection timing of the U1-phase current iu1 of the first winding with reference to the reference timing (the peak of the mountain) is set as tu1, the detection timing of the V1-phase current iv1 of the first winding is set as tv1, and the first winding is set. The detection timing of the W1-phase current iw1 is tw1, the detection timing of the U2-phase current iu2 of the second winding is tu2, and the detection timing of the V2-phase current iv2 of the second winding is tv2. The detection timing of the current iw2 of the W2 phase of the line is tw2.

  By the way, as shown in FIG. 5, the on / off drive signals of the respective switching elements are substantially symmetrical with respect to the peaks or valleys of the carrier signal. Therefore, by detecting the current near the peak or the peak of the valley of the carrier signal, the average value of the current in the ON period or the average value of the current in the OFF period can be detected, and the influence of the current ripple is reduced. In addition, the accuracy of current detection can be improved. In the present embodiment, the reference timing of the carrier signal is set to one or both of the peaks and valleys of the carrier signal (in this example, the peaks of the peaks). Note that a timing other than the peaks and valleys of the carrier signal may be set as the reference timing. The carrier signal may have a shape other than a triangular wave such as a sawtooth wave, and the same effect can be obtained in this case.

The detection current detected at each detection timing tu1 to tw2 is given by Expression (9). Note that θ1 represents the magnetic pole position based on the first winding at the reference timing, and ω represents the rotation speed in electrical angles.

The dq-axis currents of the first winding and the second winding obtained when the six-phase currents are simultaneously detected at the reference timing are Id1_ideal, Iq1_ideal, Id2_ideal, and Iq2_ideal, respectively. Further, when the current of each phase is detected at the detection timing tu1 to tw2 of each phase, the dq axis currents of the first winding and the second winding obtained from the equation (9) are respectively expressed as Id1_det, Iq1_det, and Id2_det. , Iq2_det. Then, equations (10) to (13) hold.

  In Equations (10) to (13), the error components after the second term are a DC offset component proportional to cosβ or sinβ, and a magnetic pole position proportional to cos (2θ1 + β) or sin (2θ1 + β). and a secondary AC component of θ1.

The sum Id_sum of the d-axis current obtained by summing Id1_det of Equation (10) and Id2_det of Equation (11), and the sum Iq_sum of the q-axis current obtained by summing Iq1_det of Equation (12) and Iq1_det of Equation (13) are given by: It is given by equation (14). The difference Id_diff of the d-axis current obtained by subtracting Id2_det of Expression (11) from Id1_det of Expression (10) and the difference Iq_diff of the q-axis current obtained by subtracting Iq2_det of Expression (13) from Iq1_det of Expression (12) are It is given by equation (15).

In the sum of the d-axis current Id_sum and the sum of the q-axis currents Iq_sum in the equation (14), the equation (16) may be satisfied in order to make the error components after the second term zero.

In the dq-axis currents of Expressions (10) to (13), the DC offset error component proportional to cosβ or sinβ of the second term is a stationary error component of the dq-axis current, and is therefore zero. It is desirable. Therefore, in order to make the second term of Expressions (10) to (13) zero, Expression (17) should be satisfied. If Equation (17) holds, the DC offset error component proportional to cosβ or sinβ of the second term can be made zero in the difference Id_diff of the d-axis current and the difference Iq_diff of the q-axis current of Equation (15). . When the difference between the dq-axis currents is used for control as in Patent Document 3, control accuracy can be improved.

<Combination pattern>
The relational expression between tu1 and tw2 that satisfies Expressions (16) and (17) is given by Expression (18).

  That is, the current detection unit 33 sets the U1 phase current detection timing tu1 of the first winding and the W2 phase current detection timing tw2 of the second winding as a set, and detects the V1 phase current detection timing of the first winding. tv1 and the U2 phase current detection timing tu2 of the second winding are set, and the W1 phase current detection timing tw1 of the first winding and the V2 phase current detection timing tv2 of the second winding are set. The three sets are set, and the currents of the windings for two phases of each set are detected at substantially the same timing, and are different from the current detection timings of the other sets.

  As shown in FIG. 4, the U1 phase of the first winding and the W2 phase of the second winding set in the same set have a 90 deg phase difference in electrical angle, and the U1 phase of the first winding set in the same set. The V1 phase and the U2 phase of the second winding are different by 90 deg in electrical angle from each other, and the W1 phase of the first winding and the V2 phase of the second winding in the same set are 90 deg in electrical angle. The phases are different. That is, one phase of the first winding and one phase of the second winding, which are different from each other by 90 degrees in electrical angle, are set.

  Further, from Expressions (17) and (18), the sum of the current detection timings tu1, tv1, and tw1 with respect to the reference timing of each phase of the first winding becomes zero, and the total with respect to the reference timing of each phase of the second winding. What is necessary is just to set the current detection timing with respect to the reference timing of each set so that the sum of the current detection timings tu2, tv2, tw2 becomes zero.

  In addition, in order to minimize the amount of deviation of the current detection timing from the reference timing of each set, the current detection timing of any one set may be set to the zero reference timing. The other two sets of current detection timing are symmetric with respect to the zero reference timing. When the reference timing is set at the peak or the peak of the carrier signal, it is possible to minimize the deterioration of the current detection accuracy due to the current ripple.

  The current detection timing setting patterns satisfying the above conditions are six patterns (1) to (6) in FIG. The current detector 33 detects the current of each phase at the current detection timing of any one of the patterns (1) to (6) in FIG. Here, 0 in FIG. 8 indicates that the current detection timing is set to the reference timing, -δ indicates that the current detection timing is set before the reference timing by δ, Indicates that the current detection timing is set δ later than the reference timing.

  By setting the current detection timing as described above, when the number of channels of the A / D converter is smaller than the number of phases of the winding and the number of phases that can be detected at the same timing is smaller, the current detection timing between the phases is reduced. , The error of the sum of the dq-axis currents and the error of the output torque can be reduced. Further, the offset error of the dq-axis current can be reduced, the offset error of the difference between the dq-axis currents can be reduced, and various control accuracy using the detected current can be improved.

<Permissible range of substantially the same timing>
The case where the current detection timings of the windings for two phases of each set are not exactly the same will be described below. As shown in Expression (19), a case is considered where the current detection timing is shifted by η between the windings of two phases in each set. The same concept can be applied to the case where the reluctance torque component of equation (8) is present, but the output torque T is given as in equation (20) for simplicity.

At this time, from Expression (14), the sums Id_sum and Iq_sum of the dq-axis currents are given by Expressions including an offset component as in Expression (21).

  For example, when the AC rotating machine 10 serves as a driving force source for the wheels, the AC rotating machine 10 and the control device 1 constitute a vehicle AC rotating machine device 50. The rotating shaft of the rotor 14 of the AC rotating machine 10 is connected to wheels 52 via a power transmission mechanism 51. For example, as shown in FIG. 24, the rotating shaft of the AC rotating machine 10 is connected to the crankshaft of the internal combustion engine 54 via a pulley and a belt mechanism 53, and is connected to the wheels 52 via the internal combustion engine 54 and a transmission 55. Be linked. Alternatively, AC rotating machine 10 may be used as a driving force source for wheels of an electric vehicle. In this case, the rotating shaft of AC rotating machine 10 is connected to the wheels via a transmission. In these cases, the current command calculation unit 341 calculates the target torque based on the vehicle required torque or the required generated power required to drive the vehicle, and calculates the current command based on the target torque. I do.

Therefore, the error of the output torque of the AC rotating machine 10 needs to be equal to or less than a predetermined allowable value Tth1. That is, η may be obtained from Expression (22) from Expressions (20) and (21). Tmax is the output torque of AC rotating machine 10 when there is no error.

  For example, when the permissible torque accuracy is 1% or less, the number of pole pairs is 5, and the rotation speed is 10000 rpm, the deviation η of the current detection timing between the two phases of the same set is 1.9 μs or less. Good. On the other hand, the interval δ between the current detection timings between different sets needs to be sufficiently shorter than the period of the carrier signal, and is therefore about several μs. That is, if the deviation η of the current detection timing between the two phases of the same set is set to a level which is one digit smaller than the current detection timing interval δ between different sets, for example, 1/10 or less, the accuracy requirement of the output torque is reduced. I can be satisfied.

Equation (19) describes the case where the current detection timing between the two phases is shifted by η for all the sets. However, the case where the current detection timing between the two phases is shifted by η for some of the sets will be described. As shown in Expression (23), a case is considered where the current detection timing is shifted by η between the windings of the W2 phase and the U1 phase for the set of the W2 phase and the U1 phase.

At this time, from Expression (14), the sums Id_sum and Iq_sum of the dq-axis currents are given by Expressions including an offset component and a secondary electrical angle component as in Expression (24).

  When the AC rotating machine 10 serves as a driving force source of the steering device 63 of the wheels 62, the AC rotating machine 10 and the control device 1 constitute an electric power steering device 60. The rotating shaft of the rotor 14 of the AC rotating machine 10 is connected to a steering device 63 of the wheels 62 via a driving force transmission mechanism 61. For example, as shown in FIG. 25, the electric power steering device 60 includes a steering wheel 64 that the driver rotates left and right, and a shaft that is connected to the steering wheel 64 and transmits steering torque by the steering wheel 64 to the steering device 63 of the wheels 62. 65, a torque sensor 66 attached to the shaft 65 and detecting a steering torque Ts by the handle 64, and a driving force transmission mechanism 61 such as a worm gear mechanism connecting the rotating shaft of the AC rotating machine 10 to the shaft 65. I have. The output signal of the torque sensor 66 is input to the control device 1 (input circuit 92), and the control device 1 detects the driver's steering torque Ts based on the output signal of the torque sensor 66. Then, the current command calculation unit 341 calculates a current command for assisting the steering torque Ts based on the steering torque Ts. For example, the current command calculator 341 calculates a q-axis current command Iq_tgt by multiplying the steering torque Ts by a coefficient Kt (Iq_tgt = Kt × Ts). Note that various known control methods may be used.

Since the output shaft of the AC rotating machine 10 is connected to the handle 64 via the driving force transmission mechanism 61 and the shaft 65, the torque ripple of the output torque of the AC rotating machine 10 needs to be equal to or less than a predetermined allowable value Tth2. There is. That is, η may be obtained from Expression (25) from Expressions (20) and (24). Tmax is the output torque of AC rotating machine 10 when there is no error.

  For example, when the allowable torque ripple is 1% or less, the number of pole pairs is 5, and the rotation speed is 10000 rpm, the deviation η of the current detection timing between the two phases of the same set may be 5.7 μs or less. . On the other hand, the interval δ between the current detection timings between different sets needs to be sufficiently shorter than the period of the carrier signal, and is therefore about several μs. That is, if the deviation η of the current detection timing between the two phases of the same set is set to a level which is one digit smaller than the current detection timing interval δ between different sets, for example, 1/10 or less, the accuracy requirement of the output torque is reduced. I can be satisfied.

  As described using the above two examples, substantially the same timing is not limited to the case where the time lag is zero, but for the accuracy of the allowable output torque or the allowable torque ripple, Includes a time lag of no problem. Considering these examples, substantially the same timing means that at least the deviation η of the current detection timing between the two phases of the same set is 1/10 or less of the interval δ of the current detection timing between different sets. Good.

  Ideally, the substantially same timing may be a timing at which the number of channels within the range of the maximum number of channels of the A / D converter is simultaneously A / D converted by a trigger signal.

<When the phase difference between the first winding and the second winding is 90 deg>
In the present embodiment, the case where the phase difference between the first winding and the second winding is 30 deg in electrical angle has been described. However, as shown in FIG. 9, when the phase difference between the first winding and the second winding is 90 deg in electrical angle, the same equation is derived to set the current detection timing as in equation (26). Thereby, the error of the sum of the dq-axis currents can be reduced, the error of the output torque can be reduced, the offset error of the dq-axis current can be reduced, and the offset error of the dq-axis current can be reduced. .

  That is, the current detection unit 33 sets the U1 phase current detection timing tu1 of the first winding and the U2 phase current detection timing tu2 of the second winding as a set, and detects the V1 phase current detection timing of the first winding. tv1 and the V2 phase current detection timing tv2 of the second winding are set, and the W1 phase current detection timing tw1 of the first winding and the W2 phase current detection timing tw2 of the second winding are set. The three sets are set, and the currents of the windings for two phases of each set are detected at substantially the same timing, and are different from the current detection timings of the other sets.

  As shown in FIG. 9, the U1 phase of the first winding and the U2 phase of the second winding set in the same set are different from each other by 90 degrees in electrical angle, and the phases of the first windings in the same set are different. The V1 phase and the V2 phase of the second winding have a 90 deg electrical angle difference in electrical angle, and the W1 phase of the first winding and the W2 phase of the second winding in the same set have an electrical angle of 90 deg. The phases are different. That is, one phase of the first winding and one phase of the second winding, which are different from each other by 90 degrees in electrical angle, are set.

  From the equation (26), the sum of the current detection timings tu1, tv1, and tw1 with respect to the reference timing of each phase of the first winding becomes zero, and the current detection timings tu2, tv2, with respect to the reference timing of each phase of the second winding. The current detection timing with respect to the reference timing of each set may be set so that the sum of tw2 becomes zero.

  In order to minimize the amount of deviation of the current detection timing of each set from the reference timing, the current detection timing of any one set may be set to the zero reference timing. The other two sets of current detection timing are symmetric with respect to the zero reference timing. When the reference timing is set at the peak or the peak of the carrier signal, it is possible to minimize the deterioration of the current detection accuracy due to the current ripple.

  The current detection timing setting patterns satisfying the above conditions are six patterns (1) to (6) in FIG. The current detector 33 detects the current of each phase at the current detection timing of any one of the patterns (1) to (6) in FIG.

<Set of two phases with different 90 deg phases>
By the way, among the error components in the sum of the dq-axis currents in the equation (14), the offset component of the second term is, as shown in the equation (17), the sum of the deviation amounts from the reference timing is set to zero. Thus, the first equation of the equation (16) is established, and can be suppressed to zero. On the other hand, the third and fourth terms of the equation (14) are secondary AC components of the magnetic pole position θ1, and are set to zero by utilizing 90 deg × 2 = 180 deg and inverting the phase. That is, as shown in Expressions (18) and (26), one phase of the first winding and one phase of the second winding, which are different in electrical angle by 90 degrees from each other, are set to the same current detection timing. Thereby, in the second and third expressions of Expression (16), they can be canceled each other, and the AC component can be suppressed to zero.

  This is also true for the first winding and the second winding other than the three phases. In other words, when the AC rotating machine 10 is provided with the m-phase first winding and the m-phase second winding, the current detection unit 33 determines whether the first winding of the first winding which is different from the first winding by 90 degrees in electrical angle is moved. An m-set, which is a set of one phase and one phase of the second winding, is set based on the phase difference between the first winding and the second winding, and the currents of the windings for the two phases of each set are: Detection is performed at substantially the same timing. When the number of channels of the A / D converter is small and the number of phases that can be detected at the same timing is small compared to the number of phases of the winding, the error of the sum of the dq-axis currents caused by the shift of the current detection timing between the phases is reduced. It is possible to reduce the error of the output torque. Further, the offset error of the dq-axis current can be reduced, the offset error of the difference between the dq-axis currents can be reduced, and various control accuracy using the detected current can be improved.

2. Embodiment 2
Next, an AC rotating machine 10 and a control device 1 according to Embodiment 2 will be described. The description of the same components as those in the first embodiment is omitted. The basic configurations of the AC rotating machine 10 and the control device 1 according to the present embodiment are the same as those of the first embodiment, but there is no phase difference between the first winding and the second winding, and the current detection is performed. The timing setting is different from that of the first embodiment.

  Also in the present embodiment, m is 3, and the AC rotating machine 10 includes the first winding 11 of three phases U1, V1, and W1, and the three phases U2, V2, and W2. Of the second winding 12. As shown in the schematic diagram of FIG. 11, the three-phase first windings U1, V1, W2 have no phase difference with the three-phase second windings U2, V2, W2.

  In the present embodiment, the current detection unit 33 sets m pairs of one phase of the first winding and one phase of the second winding that are the same or inverted in electrical angle with each other, and set each pair. The detection timings of the currents of the windings of the two phases are set symmetrically in the front-rear direction with respect to the reference timing.

  Hereinafter, the principle of setting the current detection timing in the current detection unit 33 will be described.

<Ideal case of detecting six-phase currents at the same timing>
First, an ideal case in which all six-phase currents are detected at the same timing will be described. The currents iu1, iv1, iw1 flowing through the respective phases of the first winding and the currents iu2, iv2, iw2 flowing through the respective phases of the second winding are given by Expression (27).

The detection current detected at each of the detection timings tu1 to tw2 defined in FIG. 7 is given by Expression (28).

At this time, the sums Id_sum and Iq_sum of the dq-axis currents are given by Expressions (29) and (30).

In order to make the error components of the second and subsequent terms zero in Expressions (29) and (30), Expression (31) should be satisfied.

Since equation (17) also holds in the present embodiment, the relational expression of tu1 to tw2 that satisfies equation (17) and equation (31) is given by equation (32).

  That is, the current detection unit 33 sets the U1 phase of the first winding and the U2 phase of the second winding, which have the same electrical angle in phase, as a pair, and detects the U1 phase current detection timing of the first winding. The tu1 and the U2 phase current detection timing tu2 of the second winding are set to be symmetrical with respect to the reference timing. The current detection unit 33 sets the V1 phase of the first winding and the V2 phase of the second winding, which have the same electrical angle in phase with each other, as a pair, and detects the current detection timing of the V1 phase of the first winding. tv1 and the current detection timing tv2 of the V2 phase of the second winding are set to be symmetric with respect to the reference timing. The current detection unit 33 sets the W1 phase of the first winding and the W2 phase of the second winding, which have the same electrical angle in phase with each other, as a pair, and determines the current detection timing tw1 of the W1 phase of the first winding. , And the current detection timing tw2 of the W2 phase of the second winding is set to be symmetrical with respect to the reference timing.

  Here, even when the current detection timing of the two phases is set to zero reference timing, it is assumed that the current detection timing is set to be symmetrical with respect to the reference timing. In order to minimize the deviation of the current detection timing from the reference timing of each phase, the current detection timing of the maximum number of phases (an integer multiple of 2) within the range of the number of channels that can be simultaneously A / D converted is set as the reference timing. Then, the current detection timings of the other phases may be set to the same timing within the range of the number of channels and set symmetrically with respect to the reference timing.

  For example, when the number of A / D conversion channels is two, the current detection unit 33 sets the current detection timing for two phases of one pair as the reference timing, and sets one phase from each of the remaining two pairs. If two sets are set in which one phase of the first winding and one phase of the second winding are selected, and the currents of the windings of the two phases of each set are detected at substantially the same timing. Good. Alternatively, when the number of channels of the A / D conversion is four, the current detection timing for the four phases of the two pairs is set as the reference timing, and the current detection timing of the two phases of the remaining one pair is set as the reference. What is necessary is just to set symmetrically with respect to a timing.

  The setting patterns when the current detection timing for two phases of one pair is set as the reference timing are six patterns (1) to (6) in FIG. The current detector 33 detects the current of each phase at the current detection timing of any one of the patterns (1) to (6) in FIG.

  By setting the current detection timing as described above, when the number of channels of the A / D converter is smaller than the number of phases of the winding and the number of phases that can be detected at the same timing is smaller, the current detection timing between the phases is reduced. , The error of the sum of the dq-axis currents and the error of the output torque can be reduced. Further, the offset error of the dq-axis current can be reduced, the offset error of the difference between the dq-axis currents can be reduced, and various control accuracy using the detected current can be improved.

<When the phase difference between the first winding and the second winding is 60 deg>
In the present embodiment, the case where the phase difference between the first winding and the second winding is not an electrical angle has been described. However, as shown in FIG. 13, when the phase difference between the first winding and the second winding is 60 deg in electrical angle, the current detection timing is set as in Expression (33) by deriving a similar expression. Thereby, the error of the sum of the dq-axis currents can be reduced, the error of the output torque can be reduced, the offset error of the dq-axis current can be reduced, and the offset error of the dq-axis current can be reduced. .

  That is, the current detection unit 33 sets the U1 phase of the first winding and the V2 phase of the second winding, whose phases are inverted by an electrical angle, as a pair, and sets the current detection timing of the U1 phase of the first winding. tu1 and the V2 phase current detection timing tv2 of the second winding are set to be symmetrical in the front-rear direction with respect to the reference timing. The current detection unit 33 sets the V1 phase of the first winding and the W2 phase of the second winding, whose phases are inverted by an electrical angle, as a pair, and detects the current detection timing of the V1 phase of the first winding. tv1 and the W2-phase current detection timing tw2 of the second winding are set symmetrically in the front-rear direction with respect to the reference timing. The current detection unit 33 sets the W1 phase of the first winding and the U2 phase of the second winding, whose phases are inverted by an electrical angle, as a pair, and sets the current detection timing of the W1 phase of the first winding. tw1 and the U2 phase current detection timing tu2 of the second winding are set to be symmetrical with respect to the reference timing.

  The setting patterns when the current detection timing for two phases of one pair is set as the reference timing are the six patterns (1) to (6) in FIG. The current detection unit 33 detects the current of each phase at the current detection timing of any one of the patterns (1) to (6) in FIG.

<Symmetric setting of two phases having the same phase or 180 degrees different>
By the way, among the error components in the sum of the dq-axis currents in the equation (29), the offset component of the second term is, as shown in the equation (17), the sum of the deviation from the reference timing is set to zero. Then, the first expression of Expression (31) is established, and the value can be suppressed to zero. On the other hand, the third and fourth terms of the equation (29) are the secondary AC components of the magnetic pole position θ1, and use the fact that 0 deg × 2 = 0 deg or 180 deg × 2 = 360 deg and have the same phase. Zeroed out. That is, as shown in Expressions (32) and (33), the current detection timing of the first phase of the first winding and the current detection timing of the second phase of the second winding having the same electrical angle or 180 degrees different in electrical angle from each other are set as reference values By setting the values to be symmetrical with respect to the timing, that is, by setting the values of the signs to be inverted from each other, they can be canceled each other in the second and third expressions of Expression (31), and the AC component can be suppressed to zero. .

  This is also true for the first winding and the second winding other than the three phases. That is, the AC rotating machine 10 is provided with an m-phase first winding and an m-phase second winding, and the phase of the first winding and the phase of the second winding are the first winding and the second winding. When the phases are the same or inverted at an electrical angle between the two windings, the current detection unit 33 determines whether one phase of the first winding and one of the second windings have the same or inverted phase at the electrical angle. The m pairs of phases are set, and the detection timings of the currents of the windings corresponding to the two phases of each pair are set to be symmetric with respect to the reference timing. When the number of channels of the A / D converter is small and the number of phases that can be detected at the same timing is small compared to the number of phases of the winding, the error of the sum of the dq-axis currents caused by the shift of the current detection timing between the phases is reduced. It is possible to reduce the error of the output torque. Further, the offset error of the dq-axis current can be reduced, the offset error of the difference between the dq-axis currents can be reduced, and various control accuracy using the detected current can be improved.

3. Embodiment 3
Next, an AC rotating machine 10 and a control device 1 according to Embodiment 3 will be described. The description of the same components as those in the first and second embodiments will be omitted. In the present embodiment, unlike Embodiments 1 and 2, AC rotating machine 10 has a 2 m-phase winding, and accordingly, the configurations of inverter and control device 1 are different, and the current detection timing is different. The settings are different.

  FIG. 15 shows a schematic configuration diagram of AC rotating machine 10 and control device 1 according to the present embodiment. In the present embodiment, AC rotating machine 10 has a winding of 2 m phase (m is a natural number of 3 or more). In the present embodiment, m is 3, and AC rotating machine 10 has six-phase windings 25 of U1, V1, W1, X1, Y1, and Z1 phases. As shown in the schematic diagram of FIG. 17, the phase difference of the winding between the phases is 60 deg in electrical angle. The six-phase windings 25 are wound around one stator 18.

  In the present embodiment, the inverter 26 is provided with six sets of series circuits in which the switching element 23 on the positive electrode side and the switching element 24 on the negative electrode side are connected in series, corresponding to the windings of each of the six phases. I have. The connection point of the two switching elements in each series circuit is connected to the winding of the corresponding phase.

  As in the first embodiment, the current sensor 13 is connected in series to a Hall element provided on an electric wire of each phase connecting a series circuit of each phase switching element and a winding, or a series circuit of each phase. Shunt resistance.

  Also in the present embodiment, the control device 1 includes control units such as a rotation detection unit 31, a power supply voltage detection unit 32, a current detection unit 33, a voltage command calculation unit 34, and a voltage application unit 35, as shown in FIG. Have. The description of the same components as those in the first embodiment is omitted.

  The current detection unit 33 detects a current flowing through each phase of the six-phase winding. In the present embodiment, based on the output signal of the current sensor 13, the current detection unit 33 outputs the currents iu1_det, iv1_det, iw1_det, which flow from the inverter to the respective phases U1, V1, W1, X1, Y1, Z1 of the six windings. ix1_det, iy1_det, iz1_det are detected. In the present embodiment, the current detector 33 detects the current of each phase at the timing described later.

  The current command calculation unit 341 sets the total dq-axis current commands Id * and Iq * calculated in the same manner as in the first embodiment to the dq-axis current commands Id1 * and Iq1 * of the six-phase winding as they are.

  The current converter 342 converts the detected current values iu1_det, iv1_det, iw1_det, ix1_det, iy1_det, iz1_det of each phase of the six-phase winding into six-phase two-phase conversion and rotational coordinates based on the magnetic pole position θ1 based on the six-phase winding. The conversion is performed to convert the d-axis current detection value Id1 and the q-axis current detection value Iq1 of the six-phase winding represented by the dq axis rotation coordinate system. The magnetic pole position θ1 based on the six-phase winding is defined as a lead angle of the d-axis based on the U1-phase winding of the six-phase winding.

  The voltage command conversion unit 344 converts the dq-axis voltage commands Vd1 and Vq1 of the six-phase winding calculated by the current feedback control unit 343 into fixed coordinate conversion and two-phase six-phase winding based on the magnetic pole position θ1 based on the six-phase winding. By performing phase conversion, the voltage commands are converted into voltage commands vu1, vv1, vw1, vx1, vy1, and vz1 of each phase of the six-phase winding.

  The voltage applying unit 35 applies a voltage to each phase of the six-phase winding by comparing the voltage commands vu1, vv1, vw1, vx1, vy1, and vz1 of each phase of the six-phase winding with the carrier signal.

<Current detection timing>
In the present embodiment, the current detecting unit 33 sets the current detection timing of the k-th phase of the winding with respect to the reference timing as T (k) (k is a natural number equal to or less than m), and calculates the (m + k) -th winding. The phase current detection timing is set to T (m + k), and T (m + k) = − T (k).

  In the present embodiment, the detection timing of the U1-phase current iu1 of the six-phase winding based on the reference timing (for example, the peak of the peak of the carrier signal) is defined as tu1, and the detection timing of the V1-phase current iv1 is defined as tv1. The detection timing of the W1 phase current iw1 is tw1, the detection timing of the X1 phase current ix1 is tx1, the detection timing of the Y1 phase current iy1 is ty1, and the detection timing of the Z1 phase current iz1 is tz1. .

  When comparing FIG. 17 of the present embodiment with FIG. 13 of the second embodiment, the U1 phase in FIG. 17 and the U1 phase in FIG. 13 have the same phase, and the V1 phase in FIG. 17 and the U2 phase in FIG. 17 have the same phase, the W1 phase in FIG. 17 and the V1 phase in FIG. 13 have the same phase, the X1 phase in FIG. 17 and the V2 phase in FIG. 13 have the same phase, and the Y1 phase in FIG. 13 and the W1 phase in FIG. 13 have the same phase, and the Z1 phase in FIG. 17 and the W2 phase in FIG. 13 have the same phase.

Therefore, by the same formula derivation, the formula (34) is obtained by replacing tv2, tw2, and tu2 of the formula (33) of the second embodiment with tx1, ty1, and tz1, respectively.

  That is, the current detection unit 33 sets the U1 phase and the X1 phase whose phases are inverted by an electrical angle as a pair, and sets the U1 phase current detection timing tu1 and the X1 phase current detection timing tx1 with respect to the reference timing. It is set symmetrically. Further, the current detection unit 33 sets the V1 phase and the Y1 phase whose phases are inverted by an electrical angle as a pair, and sets the V1 phase current detection timing tv1 and the Y1 phase current detection timing ty1 with respect to the reference timing. Set symmetrically. Further, the current detection unit 33 sets the W1 phase and the Z1 phase whose phases are inverted by an electrical angle as a pair, and sets the W1 phase current detection timing tw1 and the Z1 phase current detection timing tz1 with respect to the reference timing. Set symmetrically.

  That is, the current detection unit 33 sets three pairs of one phase of the six-phase winding and one phase of the six-phase winding whose phases are inverted by an electrical angle with respect to each other, and the winding corresponding to two phases of each pair is set. The detection timing of the current of the line is set symmetrically with respect to the reference timing.

  As in the second embodiment, in order to minimize the deviation of the current detection timing from the reference timing of each phase, the maximum number of phases (an integer multiple of 2) within the range of the number of channels that can be simultaneously A / D-converted is set. The current detection timing may be set to the reference timing, and the current detection timings of the other phases may be set to the same timing within the range of the number of channels and set symmetrically with respect to the reference timing.

  For example, when the number of A / D conversion channels is two, the current detection unit 33 sets the current detection timing for two phases of one pair as the reference timing, and sets one phase from each of the remaining two pairs. It is sufficient to set two sets in which one phase and one phase are selected, and to detect the currents of the windings for the two phases in each set at substantially the same timing. Alternatively, when the number of channels of the A / D conversion is four, the current detection timing for the four phases of the two pairs is set as the reference timing, and the current detection timing of the two phases of the remaining one pair is set as the reference. What is necessary is just to set symmetrically with respect to a timing.

  The setting patterns when the current detection timing for two phases of one pair is set as the reference timing are the six patterns (1) to (6) in FIG. The current detection unit 33 detects the current of each phase at the current detection timing of any one of the patterns (1) to (6) in FIG.

  This holds true for 2 m-phase windings other than the six-phase windings, as in the second embodiment. That is, similarly to the second embodiment, the current detection unit 33 sets an m pair in which one phase of the m-phase winding and one phase of the m-phase winding whose phases are inverted by an electrical angle are paired, The detection timing of the currents of the windings corresponding to the two phases of each pair is set symmetrically in the front-rear direction with respect to the reference timing.

4. Embodiment 4
Next, an AC rotating machine 10 and a control device 1 according to Embodiment 4 will be described. The description of the same components as those in the first to third embodiments will be omitted. In the present embodiment, the configuration of the angle sensor 15 is specified, and accordingly, the processing of the rotation detection unit 31 is different.

  In the present embodiment, the angle sensor 15 includes the first sine wave signal sinp, the second sine wave signal cosp, and the third sine wave signal sinn, which are sequentially shifted in phase by an electrical angle of 90 deg according to the rotation of the rotor 14. , And outputs the fourth sine wave signal cosn. As the rotation speed of the rotor 14 increases, the frequency of each sine wave signal increases. The electrical angle of the angle sensor 15 is an angle obtained by multiplying the mechanical angle of the rotor 14 by the number of pole pairs of a magnet provided in the angle sensor 15.

  As shown in FIG. 19, the angle sensor 15 is disposed on the axis of the rotor 14, and is opposed to the magnet 50 (in this example, the number of pole pairs is 1) that rotates integrally with the axis of the rotor 14. And a sensor unit 51 attached to the camera. The sensor section 51 includes four sensor elements 52 arranged with a phase difference of 90 deg in electrical angle from each other. Each of the four sensor elements 52 is a magnetoresistive element, a Hall element, or the like, and outputs sine wave signals whose phases are shifted from each other by 90 degrees in electrical angle according to the rotation of the magnet 50.

  The rotation detection unit 31 converts the output signal of the angle sensor 15 into a first sine wave signal sinp_det, a second sine wave signal cosp_det, a third sine wave signal sinn_det, and a fourth sine wave signal cosn_det, which are detected by performing A / D conversion. Based on this, the angle of the AC rotating machine 10 is calculated. In the present embodiment, the rotation detector 31 detects each sine wave signal at a timing described later.

For example, the rotation detection unit 31 detects the rotation angle θ1 in electrical angle of the rotor 14 using Expression (35). In addition, Pr represents the number of pole pairs of the magnet provided on the rotor 14, Ps represents the number of pole pairs (magnification angle) of the magnet 50 of the angle sensor 15, and θs represents the electrical angle of the angle sensor 15 (magnet 50). Represents the rotation angle at. Equation (35) is an example, and when calculating the rotation angle θs in electrical angle of the angle sensor 15, a table may be used or an error component may be corrected by a known method. If the zero point of θs is offset, offset correction may be performed.

  Ideally, it would be ideal if all of the first to fourth sine wave signals could be detected at the same timing. However, an inexpensive microcomputer could not detect all of the signals at the same timing because the number of channels that could be A / D converted simultaneously was small.

  FIG. 20 shows the definitions of the detection timings t1 to t4 of the sine wave signals sinp to cosn based on the reference timing of the carrier signal (in this example, the peak of the mountain). The detection timing of the first sine wave signal sinp based on the reference timing (the peak of the mountain) is defined as t1, the detection timing of the second sine wave signal cosp is defined as t2, and the detection timing of the third sine wave signal sinn is defined as t3. , The detection timing of the fourth sine wave signal cosn is t4.

The detection values sinp_det to cosn_det of the respective sine wave signals detected at the respective detection timings t1 to t4 are given by Expression (36). Here, θs and ωs represent the rotation angle and the rotation angular velocity of the angle sensor 15 in electrical angle at the reference timing, respectively.

At this time, the difference between the first sine wave signal and the third sine wave signal and the difference between the second sine wave signal and the fourth sine wave signal are represented by Expression (37).

From Expressions (35) and (37), the detection angle error εs can be expressed by Expression (38). That is, an error of the offset component and the error of the detection angle secondary component occur in the detection angle depending on the detection timing.

In order to set the right side to zero in Expression (38), Expression (39) should be satisfied. That is, the rotation detection unit 31 pairs the first sine wave signal and the third sine wave signal whose phases are inverted by an electrical angle with each other, and detects the first sine wave signal detection timing t1 and the third sine wave signal detection timing. t3 is set to be symmetric with respect to the reference timing. Further, the rotation detecting unit 31 pairs the second sine wave signal and the fourth sine wave signal whose phases are inverted by an electrical angle with each other, and detects the second sine wave signal detection timing t2 and the fourth sine wave signal detection timing. t4 is set symmetrically with respect to the reference timing. According to this configuration, by performing detection at symmetrical timings with respect to the reference timing, it is possible to obtain the same angle detection accuracy as when four signals are detected at the reference timing.

  In order to minimize the amount of deviation of the detection timing of the angle signal from the reference timing, a plurality of detection timings are grouped into the same timing within the range of the number of channels that can be A / D converted and symmetrical with respect to the reference timing. Just set it. In the present embodiment, rotation detection unit 31 selects one signal each from a pair of the first sine wave signal and the third sine wave signal and a pair of the second sine wave signal and the fourth sine wave signal. Two sets of one signal and one signal are set, and two signals of each set are detected at substantially the same timing. The setting patterns in this case are four patterns (1) to (4) in FIG. The rotation detector 31 detects each sine wave signal at the timing of detecting the angle signal of any one of the patterns (1) to (4) in FIG. Here, 0 in FIG. 21 indicates that the detection timing of the angle signal is set to the reference timing, and -Ta indicates that the detection timing of the angle signal is set Ta before the reference timing. And Ta indicates that the detection timing of the angle signal is set after the reference timing by Ta.

  In Expression (36), the signal is ideally shifted by 90 degrees in phase with the amplitude set to 1, but it goes without saying that the same effect can be obtained even when the signal has an offset, an amplitude shift, and a phase difference shift. Nor.

<Current detection timing and angle signal detection timing>
The current detection unit 33 sets the current detection timing of each phase winding between the detection timings of the first, second, third, and fourth sine wave signals set symmetrically in the front-rear direction. FIG. 22 shows a setting example. FIG. 22 shows only the voltage commands vu1 to vw1 of the first winding to prevent the figure from being complicated. The current detection timing is set to the pattern (1) in FIG.

  The current detection timings iu1 to iw2 of the windings of each phase are the detection timings of the first sine wave signal sinp and the second sine wave signal cosp set symmetrically in the front-rear direction, and the third sine wave signal sinn and the fourth sine wave signal It is set between the detection timing of cosn.

  More specifically, the detection timing of the first sine wave signal sinp and the second sine wave signal cosp is set 2γ before the reference timing, and the detection timing of the third sine wave signal sinn and the fourth sine wave signal cosn is , 2γ after the reference timing. The current detection timing of iv1 and iu2 is set to the reference timing, the current detection timing of iu1 and iw2 is set γ before the reference timing, and the current detection timing of iv1 and iv2 is set γ after the reference timing. I have.

In this case, dq-axis current differences Id_diff and Iq_diff are given by equation (40). Due to the difference in the current detection timing, a secondary AC component of the magnetic pole position θ1 proportional to 2γ is generated in the difference between the dq-axis currents.

On the other hand, as shown in FIG. 23, the case where the current detection timing of the winding of each phase is set outside the detection timing of the angle signal set symmetrically in the front-rear direction will be described. The detection timing of the first sine wave signal sinp and the second sine wave signal cosp is set γ before the reference timing, and the detection timing of the third sine wave signal sinn and the fourth sine wave signal cosn is higher than the reference timing. It is set after γ. The current detection timing of iv1 and iu2 is set to the reference timing, the current detection timing of iu1 and iw2 is set 2γ before the reference timing, and the current detection timing of iw1 and iv2 is set 2γ after the reference timing. I have. In this case, dq-axis current differences Id_diff and Iq_diff are given by equation (41). Due to the difference in the current detection timing, a secondary AC component of the magnetic pole position θ1 proportional to 4γ is generated in the difference between the dq-axis currents.

  That is, the secondary AC vibration component in the difference between the dq-axis currents increases in proportion to the period from the first current detection timing to the last current detection timing. In a region where the voltage is saturated, the voltage command may be excessively large or small due to the influence of the secondary AC vibration component. In order to reduce the influence, it is necessary to shorten the period from the first current detection timing to the last current detection timing as much as possible.

  In FIG. 23, the voltage command is Vu1> Vv1> Vw1. However, as the modulation rate of Vu1, which is the maximum phase, increases, the OFF time before and after the reference timing decreases. When the current is detected by the shunt resistor provided on the negative electrode side of the switching element on the negative electrode side, the current of the maximum phase cannot be detected at a high modulation rate. Also, as in Patent Document 2, there is a problem that the current detection accuracy of other phases is reduced by switching of the maximum phase. In order to ensure current detection accuracy up to the highest possible modulation rate, it is necessary to shorten the period from the first current detection timing to the last current detection timing.

  As shown in FIG. 22, by setting the current detection timing of each phase winding between the detection timings of the angle signals set symmetrically in the front-rear direction, the current detection timing is preferentially brought closer to the reference timing, The period from the first current detection timing to the last current detection timing can be shortened. Thereby, the secondary AC oscillation component in the difference between the dq-axis currents can be reduced, and even when the current is detected by the shunt resistor on the negative electrode side, the current detection accuracy can be ensured up to a high modulation rate.

  The change in the rotation angle from the first detection timing for detecting sinp and cosp to the second detection timing for detecting sinn and cosn increases as the rotation speed increases. The approximation of the expression (37) is based on the fact that ωs (t1 + t3) and ωs (t2 + t4) are very small, so if the values are not very small, another term appears. Further, even in the case of a very small angle, the angle accuracy can be improved by further suppressing ωs (t1 + t3) and ωs (t2 + t4). As can be seen from Expression (35), the rotation angular velocity of the angle sensor 15 in electrical angle is obtained by multiplying the rotation velocity of the rotor 14 at the mechanical angle by the number of pole pairs Ps (axial double angle) of the magnet 50 of the angle sensor 15. ωs is obtained, and by multiplying the rotation speed of the rotor 14 at the mechanical angle by the number of pole pairs Pr of the magnets of the rotor 14, the rotation angular speed ω of the rotor 14 at the electrical angle is obtained. That is, in order to satisfy ω ≧ ωs, the number of pole pairs Ps of the magnet 50 of the angle sensor 15 (axial double angle) may be set to be equal to or less than the number of pole pairs Pr of the magnet of the rotor 14 (Pr ≧ Ps). Can be improved.

  Note that the AC rotating machine 10 and the AC rotating machine control device 1 according to the present application may constitute the vehicle AC rotating machine device 50 or the electric power steering device 60 as described above, or may be used for various applications. It may be an AC rotating machine and its control device.

  Although this application describes various exemplary embodiments and examples, the various features, aspects, and functions described in one or more embodiments may apply to particular embodiments. However, the present invention is not limited thereto, and can be applied to the embodiment alone or in various combinations. Accordingly, innumerable modifications not illustrated are contemplated within the scope of the technology disclosed herein. For example, a case where at least one component is deformed, added or omitted, and a case where at least one component is extracted and combined with a component of another embodiment are included.

REFERENCE SIGNS LIST 1 AC rotating machine control device, 10 AC rotating machine, 13 current sensor, 15 angle sensor, 16 DC power supply, 17 voltage sensor, 21 first inverter, 22 second inverter, 23 positive-side switching element, 24 negative-side Switching element, 31 rotation detection section, 32 power supply voltage detection section, 33 current detection section, 34 voltage command calculation section, 35 voltage application section, 50 vehicle AC rotating machine device, 60 electric power steering device, Pr magnet pole of rotor Logarithm, Ps Number of pole pairs of the angle sensor (axis double angle), sinp first sine wave signal, cosp second sine wave signal, sinn third sine wave signal, cosn fourth sine wave signal, iu1 of U1 phase of first winding Current, iv1 current of the V1 phase of the first winding, iw1 current of the W1 phase of the first winding, iu2 current of the U2 phase of the second winding, iv2 V2 phase current of the second winding, iw2 W2 phase current of the second winding, iu1 U1 phase current of the six phase winding, iv1 V1 phase current of the six phase winding, iw1 W1 of the six phase winding Phase current, ix1 6-phase winding X1 phase current, iy1 6-phase winding Y1 phase current, iz1 6-phase winding Z1 phase current, t1 first sine wave signal detection timing, t2 second Sine wave signal detection timing, t3 third sine wave signal detection timing, t4 fourth sine wave signal detection timing, tu1 U1 phase current detection timing of first winding, tv1 V1 phase current of first winding Detection timing, tw1 current detection timing of the W1 phase of the first winding, tu2 current detection timing of the U2 phase of the second winding, tv2 current detection timing of the V2 phase of the second winding, tw2 W2 phase of the second winding Current detection timing, u1 Current detection timing of the U1 phase of the 6-phase winding, tv1 Current detection timing of the V1 phase of the 6-phase winding, tw1 Current detection timing of the W1 phase of the 6-phase winding, tx1 Current detection of the X1 phase of the 6-phase winding Timing, ty1 Y1 phase current detection timing of the 6-phase winding, tz1 Z1 phase current detection timing of the 6-phase winding

Claims (21)

An AC rotating machine control device for controlling an AC rotating machine (m is an integer of 3 or more) having an m-phase first winding and an m-phase second winding,
A current detection unit that detects a current flowing in each phase of the first winding and the second winding;
A voltage command calculation unit that calculates a voltage command to be applied to each phase of the first winding and the second winding based on a current command and a current detection value of each phase;
A voltage applying unit that applies a voltage to each phase of the first winding and the second winding by comparing the voltage command and the carrier signal,
The current detection unit is configured to detect one phase of the first winding selected one by one from the m-phase first winding and one second phase selected from the m-phase second winding one by one. And m sets each including one phase are set based on the phase difference between the first winding and the second winding, and the currents of the windings for the two phases of each set are set at substantially the same timing. A control device for an AC rotating machine that detects the current at a different timing from the current detection timing of the other sets.   The current detection unit sets m sets each including one phase of the first winding and one phase of the second winding having phases different from each other by 90 degrees in electrical angle, and sets windings for two phases of each set. 2. The control device for an AC rotating machine according to claim 1, wherein the current of the line is detected at substantially the same timing.   The current detection unit may be configured such that the sum of the current detection timings of each phase of the first winding with respect to the reference timing becomes zero, and the sum of the current detection timings of each phase of the second winding with respect to the reference timing becomes zero. 3. The control device for an AC rotating machine according to claim 1, wherein a current detection timing for each set with respect to the reference timing is set. m is 3;
The first winding of three phases U1, V1 and W1 has a phase advanced by 30 deg in electrical angle with respect to the second winding of three phases U2, V2 and W2. ,
The current detection unit sets a U1 phase of the first winding and a W2 phase of the second winding, sets a V1 phase of the first winding and a U2 phase of the second winding, Three sets are set in which the W1 phase of the first winding and the V2 phase of the second winding are set, and the currents of the windings corresponding to the two phases of each set are detected at substantially the same timing. The control device for an AC rotating machine according to any one of claims 1 to 3. m is 3;
The first winding of three phases U1, V1 and W1 has a phase lead of 90 deg in electrical angle with respect to the second winding of three phases U2, V2 and W2. ,
The current detection unit sets a U1 phase of the first winding and a U2 phase of the second winding, sets a V1 phase of the first winding and a V2 phase of the second winding, Three sets are set in which the W1 phase of the first winding and the W2 phase of the second winding are set, and the currents of the windings for the two phases of each set are detected at substantially the same timing. The control device for an AC rotating machine according to any one of claims 1 to 3.   The current detection unit sets the current detection timing of one of the three sets as the reference timing, and sets the current detection timings of the other two sets symmetrically with respect to the reference timing. Or the control device for an AC rotary machine according to item 5. An AC rotating machine control device for controlling an AC rotating machine (m is an integer of 3 or more) having an m-phase first winding and an m-phase second winding,
A current detection unit that detects a current flowing in each phase of the first winding and the second winding;
A voltage command calculation unit that calculates a voltage command to be applied to each phase of the first winding and the second winding based on a current command and a current detection value of each phase;
A voltage applying unit that applies a voltage to each phase of the first winding and the second winding by comparing the voltage command and the carrier signal,
The phase of the first winding and the phase of the second winding are the same or inverted in electrical angle between the first winding and the second winding,
The current detection unit sets m pairs of one phase of the first winding and one phase of the second winding having the same or inverted phase at an electrical angle, and sets two pairs of two phases of each pair. The control device for an AC rotating machine that sets the detection timing of the current of the winding in a symmetric manner with respect to the reference timing. m is 3;
The first winding of three phases U1, V1, and W1 has no phase difference with respect to the second winding of three phases U2, V2, and W2,
The current detection unit sets the current detection timing of the U1 phase of the first winding based on the reference timing to Tu1, sets the current detection timing of the V1 phase of the first winding to Tv1, and sets the first winding to the first winding. The current detection timing of the W1 phase of the line is Tw1, the current detection timing of the U2 phase of the second winding is Tu2, the current detection timing of the V2 phase of the second winding is Tv2, and the current detection timing of the second winding is Tv2. Assuming that the current detection timing of the W2 phase is Tw2,
Tu2 = −Tu1, Tv2 = −Tv1, Tw2 = −Tw1
The control device for an AC rotary machine according to claim 7, wherein m is 3;
The first winding of three phases U1, V1 and W1 has a phase lead of 60 deg in electrical angle with respect to the second winding of three phases U2, V2 and W2. ,
The current detection unit sets the current detection timing of the U1 phase of the first winding based on the reference timing to Tu1, sets the current detection timing of the V1 phase of the first winding to Tv1, and sets the first winding to the first winding. The current detection timing of the W1 phase of the line is Tw1, the current detection timing of the U2 phase of the second winding is Tu2, the current detection timing of the V2 phase of the second winding is Tv2, and the current detection timing of the second winding is Tv2. Assuming that the current detection timing of the W2 phase is Tw2,
Tv2 = -Tu1, Tw2 = -Tv1, Tu2 = -Tw1
The control device for an AC rotary machine according to claim 7, wherein   The current detection unit sets a current detection timing for two phases of one pair as the reference timing, and selects one phase of the first winding and the second phase selected one by one from each of the remaining two pairs. The control of the AC rotating machine according to claim 8 or 9, wherein two sets each including one phase of the winding are set, and currents of the windings corresponding to the two phases of each set are detected at substantially the same timing. apparatus. A control device for an AC rotating machine that controls an AC rotating machine having 2 m-phase windings (m is an integer of 3 or more),
A current detection unit that detects a current flowing through each phase of the winding;
A voltage command calculation unit that calculates a voltage command to be applied to each phase of the winding based on a current command and a current detection value of each phase;
By comparing the voltage command and the carrier signal, a voltage application unit that applies a voltage to each phase of the winding,
The current detection unit sets the k-th phase current detection timing of the winding based on a reference timing to T (k) (k is a natural number equal to or less than m), and detects the (m + k) -th phase current detection of the winding. The timing is T (m + k),
T (m + k) =-T (k)
The control device of the AC rotating machine to be set.   The current detection unit sets two phases of current detection timing of one pair as the reference timing, and sets one phase and one phase selected one by one from each of the remaining two pairs. 12. The control device for an AC rotating machine according to claim 11, wherein currents of windings for two phases of each set are detected at substantially the same timing.   The control device for an AC rotating machine according to any one of claims 3 and 6 to 12, wherein the reference timing is set at one or both of a peak and a peak of a valley of the carrier signal that is a triangular wave. . In accordance with the rotation of the rotor, the output signals of the angle sensor that outputs the first sine wave signal, the second sine wave signal, the third sine wave signal, and the fourth sine wave signal, which are sequentially shifted in phase by 90 degrees in electrical angle according to the rotation of the rotor. A rotation detection unit that detects and calculates a rotation angle of the AC rotating machine based on detection values of the first sine wave signal, the second sine wave signal, the third sine wave signal, and the fourth sine wave signal Further comprising
The rotation detecting unit pairs the first sine wave signal and the third sine wave signal, and sets a detection timing of the first sine wave signal and a detection timing of the third sine wave signal with respect to a reference timing. The second sine wave signal and the fourth sine wave signal are paired, and the detection timing of the second sine wave signal and the detection timing of the fourth sine wave signal are set as the reference timing. The control device for an AC rotating machine according to any one of claims 1 to 13, wherein the control device is set to be symmetrical with respect to front and rear.   The rotation detection unit is configured to select one signal from the pair of the first sine wave signal and the third sine wave signal and one signal from the pair of the second sine wave signal and the fourth sine wave signal. 15. The control device for an AC rotating machine according to claim 14, wherein two sets each including a set of a signal and one signal are set, and the two signals of each set are detected at substantially the same timing.   The current detection unit sets the current detection timing of each phase winding to be symmetric with respect to the first sine wave signal, the second sine wave signal, the third sine wave signal, and the fourth sine wave signal. The control device for an AC rotating machine according to claim 14 or 15, wherein the control device is set during a signal detection timing.   The control device for an AC rotating machine according to any one of claims 14 to 16, wherein a shaft multiple angle of the angle sensor is equal to or less than the number of pole pairs of the AC rotating machine.   16. The substantially identical timing according to claim 1, wherein at least a difference between two detection timings of the same set is equal to or less than 1/10 of a detection timing interval between different sets. A control device for an AC rotating machine according to any one of the preceding claims.   The said substantially same timing is timing which performs A / D conversion of the number of channels within the range of the maximum number of channels of an A / D converter all at once by a trigger signal. The control device for an AC rotary machine according to any one of claims 15 to 15. A control device for an AC rotating machine according to any one of claims 1 to 19,
An AC rotating machine device for a vehicle, comprising: the AC rotating machine serving as a driving force source for wheels. A control device for an AC rotating machine according to any one of claims 1 to 19,
An electric power steering device comprising: the AC rotating machine serving as a driving force source of a wheel steering device.

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